CA2698387C - Probe support - Google Patents
Probe support Download PDFInfo
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- CA2698387C CA2698387C CA2698387A CA2698387A CA2698387C CA 2698387 C CA2698387 C CA 2698387C CA 2698387 A CA2698387 A CA 2698387A CA 2698387 A CA2698387 A CA 2698387A CA 2698387 C CA2698387 C CA 2698387C
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- CA
- Canada
- Prior art keywords
- barrel
- reference probe
- colour
- travel
- formations
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Length Measuring Devices With Unspecified Measuring Means (AREA)
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
PROBE SUPPORT
FIELD OF THE INVENTION
5 = 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.
DESCRIPTION OF THE RELATED ART
I 0 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 operational software program. Setting up the robot requires that the operational software program be tested to be sure that the various destination coordinates are accurate, according to those of the work piece.
15 For instance, a manual confirmation can be done using a standard measuring device (example: ruler) and by climbing on 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 distance throughout the program.
This typically involves two tie wraps and some masking tape.
20 It may be unsafe for the operator to confirm the positions of the robot manually. Doing so may involve = awkward and/or unbalanced postures. Using static or fixed length attachments does not provide =
= information at alternate 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.
25 It would be desirable to provide a novel approach to this task.
SUMMARY OF THE INVENTION
In an embodiment, there is provided a marking device comprising a reference barrel, the reference barrel =
= having a longitudinal axis, a marker support assembly 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 central position between the inner and outer limit positions, the second support barrel =
having a distal end region which is configured to receive and hold a marker therein with an operable marker tip exposed therefrom.
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 first support barrel has a first cylindrical outer surface, the index formations being located 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 alternative embodiment, 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.
In another alternative embodiment, the indicia include one or more related reference characters and/or related coloured surface portions.
= in an alternative embodiment, further comprises a plurality of planar 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.
5 In an alternative embodiment, the indicia include consecutive numbers, each corresponding to a unit of displacement along the longitudinal axis.
In an alternative embodiment, the indicia includes consecutive numbers, each corresponding to a unit of displacement along the longitudinal axis, each consecutive number being formed on a surface portion with 10 a related colour background.
In an alternative embodiment, the distal end region has a number of longitudinally oriented slots to form a number of resilient prongs distributed about the longitudinal axis, the prongs dimensioned to flex outwardly when receiving the marker.
In an alternative embodiment, the second support barrel has a length, the first support barrel having a first inner passage to receive the second support barrel, the first inner passage having a depth substantially equal with the length of the second support barrel.
=
20 In an alternative embodiment, the first support barrel has a first proximal end region, a first inner passage =
terminating at an inner abutment surface, the first support barrel having a second inner passage extending between the inner abutment surface and the first proximal end region, the biasing portion including a spring located in the first and second inner passages. =
25 In an alternative embodiment, the second inner passage includes a shoulder near the first proximal end region, the shoulder being dimensioned to engage one end of the spring.
In an alternative embodiment, the second support barrel has a second proximal 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.
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 arm, 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 barrel 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 supped barrel 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 barrel.
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 = 25 positions therein, a second support body slidably mounted within the first support body between an inner limit position and an outer limit position , a biasing portion for biasing the second support body toward an operative position, the second support body having an inner cavity which is exposed in the outer limit position, the second support body further including a number of engagement formations for engaging a probe element.
In an alternative embodiment, the first support body has an outer surface, each of the indexed positions including a formation positioned on the outer surface.
In an alternative embodiment, the first support body has an outer surface, each of the indexed positions including a lateral formation extending around the outer surface.
= 10 In an alternative embodiment, the formation is a recess.
An alternative embodiment further comprises at least detent portion positioned on the reference body for engaging the recess.
In an alternative embodiment, the at least one detent portion includes a spring loaded ball.
In an alternative embodiment, the first support body includes indicia adjacent each 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 adjacent a corresponding formation. =
In an alternative embodiment, the indicia includes a set of related coloured surfaces, each coloured surfaces being adjacent a corresponding formation.
In an alternative embodiment, the engagement formations are formed by a plurality longitudinal slices in the second support body to form a plurality of resilient prongs for engaging the probe element.
In an alternative embodiment, the probe element includes a marker, pencil and/or pen.
Another alternative embodiment 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 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.
=
In an alternative embodiment, the operative position is a central position between the inner and outer limit positions.
t5 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 support barrel.
In an embodiment, the probe element includes a marker.
An alternative embodiment further comprises a cap or retainer for removably securing the marker to the second support barrel.
