US20060226139A1 - Wok-piece positioner - Google Patents
Wok-piece positioner Download PDFInfo
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- US20060226139A1 US20060226139A1 US11/099,996 US9999605A US2006226139A1 US 20060226139 A1 US20060226139 A1 US 20060226139A1 US 9999605 A US9999605 A US 9999605A US 2006226139 A1 US2006226139 A1 US 2006226139A1
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- work
- piece
- positioner
- mezzanine
- framework
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0096—Programme-controlled manipulators co-operating with a working support, e.g. work-table
Definitions
- the present invention relates to work-piece positioners. More particularly, the present invention relates to a work-piece positioner that comprises a positioner chassis and an overhead mezzanine configured such that a robot or multiple robots may be mounted to it above the positioner and/or a work zone.
- Some of the positioners may include an unload/load zone and a work zone, wherein the positioner moves work-pieces back and forth between the unload/load zone and the work zone.
- the robot has been placed on the floor adjacent to these types of work-piece positioners such that the robot may work on the work-piece held by the positioner.
- This configuration consumes a significant amount of valuable floor space because both the positioner and the robot are consuming the floor space. This issue is magnified if the application requires multiple robots to perform tasks on the work-piece because each robot will consume additional floor space, adding to the overall footprint of the robot work cell (e.g., work-piece positioner and robot(s)).
- the present invention is intended to address and obviate problems and shortcomings and otherwise improve previous work-piece positioners.
- An exemplary embodiment of the work-piece positioner of the present invention includes a positioner chassis, a rotary framework coupled to the chassis, and a mezzanine disposed above the chassis, wherein the mezzanine includes a substantially horizontal member and is configured to mount at least one robot above the positioner.
- the rotary framework may be configured such that it may rotate a work-piece between a work-piece load/unload zone and a work zone about a framework axis.
- the positioner comprises a positioner chassis, a framework rotatably coupled to the chassis, and a mezzanine disposed above the chassis and configured to mount at least one robot above the positioner.
- the rotary framework of this embodiment is configured to move a work-piece from a work-piece load/unload zone to a work zone and is rotable about a substantially horizontal axis.
- a work-piece positioner comprises a work-piece chassis, a movable framework movably coupled to the chassis, a mezzanine disposed above the chassis and configured to mount at least one robot above the positioner, and at least one robot mounted to the mezzanine.
- the rotary framework is configured to move a work-piece from a work-piece load/unload zone to the work zone.
- Such a positioner defines a footprint having an area of less than 30 m 2 and the at least one robot is within this footprint.
- FIG. 2 is a side elevational view of the work-piece positioner illustrated in FIG. 1 ;
- FIG. 5 is a front elevational view of the work-piece positioner illustrated in FIG. 4 ;
- FIG. 6 is a side elevational view of another exemplary embodiment of a work-piece positioner according to the present invention.
- FIG. 7 is a front elevational view of the work-piece positioner illustrated in FIG. 6 .
- Positioner 10 may also include a load/unload zone 1 and a work zone 2 disposed on an opposite side of positioner 10 from load/unload zone 1 , wherein rotary framework 20 may move a work-piece 4 (e.g., automotive components) back and forth between load/unload zone 1 and work zone 2 .
- a work-piece 4 e.g., automotive components
- mezzanine 50 includes a first mezzanine support 52 and a second mezzanine support 54 , each of which are substantially vertical in orientation and a substantially horizontal member 56 .
- First and second supports 52 and 54 may optionally include a flange end 51 to connect to positioner chassis 12 .
- First and second supports 52 and 54 may be secured or affixed to opposite ends of substantially horizontal member 56 using a variety of conventional or yet-to-be discovered methods without departing from the scope of the present invention.
- first and second mezzanine supports 52 and 54 and horizontal member 56 may be welded together, bolt connected, or formed as an integral unit to form mezzanine 50 .
- mezzanine 50 may be secured to positioner chassis 12 (described later herein) by welding the flange ends 51 to flanges on the chassis.
- positioner chassis and mezzanine may be connected together using a variety of known or yet-to-be discovered securing devices or methods (e.g., weld or bolt connections) without departing from the scope of the present invention.
