JPH11104983A - Kinematic mount having repeatability in altitude for robot type manipulator - Google Patents

Abstract

PROBLEM TO BE SOLVED: To form a device mechanically stabilized, easily correlated, easily constituted by including a kinematic mount, and supposing a correlated relation in a separately independent coordinate system of the connected device, even after separation or reconnection. SOLUTION: A constitution folding back a 6 point-3 reference kinematic mount 10 placing a first/second reference unit 110, 120 in a first plane 14 and a third reference unit 130 is placed in a second orthogonal plane 16. A first/ second seat 112, 122 is arranged in a base cell 60 in the first plane 14 in a horizontal direction, and a third seat 132 is arranged in a base cell on the second plane 16 vertical relating to the first plane 14. In the case of seating a first key 114 to the first seat 112, a nominal static point of three-dimensional space in a manipulator coordinate system is partitioned. A presenter, in the case of seating the first key 114 to the first seat 112, can be rotated almost around three mutually vertical axial lines.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

FIELD OF THE INVENTION The present invention provides a fast and iterative reconfiguration, so that during a system reconfiguration or reconfiguration, no time consuming procedure is required, and Reconfigurable and repositionable sets that allow expensive, robotic manipulators to be used in a variety of applications without the need for expensive, typical manual realignment and recalibration procedures. Related to three-dimensional systems.

[0002]

2. Description of the Related Art Robotic assembly systems are generally known. Currently, such assembly systems utilize standard robotic manipulators. The robotic manipulator includes a servo actuator and an arm,
With a controllable manipulator or automatically
Or, it includes some other device or machine that operates with a remote control. Robotic manipulators operate according to a set of instructions. Robotic manipulators are internal means for accurately confirming the position of a workpiece before gripping, treating, or working with the workpiece. And therefore rely on a workpiece at a known location. If the workpiece to be steered by the robotic manipulator is not exactly located at a specified or predetermined position relative to the robotic manipulator's coordinate system, the robotic manipulator will not find the workpiece. Damages the workpiece, erroneously seizes the workpiece, or generally terminates the work.

[0003]

The technique of finding a workpiece at a specified or predetermined position relative to the coordinate system of a robotic manipulator is often referred to as guessing. That is, the workpiece must be at a predetermined position in the space for the robotic manipulator and act on the robotic manipulator. Traditionally, these points or calibration positions in the robotic manipulator's coordinate system have been determined by "point teaching" or
Confirmed by equivalent calibration technique. The robotic manipulator is manually operated to reach each calibration position, and then the robotic manipulator is instructed to record its position. Thus, the coordinate system of the robotic manipulator is correlated with the coordinate system associated with workpieces, components, components, process equipment, component supply systems, escapes, and the like. Point teaching is an expensive, time consuming, labor intensive, manual procedure that represents a substantial barrier to the implementation of a reconfigurable assembly system.

[0004] Vibrating bowl feeder, coin changer,
Various component supply systems and process equipment such as escapes, tray feeders or truck feeders, etc., ie, process equipment, systems and modules such as solderers, welders, auto screw drivers, etc. (hereinafter "presenters") ) Are used to indicate the components, nest locations or workpieces to the robotic manipulator. The presenter may include a tray,
The tray is correctly positioned, and then individual components within the tray are positioned relative to the positioned tray. Depending on the application, the individual parts in the tray may be placed with different accuracy. The presenter can position a given item (individual parts within a tray, tray or part) at a particular location with considerable accuracy. This positioning is initially defined by a coordinate system unique to the presenter.

The term "accuracy" is defined as the ability of a piece of equipment to be able to repeatably occupy a given location. In the case of two devices, the points determined by the first device positioned by the second device should be interpreted as "repeatable".

[0006] To operably combine a robotic manipulator with a given presenter, the presenter is accurately and repeatably positioned with respect to the robotic manipulator such that the workpiece is reliably picked up from the presenter. It must move between one or more workstations and be placed on a conveyor or other moving device and transported to the next workstation. In systems that can be reconfigured, the presenter must be easily repositioned with high accuracy to the robotic manipulator. That is,
The separate and independent coordinate system of the robotic manipulator and the presenter is mechanically stable and easily correlated in the case of a robotic manipulator, and is easily configured and its configuration is modified to allow for agile manufacturing The speculation in the environment must work within industrial situations.

Previously, presenters were carefully aligned with robotic manipulators and bolted or welded in place. Once the presenter is in place, the robotic manipulator can be taught and parts can be picked up and placed to advance the manufacturing and assembly operation. Teaching this point is time consuming, and so it is preferred to do so only when possible. If feeders, workstations and conveyors are reconfigured or rearranged to work on a new job, the robotic manipulator must be manually retrained to accurately find and locate the workpiece in the new configuration. Must. Reeducation usually requires skilled skills, as well as downtime on the production line. Furthermore, even after alignment of the presenter and the robotic manipulator, the result is that vibrations, thermal expansion and irregular holding forces often result in equivalent coordinate system drift, and thus periodic retraining,
Performance loss or system outage is required.

