CA2698387A1 - Probe support - Google Patents

Abstract

Disclosed herein is a probe device comprising a reference barrel, the reference barrel having a longitudinal axis, a support assembly mounted for travel relative to the reference barrel and along a path parallel with the longitudinal axis, the support assembly including a first support barrel slidably nested within the reference barrel and arranged for movement along the path and a second support barrel nested within the first support barrel for movement along the first support barrel between inner and outer limit positions along the path, a biasing portion for biasing the second support barrel toward an operative position, the second support barrel including an operative end portion, the operative end portion including a tip for probing a target site on a surface of a target article.

Description

, k . . ' PROBE SUPPORT
FIELD OF THE INVENTION

The present invention =relates to support assemblies and more. particularly but not necessarily exclusively =to " support assemblies to be held in a robotic arm to support a device thereon.
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DESCRIPTION OF THE RELATED ART
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Robots are common fixtures in manufacturing and assembly plants. Their greatest asset is that they can repeat a particular step with considerable precision following the instructions of an operatidnal software . x program.. Setting up the robot requires that the'operational software program be tested to be siire that the various destination coordinates are accurate, according to those of the work piece..

. ' .
For instance; a manual confinnatiou can be done using a standard measu.ring device (example: ruler) and by =
climbingon a ladder to reach the robot throughout the various steps of a program. A measuring article with =
known static distance may be attached to the gun to maintain a uniform dis.tance throughout the program.
..
This typically involves two tie-wraps and some masking tape.

It may be unsafe for the` operator to confirm the positions of the robot manually. Doing so may involve i. .
awkward and/or unbalanced postures. Using static or fixed length attachments does not provide information at altemate distances, can damage the part and is often unreliable over the long term. These = =
methods may be ineffective to communicate resulting coordinate data to a third party.

It would be desirable to provide a novel approach to this taslc = .
=
.......... ... ..._.... .. ........... .. . . _...... ......... . ----------SUMMARY OF THE INVENTION

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In an embodiment, there is provided a marking device comprising a reference barrel; the reference barrel having a longitudinal axis, a marker support assenibly mounted for travel relative to the reference barrel and along a path parallel with the longitudinal axis, the marker support assembly including a first support barrel slidably nested within the reference barrel and arranged for indexed movement along the path and a second support barrel nested within the first support barrel for movement along the first,support barrel between inner and outer limit positions along the path, a biasing portion for biasing the second support .
barrel toward a centiral position between the inner and outer limit positions, the second support barrel having a distal end region which is configured to receive ar}d hold a marker thereinwith an operable marker tip exposed therefrom.
.10 In an alternative embodiment, the, reference barrel and/or the first support barrel has a number of index formations at spaced locations relative to the longitudinal axis.
. . .
In an alternative embodiment, the fust support barrel has a first cylindrical outer surface, the index formatioiis being Iocated on the first outer surface.

In an alternative embodiment, each formation includes a lateral recess.

An alternative embodiment further comprises at least one detent portion anchored relative to the reference barrel for engaging a corresponding lateral recess according to the position of the first support barrel relative to the reference support barrel.

In an altenutive embodiinent, the detent member includes a spring biased detent ball.

In an alternative embodiment, the first support barrel further includes indicia formed on the first outer surface and adjacent one or more of the index formations.
._ ........................._.. ._....... ..... ...... .......... .......
........... .......:. .-....... _.......-. .............
.._..........._.............. _........... ._.......... ....
..................... _.......... _............_._...................
......._.... ........... ...... :_._.................. ..............
............
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In another alternative embodimeint, the indicia include one or more related reference characters and/or related.coloured surface portions.

. . . , -In an altennative embodiment, further comprises a plurality of plaaar surface portions formed on the first cylindrical outer surface, each surface.portion adjacent a corresponding lateral recess and bearing one of ' .
the related reference characters' and/or related surface portions.
- = .. . , .
In an alternative embodiment, the indicia include consecutive number's, each cotresponding to a unit of displacement along the longitudinal axis.
- .
. = =
. . =
In an alternative embodiment, the indicia includes consecutive numbers, each con-esponding to a unit gf = .
displacement along the longitudinal axis, each consecutive number being formed on a surface portion with = = -a related colour background.
= .
' ' . = = . . . - .
In an altenaative embodiment, the distal end region has a number of longitudinally oriented slots to form a tiumber of resilient prongs distributsd about the longitudinal axis, the prongs dimensioned to flex outwardly when receiving the marker.

In,an al.ternative embodiment, the second support barrel lias a length, the first support barrel having a first inner passage to receive the second support barrel, the fitst inner passage having a depth substantially equal ` = . ,.
with the length of the second support barrel.
. - ' = = = = ' = ' ' 20 In an alternative embodiment, the firat'support barrel has a first proximai end region, a first inner passage tenminating at an inner abutment surface; the"frst stipport barrel having a second inner passage extending between the inner abutment surface and the fit'st proximal end region, the biasing portion including a spring = . = - .
located in the first and second ianer passages.

+ = . = .
: In an altenxative embodiment, the second inner passage includes a shoulder near the first proximal end . = .
= . - = -region, the shoulder being diznensioned to engage one end of the spring.
. =

= ' HON-OPD/CDA-DIV 3 = ' - . . . . ~ . - .. . - . . .

, . . . . , . _ = .

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In an alternative embodiment, the second support barrel-has a second proximaI
end region and a spring guide portion extending therefrom into the first inner passage and, the spring guide portion being . .
dimensioned to-extend into the spring.
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In, an alternative embodiment, the second support barrel has a third inner passage to receive the marker, the second support barrel having a second proximal end region, the third'inner passage terminating at an inner abutment surface.
-;. .= . , .

