Patent Application
20220274218
The invention is in the field of industrial workpiece operations such as handling, processing, and assembly; and in particular to a modular tabletop apparatus for workpiece storage, processing and handling during robotic manipulation.
Industrial tabletops are disclosed in the prior art:
US2014248113A discloses a modular fixture plate system comprising: at least one interlocking fixture plate comprising at least one of a male end and a female end, wherein the male end comprises at least one male projection and the female end comprises at least one female recess; and a docking plate comprising at least one of at least one male projection and at least one female recess; wherein at least one male projection or female recess of the at least one interlocking fixture plate is interlocked with a mating one of the at least one male projection or the at least one female recess of the docking plate.
EP0476188A1 discloses a holding device which can be used for the general processing of workpieces of different size which are to be fixed or mounted on a common foundation (9) by means of holding members during the processing. A single rectangular and thus one-piece planar and flexurally rigid holding plate is used in a simple manner for clamping or mounting a workpiece thereon in such a way that processing only takes place after the common foundation for holding a workpiece, for adaptation to every workpiece of the most varied dimensions, is assembled like a modular system, to make a holding device of the type described above, from a plurality of preferably polygonal holding panels which, in advance of the planned clamping, depending on the required size, are mutually coupled to one another in a flexurally rigid manner in their edge areas in such a way that the holding panels thus coupled form as a body a one-piece, integral workpiece-holding surface which can easily be extended or reduced as desired, whereupon workpieces of any size can now be clamped or mounted in position as usual.
The present invention expands the features and utility of industrial tabletops, as disclosed herein.
An aspect of the present invention relates to a modular tabletop apparatus. The apparatus is typically used for workpiece storage and handling, during robotic manipulation and feeding to a machine, and/or used in automated or semi-automated manufacturing and assembly line processes of products. The tabletop is assembled as a tessellation of modules. The modules can have positioning arrangements, disposed on the surface of modules, for accurate positioning of workpiece-handling elements; and/or can have connection arrangements, disposed around the sides of modules, for physical interconnection of modules. For each module, locations of positioning and/or connection arrangements can be disposed periodically, at a uniform period(s) for all modules in a tabletop. Furthermore, extents (e.g., for rectangular modules, two extents-widths and lengths) of adjacent modules in the tessellation can be some integer multiple of both periods, enabling the positioning and/or connection arrangements to retain their periodicities over multiple modules, which can include up to the entire tabletop.
Another aspect of the invention relates to a tabletop apparatus in which modules possess detection interfaces disposed around their sides, and to a method for self-configuration of the tabletop; that is, a main controller of the tabletop apparatus can compute the size and shape of the tabletop. The detection interfaces can be periodically disposed (at any vertical level) around the sides of the modules at a uniform period for all modules. A pair of facing detection interfaces of two adjacent modules comprise at least one sensor, capable of reporting an identifier of the facing detection interface. The identifier reveals the size of the adjacent module and the position of the facing detection interface with respect to a reference origin of the adjacent module. The main controller collects at least one such adjacent-module identifier from each module, and is thereby able to define relative positions of adjacent modules and, consequently, a plurality of modules including up to all modules in the tabletop. The main controller is thereby enabled to compute the overall size and shape of the tabletop.
It is therefore within the scope of a first aspect of the invention to provide a modular, self-configuring tabletop apparatus comprising
wherein the main controller 120M is further configured to compute tessellation extents of the tabletop in the one or more dimensions as a function of the interface-location period and the sensor outputs.
It is further within the scope of the first aspect of the invention to provide the above apparatus wherein one or more of the interface locations is unpopulated by a detection interface.
It is further within the scope of the first aspect of the invention to provide the above apparatus wherein one or more of the detection interfaces are disposed on a structural support supporting a module.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the module shapes are any combination of rectangles, triangles, quadrilaterals, hexagons, and octagons.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the modules are rectangular.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the two outermost interface locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the interface-location period (P).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the two outermost interface locations on edges of each module are spaced from nearest endpoints of each of the edge by up to one the interface-location period.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the interface locations are periodic in an x-dimension at an interface-location period Pix and in a y-dimension at a interface-location period Piy, the main module further configured to compute a shape of the tabletop, optionally including the possibility to compute the positioning grid and layout of an area occupied by modules up to the entire module tessellation area, including positioning calculation relative to another coordinate system such as such as a robot coordinate system axis that is connected or positioned in connection with the table top modules in the tessellation.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein each the module further comprises one or more connection arrangements configured for physically attaching the adjacent modules; the connection arrangements disposed along edges of the modules and occupy locations periodically spaced in the one or more dimensions of the tabletop by a connection-location period of each the one or more dimensions, such that pairs of the connection arrangements of the adjacent modules meet along the adjacent edges of the adjacent modules; a tessellation extent of each the module along each the edge that comprises the periodically spaced connection locations (Pc) is an integer multiple of the connection-location period of the dimension.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the connection arrangements 112 serve as accurate physical alignment mechanism between modules.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the two outermost connection locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the connection period (Pc).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the two outermost connection locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one the connection period (Pc).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the connection locations are periodic in the x-dimension at a connection period Pcx and in the y-dimension at a connection period Pcy.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the interface period in the x-dimension and the interface period in the y-dimension are equal (Pix=Piy).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the connection period in the x-dimension and the connection period in the y-dimension are equal (Pcx=Pcy).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the interface period in the x-dimension and the connection period in the x-dimension are equal (Pix=Pcx=Picx=Picx); and the interface period in the y-dimension and the connection period in the y-dimension are equal (Piy=Pcy=Picy=Picy).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the interface-connection x and y periods are equal (Picx=Picy=Pic).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the modules comprise one or more plates, each the plate comprising positioning arrangements 110 thereon, the positioning arrangements disposed on a surface of the tabletop and/or the vertically position modules of the table top (