Another alternative 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 HON-GPD/CDA-DIV
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.
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 first support barrel 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, providing for a bias of the second support barrel toward an operative position, providing the second support barrel with an operative end portion 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, providing a carrier body on the wrist portion for movement relative thereto, installing a reference probe in the carrier body for longitudinal movement relative thereto, providing the reference probe with a first longitudinal range of travel between a first inner limit position and a first outer limit position relative to the carrier body, providing the carrier body with a second longitudinal range of travel between a second inner limit position and a second outer limit position relative to the wrist portion, the second longitudinal range of travel defined along a linear axis between the wrist portion and the reference probe, 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; contacting the reference probe with at least one region located on a target article; and recording the change in the position of the reference probe by way of the colour and/or reference formations.
Another alternative embodiment provides 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 longitudinal movement relative thereto, the reference probe being movable with a first longitudinal range of travel between a first inner limit position and a first outer limit 5 position relative to the carrier body, the carrier body being movable with a second longitudinal range of = travel between a second inner limit position and a second outer li mit position relative to the wrist portion, the second longitudinal range of travel defined along a linear axis between the wrist portion and the = reference probe, 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 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 =-15- 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.
Still another alte.reative embodiment provides a robotic installation, comprising a robot means with an operative wrist means, a carrier means installed on the wrist means for movement relative thereto, = reference probe means supported in the carrier means for longitudinal movement relative thereto, the reference probe means being movable with a first longitudinal range of travel between a first inner limit 25 position and a first outer limit position relative to the carrier means, the carrier means being movable with a second longitudinal range of travel between a second inner limit position and a second outer limit position relative to the wrist means, the second longitudinal range of travel defined along a linear axis between the wrist means and the reference probe 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.
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 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.
In still another alternative embodiment, the reference member is nested within the support barrel.
In an alternative embodiment, the reference member further including a central passage, the biasing portion including a spring located within the central passage.
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 alternative 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 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.
In yet another alternative embodiment, there is provided 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.
BRIEF DESCRIPTION OF THE DRAWINGS
=10 = Several preferred embodiments of the present invention will be provided, by way of examples only, with reference to the appended drawings, wherein:
==15 Figure I 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 I;
=
20 Figures 4a, 5 and 6 are fragmentary 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;
Figures 8, 9, 10, 11 and lla are operational views of the device offigure 1;
= 25 Figure 12 is a fragmentary perspective 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.
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 10 description and should not be regarded as limiting. The use of "including," "comprising," 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 terms "connected" and "coupled" and variations thereof are not restricted to 15 physical or mechanical connections or couplings. Furthermore, and as described in subsequent paragraphs, the specific mechanical configurations illustrated in the drawings are intended to exemplify embodiments of the invention. However, other alternative mechanical configurations are possible which are considered to be within the teachings of the instant disclosure. Furthermore, unless otherwise indicated, the term or is to be considered inclusive.
Referring 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 25 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 barrel or carrier body 22 slidably nested within the reference barrel 12 and arranged for indexed movement along the path. A second support barrel 24= is =
= nested within the first support barrel 22 for movement along the first support barrel 12 between inner and outer limit positions along the path. A biasing portion, in the form of a spring 26 (figure 2), is provided for 5 biasing the second support barrel 24 toward a central position between the inner and outer limit positions.
=
= The second support barrel 24 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.
= 10 Referring to figure 2, the reference barrel 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 figure 1) to register the relative position between them. In this case, the first support barrel 22 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 20 passage 46a for supporting each of the detent ball arrangements 42.
The collar portion 46 is held on an end region 12a of the reference barrel 12. In this case, the detent ball arrangements 44 have an end region 44a through which a spring biased ball 44b extends. The end region 44a extends through both the passage 46a as well as a passage l2b in the reference barrel 12.
25 The first support barrel 22 further includes indicia 50 formed on the first outer surface 22a and adjacent one or more of the index formations 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 = HON-GPD/CDA-DIV 1 2 surface portions. Referring to figure 1, a plurality of planar surface portions 52 are formed on the first cylindrical outer surface 22a. Each planar surface portion 52 is located adjacent a corresponding lateral recess 36 (figure 2) and bears one of the related reference characters and/or related planar surface portions.