[0008] When the assembly cells are reconfigured to perform previously defined tasks, the robotic manipulator may be configured to minimize, or preferably eliminate, the need for retraining or re-teaching. There is a need to provide a way to mount the presenter. After configuring and calibrating the robotic manipulator and the presenter, the interface between the robotic manipulator and the presenter is essentially stable, and
There is a need to reduce the need for periodic recalibration. There is a further need for a system that allows for faster reconfiguration and switching between tasks than is currently possible. Presenter, component feed, process elements or working elements or stations have interconnecting structures to repetitively mechanically reattach to robotic manipulators and reconfigure the assembly system without holding There is also a need for an automated assembly system, in which the separate and independent coordinate systems of the joined devices are correlated and have to be determined before separation, even after subsequent reconnection. Assume a correlated relationship.

[0009]

SUMMARY OF THE INVENTION The present invention is a mechanical, repeatable, reproducible, and reproducible component feed, process work element or station during reconfiguration without retraining. A kinematic mount to provide an automated assembly system having an interconnecting structure for mounting to a separate device, wherein a separate and independent coordinate system of the joined devices is maintained even after separation. Also, assume a previously correlated relationship, even after a subsequent rejoining.

With the current configuration of the kinematic mount, the repeatability of the base cell (the robotic manipulator and its coordinate system) and the presenter (and its coordinate system) is independent of the separation and subsequent reattachment. Matching becomes possible. That is, retraining of the associated coordinate system is not required when reconnecting a given presenter to a robotic manipulator on a given base cell.

The present invention includes an assembly device that includes a robotic manipulator, the robotic manipulator having a programmable and translatable movable element, The movable, translatable element is movable in a first coordinate system, and the assembling apparatus further comprises an item at a location in a second coordinate system, independent of the first coordinate system. Having a presenter as shown and a 6-point, 3-reference kinematic mount connected to the robotic manipulator and the presenter for reproducibly aligning or correlating the first coordinate system and the second coordinate system. ing.

In another embodiment, a six-point three-reference kinematic mount includes a three-contact point reference, a two-point reference, and a one-point reference, each contact being a sheet. And the corresponding key. In yet another embodiment of the present invention, the kinematic mount is folded to deploy at least one of the first, second and third datums on the first surface;
At least one of the remaining portions of the first, second and third datums is folded back to a second intersecting plane.

Yet another aspect of the invention includes a base cell constructed to hold a robotic manipulator and releasably engages the presenter via a kinematic mount. The base cell is made of modular components that allow for the construction of various flexible assembly system configurations.

Using the kinematic mount described above,
Many benefits can be obtained. In particular, the folded kinematic mount operatively and repeatably holds the robotic manipulator and corresponding presenter when engaging the three fiducials. Further, the surface on which the datums are located can be selected such that the kinematic mount bears the weight of the presenter when engaging each datum. In such a configuration, the weight-bearing external or secondary fuser is optional.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIG. 1, the present invention provides a robotic manipulator 30 with a presenter 20;
It provides a connection that can be reconfigured, and the interface reconfigures the robotic manipulator when the presenter is disconnected and reconnected to perform a previously defined task or process. Minimizing the need to train or re-teach and, preferably,
Has been removed. Robotic manipulator 30 and presenter 20 are typically used in an assembly system along material transfer conveyor 18.

Robotic manipulator 30 may be any of a variety of controllable manipulators, or any other device or machine that operates automatically or by remote control. Is also good. A feature common to these devices is the repeatable operation in a coordinate system unique to a given robotic manipulator 30. That is, the device performs a repeatable task within the coordinate system of the robotic manipulator. As shown in FIG. 2, the entire area in which the robotic manipulator 30 can operate is called its work envelope 31.

The presenter 20 includes a vibrating bowl feeder,
May be any of a variety of workpiece or component feeders such as coin changers, escapes, tray feeders or truck feeders, flexible feeders based on visuals, etc. Further, a work system or a module such as a soldering machine, a welding machine, an auto screw driver, etc. may be used. In addition, presenter 20
May be a support stand or interface to which a mechanical feeder or sorter or sorter is connected. The presenter 20 has a unique coordinate system,
It has a presenter coordinate system.

Referring to FIGS. 2, 3, 9 and 12-14, the robotic manipulator 30 includes a presenter 20 and / or a workpiece or material transport conveyor 18.
Are positioned to operatively deploy a corresponding work envelope 31 with respect to. The robotic manipulator 30 may be mounted on the base cell 60 to support the robotic manipulator and operatively position the work envelope 31 thereof.
Base cell 60 is constructed to allow standardized components and subsystems to be interfaced with a larger manufacturing system, i.e., to define the larger manufacturing system. . FIG.
And, as shown in FIG. 5, base cell 60 defines docking station 12 for receiving docking interface module 80. The base cell 60 may be shaped to form a long and / or wide platform for supporting the larger robotic manipulator 30, or to provide an increased number of docking stations 12. It may be shaped to form a long and / or wide platform. Although there are a number of options, base cell 60 may be a "pick and place" manipulator cell, a multi-axis Cartesian manipulator cell or SCARA.
It is envisioned that the (selective compliance assembly robotic arm) may be used as one of the manipulator cells.