In an alternative embodiment, the spring guide portion includes a body, a first guide element extending ~, . .
from the body into the first inner passage and a second guide element extending into the second proximal end region for securing the spring guide portion thereto.

Another alternative embodiment provides a robot device comprising a robot atm, the robot arm carrying the device as defined hereinabove.

In another alternative embodiment, there is provided a- method of mounting a marker, comprising providing a reference barrel with a longitudinal axis, mounting a first support batiel in the reference barrel for indexed movement along a path parallel with the longitudinal axis, nesting a second support barrel within the first support barrel for movement along the first support bairel between inner and outer limit positions, biasing the second support barrel toward a central position between the inner and outer limit positions and mounting a marker in the second support barnol.
= . = r In another alternative embodiment, there is provided a probe support device comprising a reference body, a first support body mounted within the reference body for movement between a number of indexed positions therein, a second support body slidably mounted within the first support body betoveen an inner ~ ..
limit position and an outer liniit position, a biasing portion for biasing the second support body toward an ............ ...__ ............. ......... .............. ...............
....................... ............... ...__.... ............
...................._.. .... _........ ..... ...... ......
._.................... ................ ......... ..... ....... ---................ .... _.......... .._...... ......_.......... _......_....._".-.."....._._...................._........... .................. ._ operat.ive position, the second support body having an. inner cavity which is exposed in the outer limit .= =
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' , . . ' , ' , . . ' . . = . HoN-GPD/CDA-Div = 4 ..

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position, the second support body further iiicluding a number of engagement formations for engaging a . ' - . = .. `
probe element.
= . . . ' 'In an alternative. embodiment, the fnst support body has an outer surface, each of the indexed positions including a formation positioned on the outer surfaee.

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, . . .
In an alteruative embodiment, the first support body has an outer surface, each of the indexed positions . - ..
including a lateral.formation extending,around the outer surface.

In an alternative embodiment, the formation is a recess.

An altenaa.tive embodiment further comprises at least detent portion positioned on the reference body for = . . . . .. ' engaging the recess.
. .
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In an alternative embodiment; the at least one detent portion includes a spring loaded ball.
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In an alternative embodiment, the fust support body includes indicia adjacent eacfi formation for identifying a relative position of the first support body relative to the reference body.
= , In an alternative embodiment, the indicia includes a set of related reference characters, each reference ' ' =
character&dj acent a voiresponding fonmation.
. .
. -In an alternative embodiment, the indicia includes a set of related coloured surfaces, each coloured surfaces . .
being adjacent a corresponding formation. 25 .

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In an alteniative embodiment, the engagement formations are formed by, a plurality longitudinal slices in ._ ................__ _....._.._ _ - : _.._......... _._._.._.. _........ _ ......... _ _...... ... _.~...._.._......._.,...._-.:__---- -.._..._........_..-_ ..... ---------- _.__....... ....... ......_.........
....... _........ .....
.the second support body to fqrm a plurality of resilient prongs for engaging tfie probe element.

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HON-C'iPD/CUA-D[V 5 .. .
. , , , ... . . ' . . .

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In an alternative embodiment, the probe element includes a marker, pencil and/or pen.
=
Another alternative emboditttent provides a probe device comprising a reference barrel, the reference barrel having a longitudinal axis, a support assembly mounted for travel relative to the reference ban:el and .
along a path parallel with the longitudinal axis, the support assembly including a first support barrel . . . . ' slidably nested within the reference barrel and arranged for movement along the path and a second support barrel nested within the first support batrel for movement along the first support barrel between inner and ' outer linut positions along the path, a biasing portion for biasing the.second support barrel toward an . . .
operative position, the second support barrel- including an operative end portion, the operative end portion I..
including a tip for probing a target site on a surface of a target article. .
.
= , = .

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In an alternative embodiment, the operative position is a central position between the inner and outer limit positions.
= - .

In an alternative embodiment, the operative end portion is integrally formed with the second support barrel.
. .
. ' . =
. , .
In an alternative embodiment, the operative end portion includes a probe element held within the second suppoit barrel.
. ' = = = .
= . .. -In an embodiment, the probe element includes a'marker.

. : = An alterinative embodiment further comprises a cap or retainer for'removably securing the marker to the second support barrel.

=. =

Another altennative embodiment provides a'robotic installation, comprising a robot arm, the arm having an = .
operative wrist portion, the wrist portion including a reference barrel, the reference'barrel having a _ _ _ .._.__._........_...._..._ ............._._......:...._.
_._._.._....._...-.._..._.._.........._......-........_..................._.... ........_._.-......._...........
..._._._......._......_.........
..._.... ....... .............. -..-..
-longitudinal axis, a support assembly mounted for travel relative to the reference barrel and along a=path ..
parallel with the longitudinal axis,-the support assembly including a first support barrel slidably nested .
, . = . == . ' ' = . . `~
. .= = .

