U.S. patent application number 11/099996 was filed with the patent office on 2006-10-12 for wok-piece positioner.
Invention is credited to Ken Harbaugh, Wade Hickle, Craig Jennings, Donald Joseph Metz, Zane Michael, Gary Daniel Schutte.
Application Number | 20060226139 11/099996 |
Document ID | / |
Family ID | 37082209 |
Filed Date | 2006-10-12 |
United States Patent
Application |
20060226139 |
Kind Code |
A1 |
Jennings; Craig ; et
al. |
October 12, 2006 |
Wok-piece positioner
Abstract
Work-piece positioners include a positioner chassis, a rotary
framework coupled to the chassis, and a mezzanine disposed above
the chassis, wherein the mezzanine is configured to mount one or
more robots above the positioner. The rotary framework may be
configured such that it may rotate a work-piece between a
work-piece load/unload zone and a work zone about a framework axis.
More particularly, the mezzanine may be secured to the chassis such
that when one or more robots are mounted to the mezzanine, the one
or more robots may be positioned above the work zone of the
positioner.
Inventors: |
Jennings; Craig; (Dayton,
OH) ; Michael; Zane; (Troy, OH) ; Schutte;
Gary Daniel; (Springfield, OH) ; Metz; Donald
Joseph; (North Hampton, OH) ; Hickle; Wade;
(Vandalia, OH) ; Harbaugh; Ken; (Vandalia,
OH) |
Correspondence
Address: |
DINSMORE & SHOHL LLP;One Dayton Centre
Suite 1300
One South Main Street
Dayton
OH
45402-2023
US
|
Family ID: |
37082209 |
Appl. No.: |
11/099996 |
Filed: |
April 6, 2005 |
Current U.S.
Class: |
219/158 |
Current CPC
Class: |
B25J 9/0096 20130101;
B25J 9/0084 20130101 |
Class at
Publication: |
219/158 |
International
Class: |
B21J 13/08 20060101
B21J013/08 |
Claims
1. A work-piece positioner comprising: a positioner chassis; a
rotary framework coupled to said chassis, said rotary framework
configured to rotate a work-piece between a work-piece load/unload
zone and a work zone about a framework axis; and a mezzanine
disposed above said chassis, said mezzanine including a
substantially horizontal member and configured to mount at least
one robot above said positioner.
2. The work-piece positioner of claim 1, wherein said mezzanine is
affixed to said positioner chassis, and wherein said positioner
chassis is configured to support both said mezzanine and said at
least one robot above said positioner.
3. The work-piece positioner of claim 1, wherein said mezzanine is
comprised of a first mezzanine support and a second mezzanine
support secured to opposite ends of said horizontal member.
4. The work-piece positioner of claim 4, wherein said work-piece
support is comprised of: opposite rotary framework arms rotatable
about said framework axis; a first set of work-piece supports
positioned on one end of said framework arms so as to define a
first work-piece axis extending between said first set of
work-piece supports; and a second set of work-piece supports
positioned on an end of said framework arms opposite said first set
of work-piece supports so as to define a second work-piece axis
extending between said second set of work-piece supports.
5. The work-piece positioner of claim 4, wherein said rotary
framework is comprised of a work-piece support rotatable about said
framework axis and said framework axis is substantially
vertical.
6. The work-piece positioner of claim 4, wherein framework axis is
substantially horizontal.
7. The work-piece positioner of claim 1, wherein a divider is
disposed along said rotary framework so as to separate it into two
areas.
8. The work-piece positioner of claim 1, further comprising one or
more robots mounted to said mezzanine such that said one or more
robots are disposed above said work zone of said positioner.
9. An work-piece positioner comprising: a positioner chassis; a
framework rotatably coupled to said chassis and configured to
rotate a work-piece between a work-piece load/unload zone and a
work zone about a substantially horizontal axis; and a mezzanine
disposed above said chassis, wherein said mezzanine is configured
to mount at least one robot above said positioner.