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein two outermost columns of positioning locations of the positioning arrangements are spaced from nearest edges of the positioning array by up to one-half of the positioning period (Pp).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein two outermost columns of positioning arrangements of the positioning locations are spaced from nearest edges of the module by up to one positioning period (Pp).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the positioning locations have a positioning period along the x-dimension at a positioning period Ppx and along the y-dimension at a positioning period Ppy.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the interface-connection period in the x-dimension (Picx) is an integer multiple of the positioning period in the x-dimension (Picx=mPpx); and the interface-connection period in the y-dimension is an integer multiple of the positioning period in the y-dimension (Picy=nPiy).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the x and y interface-connection periods are equal to the x and y positioning periods (Picx=Picy=mPpx=nPpy; m=n).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the modules comprise one or more plates, each the plate comprising positioning arrangements 110 thereon, each the plate 105 comprising one or more positioning arrangements 110 thereon, the positioning arrangements disposed on a surface of the tabletop at positioning locations periodically spaced in at least one dimension of the surface at a positioning period of each of the at least one dimension; tessellation extents of each the module in each the at least one dimension is an integer multiple of the positioning period.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein two outermost columns of positioning locations of the positioning arrangements are spaced from nearest edges of the module by up to one-half of the positioning period.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein two outermost columns of positioning arrangements of the positioning locations are spaced from nearest edges of the module by up to one the positioning period.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the positioning locations have a positioning period along the x-dimension at a positioning period Ppx and along the y-dimension at a positioning period Ppy.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the interface period in the x-dimension is an integer multiple of the positioning period in the x-dimension (Pix=mPpx); and the interface period in the y-dimension is an integer multiple of the positioning period in the y-dimension (Piy=nPpy).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the x and y interface periods are equal and the x and y positioning periods are equal (Pix=Piy=Pi=nPpx=nPpy=nPp; m=n)
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein each the module further comprises one or more connection arrangements 112 configured for connecting the adjacent modules; the connection arrangements occupy locations periodically spaced in the one or more dimensions of the tabletop by a connection period (Pc) of each the one or more dimensions, such that pairs of the connections arrangements of the adjacent modules meet along the adjacent edges of the adjacent modules; a tessellation extent of each the module along each the edge that comprises the periodically spaced connection locations is an integer multiple of the connection period (Pc) of the dimension.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the two outermost connection locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the interface period.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the two outermost connection locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one the connection period.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the connection locations are periodic in the x-dimension at a connection period Pcx and in the y-dimension at a connection period Pcy.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the interface period in the x-dimension and the connection period in the x-dimension are equal (Pix=Pcx=Picx=Picx); and the interface period in the y-dimension and the connection period in the y-dimension are equal (Piy=Pcy=Picy=Picy).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the interface-connection x and y periods are equal (Picx=Picy=Pic).
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the detection interfaces comprise transceivers, the transceivers of each the facing detection interfaces are configured to communicate, and each the module further comprises a controller in communicative connection with the transceivers of the facing detection interface and with the main controller. Optionally, one of the module controllers serves as the main controller.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the transceiver comprises an optical emitter and optical detector.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the transceiver comprises an RF emitter and an RF receiver.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the main controllers and module controllers are connected through a network dedicated to the apparatus and the module controller of each the module is further configured to report one or more of the facing transceivers of the module and the tessellation extents of the module, or codes associated therewith over, the network.
It is further within the scope of the first aspect of the invention to provide a method for self-configuration of a tabletop apparatus, comprising steps of
It is further within the scope of the first aspect of the invention to provide the above method, further comprising steps of
It is further within the scope of the first aspect of the invention to provide the above method, further comprising a step of transforming coordinate systems when constructing the tessellation table.
It is further within the scope of the first aspect of the invention to provide the above method, wherein the coordinate systems are any combination of rectangular, hexagonal, and octagonal.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein a means of communication within the network is over the transceivers.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the network is over cables, fiber, or wireless.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the network is wireless.
It is further within the scope of the first aspect of the invention to provide the above apparatus, wherein the main controller is configured to establish wireless connection with modules returning the access code over the wireless network and skip modules failing to return the access code over the wireless network.
It is within the scope of a second aspect of the invention to provide a tabletop apparatus comprising one or more modules each comprising one or more connection arrangements, wherein a surface of the module comprises one or more recesses, the recess reaching an edge of the module, wherein the recess and a facing recess of an adjacent module form an interlocking shape; the facing connection recesses are thereby configured to receive a connection insert of the interlocking shape.
It is further within the scope of the second aspect of the invention to provide the above apparatus, wherein a floor of the recess comprises a bore or a threaded hole configured for fastening the connection insert to the plate.
It is further within the scope of the second aspect of the invention to provide the above apparatus, wherein the interlocking shape possesses bilateral or rotational symmetry in at least one axis.
It is further within the scope of the second aspect of the invention to provide the above apparatus, wherein the interlocking shape is a dogbone, a barbell, an X, inverted Y's, an arrow, triangles, trapezoids, or any combination thereof.
It is further within the scope of the second aspect of the invention to provide the above apparatus, wherein one or more of the modules are oriented vertically and the connection inserts comprise a connection insert for connecting a vertically oriented module between two horizontally oriented modules and/or a connection insert for connecting two vertically oriented modules meeting at an angle, typically a right angle.
It is further within the scope of the second aspect of the invention to provide the above apparatus, wherein one or more of the modules are positioned horizontally or in an angle to and above the vertically oriented module and the connection inserts comprise a connection insert for connecting a vertically oriented module to a 2nd horizontally oriented module on top of the vertically oriented module and/or a connection insert for connecting a number of vertically and stacked horizontally oriented modules meeting at an angle.
