A robot and associated control system, as well as a method of control, for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a coordinate on a tube sheet coordinate system. A
A robot and associated control system, as well as a method of control, for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a coordinate on a tube sheet coordinate system. A sensory system associated with the robot end effector and the associated digital processing system, includes a vision subsystem for generating an image of a portion of the tube sheet and generating a first signal commensurate with the spatial relationship of the tool to a selected tube opening. An optical subsystem is also provided, for projecting a structured light beam toward the tube sheet and receiving a reflected structured light pattern, indicative of how closely the tool is aligned with the target opening. The end effector also includes transducers responsive to at least one of force and torque acting on the end effector, resulting from partial entry of the tool, or a tool proxy such as a guide, into a tube opening. The sensing of the reflected light pattern, and the sensing of the force and/or torque, result in the generation of second and third signals, respectively which, along with the first signal, are utilized in the computer for controlling the arm to center the tool for actuation fully into the selected tube opening.
대표청구항▼
[ We claim:] [1.] A computer controlled robot for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a coordinate on a tube sheet coordinate system, comprising:a manipulator h
[ We claim:] [1.] A computer controlled robot for servicing a heat exchanger having a substantially planar tube sheet which defines a multiplicity of laterally spaced tube openings of known shape, each of which is centered at a coordinate on a tube sheet coordinate system, comprising:a manipulator having a base fixed with respect to the tube sheet, an articulated arm for moving parallel to said tube sheet, and an end effector carried by the arm for sequential positioning under a plurality of selected tube openings, the end effector carrying a tool which is actuable in a direction perpendicular to the tube sheet for insertion into a respective selected tube opening;a sensory system having means carried by the end effector and means in said computer, for dynamically positioning the tool relative to a selected tube opening, said sensory system including,means for generating an image of a portion of the tube sheet,means for processing said image and generating a first signal commensurate with the spatial relationship of the tool to the selected tube opening,means carried on the end effector for projecting a structured light beam toward the tube sheet at the location of either one of said selected tube opening or a laterally spaced tube opening,means on the end effector for receiving a structured light pattern reflected by the tube sheet from said means for projecting,means for sensing the reflected light pattern and generating a second signal commensurate with the spatial relationship of the reflection to said either one of said selected tube opening or laterally spaced tube opening,means on the end effector for sensing at least one of force and torque acting on the end effector resulting from the tool partially entering said selected tube opening or a probe partially entering said laterally spaced tube opening;means for generating a third signal commensurate with at least one of said sensed force or torque; andmeans in said computer responsive to said first, second, and third signals, for controlling said arm to center said tool for actuation fully into said selected opening.
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이 특허에 인용된 특허 (2)
Schleifer Arthur (Palo Alto CA) Roark Joseph C. (Los Altos CA) Poole John S. (Landenberg PA) Gordon Gary B. (Saratoga CA) Segal Gilbert (Hockessin DE) Fuhrman Philip B. (Wilmington DE), Methods for automatically programming spatial information in robotic systems.
McCoy, Jr.,Richard W., Angular movement detector and networks of angular movement detectors for controlling movement of an articulated arm and a method for their use.
Haider, Hani; Al-Shawi, Ibrahim; Barrera, Osvaldo Andres; Saunders, David Scott, On-board tool tracking system and methods of computer assisted surgery.
Iwasaki Hisashi,JPX ; Komada Shuji,JPX ; Takahashi Hirotaka,JPX ; Hyuga Minoru,JPX ; Fujimura Takashi,JPX, Working robot for heat exchangers and method of operating said working robot.
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