초록 ▼

Apparatus for positioning and holding a tool (3) relative to a workpiece (35) comprising a carriage (1) for conveying the tool over the surface of the workpiece (35) and means (7, 9, 11, 13) for holding the carriage (1) onto the surface of the workpiece (35), the holding means being selectively swit

Apparatus for positioning and holding a tool (3) relative to a workpiece (35) comprising a carriage (1) for conveying the tool over the surface of the workpiece (35) and means (7, 9, 11, 13) for holding the carriage (1) onto the surface of the workpiece (35), the holding means being selectively switchable between a low grip state in which the carriage (1) is held against the workpiece surface whilst remaining capable of movement relative thereto and a high grip state in which the carriage (1) is held substantially fixedly to the workpiece surface for the tool (3) in use to operate thereon. Such an arrangement provides a robot capable of "crawling" over a workpiece (35) and carrying out precise manufacturing operations thereon.

대표청구항 ▼

The invention claimed is: 1. Apparatus for positioning and holding a tool relative to a workpiece, said apparatus comprising: a carriage for conveying the tool over the surface of the workpiece; and means for holding the carriage onto the surface of the workpiece, the holding means selectively swit

The invention claimed is: 1. Apparatus for positioning and holding a tool relative to a workpiece, said apparatus comprising: a carriage for conveying the tool over the surface of the workpiece; and means for holding the carriage onto the surface of the workpiece, the holding means selectively switchable between a low grip state and a high grip state, said low grip state is when the carriage is moveably held against the workpiece surface and said high grip state is when the carriage is fixedly held against the workpiece surface for tool operation on said workpiece surface. 2. Apparatus according to claim 1 wherein the carriage comprises at least one element held in frictional contact with the workpiece surface by the holding means and adapted, when the holding means is in the low grip state, to move the carriage over the workpiece surface. 3. Apparatus according to claim 1 wherein at least one of the holding means and the carriage conforms to the surface of the workpiece immediately adjacent thereto when the holding means is in the low grip state. 4. Apparatus according to claim 1 wherein at least one of the holding means and the carriage conforms to the surface of the workpiece immediately adjacent thereto when the holding means is in the high grip state. 5. Apparatus according to claim 1 further comprises: means for sensing the position of at least one of the carriage and the tool relative to the workpiece, and directing means for moving the carriage over the workpiece surface between predetermined positions thereon. 6. Apparatus according to claim 1 further comprising: means for sensing the position of the tool relative to the workpiece surface; and means for moving at least part of the tool relative to the carriage along at least two orthogonal axes. 7. Apparatus according to claim 1 further comprising: means for sensing the angular orientation of at least part of the tool relative to the workpiece surface and means for rotating at least part of the tool about at least one axis to adjust said angular orientation. 8. Apparatus for positioning and holding a tool relative to a workpiece, said apparatus comprising: a carriage for conveying the tool over the surface of the workpiece; means for holding the carriage onto the surface of the workpiece, the holding means selectively switchable between a low grip state and a high grip state, said low grip state is when the carriage is moveable held against the workpiece surface and said high grip state is when the carriage is fixedly held against the workpiece surface for tool operation on said workpiece surface; means for sensing the position of the carriage relative to the workpiece; directing means for moving the carriage over the workpiece surface between predetermined positions thereon; means for sensing the position of the tool relative to the workpiece surface; and tool moving means for moving at least part of the tool relative to the carriage along at least two orthogonal axes, wherein the directing means controls said tool moving means to move said tool to at least one of a predetermined position and orientation relative to the surface of the workpiece, and actuates the tool. 9. Apparatus for positioning and holding a tool relative to a workpiece, said apparatus comprising: a carriage for conveying the tool over the surface of the workpiece; means for holding the carriage onto the surface of the workpiece, the holding means selectively switchable between a low grip state and a high grip state, said low grip state is when the carriage is moveable held against the workpiece surface and said high grip state is when the carriage is fixedly held against the workpiece surface for tool operation on said workpiece surface; means for sensing the position of the carriage relative to the workpiece; directing means for moving the carriage over the workpiece surface between predetermined positions thereon, means for sensing the angular orientation of at least part of the tool relative to the workpiece surface; and tool moving means for rotating at least part of the tool about at least one axis to adjust said angular orientation, wherein the directing means controls said tool moving means to move said tool to at least one of a predetermined position and orientation relative to the surface of the workpiece, and actuates the tool. 10. Apparatus according to claim 8 further including a programmable controller for controlling the directing means and for switching the holding means between the low and high grip states in order automatically to move the carriage and to position and orient the tool between predetermined locations and orientations relative to the workpiece surface, and for actuating the tool in order to carry out at least one predetermined tool operation on the workpiece. 11. Apparatus according to claim 10 wherein the controller is programmable so as automatically to carry out different sequences of predetermined tool operations on a workpiece. 12. Apparatus according to claim 10 wherein the controller is programmable so as automatically to carry out different sequences of predetermined tool operations on a variety of different workpieces. 13. Apparatus according to claim 9 further including a programmable controller for controlling the directing means and for switching the holding means between the low and high grip states in order automatically to move the carriage and to position and orient the tool between predetermined locations and orientations relative to the workpiece surface, and for actuating the tool in order to carry out at least one predetermined tool operation on the workpiece. 14. Apparatus according to claim 13 wherein the controller is programmable so as automatically to carry out different sequences of predetermined tool operations on a workpiece. 15. Apparatus according to claim 14 wherein the controller is programmable so as automatically to carry out different sequences of predetermined tool operations on a variety of different workpieces. 16. Apparatus according to claim 2 wherein at least one of the holding means and the carriage conforms to the surface of the workpiece immediately adjacent thereto when the holding means is in the low grip state. 17. Apparatus according to claim 2 wherein at least one of the holding means and the carriage conforms to the surface of the workpiece immediately adjacent thereto when the holding means is in the high grip state. 18. Apparatus according to claim 2 further comprising: means for sensing the position of at least one of the carriage and the tool relative to the workpiece; and directing means for moving the carriage over the workpiece surface between predetermined positions thereon. 19. Apparatus according to claim 2 further comprising: means for sensing the position of the tool relative to the workpiece surface; and means for moving at least part of the tool relative to the carriage along at least two orthogonal axes. 20. Apparatus according to claim 2 further comprising: means for sensing the angular orientation of at least part of the tool relative to the workpiece surface; and means for rotating at least part of the tool about at least one axis to adjust said angular orientation.