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Multiple Robots With Overlapping Work Envelopes Function As Work-In-Process Transfer System

IP.com Disclosure Number: IPCOM000040409D
Original Publication Date: 1987-Nov-01
Included in the Prior Art Database: 2005-Feb-02
Document File: 2 page(s) / 60K

Publishing Venue

IBM

Related People

Barenboim, M: AUTHOR [+5]

Abstract

The positioning of multiple robots so that work envelopes of adjacent robots overlap, permits them to hand-off workpieces to one another, thus functioning as a work-in-process transfer system. The figure shows the present embodiment, in an automated assembly cell producing dot matrix printheads, where five robots 11 to 15 transport printheads through a series of workstations for testing and installation of a cover. Also shown is a typical arrangement of input and output ports through which totes, carrying workpieces, enter and leave the cell. In this example, robot 11 unloads printhead sub-assemblies, from tote 21, and loads them one at a time into fixture 1. Fixture 1 orients the printhead for the succeeding operation in which robot 12 transfers the printhead from fixture 1 to one of the three test fixtures 3.

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Multiple Robots With Overlapping Work Envelopes Function As Work-In- Process Transfer System

The positioning of multiple robots so that work envelopes of adjacent robots overlap, permits them to hand-off workpieces to one another, thus functioning as a work-in-process transfer system. The figure shows the present embodiment, in an automated assembly cell producing dot matrix printheads, where five robots 11 to 15 transport printheads through a series of workstations for testing and installation of a cover. Also shown is a typical arrangement of input and output ports through which totes, carrying workpieces, enter and leave the cell. In this example, robot 11 unloads printhead sub-assemblies, from tote 21, and loads them one at a time into fixture 1. Fixture 1 orients the printhead for the succeeding operation in which robot 12 transfers the printhead from fixture 1 to one of the three test fixtures 3. Fixture 3 performs flight time and impact force tests on all the wires in the printhead. If the printhead fails this test, it is transferred by robot 12 to fixture 2 which positions it for re-transfer by robot 11 to reject tote 22. If the printhead passes the test in fixture 3, it is transferred by robot 12 to the one of two fixtures 4 lying within its work envelope. Robot 13 then transfers the printhead from fixture 4 to one of 46 fixtures 5 for an extended run- in test. Robot 13 then transfers a printhead, which has just completed its run-in test, from its fixtur...