The presenter 20 may be connected to the docking interface module 80, may be integral with the docking interface module 80, or may simply function as the docking interface module 80. That is, as shown in FIGS. 1, 2 and 3, docking interface module 80 is connected to base cell 60 by kinematic mount 10. FIG. The presenter 20 may be fixed to the docking interface module 80, or may be releasably attached to the docking interface module 80. Preferably, docking interface module 80 is a rigid unit that can be molded or machined to support presenter 20. Generally, docking interface module 8
0 includes a horizontal platform on which the presenter 20 can be positioned or mounted. As shown in FIGS. 6 and 7, the docking interface module 80 includes at least one
Preferably, two viewing holes 81 are included to help attach the presenter to the base cell using a kinematic mount. The docking interface module 80 is short (FIG. 6) and long (FIG. 7).
May have any of a variety of configurations. The docking interface module 80 includes the components of the kinematic mount 10.

As shown in FIG. 5, the base cell 6
0 includes a pair of identical interlocking halves 62, an upper tie plate 64, and a lower tie plate 66. The mating half 62 is a rigid material and, for manufacturing purposes, is preferably made of cast aluminum,
Alternatively, it is formed of cast iron. However, the upper and lower tie plates 64, 66 may be of any of a variety of materials, as dictated by mechanical, strength and other operating parameters. In this embodiment, the upper and lower tie plates 64, 66 are formed of steel. The mating half includes upper and lower shoulders 68. The shoulder 68 incorporates a drilled and / or drilled hole 63 or a locating pin or similar device. The mating halves 62 are operably engaged with each other at upper and lower tie plates 64, 66 to form a base cell 60. Preferably, the mating half 62 defines at least one docking station 12,
The docking station includes three reference sheets or key elements in the kinematic mount 10. Each interlocking half 62, 64 has a kinematic mount 1
0 elements are included.

Interlocking half 62 and tie plate 6
4, 66 may choose to provide one docking station 12 or multiple docking stations. For example, as shown in FIGS. 10 and 12, relatively long upper and lower tie plates 64, 66 can be used to operatively connect the four mating halves 62. Each of the four mating halves 62 may have one docking station 12, thus providing four docking stations for one base cell 60. The width of the base cell 60 is determined by the width of the upper and lower tie plates 64,66. In general, one end of the upper and lower tie plates 64, 66 are exposed to adjacent conveyors 18, with four interlocking half-base cells 60 defining four docking stations 12.

As shown in FIG.
May be used to transport the docking interface module 80. Cart 70
Includes a frame 72 with wheels, a support surface 74, and a plurality of lifters 76. A lifter 76 is connected to the frame 72 and the support surface 74 for moving the support surface between a retracted position adjacent the frame and an extended position remote from the frame. The lifters 76 are operable either pneumatically, hydraulically, or by cams, independently or cooperatively. Although the actual length of the transfer in the case of lifter 76 is dictated at the design consideration stage,
A transfer of approximately 62.4 inches (152.4-2032 mm) appears to be sufficient. The support surface 74 is configured to cooperate and releasably engage the docking interface module 80. The support surface 74 may be defined by the upper end of the lifter 76. That is, the support surface 74 includes four contact areas. Furthermore,
The support surface 74 includes a plurality of recesses or holes to assist in releasable connection between the docking interface module and the cart 70. The recess may be threaded, tapped, or the recess may be dimensioned to releasably engage the fuser.

First, referring to FIG. 8 and FIG.
Contact Point-3 Reference Kinematic Mount 10 includes three references, each reference having two reference elements, specifically a sheet and corresponding keys. Specifically, the kinematic mount 10 includes a first reference body 110 having two reference elements (a first sheet 112 and a corresponding first key 114), and two reference elements (first and second keys 114). A second reference body 120 having two sheets 122 and a corresponding second key 124, and two reference elements (third sheet 1).
32 and a third reference body 130 having a corresponding third key 134).

In the present invention, one of the first, second, and third sheets 112, 122, 132 is placed on the first surface 14 and the first, second, and third sheets At least one is located on the second surface 16, the first surface being non-parallel to the second surface. FIG. 3-
As shown in FIG. 5 and FIGS.
The second and third sheets 112, 122, 132 are placed on the mating halves 62, 64 of the base cell 60. Referring to FIGS. 3, 6, and 7, docking interface module 80 includes first, second, and third keys 114, 124, and 134. Preferably,
The first surface 14 and the second surface 16 are flat and intersect each other. In another embodiment, first surface 14 and second surface 16 are substantially orthogonal. Thus, the fiducial is positioned to occupy at least two non-parallel planes, and preferably to occupy two orthogonal planes. The first surface 14 and the second surface 16 are
It is also contemplated that rather than defining a right angle between them, they may be tilted relative to each other. In addition, the datums may be located on three orthogonal planes, the first datum 110 being located on a first plane, and the second datum 120 being located on a second plane. The first reference body 13
0 is located on the third surface.

The kinematic mount includes a first sheet 112, a second sheet 122,
Of the first key 114 and the second key 1 on the docking interface module 80.
24 and the third key 134 have been described, but as will be appreciated, any combination of sheets and keys on the respective base cell and interface module will not cause the flat sheet 1
Except where 32 is located on plane 14, it can be used. Any reference element 102 (sheet or key) may be located on either the base cell 60 or the docking interface module 80. That is, either the first surface 14 or the second surface 16 may have any of the keys and sheets of a given reference body. In a first embodiment of the present invention, first surface 14 is defined on base cell 60 and is generally horizontal, and second surface 16 is also defined on the base cell. It is oriented vertically and is generally perpendicular to the first plane.