. , within the reference barrel and arranged for movement along the path and a second support barrel nested within the first support bairel for movement along the first support barrel between inner and outer limit positions along the path, a biasing portion for biasing the second support barrel toward an operative position, the second support barrel ineluding an operative end portion, the operative end portion including a tip for probing.a target site on a surface of a target article:

' =
Another alternative embodiment provides a method for training robotic installation, comprising providing a robot arm with an operative wrist portion, installing a reference barrel on the wrist portion, the reference barrel having a longitudinal axis, positioning a support assembly on the wrist portion for travel relative to the reference barrel along a path parallel with the longitudinal axis, providing the support assembly with a . =
first support barrel, arranging the fust support barrel for movement along the path and a second support barrel nested within the first support barrel for moverrient along the first support barrel between inner and outer limit positions along the path, providitig for a bias of the second support barrel toward an operativt position, providing the second support barrel with an operative end portion for probing a target site on a ' ' ~ . =
I S surface of a target article.

~. ' =
Another alternative embodiment provides a method for training robotic installation, comprising' providing a robot arm with an operative wrist portion, providing a carrier body on the wrist portion for movement relative thereto, installing a reference probe in the carrier body for movement relative thereto, providing .20 the reference probe with a first range of travel between.a first inner limit position and a first outer limit position relative to a earrier body, providing the carrier body with a second range of travel between a second inner limit position and a second outer limit position relative to the wiist portion, and providing a plurality of colour and/or reference formations on the reference probe, the carrier body and/or the wrist portion to denote changes in the position of,the reference probe.
25 , Another alternative embodiment provides a robotic installation, comprising a robot arm with an operative wrist-portion; a carrier-body installed on fhe wristporfion'formovetrttent relative theretb; a refe"rence pro1ie _......:..._......._.__. ............
supported in the carrier body for movement relative thereto, the reference probe being movable with a first . " ' ~.
' . . . . "

range o#'travel between a first inner limit position and a first outer limit position relative to a carrier body, . . .
the carrier body beirig movable with a second range of travel between a second inner limit-position and a second outer limit position relative to the wrist portion, and a plurality of colour and/or reference formations on the reference probe, the carrier body and/or the wrist portion for identifying changes in the position of the reference probe.

Still another alternative embodiment provides a method for training a robotic installation, comprising a step for providing a robot arm vi+ith an operative wrist portion, a step for providing a carrier body on the i. = ' wrist portion for movement relative thereto, a step for installing a'reference probe in the carrier body for movement relative thereto, a step for providing the reference probe with a first range of tiavel between a first inner limit position and a first outer limit position relative to a carrier body, a step for providing the catrier body with a second range of travel between a second inner lirnit position and a second outer limit position relative to the-wrist portion, and a step for providing a plurality.
of colour and/or reference . . "
formations on the reference probe, the carrier body and/or the wrist portiop to denote changes in the position of the roference probe.
= ".
. "
=..~ , = , . , Still another altetnative embodiment provides a robotic installation, comprising a robot means with an operative wrist means, cazrier means installed on the wrist means for movement relative thereto, reference probe means supported in the carrier meatis for movement relative thereto, the reference probe means 20being movable with a first range.of travel between a fnst inner limit position and a fYt'st outer limit position relative to a earrier means, the carrier means being movable with a second range of travel between a . .
second inner limit position and a second outer limit position=relative to the wrist means, and a plurality of = .
colour and/or reference formations on the reference probe means, the carrier means and/or the wrist means = . =
for ideri ttfyirtg changes in the position of the reference pmbe means. = , =
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.... ..............
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..........."......"........ ......_.... _ ._........... ...
In yet another alternative embodiment, there is provided a probe support device comprising a reference , " .. .
member, the reference member having a longitudinal axis and providing at least one path along the = =

longitudinal axis between a proximal location and a distal location, a probe support asseinbly mounted for travel relative to the reference member, the probe support assembly including,a support barrel slidably engaged with the reference member and including at least one guide_formarion for extending into the path to limit travel of the guide formation to between the proximal and distal locations, a positioning portion=
. =
mounted on the support barrel for supporting a probe with an operable remote exposed therefrom, and a .
biasing portion for biasing the support barrel toward the distal location.
. . , . =

In still another alternative embodiment, the reference member is nested within the support bacrel.

In an alternative embodiment, the reference member fiuther including a central passage, the biasing portion including a spring located within the central passage.

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. .
In an alternative embodiment, a device as defined in claim 46, the at least one guide formation including a pair of opposed pin members extending inwardly from the support barrel.

In an altemative embodiment, the reference member including a pair of elongate slots, each to receive a corresponding pin member.

In an alternative embodiment, the reference member further includes a central passage, the biasing portion..
. , . . _ including a spring located.witliin the central.passage, the support barrel further contprising a housing to receive the probe,. the housing being arranged to extend into the central passage.

In yet another alternative embodiment, there is provided a method for training a robotic installation, `
comprising a step fur provtding a robot arm with an operative wrist,portion, a step for providing a carrier on the wrist portion for movement relative thereto, a step for installing a reference probe in the carrier body :
for movement relative thereto, a step for providing the reference probe with a range of travel between a.
~._ ................._._..._._.._._.._._.._...._....__._.... .._ .
..................... ..................... _..........__..................
._...._..._...........
_..................._._.........._........................_......_..._...._..._ ....._........ _..................... ..._.
_...._._.................._...._.._.........._......_......._._................
........ ......_. _.................. ........_...._..,..:
first inner:limit position and a first outer limit, position relative to the camer body and a step for providing a . = . . .
. _. .