It is within the scope of a third aspect of the invention to provide a modular tabletop apparatus comprising one or more modules comprising one or more connection arrangements, the modules; the modules configured to form a tessellation by adjacent placement of the modules along edges of the modules; the connection arrangements are configured to occupy locations periodically spaced in one or more dimensions of the tessellation by a connection period (Pc) of each the one or more dimensions, such that one or more pairs of the connection arrangements on the adjacent modules meet along the edges of the adjacent modules; a tessellation extent of each the module along each the edge that comprises the periodically spaced connection locations is an integer multiple of the connection period of the dimension.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the connection arrangements comprise one or more recesses, the recess reaching an edge of the module, wherein the recess and a facing recess of an adjacent module form an interlocking shape; the facing connection recesses are thereby configured to receive a connection insert of the interlocking shape.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein one or more of the modules are oriented vertically and the connection inserts comprise a connection insert for connecting a vertically oriented module between one or more horizontally oriented modules and/or a connection insert for connecting two vertically oriented modules meeting at an angle.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein one or more of the modules are positioned horizontally or at an angle to and above vertically oriented module and the connection inserts comprise a connection insert for connecting a vertically oriented module to a 2nd horizontally oriented module on top of the vertically oriented module and/or a connection insert for connecting a number of vertically and stacked horizontally oriented modules meeting at an angle.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein one or more of the connection locations is unpopulated by a connection arrangement.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein one or more of the connection arrangements are disposed on a structural support supporting the module, connection of the adjacent modules thereby secured at the structural supports of the adjacent modules.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the module shapes are any combination of triangles, quadrilaterals, hexagons 160, and octagons 165.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the module shapes are rectangles.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the two outermost connection locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the connection period.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the two outermost connection locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one the connection period.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the connection locations are periodic in the x-dimension at a connection period Pcx and in the y-dimension at a connection period Pcy.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein two the outermost interface locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the interface period.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the two outermost interface locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one the interface period.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the interface locations are periodic in an x-dimension at an interface period Pix and in a y-dimension at an interface period Piy, the main module further configured to compute a shape of the tabletop.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the interface period in the x-dimension and the connection period in the x-dimension are equal (Pix=Pcx=Picx=Picx); and the interface period in the y-dimension and the connection period in the y-dimension are equal (Piy=Pcy=Picy=Picy).
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the interface-connection x and y periods are equal (Picx=Picy=Pic).
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the modules comprise one or more plates, each the plate 105 comprising one or more positioning arrangements 110 thereon, the positioning arrangements disposed on a surface of the tabletop at positioning locations periodically spaced in at least one dimension of the surface at a positioning period of each of the at least one dimension; tessellation extents of each the module in each the at least one dimension is an integer multiple of the positioning period (Pp).
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein two outermost columns of positioning locations of the positioning arrangements are spaced from nearest edges of the module by up to one-half of the positioning period (Pp).
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein two outermost columns of positioning arrangements of the positioning locations are spaced from nearest edges of the module by up to one positioning period (Pp).
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the positioning locations have a positioning period along the x-dimension at a positioning period Ppx and along the y-dimension at a positioning period Ppy.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the interface-connection period in the x-dimension is a multiple of the positioning period in the x-direction (Picx=mPpx) and the interface-connection period in the y-dimension is a multiple of the positioning period in the y-direction (Picy=nPiy), wherein m and n are integers.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the x and y connecting-interface periods are equal and the x and y positioning periods are equal (Pix=Piy=Pi and Ppx=Ppy)
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the modules comprise one or more plates, each plate comprising positioning arrangements 110 thereon, one or more the positioning arrangements disposed at positioning locations along each of one or more rows on the plate, each row oriented along at least one dimension of the rectangle, the positioning locations are periodically spaced along the rows in a dimension at a positioning period of the dimension; tessellation extents of each the module in each the at least one dimension is an integer multiple of the positioning period.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein two outermost columns of positioning locations of the positioning arrangements are spaced from nearest edges of the module by up to one-half of the positioning period.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein two outermost columns of positioning arrangements of the positioning locations are spaced from nearest edges of the module by up to one the positioning period.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the positioning locations have a positioning period along the x-dimension at a positioning period Ppx and along the y-dimension at a positioning period Ppy.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the connection period in the x-dimension is an integer multiple of the positioning period in the x-dimension (Pcx=mPpx); and the connection period in the y-dimension is an integer multiple of the positioning period in the y-dimension (Pcy=nPiy).
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the x and y interface-connection periods are equal to the x and y positioning periods (Picx=Picy=mPpx=nPpy; m=n).
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the two outermost interface locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the interface period.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the two outermost interface locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one the interface period.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the interface locations are periodic in an x-dimension at an interface period Pix and in a y-dimension at an interface period Piy, the main module further configured to compute a shape of the tabletop.
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the interface period in the x-dimension and the connection period in the x-dimension are equal (Pix=Pcx=Picx); and the interface period in the y-dimension and the connection period in the y-dimension are equal (Piy=Pcy=Picy).
It is further within the scope of the third aspect of the invention to provide the above apparatus, wherein the interface-connection x and y periods are equal (Picx=Picy=Pic).
It is within the scope of a fourth aspect of the invention to provide a modular tabletop apparatus comprising one or more modules 104, the modules 104 comprising one or more plates 105; the modules 104 configured to form a tessellation by adjacent placement of the modules 104 along edges of the modules 104; each the plate 105 comprising one or more positioning arrangements 110 disposed thereon, the positioning arrangements configured to occupy locations periodically spaced in one or more dimensions of the tessellation by a positioning period of each the one or more dimensions; tessellation extents of each the module in each the at least one dimension is an integer multiple of the positioning period; wherein the positioning arrangement comprises a recess in the plate, configured to receive a placement insert in a shape of the recess.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the shapes of the recesses comprise any combination of circles and shapes having n-fold rotational symmetry of order of any integer n greater than 1.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the shapes of the recesses lack rotational symmetry of any order, thereby the positioning elements are insertable into the recess in only one orientation.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the shapes of the recess is any combination of a “D,” two non-congruent circles, and an imbalanced ellipse.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein one or more of the positioning locations is unpopulated by a positioning arrangement.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the plates are any combination of triangular, rectangular, hexagonal, or octagonal.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the modules are rectangular.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein two outermost columns of positioning arrangements are spaced from nearest edges of the module by up to one-half of the positioning period.