- first and second mezzanine supports 52 and 54 may be disposed along the floor adjacent positioner chassis (as shown in FIG. 7 and described later herein).
- Mezzanine 50 of the present invention may be configured to support one robot or multiple robots above positioner chassis 12 , rotary framework 20 , work-piece supports 30 , 32 , 40 , and 42 , load/unload zone 1 , and/or work zone 2 .
- three robots 70 may be mounted to mezzanine 50 above work zone 2 , which enables robots 70 to perform a variety of applications on work-piece 4 while being held by either first set of work-piece supports 30 and 32 (as shown) or second set of work-piece supports 40 and 42 within work zone 2 .
- Such applications that may be performed by robots 70 on work-piece 4 may include, but are not limited to, welding, cutting, assembly, etc.
- positioner 10 and robots 70 may encompass a single footprint that is smaller than the combined footprint of a conventional positioner and robot work cell (i.e., wherein both the positioner and the robots are mounted on the floor).
- positioner 10 and one or more robots 70 mounted to positioner 10 may define a footprint of less than 30 m 2 .
- positioner 10 and one or more robots mounted to positioner 10 may define a footprint of less than or equal to 25 m 2 .
- positioner 10 and two robots mounted to positioner 10 may define a footprint of less than or equal to 10 m 2 .
- the footprint of the present invention (i.e., work-piece positioner and mounted robot) represents a reduction in required floor space from about 20% to about 45% compared to a conventional work-piece positioner and robot work cell.
- Such a positioner and robot configuration is particularly advantageous because it frees up industrial floor space to be used for additional applications, which is valuable.
- mezzanine 50 is configured to mount robots thereon, the particular materials and dimensions of mezzanine 50 are chosen to provide the necessary rigidity and strength to support the desired number of robots to be mounted above positioner 10 , including but not limited to formed sheet metal, plate steel, or any other conventional or yet-to-be developed materials. It is understood that mezzanine 50 may also take on other shapes and configurations such as having only a substantially vertical mezzanine support configured for robot mounting (not shown) or a cantilevered, substantially horizontal member (not shown) secured to a single mezzanine support (not shown), wherein a robot may be mounted to the horizontal member such that the robot may rotate between multiple work zones.
- positioner chassis 12 may include a base 13 connected to a first column 14 and to a second column 15 positioned opposite first column 14 , wherein first and second columns have a substantially vertical orientation.
- first and second columns 14 and 15 are welded to first and second supports 52 and 54 , respectively.
- Positioner chassis 12 is configured to support both the mezzanine 50 and at least one robot (e.g., 70 ).
- positioner chassis 12 may be fabricated from steel such as formed sheet metal or plate steel. Such positioner chassis 12 may comprise a variety of different shapes, sizes, materials, and components without departing from the scope of the present invention.
- positioner chassis 12 may be fabricated such that first column 14 and first support 52 are not two separate components welded together but a single component forming a vertical support (e.g., a single piece of plate steel).
- second column 15 and second support 54 may be a single component forming a vertical support (e.g., a single piece of sheet steel) rather than two separate components welded together.
- Horizontal member 56 may be welded between both of these columns.
- rotary framework 20 of the exemplary embodiment in FIGS. 1-2 it includes opposite rotary framework arms 24 and 25 and may be coupled to first and second vertical columns 14 and 15 so as to be rotatable about a framework axis 26 .
- Framework axis 26 is in a substantially horizontal orientation.
- Rotary framework 20 may rotate 180 degrees around framework axis 26 between load/unload zone 1 and work zone 2 . However, it is understood that rotary framework 20 may rotate any number of degrees about framework axis 26 .
- rotary framework arms 24 and 25 may include a first set of work-piece supports 30 and 32 located at one end of framework arms 24 and 25 , respectively, so as to define a first work-piece axis 34 extending between first set of work-piece supports 30 and 32 .
- Rotary framework 20 may also include a second set of work-piece supports 40 and 42 that are located at an opposite end of framework arms 24 and 25 , respectively, from first set of work-piece supports 30 and 32 .
- Second set of work-piece supports 40 and 42 define a second work-piece axis 44 extending between the second set of work-piece supports 40 and 42 .
- First work-piece axis 34 and second work-piece axis 44 may lie in a common work-piece plane.