10. The work-piece positioner of claim 9, wherein said mezzanine is
affixed to said positioner chassis, and wherein said positioner
chassis is configured to support both said mezzanine and said at
least one robot above said positioner.
11. The work-piece positioner of claim 10, wherein said mezzanine
is comprised of a first mezzanine support and a second mezzanine
support secured to opposite ends of a substantially horizontal
member.
12. The work-piece positioner of claim 19, wherein said rotary
framework is comprised of: opposite rotary framework arms; a first
set of work-piece supports positioned on one end of said framework
arms so as to define a first work-piece axis extending between said
first set of work-piece supports; and a second set of work-piece
supports positioned on an end of said framework arms opposite said
first set of work-piece supports so as to define a second
work-piece axis extending between said second set of work-piece
supports.
13. The work-piece positioner of claim 9, wherein a divider is
disposed along said rotary framework so as to separate it into two
areas.
14. The work-piece positioner of claim 9, further comprising one or
more robots mounted to said mezzanine such that said one or more
robots are disposed above said work zone of said positioner.
15. A work-piece positioner comprising: a positioner chassis; a
movable framework movably coupled to said chassis, said framework
configured to move a work-piece from a work-piece load/unload zone
to a robot work zone; a mezzanine disposed above said chassis, said
mezzanine configured for mounting at least one robot above said
positioner; at least one robot mounted to said mezzanine; and
wherein said positioner defines a footprint having an area of less
than about 30 m.sup.2 and said at least one robot is within said
footprint.
16. The work-piece of claim 15, wherein said framework is rotatably
coupled to said chassis such that said framework rotates a
work-piece from said load/unload zone to said work zone about a
framework axis.
17. The work-piece positioner of claim 15, wherein said mezzanine
is comprised of a substantially horizontal member.
18. The work-piece of claim 17, wherein said mezzanine is comprised
of a first mezzanine support and a second mezzanine support secured
to opposite ends of said horizontal member.
19. The work-piece positioner of claim 15, wherein said footprint
is less than or equal to about 10 m.sup.2, and wherein said at
least one robot comprises two robots.
20. The work-piece positioner of claim 15, wherein said mezzanine
is affixed to said positioner chassis, and wherein said positioner
chassis is configured to support both said mezzanine and said at
least one robot above said positioner.
Description
BACKGROUND OF THE INVENTION
[0001] The present invention relates to work-piece positioners.
More particularly, the present invention relates to a work-piece
positioner that comprises a positioner chassis and an overhead
mezzanine configured such that a robot or multiple robots may be
mounted to it above the positioner and/or a work zone.
[0002] Industries often employ work-piece positioners to hold,
manipulate, move, or orient a work-piece while one or more robots
perform a variety of applications on the work-piece. Some of the
positioners may include an unload/load zone and a work zone,
wherein the positioner moves work-pieces back and forth between the
unload/load zone and the work zone. Generally, the robot has been
placed on the floor adjacent to these types of work-piece
positioners such that the robot may work on the work-piece held by
the positioner. This configuration consumes a significant amount of
valuable floor space because both the positioner and the robot are
consuming the floor space. This issue is magnified if the
application requires multiple robots to perform tasks on the
work-piece because each robot will consume additional floor space,
adding to the overall footprint of the robot work cell (e.g.,
work-piece positioner and robot(s)).
SUMMARY OF THE INVENTION
[0003] Accordingly, the present invention is intended to address
and obviate problems and shortcomings and otherwise improve
previous work-piece positioners.
[0004] An exemplary embodiment of the work-piece positioner of the
present invention includes a positioner chassis, a rotary framework
coupled to the chassis, and a mezzanine disposed above the chassis,
wherein the mezzanine includes a substantially horizontal member
and is configured to mount at least one robot above the positioner.
The rotary framework may be configured such that it may rotate a
work-piece between a work-piece load/unload zone and a work zone
about a framework axis.
[0005] In another exemplary embodiment of the work-piece positioner
of the present invention, the positioner comprises a positioner
chassis, a framework rotatably coupled to the chassis, and a
mezzanine disposed above the chassis and configured to mount at
least one robot above the positioner. The rotary framework of this
embodiment is configured to move a work-piece from a work-piece
load/unload zone to a work zone and is rotable about a
substantially horizontal axis.
