公开(公告)号：WO2017062187A1

公开(公告)日：2017-04-13

申请号：PCT/US2016/053096

申请日：2016-09-22

Applicant: MOBILE TOOL MANAGEMENT, INC.

Inventor： FADLOVICH, Chace, Howard ,  BROWN, Robert, Allen ,  WHALEN-ROBINSON, David, James ,  WOOGERD, Michael, Gary ,  DAVIS, Eric, J.

IPC: B25J3/04 ,  B25J9/00 ,  B25J13/08 ,  G05B19/418

CPC classification number: G05B19/41845 ,  B25J9/161 ,  G05B19/4148 ,  G05B2219/34205 ,  G05B2219/35029 ,  G05B2219/40296 ,  G05B2219/40304 ,  G05B2219/50158 ,  Y02P90/02

Abstract: A system and method for a self-contained modular manufacturing device having self-contained modular tools configured to collectively accomplish a specific task or function in a hierarchical control manner. In an embodiment, the modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing may provide a base by which additional modules may be mounted and coupled. The modular device also includes an interface configured to communicate with a remote master control system capable of control the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, individual processors disposed in the housing may be configured to control the functional tools (e.g., each end-effector) independent of the overall manufacturing control system and pass control of the self-contained modular device between local controllers in a hierarchical manner.

Abstract translation: 一种用于独立模块化制造装置的系统和方法，其具有独立模块化工具，其被配置为以分级控制方式共同完成特定任务或功能。 在一个实施例中，模块化装置包括壳体，其具有构造成接合机器人臂或其他形式的操纵致动器（诸如起重机或台架）的安装座。 壳体可以提供可以安装和耦合附加模块的基座。 模块化设备还包括被配置为与能够控制机器人手臂的远程主控制系统通信的接口。 模块化设备还包括配置成完成特定任务或功能的一个或多个其他模块。 这样的模块有时被称为终端执行器，并且彼此协同工作以完成任务和功能。 在独立的模块化制造装置中，设置在壳体中的各个处理器可以被配置为独立于整个制造控制系统来控制功能工具（例如，每个端部执行器），并且在本地 控制器。

公开(公告)号：WO2017062183A1

公开(公告)日：2017-04-13

申请号：PCT/US2016/053010

申请日：2016-09-22

Applicant: MOBILE TOOL MANAGEMENT, INC.

Inventor： FADLOVICH, Chace, Howard ,  BROWN, Robert, Allen ,  WHALEN-ROBINSON, David, James ,  WOOGERD, Michael, Gary ,  DAVIS, Eric, J.

IPC: B23P19/06 ,  B25J9/16

CPC classification number: B25J9/1679 ,  B23Q37/00 ,  B25J9/08 ,  B25J11/005 ,  B25J15/0019 ,  B25J15/0057 ,  G05B19/414 ,  G05B2219/31229 ,  Y10S901/02

Abstract: A system and method for a self-contained modular manufacturing device having modular tools and parts configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing may provide a base by which additional modules may be mounted and coupled. The modular device also includes an interface configured to communicate with a remote control system capable of controlling the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, a processor disposed in the housing may be configured to control the functional tools (e.g., each end-effector) independent of the overall manufacturing control system.

Abstract translation: 一种用于独立模块化制造装置的系统和方法，其具有被配置为共同完成特定任务或功能的模块化工具和部件。 在一个实施例中，模块化装置包括壳体，其具有构造成接合机器人臂或其他形式的操纵致动器（诸如起重机或台架）的安装座。 壳体可以提供可以安装和耦合附加模块的基座。 模块化设备还包括被配置为与能够控制机器人臂的遥控系统通信的接口。 模块化设备还包括配置成完成特定任务或功能的一个或多个其他模块。 这样的模块有时被称为终端执行器，并且彼此协同工作以完成任务和功能。 在独立的模块化制造装置中，设置在壳体中的处理器可以被配置为独立于整个制造控制系统来控制功能工具（例如，每个端部执行器）。

公开(公告)号：WO2017062184A1

公开(公告)日：2017-04-13

申请号：PCT/US2016/053023

申请日：2016-09-22

Applicant: MOBILE TOOL MANAGEMENT, INC.

Inventor： FADLOVICH, Chace, Howard ,  BROWN, Robert Allen ,  WHALEN-ROBINSON, David James ,  WOOGERD, Michael Gary ,  DAVIS, Eric, J.

IPC: B25J9/16 ,  G05B19/418 ,  H01L21/68

CPC classification number: G05B19/402 ,  G05B2219/41109 ,  G05B2219/45059 ,  G05B2219/50008 ,  Y10S901/08

Abstract: A system and method for a self-contained self-calibrating modular manufacturing device having modular tools and parts configured to collectively accomplish a specific task or function. The modular device includes a housing that has a mount configured to engage a robotic arm or other form of maneuvering actuator (such a crane or gantry). The housing may provide a base by which additional modules may be mounted and coupled. The modular device also includes an interface configured to communicate with a remote control system capable of controlling the robotic arm. Such modules work in conjunction with each other to accomplish tasks and functions. In a self-contained self-calibrating modular manufacturing device, a processor disposed in the housing may be configured to control the functional tools (e.g., each end-effector) independent of the overall manufacturing control system as well as use local sensors to determine aspects of an underlying manufactured items for calibration purposes.