- Such rotary framework may hold one or more work-pieces (e.g., work-piece 4 ) with first and second sets of work-piece supports to rotate and/or move the work-pieces between load/unload zone 1 and work zone 2 .
- FIGS. 1-2 also show that rotary framework 20 may include a divider 28 to separate load/unload zone 1 from work zone 2 in order to provide protection to an operator positioned near load/unload zone 2 from the work being performed in work zone 1 .
- Divider 28 may be oriented substantially perpendicular to rotary framework arms 24 and 25 .
- positioner chassis 12 and rotary framework 20 may be made of any known or yet to be discovered material having sufficient strength and rigidity to withstand the stresses and forces of the moving rotary framework 20 and the load associated with one or more work-pieces held by rotary framework 20 . And, as described above, the material for and the size and dimensions of positioner chassis 12 are configured such that chassis 12 may support the weight of the mezzanine 50 and one or more robots mounted to mezzanine 50 .
- Such a positioner is commercially available from Motoman, Inc., West Carrollton, Ohio, within the 6000 Series of positioners.
- positioner 10 may include a drive motor assembly, and any associated gears, clutches, etc., which are all beyond the scope of the present invention and may be gleaned from conventional teachings, e.g., U.S. Pat. Nos. 4,666,363, 5,074,741, and 5,873,569, the disclosures of which are incorporated herein by reference.
- work-piece positioner 10 may comprise a single drive motor (not shown) and a clutch assembly (not shown) arranged to impart selectively rotary motion to the rotary framework 20 about the framework axis 26 and rotary motion to work-piece 4 supported by first set of work-piece supports 30 and 32 .
- Positioner 10 may also include one or more robots mounted to mezzanine 50 above positioner 10 and/or work zone 2 .
- Such robots 70 may include any variety of conventional or yet-to-be developed robots, lasers, or other robotic equipment necessary to perform the desired applications to work-piece 4 within work zone 2 without departing from the scope of the present invention.
- industrial robots commercially available from Motoman, Inc. of West Carrollton, Ohio may be mounted to positioner 10 .
- an operator may load work-piece 4 between first set of work-piece supports 30 and 32 while first set of work-piece supports are positioned in the load/unload zone 1 .
- Drive motor and clutch assembly may rotate framework arms 24 and 25 such that first set of work-piece supports 30 and 32 and work-piece 4 may be rotated 180 degrees from load/unload zone 1 to work zone 1 . All the axes of rotation of the positioner may rotate simultaneously during the sweep from zone 1 to zone 2 , resulting in the work-piece being in the desired position at the end of the sweep motion.
- robots 70 mounted upon mezzanine 50 may perform applications on work-piece 4 from above this work zone as shown in FIG. 1 .
- robots 70 While robots 70 perform this work, the operator may unload and/or load a second work-piece (not shown) between second set of work-piece supports 40 and 42 .
- divider 28 may provide protection to load/unload zone 1 (i.e., operator) from potential hazards of the work being performed within work zone 2 .
- rotary framework arms 24 and 25 may be rotated 180 degrees back to load/unload 1 such that work-piece 4 may be unloaded and a new work-piece loaded onto positioner 10 between first set of work-piece supports 30 and 32 .
- FIGS. 4-5 show positioner 100 as including a mezzanine 150 , a positioner chassis 112 , and a rotary framework 120 rotatably coupled to chassis 112 , wherein rotary framework 120 includes a table 122 that rotates about a vertical axis 126 .
- rotary framework 120 rotates a work-piece 104 that has been positioned on rotary framework 120 from a load/unload zone 101 to a work zone 102 .
- Such a rotary framework 120 may rotate work-piece 104 (e.g., 180 degrees) between load/unload zone 101 and work zone 102 .
- positioner 100 may be capable of simultaneous, multiple axis movement such that the work-piece may be in the desired position at the end of the sweep motion from zone 101 to zone 102 .
- rotary framework 120 may also include a divider 128 separating rotary framework 120 into two areas to provide protection to an operator and to separate work-pieces held by rotary framework 120 . In the exemplary embodiment shown in FIGS.