Referring to FIGS. 8 and 9, the first sheet 1
First reference body 1 having 12 and first key 114
10 defines three contact points between the first sheet and the first key, and the second datum 120 between the second sheet 122 and the corresponding second key 124. A third point of reference 130 defines one point of contact between the third sheet 132 and the corresponding third key 134. Thus, first datum 110 provides a three-point contact between first sheet 112 and corresponding key 114. The second reference body 120 is the second
Provides a two-point contact between the corresponding sheet 122 and the corresponding key 124. The third reference body 100 provides a one-point contact between the third sheet 132 and the corresponding key 134.

The first sheet 112 rests on the first surface 14 on the base cell 60 and may be in various forms, such as a conical recess, socket or cup. However, as shown in FIG. 18, in one embodiment, the first sheet 112 is defined by a set of three flat plates. Specifically, primary plate 140 and two locator plates 142, preferably primary plate 140, are oriented vertically, and locator plate 142 is angled with respect to the primary plate. As shown in FIG. 19, primary plate 140 is substantially parallel to second surface 16 and perpendicular to first surface 14. Locator plate 142 is tilted and angled with respect to primary plate 140 to define a socket, and accommodates a first key 114 corresponding to the socket.

Engagement of the first reference body 110 via contact of the first sheet 112 with the corresponding first key 114 is defined by three contact points. First sheet 1
The static contact between 12 and the corresponding first key 114 defines one unique point in three-dimensional space, and specifically defines a robotic manipulator coordinate system. That is, by engaging the first sheet 112 with the corresponding first key 114, one static point is uniquely defined on the XYZ coordinates. If static, the first sheet 112 and the corresponding first key 114
When the docking interface module 80 is fully engaged with the base cell 60, it can simulate only one mated configuration, and thus only its position in three-dimensional space. Therefore, each time the kinematic mount 10 is completely placed between a given set of sheets and keys, the same point in three-dimensional space is moved through the sheets 112 and the corresponding first keys 114 to the first point. Is defined by the reference body of This point in three-dimensional space is defined in the robotic manipulator coordinate system and the given interface module 80
Each time it engages zero, it is defined to be repeatable.

When positioning the kinematic mount 10, the first reference body 110 defines a unique point in the three-dimensional space of the manipulator coordinate system. Therefore, it is preferable that the first sheet 112 is the sheet placed closest to the presenter 20. That is, by repeatedly defining points in space as close as possible to the pick point location on the presenter 20, the accuracy and thermal stability of the kinematic mount 10 is enhanced.

As shown in FIGS. 8 and 9, the second
Reference body 120 provides contact between a second sheet 122 and a corresponding second key 124. The second sheet 122 is placed on the first surface 14 of the base cell 60. The second sheet 122 is a groove having a length sufficient to accommodate manufacturing dimensional tolerances of the kinematic mount 10 on the respective base cell 60 and interface module 80. The groove is constructed to ensure that contact between the second sheet 122 and the second key 124 is limited to only two points of contact. That is, the second
The contact line between the sheet 122 and the second key 124 is excluded.

Generally, second sheet 122 is defined as a groove or channel, such as a V-shaped groove.
Preferably, the longitudinal axis of the groove is the first datum 110
Are approximately orthogonal to the points in the three-dimensional space defined by. Referring to FIG. 20, a second sheet 122 is defined by a primary plate 140 and a locator plate 142 such that the primary plate is parallel to the second surface 16 and that the primary and secondary plates It has proven advantageous to choose the angle between them to hold the corresponding key. As shown in FIG. 20, the primary plate 140 of the second sheet 122 is vertical, and the locator plate 142 defines an angle with the primary plate along the length of the primary plate. . The angle is a function of the particular key. However, 60 between the plates 140 and 142 in the second sheet 122
An angle B of ゜ was found to be acceptable.

The third reference member 130 is a third sheet 13
One contact point is defined between 2 and the corresponding third key 134. The third sheet 132 is the second surface 1
6 is a flat area. Thus, the third sheet 1
32 is perpendicular to the first surface 14. As shown in FIGS. 8 and 9, the third sheet 132 is horizontally offset from the positions of the first reference body 110 and the second reference body 120. In addition, the third sheet 132 is vertically displaced from the upright state of the first reference body 110 and the second reference body 120. Third sheet 13
2 defines an area large enough to accommodate dimensional tolerances in the structure of multiple presenters 20 or interface modules 80. An area of approximately 0.635 square cm (0.25 square inches) has been found to be sufficient.

Various geometric shapes can be assigned to keys 114,12.
4,134. For example, the key may be a separate ball or sphere, or simply a contact surface that is a group of conical section members. Although each key 114, 124, 134 may have a distinct shape, the invention can be practiced with the same key. Preferably, the keys 114, 12
Reference numeral 4,134 denotes a non-deformable structure.

Referring to FIG. 3 to FIG. 5, FIG. 8 to FIG. 10 and FIG. 12 to FIG. 13, as described in the first configuration, the first reference body 110 and the second reference body 120 are the first reference body. The first surface is disposed generally flat and horizontally. The third reference body 130 is located on the second surface 16, the second surface being perpendicular and generally perpendicular to the first surface 14.