The reference barrel 12 is further provided with an elongate window passage I2c (figure 1) which aligns 5 with, in this case, a contact region 46c in the collar portion 46 to present 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 10 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 1. 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 first support barrel relative to the reference barrel from 15 a distance, say at a distance of several meters. For instance, a selection of colours from the colour spectrum may be used in the order that they appear in the spectrum For instance, 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 = 20 aligned with a lowermost face 12e of the reference barrel 12 may be used, which in this example is adjacent the reference character !7". The colour coding 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 first support barrel 22 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 length of the second support barrel 24, though the depth of the first inner passage 58 may be a =
different length as need be, depending on the relative dimensions of both the first and second support barrels 22, 24.
=
The first support barrel 22 has a first proximal 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 proximal 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.
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 20. and a threaded second guide element 64c (figure 6) extending into 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.
The second support barrel has a third inner passage 66 to receive the marker.
As can be seen in figure 4, the second support 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 spaced 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 corresponds to a unit of displacement in either direction along the longitudinal axis.
=
As can be seen in figure 4a, each recess 67b is also provided with a different colour background to aid in 5 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 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 barrel 24. =
Referring 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 barrel 22 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 15 position where the second support barrel 24 contacts the abutment surface 60 (figure 5) defines the inner . limit position.
=
Though the marking device 1 0 may have a number of uses, it is particularly well suited for use on a robot 70 as shown in figure 8. The robot 70 has an arm portion 72 with a wrist joint region 74 which is 20 configured to receive the reference barrel 12 therein. 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 upward ramped 25 configuration from right to left. The operational program may be activated causing the robot 70 to run = 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 surface 82 so as to verify precisely where the robot 70 is tracidng at any particular time.
=
Consider the example in figure 9. In this case, the robot 70 encounters 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 barrel 24 moves relative to the first support barrel against the action of the spring 26. There is no net change in the position of the first support barrel 22 relative to the reference barrel 12 because the change elevation of the 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 barrel 22. 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. In this case, the robot 70 encounters a greater change in elevation of the work piece 80, in the form of a higher ridge 80a, and again 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 barrel 24 moves relative to the first support barrel 22 against the action of the spring 26.
There is, in this case, a net change in the position of the first support barrel 22 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 barrel 24 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 barrel 22, causing the latter to move relative to the reference barrel 12 against the positioning forces of the index formations 34, to a new position bl). The tip 30a continues to travel over and down the ridge to position b), thus forming a trace 82a along the surface 82 to illustrate the path of the robot, as shown in figure Ila. However, in this case, the tip 30a is no longer in contact with the surface as result of = 25 the upward shift, or indexed displacement, of the first support barrel 22 relative io the reference barrel 12, thus registering a new orientation, in the elongate window passage I 2c presenting the current indicia 50 for the first 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 program is being built and/or confirmed for, to reduce programming time and costs associated with development and quality control.
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 party.
=
.15 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 may 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 barrel 22 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 first support barrel 22, 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 different robotic arms or other positioning systems.
In one example, the second support barrel 24 may collapse or otherwise be displaced relative to the first support barrel 12 under a collapse force, ranging from 03 to 1.0 lbs, and preferably in the order of about 0.61bs force, though other configurations and different collapse forces may also be useful, while minimizing damage to the target part. The colour coded graduations may be helpful in to allow an operator 5 to view the condition of the device 10 from as far as 5 to 10 feet away.
In this instance, the collet houses a marker available under the trade name SHARPIE MINI . However, the colour coding may be replaced by other surface patters or treatments. Furthermore, the colour coding or surface patterns or treatment may be applied to other regions of the first and second support barrels, as desired.
10 The reference barrel 12, as well as the first and second support barrels 22, 24may be provided in the same = or different materials, 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 barrel 83 is integrally formed 15 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.
=
Referring once again to figure 1, the reference barrel 12 or for that matter the first OF second support barrels, may be provided with 4 lateral "breakaway capability as shown in the dashed lines. This 20 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 directed to travel along an incorrect path and toward an obstacle. In this 1 instance, the brealcaway feature provides a lateral release, without which the device 10 would collide with the obstacle, causing damage.
25 Thus, the device 10 provides a means to obtain measurements at numerous locations throughout a program 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 electrostatic 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. On the other hand, if the robot is too far from the part, the quality of the =
finished surface may be substandard, thus increasing costs to remediate.
5 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 and effective manner.
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 characteristics.
The device 12 may allow for precise programs to be built and recorded on a template for future reference.
= 10 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, formations 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 .
15 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. The device 10, thus, may in some cases facilitate better program accuracy without damage to and/or waste of material.
The device l 0.may also be useful forrobotic 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 placement of material without incurring material = waste during the development of those programs.
Again, an adapter may be required in some cases to 25 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 skill 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 formations on the first-support barrel, the index formations may =
alternatively be formed on the 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 = 10 and the reference barrel.