- rotary framework 120 is a turntable-style positioner, wherein a substantially circular table rotates about a substantially vertical axis 126 between two positions (i.e., load/unload zone 101 and work zone 102 ).
- mezzanine may be configured to support any number of robots, this particular exemplary embodiment shows two robots 170 mounted to mezzanine 150 , specifically to a horizontal member 156 of mezzanine 150 , above work zone 102 .
- positioner chassis 112 includes a first vertical support 114 and a second vertical support 115 that are then welded to horizontal member 156 of mezzanine 150 and is configured to support both the mezzanine and one or more robots (e.g., 170 ).
- This exemplary embodiment of the positioner 10 and robots 170 of the present invention may also comprise the same footprint as described above herein.
- the positioner of this exemplary embodiment is commercially available from Motoman, Inc., West Carrollton, Ohio, within the 1200 Series of positioners.
- positioner 200 includes mezzanine 250 , positioner chassis 212 , a rotary framework 220 , a first set of work-pieces supports 230 and 232 , and a second set of work-piece supports 240 and 242 , wherein rotary framework 220 rotates about a vertical rotary framework axis 226 .
- Such rotary framework 220 may also include opposite rotary framework arms 224 and 225 , wherein first set of work-piece supports 230 and 232 are located at one end of opposite framework arms 224 and 225 , respectively, so as to define a first work-piece axis 234 extending between first set of work-piece supports.
- Rotary framework 220 may also include a second set of work-piece supports 240 and 242 that are located at an opposite end of opposite framework arms 224 and 225 , respectively, from first set of work-piece supports 230 and 232 .
- Second set of work-piece supports 240 and 242 may also define a second work-piece axis (not shown) extending between the second set of work-piece supports.
- the first and second work-piece axes may lie in a common work-piece plane.
- Such rotary framework may hold one or more work-pieces with first and second sets of work-piece supports to rotate and/or move work-pieces between load/unload zone 201 and work zone 202 .
- mezzanine 250 may include first and second mezzanine supports 252 and 254 that are secured to a substantially horizontal member 256 and is configured to hold one or more robots 270 (e.g., one in this exemplary embodiment).
- First and second mezzanine supports 252 and 254 may be attached (e.g., welded) to a base 213 of positioner 200 and positioned along the floor adjacent positioner chassis 212 .
- Such a positioner may rotate a work-piece (not shown) held in first set of work-piece supports 230 and 232 about framework axis 226 (e.g., 180 degrees) from a load/unload zone 201 to a work zone 202 , and then allow a second work-piece (not shown) to be loaded onto second set of work-piece supports 240 an 242 in load/unload zone 201 .
- this configuration of positioner 200 and robot 270 may define a combined footprint as detailed above herein.
- the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof.
- the invention is not limited to the type and dimensions of the transport vehicle specifically disclosed. Accordingly, the disclosures and descriptions herein are intended to be illustrative, but not limiting.
Abstract
Description
- The present invention relates to work-piece positioners. More particularly, the present invention relates to a work-piece positioner that comprises a positioner chassis and an overhead mezzanine configured such that a robot or multiple robots may be mounted to it above the positioner and/or a work zone.
- Industries often employ work-piece positioners to hold, manipulate, move, or orient a work-piece while one or more robots perform a variety of applications on the work-piece. Some of the positioners may include an unload/load zone and a work zone, wherein the positioner moves work-pieces back and forth between the unload/load zone and the work zone. Generally, the robot has been placed on the floor adjacent to these types of work-piece positioners such that the robot may work on the work-piece held by the positioner. This configuration consumes a significant amount of valuable floor space because both the positioner and the robot are consuming the floor space. This issue is magnified if the application requires multiple robots to perform tasks on the work-piece because each robot will consume additional floor space, adding to the overall footprint of the robot work cell (e.g., work-piece positioner and robot(s)).
- Accordingly, the present invention is intended to address and obviate problems and shortcomings and otherwise improve previous work-piece positioners.
- An exemplary embodiment of the work-piece positioner of the present invention includes a positioner chassis, a rotary framework coupled to the chassis, and a mezzanine disposed above the chassis, wherein the mezzanine includes a substantially horizontal member and is configured to mount at least one robot above the positioner. The rotary framework may be configured such that it may rotate a work-piece between a work-piece load/unload zone and a work zone about a framework axis.