The apparatus of claim 86, wherein two outermost columns of positioning arrangements are spaced from nearest edges of the module by up to one the positioning period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein a positioning grid has a positioning period along x-dimension at a positioning period Ppx and along y-dimension at a positioning period Ppy.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein each the module further comprises one or more connection arrangements 115 configured for attaching the adjacent modules; the connection arrangements are disposed along one or more edges of each the module, the edges oriented along at least one dimension of the rectangle, the connection arrangements are periodically spaced along the edges in a dimension at an connection period of the dimension; tessellation extents of each the module in each the at least one dimension is an integer multiple of the connection period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the connection arrangements comprise one or more recesses, the recess reaching an edge of the module, wherein the recess and a facing recess of an adjacent module form an interlocking shape; the facing connection recesses are thereby configured to receive a connection insert of the interlocking shape.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein one or more of the modules are oriented vertically and the connection inserts comprise a connection insert for connecting a vertically oriented module between two horizontally oriented modules and/or a connection insert for connecting two vertically oriented modules meeting at an angle; further wherein the positioning arrangements are on either one or both sides of the plates.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the two outermost connection locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the connection period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the two outermost connection locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one the connection period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the connecting arrays have a connection period along the x-dimension at an connection period Pix and along the y-dimension at an connection period Piy.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the connection period in the x-dimension is a multiple of the positioning period in the x-direction (Pix=mPpx); and the connection period in the y-dimension is a multiple of the positioning period in the y-direction are equal (Piy=nPiy), wherein m and n are integers.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the x and y connection periods are equal and the x and y positioning periods are equal (Pix=Piy=Pi and Ppx=Ppy=Pp)
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the two outermost interface locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the interface period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the two outermost interface locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one the interface period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the interface locations are periodic in an x-dimension at an interface period Pix and in a y-dimension at an interface period Piy, the main module further configured to compute a shape of the tabletop.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the interface period in the x-dimension and the connection period in the x-direction are equal (Pix=Pcx=Picx); and the interface period in the y-dimension and the connection period in the y-direction are equal (Piy=Pcy=Picy).
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the interface-connection x and y periods are equal (Picx=Picy=Pic).
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the two outermost interface locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the interface period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the two outermost interface locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one the interface period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the interface locations are periodic in an x-dimension at an interface period Pix and in a y-dimension at an interface period Piy, the main module further configured to compute a shape of the tabletop.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the interface period in the x-dimension is an integer multiple of the positioning period in the x-dimension (Pix=mPpx); and the interface period in the y-dimension is an integer multiple of the positioning period in the y-dimension (Piy=nPiy).
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the x and y interface periods are equal and the x and y positioning periods are equal (Pix=Piy=Pi=mPpx=nPpy=nPp; m=n)
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein each the module further comprises one or more connection arrangements 115 configured for attaching the adjacent modules; the connection arrangements are disposed along one or more edges of each the module, the edges oriented along at least one dimension of the rectangle, the connection arrangements are periodically spaced along the edges in a dimension at an connection period of the dimension; tessellation extents of each the module in each the at least one dimension is an integer multiple of the connection period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the two outermost connector locations on edges of each the module are spaced from nearest endpoints of each of the edge by up to one-half of the connector period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the two outermost connector locations on edges of each the module are spaced from nearest endpoints of each of the edge by one the connector period.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the connection locations are periodic in the x-dimension at a connection period Pcx and in the y-dimension at a connection period Pcy.
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the interface period in the x-dimension and the connection period in the x-dimension are equal (Pix=Pcx=Picx); and the interface period in the y-dimension and the connection period in the y-dimension are equal (Piy=Pcy=Picy).
It is further within the scope of the fourth aspect of the invention to provide the above apparatus, wherein the interface-connection x and y periods are equal (Picx=Picy=Pic).
It is within the scope of a fourth aspect of the invention to provide any of the above apparatus, wherein the modules comprise a door-sliding mechanism for opening and closing of a door of a machine, wherein the main controller is configured to open the door before the receiving of the finished workpiece and to close the door after the feeding of the raw workpiece.
It is further within the scope of the invention to provide the previous apparatus, wherein the door-sliding mechanism further comprises two temporary stops mounted on the side of the frame, the temporary stops disposed at positions of an arm of the door-sliding mechanism at which the door is open and at which the door is closed; the main controller is further configured to calibrate the door-sliding mechanism by sliding open and closed the door-sliding mechanism detached from the door and recording the open and closed stop positions.
It is further within the scope of the invention to provide the previous apparatus, further comprising two temporary stops mounted on the side of the frame, the temporary stops emulating positions at which the door is open and at which the door is closed; the main controller is further configured to calibrate the door-sliding mechanism by sliding open and closed the door-sliding mechanism detached from the door and recording the open and closed stop positions.
It is understood that the figures in this disclosure, briefly described below, are not necessarily drawn to scale.
Appendices A-C, pertaining to a self-configuration method according to some embodiments of the invention, is found at the end of this document after the drawing. The Appendices are incorporated in the disclosure.
“Tabletop,” “tabletop apparatus,” or “apparatus” refers an arrangement and/or tessellation of modules, such as plates and workpiece-handling modules, forming one or more of horizontal surfaces (which may or may not be at the same height), shelves, and vertically oriented modules as well as modules positioned above the vertically connected modules. Additionally, tabletop or tabletop apparatus can include one or more module controllers, a main module, and a main controller; and in some embodiments can include equipment such as manipulators, grinding wheels, polishing wheels, assembly equipment, electronic testing equipment, automated measurement equipment, laser processing and marking equipment and other processing equipment.
“Module” refers to a plate or other apparatus that can be arranged with other modules by side-by-side placement along touching or parallel edges of the modules, horizontally, vertically and in angled position.
“Tessellation” is a surface occupied by an arrangement of a plurality of modules, whereby neighboring modules meet along at least a portion of their edges (meeting edges may be either in contact or with a gap between them).
“Dimension” refers to a particular spatial axis of a tabletop surface. In a tessellation of rectangular modules, there are two dimensions: x and y. In a tessellation of other polygonal modules, there may be additional dimensions (such as x′, y′, etc. shown in
“Extent” refers to a physical size in one of the dimensions.