= While the device 10 utilizes a compression spring for biasing the second support barrel to its intermediate position, the spring may be used to bias the second support barrel to another operative position, such as its outer limit position, if desired. In addition, other biasing means may be used for biasing the second support 15 barrel to its intermediate 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 first 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 bantl. Thus other biasing means may be used to supplement or to replace the 20 spring used to resist the second support body or to bias the first support body, as desired.
Another device is shown 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 longitudinal axis 94 between a proximal location and a distal location, as will be described.
=
A support assembly 96 is provided for carrying a marker shown schematically at 98 though, as with the = earlier examples, other 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.
=
.=
The support assembly 96 includes a support barrel 100 slidably engaged with the reference member 92. In this case, the reference member 92 is nested within the support barrel 100.
5 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 formation 102 to between the proximal and distal locations. The guide formations 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 10 location when they abut a proximal end 106a of the slot 106.
A 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 corresponding slot 106. The reference member 92 further includes a central passage 92a with a pair of shoulder portions 92b and the biasing 15 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 support barrel 100 for supporting the marker 98 therein with its operable marker tip 98a exposed the.refrom. The positioning =
20 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 formations may be provided on the support barrel 100 or on the wrist portion shown 25 schematically at 114 of a corresponding robot to denote changes in the position of the reference member = = =
and hence the marker tip.
= =
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 126 located within the central passage 124. The device includes a support barrel 128 including a housing 130 to receive the probe 132.
The housing 130 is further arranged to extend into the central passage 124.
This is achieved by selecting an outer diameter of the housing 130 to be sufficiently small relative to the central passage 124 to permit the 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 has been described for what are presently considered the preferred embodiments, the invention is not so limited. To the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.
=
FIELD OF THE INVENTION
5 = 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.
DESCRIPTION OF THE RELATED ART
I 0 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 operational software program. Setting up the robot requires that the operational software program be tested to be sure that the various destination coordinates are accurate, according to those of the work piece.
15 For instance, a manual confirmation can be done using a standard measuring device (example: ruler) and by climbing on 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 distance throughout the program.
This typically involves two tie wraps and some masking tape.
20 It may be unsafe for the operator to confirm the positions of the robot manually. Doing so may involve = awkward and/or unbalanced postures. Using static or fixed length attachments does not provide =
= information at alternate 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.
25 It would be desirable to provide a novel approach to this task.
SUMMARY OF THE INVENTION
In an embodiment, there is provided a marking device comprising a reference barrel, the reference barrel =
= having a longitudinal axis, a marker support assembly 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 central position between the inner and outer limit positions, the second support barrel =
having a distal end region which is configured to receive and hold a marker therein with an operable marker tip exposed therefrom.
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 first support barrel has a first cylindrical outer surface, the index formations being located 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 alternative embodiment, 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.
In another alternative embodiment, the indicia include one or more related reference characters and/or related coloured surface portions.
= in an alternative embodiment, further comprises a plurality of planar 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.
5 In an alternative embodiment, the indicia include consecutive numbers, each corresponding to a unit of displacement along the longitudinal axis.
In an alternative embodiment, the indicia includes consecutive numbers, each corresponding to a unit of displacement along the longitudinal axis, each consecutive number being formed on a surface portion with 10 a related colour background.
In an alternative embodiment, the distal end region has a number of longitudinally oriented slots to form a number of resilient prongs distributed about the longitudinal axis, the prongs dimensioned to flex outwardly when receiving the marker.
In an alternative embodiment, the second support barrel has a length, the first support barrel having a first inner passage to receive the second support barrel, the first inner passage having a depth substantially equal with the length of the second support barrel.
=
20 In an alternative embodiment, the first support barrel has a first proximal end region, a first inner passage =
terminating at an inner abutment surface, the first support barrel having a second inner passage extending between the inner abutment surface and the first proximal end region, the biasing portion including a spring located in the first and second inner passages. =
25 In an alternative embodiment, the second inner passage includes a shoulder near the first proximal end region, the shoulder being dimensioned to engage one end of the spring.
In an alternative embodiment, the second support barrel has a second proximal 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.
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 arm, 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 barrel 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 supped barrel 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 barrel.
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 = 25 positions therein, a second support body slidably mounted within the first support body between an inner limit position and an outer limit position , a biasing portion for biasing the second support body toward an operative position, the second support body having an inner cavity which is exposed in the outer limit position, the second support body further including a number of engagement formations for engaging a probe element.