As shown in FIGS. 18-20, the primary plate 140 of the first sheet 112 and the primary plate 140 of the second sheet 122 are oriented vertically. With such orientation of the reference element, it is believed that the weight carrying capacity of the kinematic mount 10 is maximized. Specifically, the presenter 20 (interface module 80)
, The additional force acting on the load-bearing surface of the presenter or interface module presses each key 114, 124, 134 to cause the respective sheet 112 , 122, 132. In this configuration, the additional weight of the presenter 20 or the interface module 80 is added to the respective seat 112,
It does not cause unintended separation of keys 114, 124, 134 from 122, 132. The resultant force from the additional weight acting on the docking interface module 80 causes the first sheet 112 and the second sheet 122
An increase in the horizontal force on each primary plate 140 at is created, thereby forcing the docking interface module 80 (presenter 20) into a kinematically stable configuration. Primary plate 1
Since 40 is vertical, there is no vertical force component that attempts to displace the key from each sheet.

In a specific configuration, the first sheet 112
And it has been found advantageous to tilt the primary plate 140 in the second sheet 122. The primary plate 140 stops within a vertical 45 °, and preferably
Stopped within 30 ° vertical. Primary plate 1 tilted
The benefit of 40 is the ease with which keys on the presenter 20 can be located or guided on each sheet. The docking interface module and presenter 20 includes a first reference body 110 and a second reference body 12.
The docking interface module is generally engaged with the base cell 60 in a manner consistent with the manufacturing environment, as it can have an overhang over zero and considerable weight. First sheet 112 and second sheet
Of the primary plate 140 in the seat 122 has increased the approach window of the presenter 20 to operably engage the base cell 60. That is,
The docking interface module 80 and the presenter 20 can be easily engaged with the base cell 60 without requiring a high degree of accuracy in the approach.

As can be appreciated, since the primary plate 140 in the first sheet 112 and the second sheet 122 is tilted, the horizontal component of the weight of the presenter 20 is reduced to the primary plate where the horizontal force is tilted. As it works, a small vertical component can be created. Preferably, primary plate 140 is connected to docking interface module 80 or presenter 2.
Although designed to accommodate a vertical component such as any from the expected weight acting on zero,
At least one safety bolt 148 passes through the viewing hole 81 of the docking interface module 80 to the base cell 60. The safety bolt 148 does not align the docking interface module 80 with the base cell 60, and merely causes unintentional separation of the docking interface module from the base cell upon accidental collision or contact with the docking interface module, presenter or base cell. Is resisting. The contact of the key with the corresponding primary plate as well as the safety bolt 148 holds the kinematic mount 10 positioned so that impacts on the system by dynamic forces from the presenter 20 do not remove the key from the respective seat.

If the center of gravity of the presenter 20 is displaced or shifted in the horizontal direction from the reference body, there may be a force component that attempts to displace the key. Thus, the vertically oriented primary plate 140 seeks to stabilize the kinematic mount 10 by accommodating the component force to be disengaged. When an impact having a vertical component acts on the presenter 20, the kinematic mount 10 moves around one of the datums 100, in particular, as shown in FIGS. 8 and 9. One might try to pivot around the third datum 130.

In the folded kinematic mount, the first relative to the center of gravity of the presenter 20 and the base cell 60
The positions of the first sheet 112, the second sheet 122, and the third sheet 132 are selected such that gravity tends to press each key toward each sheet (or each sheet against each key). . Although such a kinematic mount 10 is stable under the influence of gravity alone, a safety bolt 148 is optionally provided between the docking interface module 80 and the base cell 60 to provide a docking interface module, a presenter. Alternatively, it is expected that in the event of an impact force on the base cell, unintentional separation is ruled out.

However, the first fiducial body 110, the second fiducial body 120, the third fiducial body 130, the base cell 60 and the presenter 20 will cause gravity to push at least one key away from each sheet. Can be selected. In this design, it is expected that an external fuser 148 will be used to maintain the weight of the presenter 20 and maintain operable positioning of each sheet and each key.

Opposite Kinematic Mount FIG. 16 shows an alternative configuration of the kinematic mount 10. In the opposed configuration, the datum containing the flat sheet 132 has been vertically displaced from the remaining datums, thus creating two upper and lower datums. The upper datums 110 and 120 are adapted to engage the kinematic mount 10 such that the upper two keys are pushed into their corresponding sheets in a direction opposite to that of the lower sheet. Is placed against. That is, two of the sheets have a first engagement direction A and the remaining sheets have an engagement direction B having an opposite vector to direction A. That is, the engagement direction B can be located anywhere from a state perpendicular to the engagement direction A and opposite thereto.

In the opposing configuration of the kinematic mount 10, one of the members to be operatively connected by the kinematic mount includes first and second opposing surfaces OS1, OS2. Contains. At least a portion of the remaining member has opposing first and second surfaces OS
1 and OS2. The member is configured such that at least a portion of the second member is in close proximity between the first and second surfaces facing each other. First and second surfaces OS1, O2 facing each other
S2 is generally “C-shaped”, “J-shaped”, “U-shaped”
Alternatively, any other configuration having opposing surfaces may be formed. Thus, a portion of one of the opposing surfaces of the first member may extend beyond the remaining opposing surfaces.