“Module tessellation extent” is the physical extent (e.g., length or width) of the module plus the width of a gap (if any) between neighboring modules. In a tabletop apparatus, gaps between modules make an additional contribution to the overall size of the tabletop. In the invention, modules and their connection arrangements are periodically arranged such that their tessellation extents dimensions are an integer number of periods of periodic locations of at least one type of element (i.e., periodic locations of positioning arrangements, connection arrangements, and/or detection interfaces, as further described herein) in the tessellation.
“Adjacent module” refers to a neighboring module whose detection-interface locations and/or connection locations (as further described herein) are at corresponding points along meeting edges. Detection interfaces and/or connection arrangements at these locations are opposite each other and thereby configured to function intraoperatively, as further described herein.
“Consecutive module” refers to a neighboring module of, for example module “A,” whose detection-interface locations and/or connection locations continue the same periodicity as that of an edge of module A in the same directional orientation as the edge of module A. Depending on which embodiment of the invention, a consecutive module may or may not be an adjacent module, and vice-versa.
“Meeting edges” or “meeting sides” are edges or portions of edges of adjacent modules that are substantially in contact; or parallel (with a gap).
“Positioning arrangements” or “positioning grid” or “positioning array” refers to positioning features on modules, arranged as an array or grid with fixed distances between the positioning features. Positioning features will serve for accurately positioning workpieces, devices, robots, manipulators and other devices on the module and/or tabletop apparatus surfaces for positioning and in some cases also serve as fixation feature connecting various elements accurately positioned to the module/tabletop surface.
“Positioning period” or “positioning-location period” or Pp refers to the repeating distance in a tessellation between locations of arrangements for positioning of workpieces.
“Connection arrangements” refers to physical connection mechanisms to physically connect adjacent modules, and can provide an accurate alignment of one module to the other, as further described herein.
“Connection period” or “connection-location period” or Pc refers to the repeating distance in a tessellation between locations of arrangements for physical connection between modules.
“Detection interface” refers to a sensor, an emitter, a target, or a transceiver configured to interact with a facing detection interface of an adjacent module, at least one of the detection interfaces comprising an sensor, the facing detection interfaces providing for identification and/or communication between modules, as further described herein.
“Detection interface period” or “interface period” or “Interface-location period” or Pi refers to the repeating distance in a tessellation between locations of module detection interfaces.
“Meeting connections” or “opposite connections” refers to a pair of connection arrangements of adjacent modules directly across from each other.
“Facing interfaces” refers to a pair of detection interfaces of adjacent modules directly across from each other.
“Interface-connection” refers to a combination of a detection interface and a connection arrangement corresponding to the same edge locations in a in the connection and interface grids, as further described herein.
“Interface-connection period” or Pic refers to the case where the detection-interface location period (Pi) and the connection location period (Pc) are equal
“Absolute coordinate system” or “tabletop coordinates” or X-Y (capitalized) refers to the main coordinate system of a table top apparatus as shown in
“Module axes” or “x′-y′ module axes” refers to the coordinate system attached to each module (i.e., rotating with module orientation), as, for example, shown in
(Where x and y are unprimed and uncapitalized, the meaning is clear from the context.)
Different elements of the invention described herein can be combined to construct an embodiment of the invention, even if the descriptions of the different elements are in different parts of the description and/or described with reference to different figures.
When describing an embodiment with reference to a figure, a reference number appearing in the description but not in the referenced figure refer to a same or equivalent element described in reference to the same number in a previous or later figure.
Reference is now made to
The invention relates to an industrial tabletop apparatus 100. The apparatus is constructed from modules 104, some of which can be rectangular plates as shown. The tabletop 100 is typically employed for positioning raw, semi-finished, and/or finished workpieces 20 and parts. The tabletop may be used during manufacturing, as well as after production for handling, testing, and packaging of parts, subassemblies, and finished products, as well as packing of products. In some embodiments, tabletop apparatus 100 is employed in a pick-and-place system, wherein robots or cobots 15 mounted on tabletop 100 handle workpieces 20. For example, a robot 15 picks raw workpieces from their loading positions on the tabletop 100 and places them into a workpiece chuck of a CNC machine (not shown) and retrieves finished workpieces from the chuck and moves them to a return position on the tabletop 100. Loading and return positions can be on a top surface of tabletop 100 (or along a vertically oriented module, further described herein), on a shelf of a tray magazine module 155 of tabletop apparatus 100, or on any modules or elements of apparatus 100. In addition to CNC machines, embodiments of the invention may be operable with an injection-molding machine, measurement instruments, surface-mount technology (SMT), an assembly line, a packaging line, printing equipment, laser marking and processing equipment, other processing and handling equipment, and combinations thereof.
The tabletop comprises one or more modules 104. A module 104 can be a plate or a particular workpiece-handling and/or processing apparatus such as a conveyor belt, a door opening mechanism for an adjacent industrial machine, an automated-lift-module, a QA station, a material bar magazine, a shelf module, a robot gripper station, a grinding or polishing wheel, a laser processing and marking device, a gripper adaptor and others. Embodiments of tabletops described herein comprise rectangular modules 104. However tabletop 100 may comprise modules shaped in any combination of shapes, including triangles, rectangles and other quadrilaterals, hexagons, and octagons.
Modules are typically supported by one or more support structures such as profile frames 40. One frame may support a number of modules 104 and/or frames may each support one module 104. Modules 104 may be connected by connecting arrangements 112, further described herein. Plate modules may comprise positioning arrangements 110, as further described herein, for accurate placement of workpiece-handling accessories on tabletop. Examples of workpiece-handling accessories include inlay trays 140 for pre-determinative placement of workpieces 20 on tabletop 100, a polisher 145 for polishing of workpieces 20, and a work piece alignment jig (not shown).
