US3603691A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Laser control for automatic alignment of structures
Assignee: Lockheed Martin Corp
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Filing: 1969-07-25
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Granted: 1971-09-07
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Expires: 1989-07-25
Abstract
Abstract An automatic part positioning system, such as may be used in tool or jig building, precisely locates or aligns the assembly components of large structures. Any misalignment of a component, with respect to a given spatial reference, is detected and appropriate error signals are generated which control a servosystem to move the component into alignment through three rectilinear axes and three angular axes, as required. These six degrees of freedom are referenced to one or more laser beams which establish the system''s spatial reference. Multiple photoelectric targets, secured to the assembly component for movement therewith, respond to the laser beams to generate the necessary translational or rotational control signals for operation of the servosystem. Activation of the servosystem automatically brings the assembly component into a given position with respect to the system''s basic spatial reference and thereafter maintains the established alignment.
Inventors
- 👤 Ralph A Hamilton
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 07:22
CPC Classifications
H; H01; H01S; H01S3/00; H01S3/23; H01S3/2383; H01S3/005
Claims Analysis
Total Claims: 24
Claim 1
Independent Claim
156 words
Automatic alignment apparatus comprising: means for projecting first, second, and third light beams defining orthogonally intersecting horizontal, vertical, and station planes; an object movable through six degrees of freedom to be aligned selectively with respect to said planes; first means, secured to said object for movement therewith, responsive to said first beam to produce horizontal and vertical displacement control signals indicative of the relative position of said first means with respect to the intersection of said horizontal and vertical planes; second means secured to said object for movement therewith, responsive to said second beam to produce rotational control signals indicative of rotation of said object in said station plane; and third means secured to said object for movement therewith responsive to said third beam to produce control signals respectively indicative of rotation in said vertical plane, rotation in said horizontal plane, and linear displacement along the intersection of said horizontal and vertical planes, of said object.
Claim 2
Dependent Claim
156 words
Automatic alignment apparatus comprising: means for projecting first, second, and third light beams defining orthogonally intersecting horizontal, vertical, and station planes; an object movable through six degrees of freedom to be aligned selectively with respect to said planes; first means, secured to said object for movement therewith, responsive to said first beam to produce horizontal and vertical displacement control signals indicative of the relative position of said first means with respect to the intersection of said horizontal and vertical planes; second means secured to said object for movement therewith, responsive to said second beam to produce rotational control signals indicative of rotation of said object in said station plane; and third means secured to said object for movement therewith responsive to said third beam to produce control signals respectively indicative of rotation in said vertical plane, rotation in said horizontal plane, and linear displacement along the intersection of said horizontal and vertical planes, of said object.
Claim 3
Dependent Claim
19 words
Automatic alignment apparatus as defined in claim 1 wherein said light beam projecting means comprises a plurality of lasers.
Claim 4
Dependent Claim
20 words
Automatic alignment apparatus as defined in claim 1 wherein said first, second, and third beam responsive means comprise photoelectric targets.
Claim 5
Dependent Claim
23 words
Automatic alignment apparatus as defined in claim 1 including means for sweeping said third light beam so as to generate said station plane.
Claim 6
Dependent Claim
29 words
Automatic alignment apparatus as defined in claim 1 including positioning means responsive to said control signals for moving said object to a selected locus with respect to said planes.
Claim 7
Dependent Claim
68 words
Automatic alignment apparatus as defined in claim 5 including: a plurality of servo drive means responsive to corresponding ones of said control signals to generate corresponding servo drive signals; and wherein said positioning means comprises; servo positioning means responsive to said servo drive signals for moving said beam responsive means into alignment with corresponding ones of said beams and thereby align said object with respect to said locus.
Claim 8
Dependent Claim
50 words
Automatic alignment apparatus as defined in claim 1 including: means associated with said light beam-projecting means for modulating said beams; and demodulator means connected to said beam responsive means to provide said control signals in response to said modulated beams, whereby said apparatus is made insensitive to ambient radiant energy.
Claim 9
Dependent Claim
36 words
Automatic alignment apparatus as defined in claim 1 wherein said first and second beam-projecting means project stationary beams and said third beam-projecting means projects a moving beam which sweeps through an arc in a single plane.
Claim 10
Dependent Claim
177 words
Automatic alignment apparatus comprising: laser means for projecting first, second, and third light beams defining three orthogonally intersecting planes; an object movable through six degrees of freedom to be aligned selectively with respect to said planes; a quadrisector photoelectric target, secured to said object for movement therewith responsive to said first beam to produce horizontAl and vertical displacement control signals indicative of the relative position of the center of said target, in one of said planes, with respect to the axis of said first beam; a first bisector photoelectric target, secured to said object for rotational movement therewith, responsive to said second beam to produce a rotational control signal indicative of rotation of said object in said one plane about the axis of said first beam; and a second bisector photoelectric target secured to said object for movement therewith, responsive to said third beam to produce control signals respectively indicative of the vertical rotation in said one plane, horizontal rotation in said one plane, and linear displacement along the axis of said first beam, of said object.
