Method and apparatus for automatically sensing the configuration of a surface area and effecting a work function thereon
US4959523A · kind A · utility
Assignees
Inventors
Key dates
| Filing date | Nov 18, 1988 |
| Grant date | Sep 25, 1990 |
| Priority date | — |
| Expiry date | Nov 18, 2008 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/50356
- WIPO fieldControl
- WIPO sectorInstruments
Abstract
A method and apparatus for automatically sensing the configuration of a damaged surface area and wherein the apparatus is provided with an arc gouging tool, a welding tool, and a grinding tool to gouge damaged areas and fill them with weld material to at least the surface profile of the surface in the working environment and to grind the filled areas flush with the surface of the working environment. A track is bent to a profile enabling the apparatus to work without any collision with its environment while keeping full access to the work area. The geometry of the track is generally unknown to the control circuit of the robot. A motor-actuated robot member is connected to the track and is displaceable on the track by a motorized element. A working arm is displaceably coupled to the robot member and has one or more working tools connected thereto. A control circuit displaces the robot and operates the working arm and tool. The working arm has a sensor connected thereto with a probe to sense parameters and to feed information data of the X, Y and Z coordinates to the control circuit to determine the geometry of the surface of the working environment and contour of areas in the workin…
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.