In an alternative embodiment, the first support body has an outer surface, each of the indexed positions including a formation positioned on the outer surface.
In an alternative embodiment, the first support body has an outer surface, each of the indexed positions including a lateral formation extending around the outer surface.
= 10 In an alternative embodiment, the formation is a recess.
An alternative embodiment further comprises at least detent portion positioned on the reference body for engaging the recess.
In an alternative embodiment, the at least one detent portion includes a spring loaded ball.
In an alternative embodiment, the first support body includes indicia adjacent each 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 adjacent a corresponding formation. =
In an alternative embodiment, the indicia includes a set of related coloured surfaces, each coloured surfaces being adjacent a corresponding formation.
In an alternative embodiment, the engagement formations are formed by a plurality longitudinal slices in the second support body to form a plurality of resilient prongs for engaging the probe element.
In an alternative embodiment, the probe element includes a marker, pencil and/or pen.
Another alternative embodiment 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 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.
=
In an alternative embodiment, the operative position is a central position between the inner and outer limit positions.
t5 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 support barrel.
In an embodiment, the probe element includes a marker.
An alternative embodiment further comprises a cap or retainer for removably securing the marker to the second support barrel.
Another alternative 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 HON-GPD/CDA-DIV
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.
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 first support barrel 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, providing for a bias of the second support barrel toward an operative position, providing the second support barrel with an operative end portion 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, providing a carrier body on the wrist portion for movement relative thereto, installing a reference probe in the carrier body for longitudinal movement relative thereto, providing the reference probe with a first longitudinal range of travel between a first inner limit position and a first outer limit position relative to the carrier body, providing the carrier body with a second longitudinal range of travel between a second inner limit position and a second outer limit position relative to the wrist portion, the second longitudinal range of travel defined along a linear axis between the wrist portion and the reference probe, 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; contacting the reference probe with at least one region located on a target article; and recording the change in the position of the reference probe by way of the colour and/or reference formations.
Another alternative embodiment provides 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 longitudinal movement relative thereto, the reference probe being movable with a first longitudinal range of travel between a first inner limit position and a first outer limit 5 position relative to the carrier body, the carrier body being movable with a second longitudinal range of = travel between a second inner limit position and a second outer li mit position relative to the wrist portion, the second longitudinal range of travel defined along a linear axis between the wrist portion and the = reference probe, 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 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 =-15- 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.
Still another alte.reative embodiment provides a robotic installation, comprising a robot means with an operative wrist means, a carrier means installed on the wrist means for movement relative thereto, = reference probe means supported in the carrier means for longitudinal movement relative thereto, the reference probe means being movable with a first longitudinal range of travel between a first inner limit 25 position and a first outer limit position relative to the carrier means, the carrier means being movable with a second longitudinal range of travel between a second inner limit position and a second outer limit position relative to the wrist means, the second longitudinal range of travel defined along a linear axis between the wrist means and the reference probe 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.
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 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.
In still another alternative embodiment, the reference member is nested within the support barrel.
In an alternative embodiment, the reference member further including a central passage, the biasing portion including a spring located within the central passage.
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 alternative 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 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.
In yet another alternative embodiment, there is provided 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.
BRIEF DESCRIPTION OF THE DRAWINGS
=10 = Several preferred embodiments of the present invention will be provided, by way of examples only, with reference to the appended drawings, wherein:
==15 Figure I 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 I;
=
20 Figures 4a, 5 and 6 are fragmentary 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;
Figures 8, 9, 10, 11 and lla are operational views of the device offigure 1;
= 25 Figure 12 is a fragmentary perspective 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.
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 10 description and should not be regarded as limiting. The use of "including," "comprising," 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 terms "connected" and "coupled" and variations thereof are not restricted to 15 physical or mechanical connections or couplings. Furthermore, and as described in subsequent paragraphs, the specific mechanical configurations illustrated in the drawings are intended to exemplify embodiments of the invention. However, other alternative mechanical configurations are possible which are considered to be within the teachings of the instant disclosure. Furthermore, unless otherwise indicated, the term or is to be considered inclusive.
Referring 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 25 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 barrel or carrier body 22 slidably nested within the reference barrel 12 and arranged for indexed movement along the path. A second support barrel 24= is =
= nested within the first support barrel 22 for movement along the first support barrel 12 between inner and outer limit positions along the path. A biasing portion, in the form of a spring 26 (figure 2), is provided for 5 biasing the second support barrel 24 toward a central position between the inner and outer limit positions.
=
= The second support barrel 24 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.