Seals 112, 122, 132 and key 1
14, 14, 134 may be mounted directly across opposing surfaces, or may be vertically offset. That is, since one reference member has the second member sandwiched between the portions of the opposing surfaces of the first member, the reference member is located at the overlapping portion between the first member and the second member. The second datum may be located on a portion of the remaining opposing surface that extends beyond the trapped portion of the second member.

In the second configuration, the fiducials may be arranged in a common plane, or in offset parallel planes, or in orthogonal planes. However, in each configuration, a portion of one member is located between portions of the opposing surfaces of the other member. Holding fixing device or bolt 148
Are used to keep the keys and the sheet in contact at each fiducial and to support the weight of the presenter 20 or docking interface module.

Vertical Kinematic Mount In an alternative configuration of the kinematic mount 10 shown in FIG. 17, three fiducials 110, 120, 130 are provided with the base cell 60 and the docking interface module 8
It is generally arranged on a vertical plane between zero. In such a configuration, the sheets 112, 124, 134 are not necessarily vertically aligned, but may instead be horizontally offset. It is also contemplated that the surface on which each sheet and key are located may be tilted. The tilt configuration may disengage the key from each seat. In this configuration, a safety bolt is used to hold the first member relative to the second member. Retaining bolt 148 provides a weight-bearing connection between the first and second members. The retaining bolts 148 are not used to align the members, but rather hold the members in relative positions as dictated by the kinematic mount 10.

Folded Kinematic Mount with Improved Tolerance to Thermal Instability Further Improvements to Folded 6-Point-3 Reference Kinematic Mount as shown in FIG. The third sheet 13 with respect to a line slightly perpendicular to the geometric center of the reference body 110 and the axis of the V-shaped groove in the reference body 120
2 flat surface orientation. Referring to the folded kinematic mount of FIG.
2 are inclined at an angle α and the third sheet 1
32 plane corresponds to the second sheet 12 on the first surface 14.
Generally lying in a plane formed by a tie line drawn between the second sheet and the first sheet 112 and a line extending from the tie line to a contact point on the third sheet 132. I have. The tie line is a line slightly perpendicular to the geometric center of the reference body 110 and the axis of the V-shaped groove in the reference body 120. These lines define a plane in which the plane of the third sheet 132 may be located.

Therefore, any one of the third key 134 to the flat surface of the third sheet 132 can be used because one of the base cell 60 and the presenter 20 (interface module 80) can experience thermal expansion or contraction. The translation does not cause any significant rotation of the presenter 20 relative to the base cell 60 either. By minimizing such rotation, the relation between the respective coordinate systems is maintained in a better state. Such tilting of the third sheet 132 provides improved stability and repeatability of the kinematic mount 10 under certain conditions, such as where differential thermal expansion is important.

This configuration of the kinematic mount 10 is accurate enough in that the robotic manipulator 30 does not need to be retained after disconnection and reconnection of the presenter to the base cell 60. As you can see, the position error caused by the non-repeatable mechanical interface is 10,000 of 25.4 mm (1 inch).
It can be reduced by a factor of 1 or less.

Operation Referring to FIGS. 2 to 5, FIGS. 8 to 10 and FIGS. 12 to 13, the first reference body 110 and the second
The folded configuration of the 6-point-3 reference kinematic mount 10 resting on the plane 14 of the third and the third reference body 130 is located on the second orthogonal plane 16. Specifically, the first sheet 112 and the second sheet 122 are disposed in the base cell 60 on the first surface 14 in the horizontal direction, and the third sheet 132 is substantially positioned with respect to the first surface. It is arranged in a base cell on a vertical second surface 16.

When the first key 114 is seated on the first seat 112, a nominal static point in three-dimensional space in the robotic manipulator coordinate system is defined. The presenter 20 can generally rotate about three mutually perpendicular axes when seating the first key 114 on the first seal 112.

Since the second key 124 is located on the second sheet 122, the docking interface module 80 around the first and second vertical axes is provided.
The rotation of (and the presenter 20) is excluded. Thus, docking interface module 80 (and presenter 20) can rotate only about a third axis generally defined by a tie line between second sheet 122 and first sheet 112. it can.

By seating the third key 134 on the third seat 132, a third contact is provided, and
Rotation about the third axis is prevented, and the third axis is orthogonal to the first and second perpendicular axes. That is, the third sheet 132 and the corresponding third key 134
Are prevented from rotating about a third axis orthogonal to the first and second axes. Thus, docking interface module 80 (and presenter 20) is positioned with respect to base cell 60. As all these keys touch their corresponding sheets, one point in space is reproducibly defined on the reference body 110.

Next, the coordinate system of the given interface module 80 or the presenter 20 is taught to the robotic manipulator 30. The docking interface module 80 and the associated presenter 20 may be removed and reloaded, or may be removed and later reinstalled;
The reproducibility of the position of a given presenter relative to the robotic manipulator 30 eliminates the need to re-teach. Thus, the robotic manipulator 30 can "learn" a number of different presenters 20. The presenter 20 is then exchanged and the only input to the robotic manipulator 30 that operates in association with a given presenter is the presenter and its corresponding docking station 12 identification. The robotic manipulator 30 relies on a previously known relationship between the robotic manipulator's coordinate system and the coordinate system of a given presenter 20, thereby allowing for quick work.

Although the present invention has been described in terms of what is presently considered to be the most practical and preferred embodiment, it will be understood that the invention is limited to the disclosed embodiment. Rather, it is intended to cover all such modifications and equivalent constructions as would cover various modifications and equivalent arrangements falling within the spirit and scope of the appended claims in accordance with the broadest interpretation. Is intended.