= - E
, . ' =
pturality.of colour and/or reference formations on the reference probe, the carrier body and%or the wrist portion to denote changes in the position of the reference probe.
. -' ~ =
BRIEF DESCRIPTION OF THE DRAWINGS
- =

Several.preferred embodiments of the. present invention will be provided, by way of examples only, with " = =
reference to the appended drawings, wherein:
=
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Figure 1 is a perspective view of a support device;

Figures 2 and 3 are assembly views.of= the device of figure 1;

.. ' Figure 4 is a perspective fragmentary view of the device of figure 1;

~. - . = _ . .
= . . . , .. .
Figures 4a, 5 and 6.are fragment," sectional views of the device of figure 1 or portions thereof;
= . - =
;. . .
Figure 7 is a fragmentary perspective assembly view of a portion of figure 1;
I. -Figures 8, 9, 10, 11 and.I la are operational views of the device of figure 1;
. . . ..
Figure 12 is ~a fragmentaryperspective view of a portion of another support device;
= ' .

Figures 13 and 14 are cross sectional and perspective views of another device;-and .. ~ .
Figure 15 is cross sectional view still another device.

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..................... _.......................... -._.................
._._......._........ _............... _:..... ------- ..._... -...... .....
_._.._..
DESCRIPTION OF THE PREFERRED EMBODIMENTS

It should be understood that the invention is not limited.in its application to the details of construction and the arrangement of components set forth~ in the following description or-illustrated in the drawings. The =
invention is capable of other embodiments and of being practiced or of being carried out in various ways.
Also, it.is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. The use of "including,"
"comprisiag," or "having" and variations thereof herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless limited otherwise, the terms "connected," "coupled,"
and "mounted," and variations thereof herein are used broadly and encompass direct and indirect connections, couplings, and mountings. In addition, the'terins "connected" arid "coupled" and variations thereof are not restricted to s =
= 10 physical or mechanical connections or couplings. Further.more, and as described in subsequent paragraphs, the specific mechanical configurations illustrated in the drawings are intended to exemplify embodiments . .
of the invention. However, other altemative mechanical configurations are pos'sible which are considered to be within the teachings of the instant disclosure. Furthermore, unless otherwise indicated, the term "or"
is to be considered incitisive.
' =
t = = .

Refen-iutg to the figures, there is provided a support device 10 having a reference barrel 12 with a longitudinal axis 14. A support assembly 18 is mounted for travel relative to the reference barrel 12 and along a path parallel with the longitudinal axis 14. As will be described, the support assembly 18 is configured, in this case, to support a marker 30, such as those commercially available under the trade mark SHARPIE MINI . However, the support assembly 18 may be used for supporting other marking=devices or displacement -or placement probes, or the like for example. .

= The support assembly 18 includes a first support barre122 slidably nested within the reference barrel 12 and arranged for indexed movement along the path. A second support barre124 is nested within the first =
support barre122 for movement along the first support barrel 12 between inner and outer limit positions along the path. A biasi'ng portion, in the form of a spring 26 (figure 2), is provided for biasing the second =
..... .... ......_........ _ ......... ....... _................ ...........
................._...... .__.._........_....._._...-...__....__..._.....-.._:................._........._..._....._.._._........__................_.....
.._....._.._............._........._........_...._.................._..._..
..._...._..:._..._............ ........... ..._................... .........
......_.....
support barre124 toward a central position between the inner and outer limit positions.

HON-GPD/CDA-DIV
~ ~

.. , . ' . . ' The second support barre124 has a distal end region 24a which is configured to receive and hold the marker 30 therein with an operable marker tip 30a exposed therefrom.
=
.Referring to figure 2, the reference bazrel 12 and/or the first support barrel 22 (or both) has a number of index formations 34 (at spaced locations relative to the longitudinal axis 14 as shown in fgure.1) to register the relative position between them. In this case, the first support barre122 has a first cylindrical outer ' =. .
;= surface 22a and the index formations 34 are located on the first outer surface. Each index formation, in this case, includes a lateral circumferential recess 36.

At least one detent portion.40 is anchored relative to the reference barrel 12 for engaging a corresponding lateral recess 36 according to the position of the first support barrel 22'relative to the reference. support barrel 12. In this case, the detent portion 40 includes a number of spring biased detent ball arrangements, each shown at 44. The detent portion 40 includes a collar portion 46 which is provided with a threaded passage 46a for supporting each of the detent ball arrangements 42. The collar portion 46 is held on an end 15: region 12a ofthe reference barrel 1 2. In this case, the detent ball arrangements 44 have an end region 44a through which a'spring biased bal144b extends. The end region 44a extends through both the passage 46a as well as a passage 12b in the reference barrel 12.
~=

The first support barrel 22 further includes indicia 50 formed on the first outer surface 22a and adjacent one .
or mbre of the index forniations 34. In this case, each indicium is adjacent a corresponding index formation 34, though other configurations may also be suitable such as an indicium adjacent every second index formation 34,-for instance. The indicia 50 include related reference characters and/or related coloured surface portions. Referring to figure 1, a plurality of planar surface portions 52 are formed on the first cylindrical outer surface 22a. Each planar surfac~e. portion 52 is located adjacent a corresponding iateral.

25, recess 36 (f,igure 2) and bears one of the related reference characters and/or related planar surface portions.
The reference barrel 12 is fnrther provided with an elongate window passage 12c (figure 1) which aligns __..... :... --....... ........... _........ ,--- ---.... .._.._.. .......
........... ............... .......... ..........
........._...._............:...................................-..........:...................__..._............. ........... ..._...:_-.............. _................... ..... _.... .......... .._ -..........
...................... .......-.. ..-...... _..
wtt ~n tlus case, a contact region 4bc m the collar. portion 46 to presejit the.indicia therethrough as can be seen in figure 1.

