Systems, assemblies, and methods for programming robotic systems

Patent metadata

Field	Value
Publication number	US-9448555-B2
Application number	US-201213524123-A
Country	US
Kind code	B2
Filing date	Jun 15, 2012
Priority date	Jun 15, 2012
Publication date	Sep 20, 2016
Grant date	Sep 20, 2016

Abstract

In one embodiment, a training assembly for programming a media application system can include a self aligning chuck, and an elongate tactile member. The self aligning chuck can include an alignment orifice formed therein. The alignment orifice can receive a spray nozzle of a media applicator. The self aligning chuck can be held at a fixed position relative to the spray nozzle of the media applicator. The elongate tactile member can be engaged with the self aligning chuck. The elongate tactile member can include a proximal end that is proximal to the media applicator and a distal end that is a desired distance away from the spray nozzle of the media applicator.

First claim

What is claimed is:

1. A training assembly for programming a media application system comprising:
a self aligning chuck comprising an alignment orifice formed therein, wherein the alignment orifice receives a spray nozzle of a media applicator and the self aligning chuck is held at a fixed position relative to the spray nozzle of the media applicator; and
an elongate tactile member engaged with the self aligning chuck, the elongate tactile member having a proximal end that is proximal to the media applicator and a distal end that is a desired distance away from the spray nozzle of the media applicator.

2. The training assembly of claim 1 , further comprising:
a platform engaged with the proximal end of the elongate tactile member, the platform comprising a first releasable engagement feature and a platform reference feature; and
a second releasable engagement feature and a chuck reference feature formed in the self aligning chuck, wherein the first releasable engagement feature of the platform and the second releasable engagement feature of the self aligning chuck are releasably engaged such that the platform reference feature is in contact with the chuck reference feature.

3. The training assembly of claim 2 , wherein the first releasable engagement feature of the platform and the second releasable engagement feature of the self aligning chuck are threaded.

4. The training assembly of claim 2 , wherein the platform reference feature is a proximal surface of the platform and the chuck reference feature is a distal surface of the chuck.

5. The training assembly of claim 2 , wherein the elongate tactile member is axially aligned with the spray nozzle of the media applicator.

6. The training assembly of claim 5 , wherein the elongate tactile member is a solid body that tapers to a point at the distal end of the elongate tactile member.

7. The training assembly of claim 5 , wherein the elongate tactile member is formed from a coil spring.

8. The training assembly of claim 2 , further comprising a laser sight coupled to the platform, wherein the laser sight emits a laser beam that travels along a laser path and the laser path is axially aligned with the spray nozzle of the media applicator.

9. The training assembly of claim 1 , further comprising:
an offset elongate tactile member engaged with the self aligning chuck, wherein the offset elongate tactile member is offset from the elongate tactile member by an offset distance.

10. The training assembly of claim 9 , further comprising a laser sight coupled to the self aligning chuck, wherein the laser sight emits a laser beam that travels along a laser path, and wherein the laser path is axially aligned with the spray nozzle of the media applicator and disposed between the elongate tactile member and the offset elongate tactile member.

11. The training assembly of claim 9 , wherein the spray nozzle of the media applicator is configured to emit a spray pattern, and the offset distance between the offset elongate tactile member and the elongate tactile member is indicative of a width of the spray pattern.

12. The training assembly of claim 1 , wherein a protective cover is disposed between the alignment orifice of the self aligning chuck and the spray nozzle of the media applicator.

13. The training assembly of claim 1 , wherein the media applicator is a swirl gun.

14. A training assembly for programming a media application system comprising:
a self aligning chuck comprising an alignment orifice formed therein, wherein the alignment orifice receives a spray nozzle of a swirl gun and the self aligning chuck is held at a fixed position relative to the spray nozzle of the swirl gun;
an elongate tactile member engaged with the self aligning chuck;
an offset elongate tactile member engaged with the self aligning chuck, wherein each of the elongate tactile member and the offset elongate tactile member has a proximal end that is proximal to the swirl gun and a distal end that is a desired distance away from the spray nozzle of the swirl gun, and wherein the distal end of the offset elongate tactile member and the distal end of the offset elongate tactile member is offset by an offset distance such that the offset distance is substantially equal to a width of a spray pattern of the spray nozzle of the swirl gun at the desired distance; and
a laser sight coupled to the self aligning chuck and disposed between the elongate tactile member and the offset elongate tactile member, wherein the laser sight emits a laser beam that travels along a laser path, and wherein the laser path is axially aligned with the spray nozzle of the swirl gun.

15. The training assembly of claim 14 , wherein the elongate tactile member is formed from a polymer.

16. The training assembly of claim 14 , further comprising:
a platform engaged with the proximal end of the elongate tactile member, the platform comprising a first releasable engagement feature and a platform reference feature; and
a second releasable engagement feature and a chuck reference feature formed in the self aligning chuck, wherein the first releasable engagement feature of the platform and the second releasable engagement feature of the self aligning chuck are releasably engaged such that the platform reference feature is in contact with the chuck reference feature.

17. A method for programming a media application system comprising:
receiving a spray nozzle of a swirl gun within an alignment orifice of a self aligning chuck, wherein the self aligning chuck is engaged with an elongate tactile member and a laser sight, and wherein the elongate tactile member has a distal end that terminates a desired distance away from the spray nozzle of the swirl gun and the laser sight emits a laser beam along a laser path that is axially aligned with the spray nozzle of the swirl gun;
aligning the laser beam with a program path along a work piece;
following the program path along the work piece such that the elongate tactile member is in contact with the work piece at least once, and out of contact with the work piece at least once;
storing data indicative of the program path in one or more memory components; and
transforming, automatically with one or more processors, the data indicative of the program path into a sequence of motions to be followed by a robotic actuator.

18. The method of claim 17 , further comprising deflecting the elongate tactile member with the work piece.

19. The method of claim 17 further comprising:
contacting one or more datum points on the work piece with a point of a second elongate tactile member;
disengaging the second elongate tactile member from the swirl gun; and
engaging the elongate tactile member with the swirl gun, wherein the second elongate tactile member is more rigid than the elongate tactile member.

20. The method of claim 17 , wherein the swirl gun is coupled to the robotic actuator, while the program path is followed.

Assignees

• Magedanz Bryan L
• Little Ron
• Toyota Motor Eng & Mfg North America Inc

Inventors

• Magedanz Bryan L
• Little Ron

Classifications

• B05B1/3405

  to produce swirl · CPC title

• G05B19/42 Primary

  Recording and playback systems, i.e. in which the program is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine · CPC title

• B23K37/0235

  the guide member forming part of a portal · CPC title

• B05B13/0431

  with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces · CPC title

• B23K2201/006

  Operations & Transport · mapped topic