[Brief description of the drawings]

FIG. 1 is a perspective view of a base cell having two robotic manipulators and a plurality of docking stations, and a material transport conveyor.

FIG. 2 is a perspective view of a robotic manipulator connected to a base cell and having a short docking interface module connected to the base cell.

FIG. 3 is a perspective view of a robotic manipulator having a short docking interface module spaced from a base cell and the base cell.

FIG. 4 is a perspective view of an assembled base cell having two docking stations, wherein the undelivered mating halves of the base cell are joined together by an upper tie plate and a lower tie plate. Yes,
It also shows a pallet lift and a positioning support mounted on the end of the base cell.

FIG. 5 is an exploded perspective view of the base cell showing the unhooked mating halves, the upper and lower tie plates, and the lift and positioning support.

FIG. 6 is a perspective view showing a short docking interface module.

FIG. 7 is a perspective view showing a long docking interface module.

FIG. 8 is an exploded perspective view of the folded kinematic mount, with a three-point seat and a two-point seat mounted on a first surface, and a one-point seat intersecting the first surface and the first point; It is a figure mounted on the 2nd surface substantially orthogonal to the surface.

FIG. 9 is a perspective view of a folded kinematic mount with a fiducial engaged.

FIG. 10 is a perspective view of a robotic manipulator connected to a base cell having four interlocking halves, with the working envelope of the robotic manipulator shown in phantom lines.

FIG. 11 is a perspective view of a transport cart for introducing an interface module to a docking station on a base cell.

FIG. 12 is a perspective view of four docked Cartesian base cells in which a workpiece can be selectively picked up from two of four docking positions.

FIG. 13 is a perspective view of a robotic manipulator mounted on four docking station base cells with corresponding controllers.

FIG. 14 is a side view of a presenter adjacent to a plurality of robotic manipulators and a material conveyor.

FIG. 15 is a top view of the configuration of FIG.

FIG. 16 is a side cross-sectional view of the reverse configuration of the kinematic mount.

FIG. 17 is a side cross-sectional view of a vertical kinematic mount.

FIG. 18 is a perspective view of a portion of an alternative first reference body.

FIG. 19 is a side cross-sectional view of the reference body of FIG. 18 placed on a kinematic mount.

FIG. 20 is a side view of a part of the second reference body.

FIG. 21 is a perspective view illustrating a configuration of a kinematic mount that provides enhanced thermal stability.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Kinematic mount 14 1st surface 16 2nd surface 18 Material transfer conveyor 20 Presenter 30 Robotic manipulator 31 Work envelope 60 Base cell 62 Engaging half 63 Hole 64 Upper tie plate 66 Lower tie plate 68 Lower shoulder 70 Cart 72 Wheeled Frame 74 Support Surface 76 Lifter 80 Docking Interface Module 81 Peephole 100 Third Reference Body 102 Reference Element 110 First Reference Body 112 First Sheet 114 First Key 120 Second Reference Body 112 Second sheet 124 Second key 130 Third reference body 132 Third sheet 134 Third key 140 Primary plate 142 Locator plate 148 Safety bolt OS1 First surface OS2 Second surface

Claims (18)