= 10 Referring to figure 2, the reference barrel 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 figure 1) to register the relative position between them. In this case, the first support barrel 22 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 20 passage 46a for supporting each of the detent ball arrangements 42.
The collar portion 46 is held on an end region 12a of the reference barrel 12. In this case, the detent ball arrangements 44 have an end region 44a through which a spring biased ball 44b extends. The end region 44a extends through both the passage 46a as well as a passage l2b in the reference barrel 12.
25 The first support barrel 22 further includes indicia 50 formed on the first outer surface 22a and adjacent one or more of the index formations 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 = HON-GPD/CDA-DIV 1 2 surface portions. Referring to figure 1, a plurality of planar surface portions 52 are formed on the first cylindrical outer surface 22a. Each planar surface portion 52 is located adjacent a corresponding lateral recess 36 (figure 2) and bears one of the related reference characters and/or related planar surface portions.
The reference barrel 12 is further provided with an elongate window passage I2c (figure 1) which aligns 5 with, in this case, a contact region 46c in the collar portion 46 to present 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 10 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 1. 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 first support barrel relative to the reference barrel from 15 a distance, say at a distance of several meters. For instance, a selection of colours from the colour spectrum may be used in the order that they appear in the spectrum For instance, 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 = 20 aligned with a lowermost face 12e of the reference barrel 12 may be used, which in this example is adjacent the reference character !7". The colour coding 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 first support barrel 22 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 length of the second support barrel 24, though the depth of the first inner passage 58 may be a =
different length as need be, depending on the relative dimensions of both the first and second support barrels 22, 24.
=
The first support barrel 22 has a first proximal 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 proximal 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.
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 20. and a threaded second guide element 64c (figure 6) extending into 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.
The second support barrel has a third inner passage 66 to receive the marker.
As can be seen in figure 4, the second support 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 spaced 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 corresponds to a unit of displacement in either direction along the longitudinal axis.
=
As can be seen in figure 4a, each recess 67b is also provided with a different colour background to aid in 5 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 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 barrel 24. =
Referring 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 barrel 22 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 15 position where the second support barrel 24 contacts the abutment surface 60 (figure 5) defines the inner . limit position.
=
Though the marking device 1 0 may have a number of uses, it is particularly well suited for use on a robot 70 as shown in figure 8. The robot 70 has an arm portion 72 with a wrist joint region 74 which is 20 configured to receive the reference barrel 12 therein. 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 upward ramped 25 configuration from right to left. The operational program may be activated causing the robot 70 to run = 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 surface 82 so as to verify precisely where the robot 70 is tracidng at any particular time.
=
Consider the example in figure 9. In this case, the robot 70 encounters 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 barrel 24 moves relative to the first support barrel against the action of the spring 26. There is no net change in the position of the first support barrel 22 relative to the reference barrel 12 because the change elevation of the 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 barrel 22. 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. In this case, the robot 70 encounters a greater change in elevation of the work piece 80, in the form of a higher ridge 80a, and again 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 barrel 24 moves relative to the first support barrel 22 against the action of the spring 26.
There is, in this case, a net change in the position of the first support barrel 22 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 barrel 24 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 barrel 22, causing the latter to move relative to the reference barrel 12 against the positioning forces of the index formations 34, to a new position bl). The tip 30a continues to travel over and down the ridge to position b), thus forming a trace 82a along the surface 82 to illustrate the path of the robot, as shown in figure Ila. However, in this case, the tip 30a is no longer in contact with the surface as result of = 25 the upward shift, or indexed displacement, of the first support barrel 22 relative io the reference barrel 12, thus registering a new orientation, in the elongate window passage I 2c presenting the current indicia 50 for the first 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 program is being built and/or confirmed for, to reduce programming time and costs associated with development and quality control.
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 party.
=
.15 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 may 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 barrel 22 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 first support barrel 22, 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 different robotic arms or other positioning systems.
In one example, the second support barrel 24 may collapse or otherwise be displaced relative to the first support barrel 12 under a collapse force, ranging from 03 to 1.0 lbs, and preferably in the order of about 0.61bs force, though other configurations and different collapse forces may also be useful, while minimizing damage to the target part. The colour coded graduations may be helpful in to allow an operator 5 to view the condition of the device 10 from as far as 5 to 10 feet away.
In this instance, the collet houses a marker available under the trade name SHARPIE MINI . However, the colour coding may be replaced by other surface patters or treatments. Furthermore, the colour coding or surface patterns or treatment may be applied to other regions of the first and second support barrels, as desired.