Claim 11
Dependent Claim
177 words
Automatic alignment apparatus comprising: laser means for projecting first, second, and third light beams defining three orthogonally intersecting planes; an object movable through six degrees of freedom to be aligned selectively with respect to said planes; a quadrisector photoelectric target, secured to said object for movement therewith responsive to said first beam to produce horizontAl and vertical displacement control signals indicative of the relative position of the center of said target, in one of said planes, with respect to the axis of said first beam; a first bisector photoelectric target, secured to said object for rotational movement therewith, responsive to said second beam to produce a rotational control signal indicative of rotation of said object in said one plane about the axis of said first beam; and a second bisector photoelectric target secured to said object for movement therewith, responsive to said third beam to produce control signals respectively indicative of the vertical rotation in said one plane, horizontal rotation in said one plane, and linear displacement along the axis of said first beam, of said object.
Claim 12
Dependent Claim
30 words
Automatic alignment apparatus as defined in claim 9 including: positioning means responsive to said control signals for moving said object to a selected locus with respect to said intersecting planes.
Claim 13
Dependent Claim
30 words
Automatic alignment apparatus as defined in claim 10 including: indicator means responsive to said control signals for visually displaying the relative position of said object with respect to said locus.
Claim 14
Dependent Claim
143 words
Automatic alignment apparatus comprising: a plurality of laser beam projectors, the projected beams of which define intersecting reference planes; a selectively movable object to be aligned with respect to said planes and located with respect to the point of intersection of said reference planes; a plurality of photoelectric target means, each of which is responsive to a corresponding one of said beams to produce corresponding control signals, said target means being secured to said object for movement therewith; positioning means drivingly coupled to said object for selectively moving said object through six degrees of freedom; and control means connected to said positioning means and responsive to said control signals for causing said positioning means to locate said object at a selected locus with respect to said point of intersection and to align said object in a selected attitude with respect to said planes.
Claim 15
Dependent Claim
143 words
Automatic alignment apparatus comprising: a plurality of laser beam projectors, the projected beams of which define intersecting reference planes; a selectively movable object to be aligned with respect to said planes and located with respect to the point of intersection of said reference planes; a plurality of photoelectric target means, each of which is responsive to a corresponding one of said beams to produce corresponding control signals, said target means being secured to said object for movement therewith; positioning means drivingly coupled to said object for selectively moving said object through six degrees of freedom; and control means connected to said positioning means and responsive to said control signals for causing said positioning means to locate said object at a selected locus with respect to said point of intersection and to align said object in a selected attitude with respect to said planes.
Claim 16
Dependent Claim
57 words
Automatic alignment apparatus as defined in claim 12 including: means associated with said laser beam projectors for modulating said beams; and demodulator means connected to said photoelectric target means to produce said control signals in response to the impingement of said modulated beams on said target means, whereby said apparatus is made insensitive to ambient radiant energy.
Claim 17
Dependent Claim
34 words
Automatic alignment apparatus as defined in claim 12 including: means associated with one of said projectors for sweeping the beam projected therefrom through an arc to generate a corresponding one of said reference planes.
Claim 18
Dependent Claim
42 words
Automatic alignment apparatus as defined in claim 12 including: a frame to which said projectors are secured; and means for attaching said object to said frame when said positioning means and said control means have located said object at said selected locus.
Claim 19
Dependent Claim
35 words
Automatic alignment apparatus as defined in claim 15 including: a plurality of sensor means secured to said frame, each of which is responsive to a corresponding one of said beams for indicating the axis thereof.
Claim 20
Dependent Claim
97 words
The combination comprising: means for projecting a substantially collimated beam of radiation; optical means interposed in the path of said beam for diverting said beam to at least two loci in space and thereby define a fixed reference plane; first and second radiation sensitive means, each having an optical center, for producing control signals in response to radiation applied thereto by said optical means; and servo means responsive to said control signals and drivingly coupled to said first and second radiation sensitive means for automatically, and simultaneously, aligning said optical centers with respect to said reference plane.
Claim 21
Dependent Claim
97 words
The combination comprising: means for projecting a substantially collimated beam of radiation; optical means interposed in the path of said beam for diverting said beam to at least two loci in space and thereby define a fixed reference plane; first and second radiation sensitive means, each having an optical center, for producing control signals in response to radiation applied thereto by said optical means; and servo means responsive to said control signals and drivingly coupled to said first and second radiation sensitive means for automatically, and simultaneously, aligning said optical centers with respect to said reference plane.
Claim 22
Dependent Claim
27 words
The combination defined in claim 17 wherein said optical means compRises: a pentaprism; an means drivingly coupled to said pentaprism for rotation thereof about its optical axis.
Claim 23
Dependent Claim
48 words
The combination defined in claim 17 wherein each of said radiation sensitive means produces a first control signal when said reference plane falls on one side of said optical center and a second control signal when said reference plane falls on the other side of said optical center.
Claim 24
Dependent Claim
16 words
The combination defined in claim 17 wherein said beam projecting means comprises an intensity-modulated, continuous-wave laser.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1974-09-06 | 1975-03-08 | 1975-09-07 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1978-09-06 | 1979-03-08 | 1979-09-07 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1982-09-06 | 1983-03-08 | 1983-09-07 | $7700.00 | Window Closed / Lapsed |