Abstract translation: 一种用于独立自校准模块化制造装置的系统和方法，其具有被配置为共同完成特定任务或功能的模块化工具和部件。 模块化装置包括壳体，其具有被配置为接合机械手臂或其他形式的操纵致动器（诸如起重机或龙门架）的安装座。 壳体可以提供基座，通过该基座可以安装和联接附加模块。 模块化装置还包括被配置为与能够控制机器人臂的遥控系统进行通信的接口。 这些模块相互协调工作以完成任务和功能。 在独立的自校准模块化制造装置中，设置在壳体中的处理器可以被配置为独立于整个制造控制系统来控制功能工具（例如，每个端部执行器），并且使用局部传感器来确定方面 的基础制造物品用于校准目的。

公开(公告)号：WO2017062185A1

公开(公告)日：2017-04-13

申请号：PCT/US2016/053044

申请日：2016-09-22

Applicant: MOBILE TOOL MANAGEMENT, INC.

Inventor： FADLOVICH, Chace, Howard ,  BROWN, Robert, Allen ,  WHALEN-ROBINSON, David, James ,  WOOGERD, Michael, Gary ,  DAVIS, Eric, J.

IPC: B25J9/00 ,  G05B19/00

CPC classification number: B25J11/005 ,  B25J9/08 ,  B25J9/1687 ,  B25J15/0019 ,  B25J15/0057 ,  G05B19/41815 ,  Y10S901/02 ,  Y10S901/41

Abstract: A system and method for using locally stored historical performance data with a self-contained modular manufacturing device having modular tools and parts configured to collectively accomplish a specific task or function. In an embodiment, the modular device includes an interface configured to communicate with a remote control system capable of control the robotic arm. The modular device also includes one or more other modules that are configured to accomplish a particular task or function. Such modules are sometimes called end-effectors and work in conjunction with each other to accomplish tasks and functions. In a self-contained modular manufacturing device, a processor disposed in the housing may be configured to control the functional tools (e.g., each end-effector) independent of the overall manufacturing control system. Further, historical data may be locally stored and retrieved to tailor the functioning of the modular device.

Abstract translation: 一种用于使用具有模块化工具和配置成共同完成特定任务或功能的部件的独立模块化制造装置来使用本地存储的历史性能数据的系统和方法。 在一个实施例中，模块化设备包括被配置为与能够控制机器人臂的遥控系统通信的接口。 模块化设备还包括配置成完成特定任务或功能的一个或多个其他模块。 这样的模块有时被称为终端执行器，并且彼此协同工作以完成任务和功能。 在独立的模块化制造装置中，设置在壳体中的处理器可以被配置为独立于整个制造控制系统来控制功能工具（例如，每个端部执行器）。 此外，可以本地存储和检索历史数据以调整模块化设备的功能。

公开(公告)号：WO2016164572A1

公开(公告)日：2016-10-13

申请号：PCT/US2016/026426

申请日：2016-04-07

Applicant: MOBILE TOOL MANAGEMENT, INC.

Inventor： WHALEN-ROBINSON, David, James ,  BROWN, Robert, Allen ,  FADLOVICH, Chace, Howard ,  WOOGERD, Michael, Gary

IPC: B25J17/00 ,  B25J17/02 ,  B25J18/00

CPC classification number: B25J9/1674 ,  B25J9/1633

Abstract: A system and method for maneuvering a robotic end-effector using one or more motors that have a force limiter that is adaptable to take into account any effects of a changing gravitational force as the system moves. In one embodiment, the system includes an actuator, such as a drive motor, for applying a force vector to actuate a function of the end effector, such as moving the end-effector along a track that is attached to a contoured surface. Further, a force limiter coupled to the actuator is configured to interrupt the actuating if the force exceeds a first threshold. Further, the system includes an orientation detector to determine any changes in orientation with respect to gravity so as to adjust the force limit accordingly. Thus, if the force limiter determines that a threshold has been exceeded, the force limiter may limit or interrupt the motion while taking changing gravitational forces into account.

Abstract translation: 一种用于使用具有力限制器的一个或多个电动机来操纵机器人末端执行器的系统和方法，所述限制器适于在系统移动时考虑到变化的重力的任何影响。 在一个实施例中，系统包括致动器，例如驱动马达，用于施加力矢量以致动端部执行器的功能，例如沿着附接到轮廓表面的轨道移动末端执行器。 此外，耦合到致动器的力限制器被配置为如果力超过第一阈值则中断致动。 此外，该系统包括一个方向检测器，用于确定相对于重力的取向的任何变化，从而相应地调整力极限。 因此，如果力限制器确定已经超过阈值，则力限制器可以在考虑变化的重力的同时限制或中断运动。