=

The. indicia 50, in this example, include consecutive numbers, each corresponding to a unit of displacement along the longitudinal axis 14, starting with the lower reference number, in this case "8" to signify "eight = . =
inches", corresponding to the overall length of the device 10.to the marker tip 30a when the second support .
barrel 24 is in its central position as shown in figure I: Each consecutive number is formed on a corresponding planar surface portion 52 with a related colour coding provided on the neighbouring recess, as shown by the surface textures provided in the magnified view of figure 4a.
This colour background thus enables an operator to recognize the position of the fust support barrel relative to the reference barrel from = .
a distance, say at a distance of several meters. For instance, a selection of colouts from the colour 1,0 spectrum may be used in the order that they appear in the spectrum. For instarice, the colour red may be used to signify 8 inches, the colour blue to mean 6 inches and so on. While the window passage 12c is useful, other arrangements may be provided to identify particular indicia. For instance, as shown in figure =
4a, rather than using the indicia in the window passage 12c , i.e. the reference character "8", the indicia aligned with a lowermost face 12e of the reference barrel 12 may be used, which in this.example is adjacent the reference character "T'. The colour aoding may be provided on other regions, such as a background for each reference character or indicium limited to the planar surface portions 52 (as for example shown for the planar surface portion 52 bearing the reference character "10"), or to the cylindrical outer surface 22a . =
and in the vicinity of the corresponding reference character.

Referring to figure 4, the distal end region 24a of the second support barrel 24, has a number of longitudinally oriented slots 54 to form a number of resilient prongs 56 distributed about the longitudinal axis. The prongs 56 are dimensioned to flex outwardly when receiving the.
marker 30. However, other methods and means may be used to secure the marker 30 in place: For instance, fasteners may be anchored to the second support barrel. Alternatively, a.cap or retainer ring shown at 57. may be snap fit or otherwise . .
engaged or secured on the end region 24a. -- .
Referring to figure 5, the f.ust support batre122 has a first inner passage 58 to receive the second support :...................... .. ._............. ....._..._. ...... .....
._............ ............ -... ...... _-.._.._......-.._.............................. .... .... ........................
......__............. --..........
...._..._........._......:..................:... ...-........._...................... ...__....
.._:.._................................................. ....-._........-._..
barrel 24 in a nested arrangement. In this case, the first inner passage 58 has a depth substantially equal =
with the l.ength of the second support barre124, though the depth of the first inner passage 58 may be a = =
HON-GPD/CDA-D!V 13 . `
..

diTerent length as need be, depending on the relative dimensions of both the first and second support barrels 22, 24.

The fiist support barrel 22 has a fvscproximal end region 22b and the first inner passage 58 terminates at .. . ~ =
an inner abutment surface 60. The first support barrel 22 has a second inner passage 62 extending between the inner abutment. surface 60 and the first prozimal end region 22b. In this case the spring 26 is located in both the first second inner passages 58, 62. The second inner passage 62 includes a shoulder 62a near the first proximal end region 22b. The shoulder is dimensioned to engage one end of the spring 26.

1 ' =
Referring to figures 2, 5 and 6, the second support barrel 24 (figure 5) has a second proximal end region 24b and a spring guide portion 64 extends therefrom into the first inner passage 58. In this case; the spring guide portion 64 is also dimensioned to extend into the spring 26. The spring guide portion 64 (figure 2) . , .
includes. a body 64a, a first guide element 64b extending from the body 64a into the first inner passage 58 and a threaded second guide element 64c (figure 6) extendinginto a corresponding threaded passage 65 in the second proximal end region 24b for securing the spring guide portion 64 thereto. The second guide element 64c-further includes a remote pin portion 64d to snap fit with a proximal end 30b on the marker 30.
- = v ' =

The second support barrel has a third inner passage 66 to receive the marker.

' = 20 As can be seen in figure 4, the second suppoit barrel 24 has a Second cylindrical outer surface 24c and further includes indicia 67 formed thereon. The indicia 67 include related reference characters 67a and/or related coloured surface portions adjacent a number of equally-spaeed lateral demarcation recesses or lines 67b. The indicia, in this example, include consecutive fractional numbers on either side of an axial zero point, signifying the central position between the inner-and outer limit positions. Each indicium thus t , . =
. -corresponds to a unit of displacement in either directioqalorig the'longitudinal axis.
=
:.................:.........,.-- ..... ............. ..._._.:__As can.be seen-in figure4a;-each-recess 67b is-also provided..with. a different colour background to aid in identifying the position of the second support barrel relative to the first support barrel. However, if = =
desired, the indicia may also be provided with a related colour background (not shown) such as on the HGN-GPD/CDA-DIV 14.

= = .
= .
. .

= .
cylindrical outer surface 24c between the recesses 67b. Thus, as can be seen in figure 5, the central.
. . =
position can be seen by the zero demarcation line 67b lining up with the outermost face 24d of the second . . -.
support bariel=24.
' =
-Refeiring to figures 3 and 7, the second support barrel 24 has a pair of opposed elongate windows 24e, each of which aligns with a corresponding anchor passage 22c in the first support barre122 to receive a pair of limit pin members 68. Thus, the travel limit pin members 68 in the elongate windows 24e serve to define the outer limit position for the second support barrel 24, while the inner limit position is defined by the position where the second support barrel 24 contacts the abutment surface 60.(figure 5) defines ihe inner limit position.