- In another exemplary embodiment of the work-piece positioner of the present invention, the positioner comprises a positioner chassis, a framework rotatably coupled to the chassis, and a mezzanine disposed above the chassis and configured to mount at least one robot above the positioner. The rotary framework of this embodiment is configured to move a work-piece from a work-piece load/unload zone to a work zone and is rotable about a substantially horizontal axis.
- In still a further exemplary embodiment of the present invention, a work-piece positioner comprises a work-piece chassis, a movable framework movably coupled to the chassis, a mezzanine disposed above the chassis and configured to mount at least one robot above the positioner, and at least one robot mounted to the mezzanine. In addition, the rotary framework is configured to move a work-piece from a work-piece load/unload zone to the work zone. Such a positioner defines a footprint having an area of less than 30 m2 and the at least one robot is within this footprint.
- A further understanding of the nature and advantages of the present invention may be realized by reference to the remaining portions of the specification and the drawings.
- While the specification concludes with claims particularly pointing out and distinctly claiming the invention, embodiments of the invention will be better understood from the following description taken in conjunction with the accompanying drawings in which:
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FIG. 1 is an isometric view of an exemplary embodiment of a work-piece positioner according to the present invention; -
FIG. 2 is a side elevational view of the work-piece positioner illustrated inFIG. 1 ; -
FIG. 3 is an isometric view of the mezzanine of the work-piece positioner illustrated inFIG. 1 ; -
FIG. 4 is a side elevational view of another exemplary embodiment of a work-piece positioner according to the present invention; -
FIG. 5 is a front elevational view of the work-piece positioner illustrated inFIG. 4 ; -
FIG. 6 is a side elevational view of another exemplary embodiment of a work-piece positioner according to the present invention; and -
FIG. 7 is a front elevational view of the work-piece positioner illustrated inFIG. 6 . - The embodiments set forth in the drawings are illustrative in nature and not intended to be limiting of the invention which is defined by the claims. Moreover, individual features illustrated in the drawings will be more fully apparent and understood with reference to the following detailed description.
- Referring to
FIGS. 1-3 , an exemplary embodiment of a work-piece positioner 10 of the present invention is shown as including apositioner chassis 12, arotary framework 20, a first set of work-piece supports 30 and 32, a second set of work-piece supports 40 and 42, and amezzanine 50.Positioner 10 may also include a load/unload zone 1 and awork zone 2 disposed on an opposite side ofpositioner 10 from load/unload zone 1, whereinrotary framework 20 may move a work-piece 4 (e.g., automotive components) back and forth between load/unload zone 1 andwork zone 2. - As shown in
FIG. 3 ,mezzanine 50 includes afirst mezzanine support 52 and asecond mezzanine support 54, each of which are substantially vertical in orientation and a substantiallyhorizontal member 56. First andsecond supports flange end 51 to connect topositioner chassis 12. First andsecond supports horizontal member 56 using a variety of conventional or yet-to-be discovered methods without departing from the scope of the present invention. For example, first and second mezzanine supports 52 and 54 andhorizontal member 56 may be welded together, bolt connected, or formed as an integral unit to formmezzanine 50. As shown inFIGS. 1-2 ,mezzanine 50 may be secured to positioner chassis 12 (described later herein) by welding theflange ends 51 to flanges on the chassis. However, it is understood that the positioner chassis and mezzanine may be connected together using a variety of known or yet-to-be discovered securing devices or methods (e.g., weld or bolt connections) without departing from the scope of the present invention. Alternatively, rather than securingmezzanine 50 topositioner chassis 12, first and second mezzanine supports 52 and 54 may be disposed along the floor adjacent positioner chassis (as shown inFIG. 7 and described later herein). -
