Note: Descriptions are shown in the official language in which they were submitted.
CA 02698387 2012-04-05
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
HON-GPD/CDA-DIV 1
CA 02698387 2012-04-05
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.
HON-GMCDA-DIV 2
CA 02698387 2012-04-05
= 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.
15
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.
HON-GPD/CDA-DIV 3
CA 02698387 2012-04-05
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
HON-GPD/CDA-DIV 4
CA 02698387 2012-04-05
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.
HON-GPD/CDA-DIV 5
CA 02698387 2012-04-05
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
6
CA 02698387 2012-04-05
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.
HON-GPD/CDA-DIV 7
CA 02698387 2012-04-05
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.
10
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.
20
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
HON-GPD/CDA-D1V 8
CA 02698387 2012-04-05
=
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.
HON-GPINCDA-DIV 9
CA 02698387 2012-04-05
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
HON-GPD/CDA-DP/ 10
CA 02698387 2012-04-05
=
Figure 15 is cross sectional view still another device.
DESCRIPTION OF THE PREFERRED EMBODIMENTS
5
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.
20
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.
HON-GPD/CDA-DIV 11
CA 02698387 2012-04-05
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.
15
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
CA 02698387 2012-04-05
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.
25
= 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
HON-GPD/CDA-DIV 13
CA 02698387 2012-04-05
'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
HON-GPD/CDA-DIV 14
CA 02698387 2012-04-05
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. =
10
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.
HON-GPD/CDA-DIV 15
=
CA 02698387 2012-04-05
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.
=
HON-GPD/CDA-DIV 16
= =
CA 02698387 2012-04-05
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.
HON-GPD/CDA-DIV 17
CA 02698387 2012-04-05
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
HON-GPD/CDA-DN 18
CA 02698387 2012-04-05
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.
20
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
HON-GPD/CDA-DIV 19
CA 02698387 2012-04-05
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.
5
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.
25
=
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.
HON-GPD/CDA-DIV 20
=
CA 02698387 2012-04-05
.=
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.
HON-GPDICDA-DIV 21
= =
CA 02698387 2012-04-05
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.
=
1-10N-GPD/CDA-DIV 22