- . . .
Though the marking device 10 may have a number of uses, it is particularly well suited for use on a robot =
70 as shown in figure 8. The robot 74 has an arm portion 72 with a wrist joint region 74 which is ... .
configured to receive the reference barrel.l2 thereiri. The device 10 is particularly useful for verifying the -codes and coordinates of an operational program.for the robot 70. For instance; the robot 70, when being programmed to paint a surface 82, must be positioned at or in different locations and orientations relative to the surface, according to the shape, surface texture, material makeup and the like, of the work piece 80 bearing the surface 82. In this case, as seen in figure 8; the surface 82 has a slight upw4rd.ramped ' configuration from right to left. The operational program may be activated causing the robot 70 to ran .20 along a prescribed painting path relative to the surface 82.'-The marking device 10 is then adjusted so that the tip 30a is in contact with the surPace '82 so as to verify precisely where the robot 70 is tracking =at any ! = ' particular time.
. .
' .

Consicier the example in figure 9. In this case, the robot 70 encounte,rs a change in-elevation of the work piece 80, in the form of a ridge 80a, and the robot.70 maintains a consistent orientation of the reference barrel 12. In this case, the tip 30a follows the change in elevation while the second support barre124.
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mov:es relative to the first support bariel against the action of the spring 26. There is no net change in the position of the first sapport barre122 relative to the.refcrence barrel 12 because the change elevation ofthe ~ . . ... . . =
= . ' .
. . . - .

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tip 30a is within the available displacement or travel between the central position of the second support barrel_ 24 and its upper limit positions relative to the first support barre122. Thus, the tip 30a approaches =
the ridge 80a at position a), travels over the ridge 80a and, in. so doing, adjusts to a new position b), and : .
assumes its original position a) beyond the ridge 80a.

!
. .
Consider now the example in figure 10. An this case, the robot 70 encounters a greater change -n elevation of the work piece 80, in the form of a higher ridge 80a, and again the robot 70 rrieintains a consistent 'orientation of the reference-barrel 12. In this case, the tip 30a follows the change in elevation while the second support barrel 24 movesretative to the first support barre122 against the action of the spring 26.

= There is, in this case, a net change in the position of the first support ban:e122 relative to the reference barrel 12 because the change elevation of the tip 30a is beyond the available displacement or travel between the central position of the second support barre124 and its upper positions relative to the first support barrel 22. Thus, the tip 30a approaches the ridge 80a at position a), travels part way'up the ridge 80a to position b). In this case, the second support barrel 24 is `bottomed out' against the abutment surface 60 in the first support barre122, causing the latter to move relative tothe reference barrei 12 against the.positioning forces of the indeic formations 34, to a new position bl). The tip 30a continues to travel over and down the I. .
ridge to position b), thus forming a trace 82a along the surface 82 to illustrate the path of the robot, as shown in figure 1 la. However, in this case, the tip 30a is no longer in contact with the surface as result of the upward shift, or indexed displacement, of the first support barre122 relative to the reference barrel 12, thus registering a new orientation, in the elongate window passage 12c.presenting the current indicia 50 for the fust support barrel and adjacent the indicia 67 adjacent the outermost face 24d.

Thus, the device 10 provides an improvement in accuracy of precision robotic programming by providing a programmer or other operator with effective visual feedback The device 10 allows the operator to accurately measure the distance between the operative end region of the robot and the work piece that the prograin is being'built and/or confirmed for, to reduce programming tiine and costs associated with !-........ ....._........._..__.__........._... =
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development and quality control.
=
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HON-GPD/CDA-DIV .16 = . .
The device 10 is able to adjust to show the actual distance and is graduated on the exterior so that an operator may view the actual result as the program is built and/or tested. The device also provides a method to evaluate program consistency by attaching a probe or marking article, in this case a marker commercially available under the trade mark SHARPIE MINI and tracking the program path. Other =
marking utensils may also be used such as pens, pencils, chalk sticks and the like. The. path may be recorded on a part as a result of the marker tip 30a causing a trace along the surface 82 and may then be . !
communicated to a third pa.rty:
`. . ..
In this case, the reference barrel 12 is provided with a flange 12d on its proximal end to engage a painting . cap retaining ring, so that it may be grasped by the wrist joint region 74 of the robot 70. The reference barrel 12 tnay be effective at a length of about 6 inches, though other dimensions may be used as desired.

The collar portion 46 may function as a.plunger holder to hold first support barre122 in place. The second support barrel 24 may be provided in the form of a graduated collet that.shows smaller increments, when =
compared to the increments of the fust support barre122, for fine adjustment reading.

Given that the collar portion 46 is held in place by the spring-biased detent ball arrangement 44, the collar portion is thus removable so that alternate reference barrels 12 may be provided with different retaining rings, as needed to. accommodate different types of wrist joint regions 74.
Alternatively, the retaining rings 12d themselves may be removable from the reference barrel 12 to provide a similar adaptability for 20' different robotic arms or other positioning systems.
. . .

In one example, the second support barre124 may collapse or otherwise be displaced relative to the first support barrel 12 under a collapse force, ranging from 0.3 to 1.0 lbs, and preferably in the order of about 0.6lbs force, though other configurations and different collapse forces may also be useful, while miriimizing damage to the target part.- The colour coded graduations may be helpful in to allow an operator to view the condition of the device 10 from as far as 5 to 10 feet away. In this instance, the collet houses a .. .. ..
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marker availablaunder the trade name ...... SHARPIE MINI . However; the colour coding may be replaced by . ~ .