[0006] In still a further exemplary embodiment of the present
invention, a work-piece positioner comprises a work-piece chassis,
a movable framework movably coupled to the chassis, a mezzanine
disposed above the chassis and configured to mount at least one
robot above the positioner, and at least one robot mounted to the
mezzanine. In addition, the rotary framework is configured to move
a work-piece from a work-piece load/unload zone to the work zone.
Such a positioner defines a footprint having an area of less than
30 m.sup.2 and the at least one robot is within this footprint.
[0007] A further understanding of the nature and advantages of the
present invention may be realized by reference to the remaining
portions of the specification and the drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] While the specification concludes with claims particularly
pointing out and distinctly claiming the invention, embodiments of
the invention will be better understood from the following
description taken in conjunction with the accompanying drawings in
which:
[0009] FIG. 1 is an isometric view of an exemplary embodiment of a
work-piece positioner according to the present invention;
[0010] FIG. 2 is a side elevational view of the work-piece
positioner illustrated in FIG. 1;
[0011] FIG. 3 is an isometric view of the mezzanine of the
work-piece positioner illustrated in FIG. 1;
[0012] FIG. 4 is a side elevational view of another exemplary
embodiment of a work-piece positioner according to the present
invention;
[0013] FIG. 5 is a front elevational view of the work-piece
positioner illustrated in FIG. 4;
[0014] FIG. 6 is a side elevational view of another exemplary
embodiment of a work-piece positioner according to the present
invention; and
[0015] FIG. 7 is a front elevational view of the work-piece
positioner illustrated in FIG. 6.
[0016] The embodiments set forth in the drawings are illustrative
in nature and not intended to be limiting of the invention which is
defined by the claims. Moreover, individual features illustrated in
the drawings will be more fully apparent and understood with
reference to the following detailed description.
DETAILED DESCRIPTION OF THE INVENTION
[0017] Referring to FIGS. 1-3, an exemplary embodiment of a
work-piece positioner 10 of the present invention is shown as
including a positioner chassis 12, a rotary framework 20, a first
set of work-piece supports 30 and 32, a second set of work-piece
supports 40 and 42, and a mezzanine 50. Positioner 10 may also
include a load/unload zone 1 and a work zone 2 disposed on an
opposite side of positioner 10 from load/unload zone 1, wherein
rotary framework 20 may move a work-piece 4 (e.g., automotive
components) back and forth between load/unload zone 1 and work zone
2.
[0018] As shown in FIG. 3, mezzanine 50 includes a first mezzanine
support 52 and a second mezzanine support 54, each of which are
substantially vertical in orientation and a substantially
horizontal member 56. First and second supports 52 and 54 may
optionally include a flange end 51 to connect to positioner chassis
12. First and second supports 52 and 54 may be secured or affixed
to opposite ends of substantially horizontal member 56 using a
variety of conventional or yet-to-be discovered methods without
departing from the scope of the present invention. For example,
first and second mezzanine supports 52 and 54 and horizontal member
56 may be welded together, bolt connected, or formed as an integral
unit to form mezzanine 50. As shown in FIGS. 1-2, mezzanine 50 may
be secured to positioner chassis 12 (described later herein) by
welding the flange ends 51 to flanges on the chassis. However, it
is understood that the positioner chassis and mezzanine may be
connected together using a variety of known or yet-to-be discovered
securing devices or methods (e.g., weld or bolt connections)
without departing from the scope of the present invention.
Alternatively, rather than securing mezzanine 50 to positioner
chassis 12, first and second mezzanine supports 52 and 54 may be
disposed along the floor adjacent positioner chassis (as shown in
FIG. 7 and described later herein).