[Claims] 1. A mounting assembly for reproducibly aligning a first member with a second member, comprising: (a) a three contact point reference body; and (b) a two contact point reference body. (C) one contact point reference body, and wherein at least one of the three contact point reference bodies, the two contact point reference bodies, and the one contact point reference body is located in a first plane. Wherein one of the remaining three contact point fiducials, the two contact point fiducials, and the one contact point fiducial is located in a second plane, and wherein the second plane is the first plane. A mounting assembly that is non-parallel to the plane. 2. The mounting assembly according to claim 1, wherein said first surface is orthogonal to said second surface. 3. The mounting assembly according to claim 1, wherein said three-point reference body includes a socket disposed on one of said first member and said second member. The two-point reference body includes a groove provided in one of the first member and the second member, and the one-point reference body includes a groove formed between the first member and the second member. A mounting assembly including a flat area deployed on one of the two. 4. An assembly apparatus comprising: (a) a robotic manipulator having a movable element, wherein the movable element is translatable with respect to a first coordinate system. A robotic manipulator; (b) a presenter for presenting an item at a position in a second coordinate system unrelated to the first coordinate system; and (c) a robotic manipulator and the presenter. And a 6-point-3 reference kinematic mount for reproducibly aligning the first coordinate system and the second coordinate system. 5. The assembly device according to claim 4, wherein said 6-point-3 reference kinematic mount comprises: (a) a first point mounted on one of said presenter and said robotic manipulator. (B) a first key provided on the remaining one of the presenter and the robotic manipulator, wherein the first sheet and the first key are the presenter and the first key; Said first key being positioned for cooperative engagement when in operative alignment with a robotic manipulator; and (c) a second key disposed on one of said presenter and said robotic manipulator. (D) a second key provided on the remaining one of the presenter and the robotic manipulator, the second key being provided on the second sheet and the second key; The second key being positioned to cooperately engage when the presenter and the robotic manipulator are in operable alignment; and (e) one of the presenter and the robotic manipulator. And (f) a third key disposed on the remaining one of the presenter and the robotic manipulator, wherein the third key is disposed on one of the third sheet and the robotic manipulator. A third key, the third key being cooperatively aligned during operable alignment of the presenter with the robotic manipulator. 6. The assembly device according to claim 5, wherein said first sheet, said second sheet and said third sheet are placed on said robotic manipulator. 7. The assembly device according to claim 5, wherein said first key, said second key, and said third key are mounted on said presenter. 8. The assembly apparatus according to claim 5, wherein one of the first sheet, the second sheet, and the third sheet is mounted on a first surface, The remaining one of the first sheet, the second sheet, and the third sheet is mounted on a second surface, the second surface being non-parallel to the first surface. Is an assembly device. 9. The assembly device according to claim 8, wherein said first surface and said second surface are perpendicular to each other. 10. A method of connecting a first element to a second element in a repeatable manner, comprising: (a) a first contact point sheet, a two contact point sheet, and a three contact point sheet on a first surface; (B) in a second plane that is non-parallel to said first plane;
Locating the rest of the one contact point sheet, the two contact point sheets, and the three contact point sheets; and (c) corresponding one contact point sheet, two contact point sheets, and three contact points. Deploying a first key, a second key and a third key on the seat. 11. A method for operably connecting a robotic manipulator to a presenter, comprising: (a) positioning a first key and a second key on corresponding first and second sheets. Wherein said first sheet and said second sheet are mounted on a first plane, said positioning; and (b) a third key is positioned on a corresponding third sheet. Positioning said third sheet mounted in a second plane that is non-parallel to said first plane. 12. A mounting assembly for reproducibly connecting a first member to a second member, comprising: (a) being disposed on one of the first member and the second member. (B) a first key provided on the remaining one of the first member and the second member, wherein the first key is provided on the first sheet and the second member. The first key is selected to create a three-point contact between the first key and the second key upon operable alignment of the first member with the second member. A first key; (c) a second sheet disposed on one of the first member and the second member; and (d) a first member and the second member. A second key disposed on the remaining one of the first member and the second member, wherein the second sheet and the second key are configured to operate with the first member and the second member. When the movable sheet is aligned with the second sheet and the first sheet.
(E) a third sheet disposed on one of the first member and the second member, wherein the second key is selected to create a two-point contact with the second member. (F) a third key provided on the remaining one of the first member and the second member, wherein the third sheet and the third key are Said third key selected to create a one-point contact between said third sheet and said third key when in operable alignment between the first member and said second member; Wherein one of the first sheet, the second sheet, and the third sheet is mounted on a first surface, and the first sheet; The second sheet and the remaining one of the third sheets are mounted in a second plane;
The mounting assembly, wherein the second plane is non-parallel to the first plane. 13. A mount for connecting a first member to a second member, comprising: (a) a pair of mutually disposed ones of said first member and said second member; (B) at least a portion of the first member and the second member sized to be at least partially received between the opposing surfaces; (C) a first sheet provided on one of the facing surface and the carrying surface; and (d) a first sheet provided on the facing surface and the carrying surface. A first key disposed on the remaining one of the first and second keys, wherein the first sheet and the first key cooperate during operable alignment between the opposing surfaces and the bearing surface. Said mating and defining a three-point contact therebetween. A first key; (e) a second sheet disposed on one of the facing surface and the bearing surface; and (f) a rest of the facing surface and the bearing surface. The second sheet and the second key cooperate during operable alignment between the opposing surface and the bearing surface. Said second key being positioned to meet and defining a two-point contact therebetween; and (g) a third key disposed on one of said opposing surface and said carrying surface. (H) a third key provided on the remaining one of the opposing surface and the supporting surface, wherein the third sheet and the third key are During operable alignment between the opposing surfaces and the bearing surface, they are placed in cooperative engagement and between them. Said third key defining one contact point;
Have a mount. 14. A mounting assembly for reproducibly aligning a first member with a second member, comprising: (a) a three-contact reference body; (b) a two-contact reference body; (C) one contact reference body, wherein each of the three contact reference bodies, the two contact reference bodies, and the one contact reference body is placed in a plane orthogonal to the mounting body. Assembly. 15. A modular base cell comprising: (a) first and second identical, unhanded side pieces, each side piece having an upper shoulder and a lower shoulder. Yes,
Each shoulder having a plurality of the same, unhanded side pieces having a plurality of locator elements; and (b) an upper tie plate having a plurality of upper tie plate locators. Wherein said upper tie plate is dimensioned to cooperately align said upper tie plate locator with said locator element disposed on said upper shoulder; A lower tie plate sized to cooperatively align the lower tie plate locator with the locator element disposed on the lower shoulder. A modular base cell comprising: the lower tie plate being configured; 16. The modular base cell of claim 14, wherein said locator element is a hole. 17. The modular base cell of claim 14, wherein said upper tie plate locator and said lower tie plate locator include threaded recesses. 18. A cart for presenting a docking interface module to a docking station, comprising: (a) a frame with wheels; and (b) a support surface disposed on the frame for supporting the docking interface module. Wherein the support surface includes one of a plurality of recesses and holes; and (c) the support surface is connected to the frame and the support surface, and the support surface is connected to the frame. A cart comprising: a plurality of elevators for moving between an adjacent retracted position and an extended position remote from the frame.