Mezzanine 50 of the present invention may be configured to support one robot or multiple robots abovepositioner chassis 12,rotary framework 20, work-piece supports 30, 32, 40, and 42, load/unload zone 1, and/orwork zone 2. For example, as shown inFIGS. 1-2 , threerobots 70 may be mounted tomezzanine 50 abovework zone 2, which enablesrobots 70 to perform a variety of applications on work-piece 4 while being held by either first set of work-piece supports 30 and 32 (as shown) or second set of work-piece supports 40 and 42 withinwork zone 2. Such applications that may be performed byrobots 70 on work-piece 4 may include, but are not limited to, welding, cutting, assembly, etc. The mounting ofrobots 70 tomezzanine 50 abovepositioner 10 allows thepositioner 10 androbots 70 to encompass a single footprint that is smaller than the combined footprint of a conventional positioner and robot work cell (i.e., wherein both the positioner and the robots are mounted on the floor). In one exemplary embodiment,positioner 10 and one ormore robots 70 mounted topositioner 10 may define a footprint of less than 30 m2. In another exemplary embodiment,positioner 10 and one or more robots mounted topositioner 10 may define a footprint of less than or equal to 25 m2. In yet another exemplary embodiment,positioner 10 and two robots mounted topositioner 10 may define a footprint of less than or equal to 10 m2. The footprint of the present invention (i.e., work-piece positioner and mounted robot) represents a reduction in required floor space from about 20% to about 45% compared to a conventional work-piece positioner and robot work cell. Such a positioner and robot configuration is particularly advantageous because it frees up industrial floor space to be used for additional applications, which is valuable. - Since
mezzanine 50 is configured to mount robots thereon, the particular materials and dimensions ofmezzanine 50 are chosen to provide the necessary rigidity and strength to support the desired number of robots to be mounted abovepositioner 10, including but not limited to formed sheet metal, plate steel, or any other conventional or yet-to-be developed materials. It is understood thatmezzanine 50 may also take on other shapes and configurations such as having only a substantially vertical mezzanine support configured for robot mounting (not shown) or a cantilevered, substantially horizontal member (not shown) secured to a single mezzanine support (not shown), wherein a robot may be mounted to the horizontal member such that the robot may rotate between multiple work zones. - Still referring to
FIGS. 1-3 ,positioner chassis 12 may include abase 13 connected to afirst column 14 and to asecond column 15 positioned oppositefirst column 14, wherein first and second columns have a substantially vertical orientation. In this embodiment, first andsecond columns second supports Positioner chassis 12 is configured to support both themezzanine 50 and at least one robot (e.g., 70). In this exemplary embodiment,positioner chassis 12 may be fabricated from steel such as formed sheet metal or plate steel.Such positioner chassis 12 may comprise a variety of different shapes, sizes, materials, and components without departing from the scope of the present invention. For example,positioner chassis 12 may be fabricated such thatfirst column 14 andfirst support 52 are not two separate components welded together but a single component forming a vertical support (e.g., a single piece of plate steel). Similarly,second column 15 andsecond support 54 may be a single component forming a vertical support (e.g., a single piece of sheet steel) rather than two separate components welded together.Horizontal member 56 may be welded between both of these columns. - With regard to
rotary framework 20 of the exemplary embodiment inFIGS. 1-2 , it includes oppositerotary framework arms vertical columns framework axis 26.Framework axis 26 is in a substantially horizontal orientation.Rotary framework 20 may rotate 180 degrees aroundframework axis 26 between load/unload zone 1 andwork zone 2. However, it is understood thatrotary framework 20 may rotate any number of degrees aboutframework axis 26. - In this exemplary embodiment,
rotary framework arms framework arms piece axis 34 extending between first set of work-piece supports 30 and 32.Rotary framework 20 may also include a second set of work-piece supports 40 and 42 that are located at an opposite end offramework arms piece axis 44 extending between the second set of work-piece supports 40 and 42. First work-piece axis 34 and second work-piece axis 44 may lie in a common work-piece plane. Such rotary framework may hold one or more work-pieces (e.g., work-piece 4) with first and second sets of work-piece supports to rotate and/or move the work-pieces between load/unloadzone 1 andwork zone 2.FIGS. 1-2 also show thatrotary framework 20 may include adivider 28 to separate load/unloadzone 1 fromwork zone 2 in order to provide protection to an operator positioned near load/unloadzone 2 from the work being performed inwork zone 1.Divider 28 may be oriented substantially perpendicular torotary framework arms - As discussed herein,