[0019] Mezzanine 50 of the present invention may be configured to
support one robot or multiple robots above positioner chassis 12,
rotary framework 20, work-piece supports 30, 32, 40, and 42,
load/unload zone 1, and/or work zone 2. For example, as shown in
FIGS. 1-2, three robots 70 may be mounted to mezzanine 50 above
work zone 2, which enables robots 70 to perform a variety of
applications on work-piece 4 while being held by either first set
of work-piece supports 30 and 32 (as shown) or second set of
work-piece supports 40 and 42 within work zone 2. Such applications
that may be performed by robots 70 on work-piece 4 may include, but
are not limited to, welding, cutting, assembly, etc. The mounting
of robots 70 to mezzanine 50 above positioner 10 allows the
positioner 10 and robots 70 to encompass a single footprint that is
smaller than the combined footprint of a conventional positioner
and robot work cell (i.e., wherein both the positioner and the
robots are mounted on the floor). In one exemplary embodiment,
positioner 10 and one or more robots 70 mounted to positioner 10
may define a footprint of less than 30 m.sup.2. In another
exemplary embodiment, positioner 10 and one or more robots mounted
to positioner 10 may define a footprint of less than or equal to 25
m.sup.2. In yet another exemplary embodiment, positioner 10 and two
robots mounted to positioner 10 may define a footprint of less than
or equal to 10 m.sup.2. The footprint of the present invention
(i.e., work-piece positioner and mounted robot) represents a
reduction in required floor space from about 20% to about 45%
compared to a conventional work-piece positioner and robot work
cell. Such a positioner and robot configuration is particularly
advantageous because it frees up industrial floor space to be used
for additional applications, which is valuable.
[0020] Since mezzanine 50 is configured to mount robots thereon,
the particular materials and dimensions of mezzanine 50 are chosen
to provide the necessary rigidity and strength to support the
desired number of robots to be mounted above positioner 10,
including but not limited to formed sheet metal, plate steel, or
any other conventional or yet-to-be developed materials. It is
understood that mezzanine 50 may also take on other shapes and
configurations such as having only a substantially vertical
mezzanine support configured for robot mounting (not shown) or a
cantilevered, substantially horizontal member (not shown) secured
to a single mezzanine support (not shown), wherein a robot may be
mounted to the horizontal member such that the robot may rotate
between multiple work zones.
[0021] Still referring to FIGS. 1-3, positioner chassis 12 may
include a base 13 connected to a first column 14 and to a second
column 15 positioned opposite first column 14, wherein first and
second columns have a substantially vertical orientation. In this
embodiment, first and second columns 14 and 15 are welded to first
and second supports 52 and 54, respectively. Positioner chassis 12
is configured to support both the mezzanine 50 and at least one
robot (e.g., 70). In this exemplary embodiment, positioner chassis
12 may be fabricated from steel such as formed sheet metal or plate
steel. Such positioner chassis 12 may comprise a variety of
different shapes, sizes, materials, and components without
departing from the scope of the present invention. For example,
positioner chassis 12 may be fabricated such that first column 14
and first support 52 are not two separate components welded
together but a single component forming a vertical support (e.g., a
single piece of plate steel). Similarly, second column 15 and
second support 54 may be a single component forming a vertical
support (e.g., a single piece of sheet steel) rather than two
separate components welded together. Horizontal member 56 may be
welded between both of these columns.
[0022] With regard to rotary framework 20 of the exemplary
embodiment in FIGS. 1-2, it includes opposite rotary framework arms
24 and 25 and may be coupled to first and second vertical columns
14 and 15 so as to be rotatable about a framework axis 26.
Framework axis 26 is in a substantially horizontal orientation.
Rotary framework 20 may rotate 180 degrees around framework axis 26
between load/unload zone 1 and work zone 2. However, it is
understood that rotary framework 20 may rotate any number of
degrees about framework axis 26.
[0023] In this exemplary embodiment, rotary framework arms 24 and
25 may include a first set of work-piece supports 30 and 32 located
at one end of framework arms 24 and 25, respectively, so as to
define a first work-piece axis 34 extending between first set of
work-piece supports 30 and 32. Rotary framework 20 may also include
a second set of work-piece supports 40 and 42 that are located at
an opposite end of framework arms 24 and 25, respectively, from
first set of work-piece supports 30 and 32. Second set of
work-piece supports 40 and 42 define a second work-piece axis 44
extending between the second set of work-piece supports 40 and 42.
