US4894901A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method for positioning a robotic work system
Assignee: Boeing Co
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Filing: 1988-08-08
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Granted: 1990-01-23
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Expires: 2008-08-08
Abstract
Abstract A robotic work positioning system includes a programmed, powered robot, and a non-powered arm which is locatable at various positions in three dimensional space by means of the powered robot. A mating interconnection is provided on the non-powered arm whereby the non-powered arm may be accurately engaged and positioned by the powered robot for holding a part or workpiece at an accurately predetermined location. Together with the powered robot, the non-powered arm facilitates the accurate assembly of component parts. One or more non-powered arms can be used to generate three dimensional tooling which can be altered robotically.
Inventors
- 👤 Mark S. Soderberg
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 16:27
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/0084; B25J9/009; B23; B23P; B23P19/00; B23P19/001; B25J17/00; B25J17/02; B25J17/0258; B25J17/0275; B25J19/00; B25J19/0008; B25J19/0012; B25J19/02; B25J19/021; B25J19/023; B25J9/02; B25J9/04; B25J9/046; Y; Y10; Y10S; Y10S700/00; Y10S700/90; Y10T; Y10T29/00; Y10T29/49; Y10T29/49826; Y10T29/49833; Y10T29/49904
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
175 words
A robotic method for assembling two parts by means of a fastening tool, a powered robot arm, and a non-powered robot arm, said method comprising: picking up and positioning a first said part for holding by said non-powered robot arm employing said powered robot arm including engaging said non-powered robot arm with said powered robot arm and positioning the non-powered robot arm in first predetermined work locating position for said first said part relative to said fastening tool, locking said non-powered robot arm in said position, disengaging said powered robot arm from said non-powered robot arm, picking up a second said part with said powered robot arm, positioning said powered robot arm carrying said second said part in a second predetermined work locating position for said second said part relative to said fastening tool, said first and second positions being adjacent one another, and performing a fastening operation on said first and second parts with said tool as said parts are simultaneously held in said first and second positions by said non-powered and powered arms.
Claim 2
Dependent Claim
175 words
A robotic method for assembling two parts by means of a fastening tool, a powered robot arm, and a non-powered robot arm, said method comprising: picking up and positioning a first said part for holding by said non-powered robot arm employing said powered robot arm including engaging said non-powered robot arm with said powered robot arm and positioning the non-powered robot arm in first predetermined work locating position for said first said part relative to said fastening tool, locking said non-powered robot arm in said position, disengaging said powered robot arm from said non-powered robot arm, picking up a second said part with said powered robot arm, positioning said powered robot arm carrying said second said part in a second predetermined work locating position for said second said part relative to said fastening tool, said first and second positions being adjacent one another, and performing a fastening operation on said first and second parts with said tool as said parts are simultaneously held in said first and second positions by said non-powered and powered arms.
Claim 3
Dependent Claim
30 words
The method according to claim 1 wherein said powered robot arm is employed for initially engaging the first said part and transferring the first said part to said non-powered arm.
Claim 4
Dependent Claim
36 words
The method according to claim 1 wherein the first said part is initially engaged with said non-powered arm by said powered arm before positioning thereof in said first predetermined work locating position by said powered arm.
Claim 5
Dependent Claim
37 words
The method according to claim 1 further including unlocking said non-powered arm and moving said non-powered arm carrying an assembly of said parts to a third position by means of said powered arm after said fastening operation.
Claim 6
Dependent Claim
27 words
The method according to claim 4 including robotically retrieving said assembly from said non-powered arm and returning said assembly to said fastening tool for further fastening operations.
References Cited (Backward Citations)
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1993-01-22 | 1993-07-24 | 1994-01-23 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1997-01-22 | 1997-07-24 | 1998-01-23 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2001-01-22 | 2001-07-24 | 2002-01-23 | $7700.00 | Window Closed / Lapsed |