positioner chassis 12 androtary framework 20 may be made of any known or yet to be discovered material having sufficient strength and rigidity to withstand the stresses and forces of the movingrotary framework 20 and the load associated with one or more work-pieces held byrotary framework 20. And, as described above, the material for and the size and dimensions ofpositioner chassis 12 are configured such thatchassis 12 may support the weight of themezzanine 50 and one or more robots mounted tomezzanine 50. Such a positioner is commercially available from Motoman, Inc., West Carrollton, Ohio, within the 6000 Series of positioners. - In addition,
positioner 10 may include a drive motor assembly, and any associated gears, clutches, etc., which are all beyond the scope of the present invention and may be gleaned from conventional teachings, e.g., U.S. Pat. Nos. 4,666,363, 5,074,741, and 5,873,569, the disclosures of which are incorporated herein by reference. For example, work-piece positioner 10 may comprise a single drive motor (not shown) and a clutch assembly (not shown) arranged to impart selectively rotary motion to therotary framework 20 about theframework axis 26 and rotary motion to work-piece 4 supported by first set of work-piece supports 30 and 32. -
Positioner 10 may also include one or more robots mounted tomezzanine 50 abovepositioner 10 and/orwork zone 2.Such robots 70 may include any variety of conventional or yet-to-be developed robots, lasers, or other robotic equipment necessary to perform the desired applications to work-piece 4 withinwork zone 2 without departing from the scope of the present invention. In one exemplary embodiment, industrial robots commercially available from Motoman, Inc. of West Carrollton, Ohio may be mounted topositioner 10. - In operation, an operator may load work-
piece 4 between first set of work-piece supports 30 and 32 while first set of work-piece supports are positioned in the load/unloadzone 1. Drive motor and clutch assembly may rotateframework arms piece 4 may be rotated 180 degrees from load/unloadzone 1 to workzone 1. All the axes of rotation of the positioner may rotate simultaneously during the sweep fromzone 1 tozone 2, resulting in the work-piece being in the desired position at the end of the sweep motion. Once inwork zone 2,robots 70 mounted uponmezzanine 50 may perform applications on work-piece 4 from above this work zone as shown inFIG. 1 . Whilerobots 70 perform this work, the operator may unload and/or load a second work-piece (not shown) between second set of work-piece supports 40 and 42. As described above,divider 28 may provide protection to load/unload zone 1 (i.e., operator) from potential hazards of the work being performed withinwork zone 2. Oncerobots 70 have completed work on work-piece 4,rotary framework arms piece 4 may be unloaded and a new work-piece loaded ontopositioner 10 between first set of work-piece supports 30 and 32. - The work-piece positioner of the present invention may combine the mezzanine with a variety of different types of positioner chasses, rotary frameworks, and work-piece supports without departing from the scope of the invention. For example,
FIGS. 4-5 show positioner 100 as including amezzanine 150, apositioner chassis 112, and arotary framework 120 rotatably coupled tochassis 112, whereinrotary framework 120 includes a table 122 that rotates about avertical axis 126. In this exemplary embodiment,rotary framework 120 rotates a work-piece 104 that has been positioned onrotary framework 120 from a load/unloadzone 101 to awork zone 102. Such arotary framework 120 may rotate work-piece 104 (e.g., 180 degrees) between load/unloadzone 101 andwork zone 102. As described above with reference to the first exemplary embodiment,positioner 100 may be capable of simultaneous, multiple axis movement such that the work-piece may be in the desired position at the end of the sweep motion fromzone 101 tozone 102. As shown,rotary framework 120 may also include adivider 128 separatingrotary framework 120 into two areas to provide protection to an operator and to separate work-pieces held byrotary framework 120. In the exemplary embodiment shown inFIGS. 