First work-piece axis 34 and second work-piece axis 44 may lie in a
common work-piece plane. Such rotary framework may hold one or more
work-pieces (e.g., work-piece 4) with first and second sets of
work-piece supports to rotate and/or move the work-pieces between
load/unload zone 1 and work zone 2. FIGS. 1-2 also show that rotary
framework 20 may include a divider 28 to separate load/unload zone
1 from work zone 2 in order to provide protection to an operator
positioned near load/unload zone 2 from the work being performed in
work zone 1. Divider 28 may be oriented substantially perpendicular
to rotary framework arms 24 and 25.
[0024] As discussed herein, positioner chassis 12 and rotary
framework 20 may be made of any known or yet to be discovered
material having sufficient strength and rigidity to withstand the
stresses and forces of the moving rotary framework 20 and the load
associated with one or more work-pieces held by rotary framework
20. And, as described above, the material for and the size and
dimensions of positioner chassis 12 are configured such that
chassis 12 may support the weight of the mezzanine 50 and one or
more robots mounted to mezzanine 50. Such a positioner is
commercially available from Motoman, Inc., West Carrollton, Ohio,
within the 6000 Series of positioners.
[0025] In addition, positioner 10 may include a drive motor
assembly, and any associated gears, clutches, etc., which are all
beyond the scope of the present invention and may be gleaned from
conventional teachings, e.g., U.S. Pat. Nos. 4,666,363, 5,074,741,
and 5,873,569, the disclosures of which are incorporated herein by
reference. For example, work-piece positioner 10 may comprise a
single drive motor (not shown) and a clutch assembly (not shown)
arranged to impart selectively rotary motion to the rotary
framework 20 about the framework axis 26 and rotary motion to
work-piece 4 supported by first set of work-piece supports 30 and
32.
[0026] Positioner 10 may also include one or more robots mounted to
mezzanine 50 above positioner 10 and/or work zone 2. Such robots 70
may include any variety of conventional or yet-to-be developed
robots, lasers, or other robotic equipment necessary to perform the
desired applications to work-piece 4 within work zone 2 without
departing from the scope of the present invention. In one exemplary
embodiment, industrial robots commercially available from Motoman,
Inc. of West Carrollton, Ohio may be mounted to positioner 10.
[0027] In operation, an operator may load work-piece 4 between
first set of work-piece supports 30 and 32 while first set of
work-piece supports are positioned in the load/unload zone 1. Drive
motor and clutch assembly may rotate framework arms 24 and 25 such
that first set of work-piece supports 30 and 32 and work-piece 4
may be rotated 180 degrees from load/unload zone 1 to work zone 1.
All the axes of rotation of the positioner may rotate
simultaneously during the sweep from zone 1 to zone 2, resulting in
the work-piece being in the desired position at the end of the
sweep motion. Once in work zone 2, robots 70 mounted upon mezzanine
50 may perform applications on work-piece 4 from above this work
zone as shown in FIG. 1. While robots 70 perform this work, the
operator may unload and/or load a second work-piece (not shown)
between second set of work-piece supports 40 and 42. As described
above, divider 28 may provide protection to load/unload zone 1
(i.e., operator) from potential hazards of the work being performed
within work zone 2. Once robots 70 have completed work on
work-piece 4, rotary framework arms 24 and 25 may be rotated 180
degrees back to load/unload 1 such that work-piece 4 may be
unloaded and a new work-piece loaded onto positioner 10 between
first set of work-piece supports 30 and 32.