10 The reference barrel 12, as well as the first and second support barrels 22, 24may be provided in the same = or different materials, 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 barrel 83 is integrally formed 15 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.
=
Referring once again to figure 1, the reference barrel 12 or for that matter the first OF second support barrels, may be provided with 4 lateral "breakaway capability as shown in the dashed lines. This 20 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 directed to travel along an incorrect path and toward an obstacle. In this 1 instance, the brealcaway feature provides a lateral release, without which the device 10 would collide with the obstacle, causing damage.
25 Thus, the device 10 provides a means to obtain measurements at numerous locations throughout a program 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 electrostatic 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. On the other hand, if the robot is too far from the part, the quality of the =
finished surface may be substandard, thus increasing costs to remediate.
5 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 and effective manner.
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 characteristics.
The device 12 may allow for precise programs to be built and recorded on a template for future reference.
= 10 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, formations 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 .
15 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. The device 10, thus, may in some cases facilitate better program accuracy without damage to and/or waste of material.
The device l 0.may also be useful forrobotic 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 placement of material without incurring material = waste during the development of those programs.
Again, an adapter may be required in some cases to 25 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 skill 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 formations on the first-support barrel, the index formations may =
alternatively be formed on the 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 = 10 and the reference barrel.
= While the device 10 utilizes a compression spring for biasing the second support barrel to its intermediate position, the spring may be used to bias the second support barrel to another operative position, such as its outer limit position, if desired. In addition, other biasing means may be used for biasing the second support 15 barrel to its intermediate 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 first 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 bantl. Thus other biasing means may be used to supplement or to replace the 20 spring used to resist the second support body or to bias the first support body, as desired.
Another device is shown 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 longitudinal axis 94 between a proximal location and a distal location, as will be described.
=
A support assembly 96 is provided for carrying a marker shown schematically at 98 though, as with the = earlier examples, other 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.
=
.=
The support assembly 96 includes a support barrel 100 slidably engaged with the reference member 92. In this case, the reference member 92 is nested within the support barrel 100.
5 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 formation 102 to between the proximal and distal locations. The guide formations 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 10 location when they abut a proximal end 106a of the slot 106.
A 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 corresponding slot 106. The reference member 92 further includes a central passage 92a with a pair of shoulder portions 92b and the biasing 15 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 support barrel 100 for supporting the marker 98 therein with its operable marker tip 98a exposed the.refrom. The positioning =
20 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 formations may be provided on the support barrel 100 or on the wrist portion shown 25 schematically at 114 of a corresponding robot to denote changes in the position of the reference member = = =
and hence the marker tip.
= =
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 126 located within the central passage 124. The device includes a support barrel 128 including a housing 130 to receive the probe 132.
The housing 130 is further arranged to extend into the central passage 124.
This is achieved by selecting an outer diameter of the housing 130 to be sufficiently small relative to the central passage 124 to permit the 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 has been described for what are presently considered the preferred embodiments, the invention is not so limited. To the contrary, the invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.
The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.
=
Claims (16)
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 longitudinal movement relative thereto, providing the reference probe with a first longitudinal range of travel between a first inner limit position and a first outer limit position relative to the carrier body, providing the carrier body with a second longitudinal range of travel between a second inner limit position and a second outer limit position relative to the wrist portion, the second longitudinal range of travel defined along a linear axis between the wrist portion and the reference probe, 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, - guiding the robot arm along a robotic arm travel path;
- contacting the reference probe with at least one region located on a target article;
and - recording the change in the position of the reference probe by way of the colour and/or reference formations.
- contacting the reference probe with at least one region located on a target article;
and - recording the change in the position of the reference probe by way of the colour and/or reference formations.
2. The method as defined in claim 1, further comprising contacting and recording the change in the position of the reference probe by way of the colour and/or reference formation at multiple locations.
3.
formations each correspond to a unit of displacement along the longitudinal ranges of travel The method as defined in either of claims 1 or 2, wherein the colour and/or reference
formations each correspond to a unit of displacement along the longitudinal ranges of travel The method as defined in either of claims 1 or 2, wherein the colour and/or reference
4.
formations each correspond to numbers on either side of an axial zero point so as to signify a The method as defined in any one of claims 1 to 3, wherein the colour and/or reference central position between the inner and outer limits.
formations each correspond to numbers on either side of an axial zero point so as to signify a The method as defined in any one of claims 1 to 3, wherein the colour and/or reference central position between the inner and outer limits.