4-5 ,rotary framework 120 is a turntable-style positioner, wherein a substantially circular table rotates about a substantiallyvertical axis 126 between two positions (i.e., load/unloadzone 101 and work zone 102). Although, as described above, mezzanine may be configured to support any number of robots, this particular exemplary embodiment shows tworobots 170 mounted tomezzanine 150, specifically to ahorizontal member 156 ofmezzanine 150, abovework zone 102. In this exemplary embodiment,positioner chassis 112 includes a firstvertical support 114 and a secondvertical support 115 that are then welded tohorizontal member 156 ofmezzanine 150 and is configured to support both the mezzanine and one or more robots (e.g., 170). This exemplary embodiment of thepositioner 10 androbots 170 of the present invention may also comprise the same footprint as described above herein. The positioner of this exemplary embodiment is commercially available from Motoman, Inc., West Carrollton, Ohio, within the 1200 Series of positioners. - In still another exemplary embodiment of the present invention shown in
FIGS. 6-7 ,positioner 200 includesmezzanine 250,positioner chassis 212, arotary framework 220, a first set of work-pieces supports 230 and 232, and a second set of work-piece supports 240 and 242, whereinrotary framework 220 rotates about a verticalrotary framework axis 226. Suchrotary framework 220 may also include oppositerotary framework arms opposite framework arms piece axis 234 extending between first set of work-piece supports.Rotary framework 220 may also include a second set of work-piece supports 240 and 242 that are located at an opposite end ofopposite framework arms zone 201 andwork zone 202. - Still referring to
FIGS. 6-7 ,mezzanine 250 may include first and second mezzanine supports 252 and 254 that are secured to a substantiallyhorizontal member 256 and is configured to hold one or more robots 270 (e.g., one in this exemplary embodiment). First and second mezzanine supports 252 and 254 may be attached (e.g., welded) to a base 213 ofpositioner 200 and positioned along the flooradjacent positioner chassis 212. Such a positioner may rotate a work-piece (not shown) held in first set of work-piece supports 230 and 232 about framework axis 226 (e.g., 180 degrees) from a load/unloadzone 201 to awork zone 202, and then allow a second work-piece (not shown) to be loaded onto second set of work-piece supports 240 an 242 in load/unloadzone 201. Additionally, this configuration ofpositioner 200 androbot 270 may define a combined footprint as detailed above herein. - As will be understood by those familiar with the art, the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. For example, the invention is not limited to the type and dimensions of the transport vehicle specifically disclosed. Accordingly, the disclosures and descriptions herein are intended to be illustrative, but not limiting.
Claims (20)
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US11/099,996 US20060226139A1 (en) | 2005-04-06 | 2005-04-06 | Wok-piece positioner |
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US11/099,996 US20060226139A1 (en) | 2005-04-06 | 2005-04-06 | Wok-piece positioner |
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US20060226139A1 true US20060226139A1 (en) | 2006-10-12 |
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US11/099,996 Abandoned US20060226139A1 (en) | 2005-04-06 | 2005-04-06 | Wok-piece positioner |
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JP2011148010A (en) * | 2010-01-19 | 2011-08-04 | Yaskawa Electric Corp | Robot system with positioner |
JPWO2013057788A1 (en) * | 2011-10-18 | 2015-04-02 | 株式会社安川電機 | Work unit and work unit manufacturing method |
US20150314403A1 (en) * | 2014-05-01 | 2015-11-05 | Siemens Energy, Inc. | Arrangement for laser processing of turbine component |
US9969077B2 (en) | 2014-11-11 | 2018-05-15 | Lincoln Global, Inc. | Workpiece positioning apparatus, and method of using same |
JP2019018320A (en) * | 2017-07-20 | 2019-02-07 | 株式会社安川電機 | Robot system |
US10493572B2 (en) | 2016-06-14 | 2019-12-03 | Lincoln Global, Inc. | Welding Ferris wheel positioner |
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WO2010069377A1 (en) * | 2008-12-18 | 2010-06-24 | Abb Technology Ab | A kit and a method |
JP2011148010A (en) * | 2010-01-19 | 2011-08-04 | Yaskawa Electric Corp | Robot system with positioner |
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US20150314403A1 (en) * | 2014-05-01 | 2015-11-05 | Siemens Energy, Inc. | Arrangement for laser processing of turbine component |
US9969077B2 (en) | 2014-11-11 | 2018-05-15 | Lincoln Global, Inc. | Workpiece positioning apparatus, and method of using same |
US10493572B2 (en) | 2016-06-14 | 2019-12-03 | Lincoln Global, Inc. | Welding Ferris wheel positioner |
JP2019018320A (en) * | 2017-07-20 | 2019-02-07 | 株式会社安川電機 | Robot system |
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