Additionally, in an aspect of the invention apparatus 100 comprises a main controller 120M and modules 104 comprise detection interfaces, as further described herein. The detection interfaces provide a novel method for self-configuration of the tabletop apparatus 100, wherein main controller 120M computes the overall shape and size of the tessellation of modules 104, as further described herein. (Main controller 120M can be mechanically proximate to the rest of apparatus 100, as shown, or can be remotely located, or can be a designated module controller of one of the modules 104. Main controller 120M can be connected to the rest of apparatus 100 via cable and/or wirelessly.)
The self-configuration method can provide a full map of modules 104 of apparatus 100 that are in one or more coordinate systems. The method defines the relationship of coordinate systems with each other-such as relative orientations of modules and change of planar dimensions when, for example, tabletop 100 comprises rectangular and hexagonal modules. The mapped coordinate systems can include coordinate systems of one or more robots, which can enable, for example, programming and maintaining positioning coordinates, including correct orientations of the robot arm on the tessellation of tabletop 100 and in relation to positioning arrangements and defined devices connected thereto, additionally, for example, in order for the robot arm to remain within defined boundaries in relation to tabletop 100. The mapping produced by the self-configuration method can enable visualization of the tessellation and position definitions for the elements, objects, devices, grippers, workpieces in relation to each other and in relation to the table top 100. Additionally, the map of modules' positions can help simplify setup, such as by computer GUI, of tabletop 100 and cobot 15 for a particular arrangement of workpieces 20, work-handling accessories, and industrial machines such as a CNC machine.
Reference is now made to
Positioning arrangements 110 secure workpiece-handling elements and workpiece processing devices in accurate positions. In some embodiments, positioning arrangements 110 are disposed over a tessellation of one or more plates 105 of tabletop 200 at positioning locations periodically spaced in each of at least one dimension (e.g., x- and/or y-dimensions), at a positioning-location period Pp of the dimension. In some embodiments, one or more of the positioning locations on plates 105 are unpopulated by a positioning arrangement; for example, for modules 104 other than plates 105. Tessellation extents of modules 104 in each dimension with a positioning-location period (e.g. length L and/or width W) are discrete multiples of the positioning-location period of the dimension, assuring that periodicity of positioning locations is maintained for consecutive modules of a tessellation. Additionally, positioning locations can be periodic along both x and y dimensions; positioning-location periods in the x and y dimensions may or may not be equal. Equality of positioning-location periods in the x and y dimensions affords flexibility in tessellation geometry of plates, because rectangular plates may be added to a tessellation at any right-angle orientation without impairing the x and y periodicity of positioning locations. Such orientational invariance may be particularly exploitable if positioning arrangements 110 possess circular or rotational symmetry, as further described herein.
Furthermore, positioning locations on a plate 105 may be disposed on plate 105 such that there is up to half-period margins ½Pp between the outermost positioning locations and the nearest edge in a periodic dimension (half-period margins, with neighboring plates touching, is shown in
Reference is now made to
Various types of positioning inserts 127A-C can be inserted in the positioning recesses 110. Positioning inserts 127A-C retain workpiece-handling bases 130A-C and elements mounted thereon in position. Workpiece handling elements can be supported by bases 130A-C. Insert/base combinations 127A-127C/130A-130C, respectively, are task-specific: combination A is employed for rectilinear-only restriction and rotational freedom of base 130A about positioning insert 127A: combinations B and C are employed for both rectilinear and rotational restriction of bases 130B-C. Combination C permits one-axis pre-alignment and locking of a rectilinear position. A pre-alignment capability permits easier mounting, for example, of a workpiece alignment jig 132, which can be aligned along the slot 128 during setup of the workpiece process. In some embodiments, the positioning recess 110, positioning insert 127A-C and/or base 130A-C are bored or threaded, for securing the base 130A-C to plate 105.
Reference is now made again to
A pair of opposite connection arrangements 112 of adjacent modules 104 enable a connection across edges of adjacent modules, at a connection location of the edges.
In some embodiments, connection arrangements are disposed over a tessellation of one or more modules 104 of tabletop 100 at connection locations periodically spaced in at least one dimension (e.g., x- and/or y-dimensions), at a connection-location period Pc of the dimension. In some embodiments, one or more of the connection locations are unpopulated by connection arrangements; for example, connection locations within the interior surface of a module 104 are unpopulated by connection arrangements. Tessellation extents of modules 104 in each dimension with a connection-location period (e.g. length L and/or width W) are discrete multiples of the connection-location period of the module tessellation extent dimension, assuring that periodicity of connection locations is maintained for consecutive modules of a tessellation. Additionally, connection locations can be periodic along both x and y dimensions; connection-location periods in the x and y dimensions may or may not be equal. However, equality of connection-location periods in the x and y dimensions affords orientational flexibility in tessellation of modules, because rectangular modules may be added to a tessellation at any right-angle orientation without impairing the x and y periodicity of connection locations.
Furthermore, connection locations on a module 104 may be disposed along edges of module 104 such that there is up to half-period spacing ½Pc between the outermost connection locations and the nearest edge endpoint in a periodic dimension (half-period spacing, with consecutive modules touching, is shown in
In some embodiments, modules with positioning arrangements form a tessellation comprising connection-location periods in the x- and y-dimensions of Ppx and Ppy, respectively (for non-rectangular modules, there may be a different number of dimensions, oriented one or more non-perpendicular directions, as further described herein, including in connection with
Reference is now made to
In some embodiments, interlocking shapes possess bilateral symmetry, as does connection insert 135, or rotational symmetry, as does connection insert 137 in
An advantage of the connection recess approach is ease of replacement of a module 104. A module 104 can be inserted and secured with installation work performed above the apparatus. Additionally, modules can be installed and removed without a need to disassemble surrounding modules in the tessellation: connection inserts and fasteners are inserted and removed above the module, so removal and insertion of modules is thereby made easily accessible.
In embodiments according to
Reference is now made to
Detection interfaces 107A to 107C of module 104 are disposed across from detection interfaces 107A′ to 107C′, respectively, of module 104′. When modules 104 and 104′ are assembled, detection interface 107A is facing 107A′, 107B is facing 107B′, 107C is facing 107C′. Detection interfaces 107A-C can be embedded into the edge of module 104 (as shown), disposed below the surface of a module (such as attached to a support structure), disposed above the surface of a module, or any combination thereof.