[0028] The work-piece positioner of the present invention may
combine the mezzanine with a variety of different types of
positioner chasses, rotary frameworks, and work-piece supports
without departing from the scope of the invention. For example,
FIGS. 4-5 show positioner 100 as including a mezzanine 150, a
positioner chassis 112, and a rotary framework 120 rotatably
coupled to chassis 112, wherein rotary framework 120 includes a
table 122 that rotates about a vertical axis 126. In this exemplary
embodiment, rotary framework 120 rotates a work-piece 104 that has
been positioned on rotary framework 120 from a load/unload zone 101
to a work zone 102. Such a rotary framework 120 may rotate
work-piece 104 (e.g., 180 degrees) between load/unload zone 101 and
work zone 102. As described above with reference to the first
exemplary embodiment, positioner 100 may be capable of
simultaneous, multiple axis movement such that the work-piece may
be in the desired position at the end of the sweep motion from zone
101 to zone 102. As shown, rotary framework 120 may also include a
divider 128 separating rotary framework 120 into two areas to
provide protection to an operator and to separate work-pieces held
by rotary framework 120. In the exemplary embodiment shown in FIGS.
4-5, rotary framework 120 is a turntable-style positioner, wherein
a substantially circular table rotates about a substantially
vertical axis 126 between two positions (i.e., load/unload zone 101
and work zone 102). Although, as described above, mezzanine may be
configured to support any number of robots, this particular
exemplary embodiment shows two robots 170 mounted to mezzanine 150,
specifically to a horizontal member 156 of mezzanine 150, above
work zone 102. In this exemplary embodiment, positioner chassis 112
includes a first vertical support 114 and a second vertical support
115 that are then welded to horizontal member 156 of mezzanine 150
and is configured to support both the mezzanine and one or more
robots (e.g., 170). This exemplary embodiment of the positioner 10
and robots 170 of the present invention may also comprise the same
footprint as described above herein. The positioner of this
exemplary embodiment is commercially available from Motoman, Inc.,
West Carrollton, Ohio, within the 1200 Series of positioners.
[0029] In still another exemplary embodiment of the present
invention shown in FIGS. 6-7, positioner 200 includes mezzanine
250, positioner chassis 212, a rotary framework 220, a first set of
work-pieces supports 230 and 232, and a second set of work-piece
supports 240 and 242, wherein rotary framework 220 rotates about a
vertical rotary framework axis 226. Such rotary framework 220 may
also include opposite rotary framework arms 224 and 225, wherein
first set of work-piece supports 230 and 232 are located at one end
of opposite framework arms 224 and 225, respectively, so as to
define a first work-piece axis 234 extending between first set of
work-piece supports. Rotary framework 220 may also include a second
set of work-piece supports 240 and 242 that are located at an
opposite end of opposite framework arms 224 and 225, respectively,
from first set of work-piece supports 230 and 232. Second set of
work-piece supports 240 and 242 may also define a second work-piece
axis (not shown) extending between the second set of work-piece
supports. The first and second work-piece axes may lie in a common
work-piece plane. Such rotary framework may hold one or more
work-pieces with first and second sets of work-piece supports to
rotate and/or move work-pieces between load/unload zone 201 and
work zone 202.
[0030] Still referring to FIGS. 6-7, mezzanine 250 may include
first and second mezzanine supports 252 and 254 that are secured to
a substantially horizontal member 256 and is configured to hold one
or more robots 270 (e.g., one in this exemplary embodiment). First
and second mezzanine supports 252 and 254 may be attached (e.g.,
welded) to a base 213 of positioner 200 and positioned along the
floor adjacent positioner chassis 212. Such a positioner may rotate
a work-piece (not shown) held in first set of work-piece supports
230 and 232 about framework axis 226 (e.g., 180 degrees) from a
load/unload zone 201 to a work zone 202, and then allow a second
work-piece (not shown) to be loaded onto second set of work-piece
supports 240 an 242 in load/unload zone 201. Additionally, this
configuration of positioner 200 and robot 270 may define a combined
footprint as detailed above herein.
[0031] As will be understood by those familiar with the art, the
present invention may be embodied in other specific forms without
departing from the spirit or essential characteristics thereof. For
example, the invention is not limited to the type and dimensions of
the transport vehicle specifically disclosed. Accordingly, the
disclosures and descriptions herein are intended to be
illustrative, but not limiting.
* * * * *