5. The method as defined in any one of claims 1 to 4, wherein the robotic installation includes a programmable operational program for guiding the reference probe near the at least one region located on the target article.
6. The method as defined in claim 5, the programmable operational program being amendable based on operator input as provided visually to the operator by the colour and/or reference formations so as to improve the accuracy of the reference probe placement relative the at least one region located on the target article.
7 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 longitudinal movement relative thereto, the reference probe being movable with a first longitudinal range of travel between a first inner limit position and a first outer limit position relative to the carrier body, the carrier body being movable with a second longitudinal range of travel between a second inner limit position and a second outer limit position relative to the wrist portion, the second longitudinal range of travel defined along a linear axis between the wrist portion and the reference probe, 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.
8. The, robotic installation as defined in dam 7, wherein the colour and/or reference formations each correspond to a unit of displacement along the longitudinal ranges of travel
9. The robotic installation as described in either one of claims 7 or 8, wherein the colour and/or reference formations each correspond to numbers on either side of an axial zero point so as to signify a central position between the inner and outer limits.
24
11.
10. The robotic installation as defined in any one of claims 7 to 9, wherein the robotic installation includes a programmable operational program for guiding the reference probe near the at least one region located on a target article.
The robotic installation as defined in claim 10, the programmable operational program being amendable based on operator input as provided visually to the operator by the colour and/or reference formations so as to improve the accuracy of the reference probe placement relative the at least one region located on the target article.
10. The robotic installation as defined in any one of claims 7 to 9, wherein the robotic installation includes a programmable operational program for guiding the reference probe near the at least one region located on a target article.
The robotic installation as defined in claim 10, the programmable operational program being amendable based on operator input as provided visually to the operator by the colour and/or reference formations so as to improve the accuracy of the reference probe placement relative the at least one region located on the target article.
12. A robotic installation, comprising a robot means with an operative wrist means, a carrier means installed on the wrist means for movement relative thereto, reference probe means supported in the earner means for longitudinal movement relative thereto, the reference probe means being movable with a first longitudinal range of travel between a first inner limit position and a first outer limit position relative to the carrier means, the carrier means being movable with a second longitudinal range of travel between a second inner limit position and a second outer limit position relative to the wrist means, the second longitudinal range of travel defined along a linear axis between the wrist means and the reference probe 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.
13 The robotic installation as defined in claim 12, wherein the colour and/or reference formations each correspond to a unit of displacement along the longitudinal ranges of travel.
14. The robotic installation as defined in either one of claims 12 or 13, wherein the colour and/or reference formations each correspond to numbers on either side of an axial zero point so as to signify a central position between the inner and outer limits.
15. The robotic installation as defined in any one of claims 12 to 14, wherein the robotic installation includes a programmable operational program for guiding the reference probe means near the at least one region located on a target article.
16. The robotic installation as defined in claim 15, the programmable operational program being amendable based on operator input as provided visually to the operator by the colour and/or reference formations so as to improve the accuracy of the reference probe means placement relative the at least one region located on the target article.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA2698387A CA2698387C (en) | 2006-12-29 | 2006-12-29 | Probe support |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CA 2572702 CA2572702C (en) | 2006-12-29 | 2006-12-29 | Probe support |
| CA2698387A CA2698387C (en) | 2006-12-29 | 2006-12-29 | Probe support |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2572702 Division CA2572702C (en) | 2006-12-29 | 2006-12-29 | Probe support |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CA2698387A1 CA2698387A1 (en) | 2008-06-29 |
| CA2698387C true CA2698387C (en) | 2013-05-14 |
Family
ID=39580522
Family Applications (2)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2572702 Expired - Fee Related CA2572702C (en) | 2006-12-29 | 2006-12-29 | Probe support |
| CA2698387A Expired - Fee Related CA2698387C (en) | 2006-12-29 | 2006-12-29 | Probe support |
Family Applications Before (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CA 2572702 Expired - Fee Related CA2572702C (en) | 2006-12-29 | 2006-12-29 | Probe support |
Country Status (1)
| Country | Link |
|---|---|
| CA (2) | CA2572702C (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102320042B (en) * | 2011-09-09 | 2014-01-08 | 北京工业大学 | Nested automatic reciprocating mechanical gripper |
-
2006
- 2006-12-29 CA CA 2572702 patent/CA2572702C/en not_active Expired - Fee Related
- 2006-12-29 CA CA2698387A patent/CA2698387C/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CA2572702A1 (en) | 2008-06-29 |
| CA2572702C (en) | 2012-10-16 |
| CA2698387A1 (en) | 2008-06-29 |
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