Each pair of facing detection interfaces comprises at least one sensor. In some embodiments, an output of the sensor indicates whether or not (1 or 0) the detection interface 107A of module 104 (for example) is facing an adjacent module (adjacent edges are in contact or, in other embodiments, directly across a gap). In some embodiments, an output of the sensor indicates whether or not the detection interface 107A of module 104 (for example) is facing another detection interface of an adjacent module. Examples of suitable types of sensors include micro-switches, RFID cards, proximity sensors, optical sensors, RF transceivers, magnetic sensors, and any combination thereof.
A pair of facing interfaces. 107A and 107A′ (for example), may or may not be identical. For example, one may be a sensor and the other a target of a material and construction making it detectable by the sensor. Alternatively, both 107A and 107A′ can each comprise a sensor and a target (e.g., alongside each other), allowing for universal connectivity of interface sensors (i.e., without concern about matching sensor detection interfaces with target detection interfaces). In some embodiments, the detection interface comprises an optical transmitter and receiver (e.g., OPB733TR; Optek Technologies; Carrollton, Tex.), enabling exchange of data between detection interfaces, in addition to the sensing feature. In some embodiments, detection interface 107A (for example) transmits information about module 104 (e.g. dimensional extents of module 104) and the position of detection interface 107 relative to module 104 (or identifiers attesting thereto) and/or receives from detection interface 107A′ information about module 104′ and the position of detection interface 107 relative to module 104 from facing detection interface 107A′.
Detection interfaces may be periodically disposed at an interface-location period Pi, as further described herein. In
In some embodiments, sensors are full-duplex transceivers, for example an optical emitter/detector pair. Furthermore, modules 104 may comprise controllers 120, 120′ connected to the transceivers, permitting storage and communication of information-such as dimensional extents of modules and relative positions of identified transceivers-between adjacent modules 104, 104′ through the transceivers. Controllers and communication between them can enable configuration and operation of a local-area network of modules, as further described herein.
A pair of facing detection interfaces, for example 107A and 107A′, enables determination by a main controller 120M connected to at least one of detection interfaces 107A-107A′, that interface locations along corresponding edges of modules 104 and 104′ are at a common interface location of the tessellation. This determination, made over all modules in a tessellation area of the tabletop, enables main controller 120M to compute the size and shape of the tessellation area, as further described herein.
In some embodiments, detection interfaces are disposed over a tessellation of one or more modules 104 of a tabletop at interface locations periodically spaced in at least one dimension (e.g., x- and/or y-dimensions), at an interface-location period Pi of the dimension. In some embodiments, one or more of the interface locations are unpopulated by a detection interface; for example, within the interior surface of a module 104. Tessellation extents of modules 104 in each dimension with an interface-location period are discrete multiples of the connection-location period of the dimension, assuring that periodicity of interface locations is maintained for consecutive modules of a tessellation. Additionally, interface locations can be periodic along both x and y dimensions and x′ and y′ of Pix′ and Piy′ respectively in tessellations utilizing also non rectangular table tops and modules (
Furthermore, interface locations on a module 104 may be disposed along edges of module 104 such that there is up to half-period spacing ½Pi between the outermost interface locations and the nearest edge endpoint in a periodic dimension (half-period spacing is shown in
In some embodiments, modules with connection arrangements form a tessellation comprising connection-location periods in the x- and y-dimensions of Pcx and Pcy, respectively. The tessellation further comprises interface-location periods in the x- and y-dimensions of Pix and Piy, respectively. In some embodiments, the x connection-location period is equal to the x interface-location period (Pcx=Pix) and the y connection-location period is equal to the y positioning-location period (Pcy=Piy); these relationships allow plates 105 to be cut, in their x and y tessellation extents, to any integer multiple of the connection-location periods without impairing positioning- and connection-location periodicities. Moreover, in some embodiments the x and y periods are equal (Pcx=Pix=Pcy=Piy), enabling invariance of both the interface-location and connection-location periodicities to rotational orientation of the plates. Preferably, interface locations and connection locations coincide. Alternatively, interface locations and connection locations are shifted in phase or ½ period.
In some embodiments, connecting arrangements 112 and/or sensor interfaces 107 may disposed in the frame or structural support of the module, rather than inside the plates of the plate modules or at such a vertical level of other modules.
A non-limiting example of self-configuration of a tabletop apparatus is now described. The example is given for modules 104 selected from a non-limiting example of a set (AA0 and A0-F0) of standard module types, described in Table 1 and illustrated in
Detection interfaces 107 are assigned interface identifiers: for example, module type A0 has detection interface identifiers A1-A8, assigned clockwise from the x′y′ origin (by prescribed convention; they can be any other defined order).
When module in the set are tessellated, the module edges are in contact; therefore the tessellation extents equal the module extents (i.e., no gaps). The modules have x′ extents (widths) and y′ extents (lengths) that are integer multiples of the interface-location period (Pi). Each module type has an x′y′ Cartesian coordinate plane. The module origin of each module type is defined by convention to be at the corner to the left to the first detection interface (A1, B1, etc.), as shown in
For example, interface A2, with interface A0 coordinates (1, −½), is offset (in interface periods) from the A0 origin by (1, −½) for an A0 orientation of OR1; (−½, −1) for OR2; (−1, +½) for OR3; and (+½, +1) for OR4.
In this example, detection interfaces 107 each comprise an infrared transceiver, configured for two-way communication with a facing detection interface transceiver 107′. Each module contains a module controller 120 communicatively connected to the infrared transceivers of the module. Module controllers comprise a memory storing identifying information, such as a module identifier and module type and additional storage space as required for storing data regarding adjacent modules discovered during self-configuration. Module controllers may further store data related to workpiece handling. In some embodiments, the memory of a module controller stores the actual size (in length units or number of periods) of the module and/or a table of interface positions; which may be used, for example, in modules with non-standard configurations or in tabletops where modules with non-standard configurations may be introduced.