- --. , . . ' = .
other surface patters or treatments. f'urthermore; the colour coding or surface pattems or, treatment may be applied to other regions of the fust and second support barrels, as desired..
.- .
- . .
. .I
The reference barrel 12, as well as the first and second support barrels 22, 24 may be provided in the same or different materiats, including aluminum, steel, or a range of engineered plastics such as NYLON (a trade mark).
=

In another variation of the device, as shown in figure 12, the second support barre183 is integrally formed with a probe portion 83a. This variation has the benefit of not requiring a separate marker 30 or other .
article to perform a probing function during use.

lteferring once again to 6gure 1, the r+eference barrel 12, or for that matter the first or second support = , barrels, maybe provided with a lateral "breakaway"capability as shown in the dashed lines. This - .
'breakaway capability would provide for a-lateral.release of the device in a direction tangential to the axis 14 in the case where the robot is diiected to travel along an incorrect path and toward an obstacle. In this - - . . - - , =
instance, the breakaway feature provides a lateral release, without which the device 10 would collide with the obstacle, causing damage.
- '. - - .
Thus, the device 10 provides a means to obtain measurements at numerous loeations throughout a program 20. and allows the programmer to understand the actual path being followed on the part. This may, in some cases, lead to reduced programming times and improved quality, especially in applications where distance from the robot to the work piece or part is important, such as in the case of alectrostatia painting. If the . - , = =
robot is too close to the part, there may be a safety risk of sparks and/or arcing which can lead to possible explosions, damage and/or injury: Ori the other hand, if the robot is too far from the parl, the quality of the.
finished surface may be substandard, thus increasing costs to remediate. -, - .

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The device 10 has the benefit that it allows the operator to see each of these conditions before painting a .

part and make improvements in a timely qnd effective manner.
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. -The device,12 may be used in other applications as well. For instance, a robot may be programmed to fill a mold. with chemicals required to produce foam parts= of specific dimensions and physical characteristies:

The device 12 may allow for precise programs to be built and recorded on a.
template for future reference.
The reference barrel 12 is, in a present example, configured with the proximal end region to receive a',=
retaining ring or other flange to be received by the wrist joint region 74 of the robot 70. However, the reference barrel 12 may be configured with other flanges, foratations or in other ways to be mounted in . , other robotic arrangements, such as by the use of an adapter or the like between the reference barrel 12 and s . . . .
the wrist joint region 74. ' =
, . = .
The device 10 may also be used for.preparing robotic laser cutting applications, where the distance between the work-piece and.the laser cutting tool is of considerable importance.
Thedevice 10, thus, may in some = , cases facilitate better program accuracy without damage to and/or waste of material.

The device 10 may also be useful for robotic sealing, bonding and dispensing operations. In these ~ = .. =

applications, a bead of material is usually dispensed by a robot onto a work piece. The device may thus allow for precise programs to provide improved accurate placetinent of material without incurring material waste during the development of those programs. Again, an adapter may be required in some cases to ensure that the device 10 and the.associated robot 70 are compatible.

The device 10 may also be used for training, repeatability and/or restoration procedures. For training, the device 10 may be used to measure the ability and/or akill of a programmer, The test work piece may also be used to re-create programs that have been lost / altered / damaged over time.
Thus, it can be used to create a master part that can be used for quality control & training purposes. The master part may thus be produced and stored'that shows a precise program path for future reference. This part or test work piece may be reused if the program accuracy is in question over time.

= ~

While the device 10 utilizes index fofrnations on the first support barrel, the index formations may alternatively be formed otrthe reference barrel or, still further, on both the support-and reference barrels;
That being said, the device may also be useful in some cases where no indexing is provided. In this case, a relatively firm but movable sliding or rolling engagement may be provided between the first support barrel and the reference barrel:
' =
While the device 10 utilizes a compression spring for biasing the second support bar=el to its intermediate position, the spring may be used to bias the second support barrel to another operative position, such as its = =
quter limit position, if desired. In addition, other biasing means may be used for biasing the second support barrel to its int.ermediate or outer limit position. For example, the spring may be replaced by a hydraulic or =
pneumatic fluid supply, as shown by the channel in dashed lines at 84,in figure 5, to act within the fnst and second inner passages. Alternatively, the device may, if desired, employ compressed or forced air or other fluid to provide resistance to the first support body through a similar channel at an appropriate location in the reference barrel. Thus; other biasing means may be used to supplement or to replace the 15. spring used:to resist the second support body or to bias the first supporrbody, as desired. 'Another device is shov(+n at 90 in figures 13 and 14. The device 90 has a reference member 92 with a longitudinal axis 94 and provides a path 95 along the lorigitudinal azis 94 between a proximal location and a distal location; as will be described.

20. .

A support assembly 96 is provided for carrying a marker shown schematically at 98 though, as with the earlier examples, otfier probe units as described above or other articles may also be supported if desired.
The support assembly 96 is mounted for travel relative to the reference member 92.

25 The support assembly 96 includes a support barre1100 slidably engaged with the reference member 92. In this case, the reference member 92 is nested within the support barre1100.

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- HON-GPD/I:DA-DIV 20 f =
. . . . , , , =

.. , . . . ' . . ' In this case, the support barrel 100 includes at least one guide formation 102 for extending into a pair of paths 95 to limit travel of the guide'fonxtation 102 to between the proximal and distal locations. The guide forniations 102 include, in this case, a pair of opposed pin members 104, each. extending inwardly from the support barrel 100. The paths 95 are provided in reference member 92 by a corresponding pair of elongate slots 106, each to receive=a corresponding pin member 104. In this case, the pins 104 define the proximal = = =
_Iocation when they abut a proximal end 106a of the slot 106.

biasing portion 108 is provided to bias the support barrel 100 toward the distal location, which is reached when the opposing pin members 102 reach a remote end 106b of the conesponding slot 106. The reference = member 92 further includes a central passage 92a with a pair of shoulder portions 92b and the biasing portion includes a compression spring located=within the central passage 92a to act between the shoulder portions 92b of the reference member 92 and the support barrel 100.

