Patent US5608847A successfully refreshed from Google Patents.
US5608847A
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Vision target based assembly
Assignee: Sensor Adaptive Machines Inc
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Filing: 1995-06-06
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Granted: 1997-03-04
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Expires: 2015-06-06
Abstract
Abstract A method is provided for assembling objects using programmable robots. The robots are each operable with three or more degrees of freedom and the method includes grasping a first object with at least one of the robots, grasping a second object with at least one other robot, robotically placing the first object in a correct location with respect to the second object, and assembling the first and second objects. The objects can also be positioned in fixtures and the correct location of one object with respect to the other can be determined with respect to the fixture. The positions of both of the robots can be determined and suitable control commands provided to these robots to affect the assembling of the objects.
Inventors
- 👤 Timothy R. Pryor
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-30 16:45
CPC Classifications
B; B23; B23P; B23P19/00; B23P19/10; A; A01; A01B; A01B69/00; A01B69/007; A01B69/008; B25; B25J; B25J13/00; B25J13/08; B25J13/088; B25J18/00; B25J18/002; B25J19/00; B25J19/02; B25J19/021; B25J19/022; B25J19/023; B25J9/00; B25J9/16; B25J9/1679; B25J9/1684; B25J9/1692; B25J9/1694; B25J9/1697; B62; B62D; B62D1/00; B62D1/24; B62D1/28; G; G01; G01B; G01B11/00; G01B11/002; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/39; G05B19/401; G05B2219/00; G05B2219/30; G05B2219/34; G05B2219/34033; G05B2219/36; G05B2219/36417; G05B2219/36439; G05B2219/37; G05B2219/37572; G05B2219/39; G05B2219/39057; G05B2219/39393; G05B2219/45; G05B2219/45064; G05B2219/45083; Y; Y02; Y02P; Y02P90/00; Y02P90/02
Claims Analysis
Total Claims: 21
Claim 1
Independent Claim
67 words
A method for assembling of objects comprising the steps of: providing at least two programmable robots, each operable in three or more degrees of freedom, grasping a first object with at least one first robot, grasping a second object with at least one second robot, robotically placing said first object in a correct location with respect to said second object, and assembling said first and second objects.
Claim 2
Independent Claim
67 words
A method for assembling of objects comprising the steps of: providing at least two programmable robots, each operable in three or more degrees of freedom, grasping a first object with at least one first robot, grasping a second object with at least one second robot, robotically placing said first object in a correct location with respect to said second object, and assembling said first and second objects.
Claim 3
Dependent Claim
21 words
A method according to claim 1 wherein a position of at least one of said first and second robots is determined.
Claim 4
Dependent Claim
35 words
A method according to claim 1 wherein a position of said first and second robots is determined, and suitable control commands provided to said robots to affect said assembling of said first and second objects.
Claim 5
Dependent Claim
39 words
A method according to claim 1 wherein a position of at least one of said first and second objects is determined and suitable control commands provided to said robots to affect said assembling of said first and second objects.
Claim 6
Dependent Claim
39 words
A method according to claim 1 wherein a position of said first robot with respect to said second robot is determined and suitable control commands provided to said robots to affect said assembling of said first and second objects.
Claim 7
Dependent Claim
14 words
A method according to claim 1 wherein a third robot programmably joins said objects.
Claim 8
Independent Claim
65 words
A method for assembling objects comprising the steps of: providing first and second programmable robots, each operable in three or more degrees of freedom, grasping a first object with at least said first robot, fixing a second object, placing said first object in a correct location with respect to said second object, and joining said first and second objects using at least said second robot.
Claim 9
Independent Claim
65 words
A method for assembling objects comprising the steps of: providing first and second programmable robots, each operable in three or more degrees of freedom, grasping a first object with at least said first robot, fixing a second object, placing said first object in a correct location with respect to said second object, and joining said first and second objects using at least said second robot.
Claim 10
Dependent Claim
32 words
A method according to claim 7 wherein the second object is located by a fixture wherein the position of at least one of said objects is determined with respect to said fixture.
Claim 11
Dependent Claim
18 words
A method according to claim 7 wherein a position of at least one of said robots is determined.
Claim 12
Dependent Claim
38 words
A method according to claim 7 wherein a position of both robots of said first and second robots is determined, and suitable control commands provided to said robots to affect said joining of said first and second objects.
Claim 13
Dependent Claim
39 words
A method according to claim 7 wherein a position of at least one of said first and second objects is determined, and suitable control commands provided to said robots to affect said joining of said first and second objects.
Claim 14
Dependent Claim
39 words
A method according to claim 7 wherein a position of said first robot with respect to said second robot is determined and suitable control commands provided to said robots to affect said joining of said first and second objects.
Claim 15
Independent Claim
68 words
A method for assembly of objects comprising the steps of: providing a fixture for positioning a first object, providing at least one programmable robot, each operable in three or more degrees of freedom, positioning said first object in said fixture, grasping a second object with said robot, placing said second object in a correct location with respect to said first object, and assembling said first and second objects.
Claim 16
Independent Claim
68 words
A method for assembly of objects comprising the steps of: providing a fixture for positioning a first object, providing at least one programmable robot, each operable in three or more degrees of freedom, positioning said first object in said fixture, grasping a second object with said robot, placing said second object in a correct location with respect to said first object, and assembling said first and second objects.
Claim 17
Dependent Claim
23 words
A method according to claim 13 wherein a position of at least one of said objects is determined with respect to said fixture.
Claim 18
Dependent Claim
17 words
A method according to claim 13 wherein a position of said at least one robot is determined.
Claim 19
Dependent Claim
41 words
A method according to claim 13 wherein two programmable robots are provided, a position of both robots of said two robots is determined, and suitable control commands provided to said robots to affect said assembling of said first and second objects.
Claim 20
Dependent Claim
42 words
A method according to claim 13 wherein a position of at least one of said first and second objects is determined and suitable control commands provided to said at least one robot to affect said assembling of said first and second objects.
Claim 21
Dependent Claim
40 words
A method according to claim 13 wherein a position of said first robot with respect to said second robot is determined and suitable control commands provided to said two robots to affect said assembling of said first and second objects.
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| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
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| 3.5 Years (Year 4) | 2000-03-03 | 2000-09-02 | 2001-03-04 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2004-03-03 | 2004-09-02 | 2005-03-04 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2008-03-03 | 2008-09-02 | 2009-03-04 | $7700.00 | Window Closed / Lapsed |