A positioning portion. shown schematically at 112. is mounted on or extends from the supportbarrel 100 for =
supporting the marker 98. tberein with its operable marker tip 98a exposed therefrom. The positioning portion 112 in this case presents a cavity 112a to receive the marker.
, - .
If desired, a plurality of colour and/or reference formations as described above may be provided.on the reference member 92, (as shown at 116 in figure 14). Alternatively (though not shown), the colour and/or reference forntations may be provided on the support barre1100 or on the wrist portion shown schematically at 114 of a corresponding robot= to denote changes in the position of the reference member and hence the marker tip.
.. =
=
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Another device is shown at 120 in figure 15: In this case, the device has a reference member 122 which includes a central passage 124 with a biasing portion in the form of a spring 1261ocated within the central . . ' passage 124. The device includes a support barrel 128 including a housing 130 to receive the probe 132.
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The housing 130 is further arranged to extend into the central passage 124.
This is achieved by selecting an outer diameter of the housing_ 130to be sufficiently small relative to the central passage 124 to permit the = =
HON-GPD/CDA-DN 2.1 . , .
. . ' , . , = . -.
= . . -housing 130 to slide therein. Thus, in this case, the spring 126 acts between the reference member 122 and the housing 130.

While the present invention hag been described for what are presently considered the preferred embodiments, the invention is not so limited. To the contrary, the invention is interided to cover various =
.. .
modifications and equivalent arrangements included within the spirit and scope of the- appended claiins. }
The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent stnietuTes and functions.
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Claims (11)

1. A method for training a robotic installation, comprising providing a robot arm with an operative wrist portion, providing a carrier body on the wrist portion for movement relative thereto, installing a reference probe in the carrier body for movement relative thereto, providing the reference probe with a first range of travel between a first inner limit position and a first outer limit position relative to a carrier body, providing the carrier body with a second range of travel between a second inner limit position and a second outer limit position relative to the wrist portion, and providing a plurality of colour and/or reference formations on the reference probe, the carrier body and/or the wrist portion to denote changes m the position of the reference probe.

2. A robotic installation, comprising a robot arm with an operative wrist portion, a carrier body installed on the wrist portion for movement relative thereto, a reference probe supported in the carrier body for movement relative thereto, the reference probe being movable with a first range of travel between a first inner limit position and a first outer limit position relative to a carrier body, the carrier body being movable with a second range of travel between a second inner limit position and a second outer limit position relative to the wrist portion, and a plurality of colour and/or reference formations on the reference probe, the carrier body and/or the wrist portion for identifying changes in the position of the reference probe.

3. A method for training a robotic installation, comprising a step for providing a robot arm with an operative wrist portion, a step for providing a carrier body on the wrist portion for movement relative thereto, a step for installing a reference probe in the carrier body for movement relative thereto, a step for providing the reference probe with a first range of travel between a first inner limit position and a first outer limit position relative to a carrier body, a step for providing the carrier body with a second range of travel between a second inner limit position and a second outer limit position relative to the wrist portion, and a step for providing a plurality of colour and/or reference formations on the reference probe, the carrier body and/or the wrist portion to denote changes in the position of the reference probe.

4. A robotic installation, comprising a robot means with an operative wrist means, carrier means installed on the wrist means for movement relative thereto, reference probe means supported in the carrier means for movement relative thereto, the reference probe means being movable with a first range of travel between a first inner limit position and a first outer limit position relative to a carrier means, the carrier means being movable with a second range of travel between a second inner limit position and a second outer limit position relative to the wrist means, and a plurality of colour and/or reference formations on the reference probe means, the carrier means and/or the wrist means for identifying changes in the position of the reference probe means.

5. A probe support device comprising a reference member, the reference member having a longitudinal axis and providing at least one path along the longitudinal axis between a proximal location and a distal location, a probe support assembly mounted for travel relative to the reference member, the probe support assembly including a support barrel slidably engaged with the reference member and including at least one guide formation for extending into the path to limit travel of the guide formation to between the proximal and distal locations, a positioning portion mounted on the support barrel for supporting a probe with an operable remote exposed therefrom, and a biasing portion for biasing the support barrel toward the distal location.

6. A device as defined in claim 5, the reference member being nested within the support barrel.

7. A device as defined in claim 6, the reference member further including a central passage, the biasing portion including a spring located within the central passage.

8. A device as defined in claim 6, the at least one guide formation including a pair of opposed pin members extending inwardly from the support barrel.

9. A device as defined in claim 5, the reference member further including a central passage, the biasing portion including a spring located within the central passage, the support barrel further comprising a housing to receive the probe, the housing being arranged to extend into the central passage.

10. A device as defined in claim 8, the reference member including a pair of elongate slots, each to receive a corresponding pin member.

11. A method for training a robotic installation, comprising a step for providing a robot arm with an operative wrist portion, a step for providing a carrier on the wrist portion for movement relative thereto, a step for installing a reference probe in the carrier body for movement relative thereto, a step for providing the reference probe with a range of travel between a first inner limit position and a first outer limit position relative to the carrier body and a step for providing a plurality of colour and/or reference formations on the reference probe, the carrier body and/or the wrist portion to denote changes in the position of the reference probe.