Reference is now made to
Modules controllers 12000-12004 are interconnected through a network dedicated to the apparatus 700. In some embodiments, network links between module controllers 12000-12004 are established by communication through the transceivers of detection interfaces 107. In other embodiments, the dedicated network linking between module controllers 12000-12004 may be a wireless network, such as a WiFi network. In yet other embodiments, the network may be a cabled network, such as an Ethernet cabled network. In embodiments of this example, the dedicated network is a wireless network. Access to the dedicated network is restricted to modules 104 of apparatus 700. The dedicated network is employed for a self-configuration method of tabletop apparatus 700, as further described herein. Additionally, the network may also be employed for control and monitoring of workpiece-handling modules and workpiece-handling accessories and/or workpiece processing devices/equipment positioned on modules of apparatus 700.
In this embodiment, module S/N 1100, of type AA0, is the main module. The main module 1100, by the convention used in this example, has an orientation of OR1. Furthermore, the origin of the X-Y tabletop coordinate system is the same as the module x′y′ origin of module 1101. The tabletop X-axis is co-linear with the main module x′ axis and the tabletop Y-axis is co-linear with main module y′ axis. The main module 1100 comprises a main controller 12000. Main controller 12000 is responsible for initiating the configuration method, computing the shape and size of tabletop 700, and controlling access to the wireless network. In other embodiments, main controller 12000 may be a module controller (i.e., belong to a designated module, as shown in
Reference is now also made to
In the description of some steps of the method, reference is made to redundancy and minimal data options of configuration. It is appreciated the two options have opposing design goals, and that a method with of redundancy and/or data minimization, in any combination, are included in the teachings of the invention.
Self-configuration 800 comprises main controller 12000 obtaining (e.g., computing, randomly generating, or fetching) a data sequence associated with an access code of to be used by each module controller 12001-12004 to gain access to the network 810. The data sequence may be randomly generated or may be a function of a number associated with main controller 12000, such as its serial number.
Self-configuration 800 further comprises main controller 12000 propagating the data sequence to the other modules 12001-12004 815 over the transceivers. Data sequence propagation 815 may employ protocols and/or algorithms (which are programmed in controllers 12000-12004) known in the art for node discovery and network broadcasting.
Self-configuration 800 may further comprise each module controller computing an access code to the network using a pre-defined algorithm 820. The access code of each controller 12001-12004 is a function of at least the data sequence received from main controller 12000. In some embodiments, each controller 12001-12004 computes the same access code from the data sequence. In some alternative embodiments, the access code of each controller 12001-12004 is a function of the data sequence and a number associated with a controller 12001-12004, such as its module serial number 1101-1104. In some embodiments, the access code is further encrypted and/or comprises a challenge. Step 820 is an optional security feature; in other embodiments, the access code that will be used by each module to access the network is the same as the data sequence originating from main controller 12000.
Self-configuration 800 further comprises module controllers 12001-12004 gaining access to the network 825, each using its access code. In some embodiments, gaining access 825 comprises passing module serial numbers, in order for main module 12000 to confirm that each module 12001-12004 calculated its correct access code from its serial number. Upon gaining access to the network 825, module controllers 12001-12004 are thereafter enabled to communicate with main controller 12000 over the network. In some embodiments, one or more of module controllers 12001-12004 are further enabled to communicate directly with each other over the network.
Gaining access with an access code 825 helps to prevent inadvertent or malicious connection to the network by modules or computing devices not connected to apparatus 700. This protection is particularly important if the network is a wireless network, as in the vicinity of tabletop 700 there may be unconnected modules of other tabletop apparatuses or malicious nodes that may attempt to access the network.
Self-configuration 800 further comprises each module controller 12001-12004 (in some embodiments, including all controllers 12000-12004) transmitting an exploratory data packet over each of its transceivers 830. The exploratory data packet comprises a module identifier (for example, serial number, e.g. 1100, 1101, etc.), module type (e.g. AA0, A0, B0, etc.), and interface address (e.g., AA1-AA4, A1-A8, B1-B10, etc.) of the detection interface of each transmitting transceiver. Exploratory data packets over each of a module's interface transceivers may be made simultaneously or scanned in some order, such as clockwise: AA1, AA2, AA3, AA4; A1, A2 . . . , A8; etc.; or in any predeterminate order. In some other embodiments, a module's controller may send exploratory packets in a random order of interface transceivers.
Modules 12001-12004 may all transmit exploratory data packets simultaneously or in some order determined by an algorithm known in the art, for example.
Where the transmitting transceiver is facing a transceiver of a neighboring module, the neighboring module receives the exploratory packet through the facing transceiver of the neighboring module 835. For example, interface transceiver B7 of module 1102 receives an exploratory packet from interface transceiver A2 of module 1101. (In
Self-configuration 800 further comprises each neighboring module's controller adding the exploratory packet data and the identifier of the receiving transceiver of the neighboring module to a connectivity table 840. One of the connectivity tables, that of module 1102, is shown in Table 2.
Note that if each controller 12000-12004 sends exploratory packets over its detection interfaces, each pair of facing transceivers appears twice in the connectivity tables: once in connectivity table of each of the neighboring modules. This adds a level of redundancy that can improve cross-checking and correction algorithms when verifying the tessellation configuration.
In some embodiments, the receiving module reports to connectivity table from one sending detection interface from each unique sending module, as main module 12000 can determine the extents of an identified sending module relative to the position of a receiving detection interface and identified sending detection interface, given the sending module type. For example, module B0 S/N 1102 may record connectivity only for receiving detection interfaces B2 connected to module 1104 detected at B10, B3 connected to module 1103 detected at C3, and B6 connected to module 1101 detected at A3. Alternatively, the receiving module reports to connectivity table from all sending interfaces, providing a redundancy useful for checking and error correction.
Connectivity tables from discovered module controllers 12001-12004 is sufficient information for main controller 12000 to complete self-configuration 800. However, in some embodiments each sending module waits for a receiving module to acknowledge the exploratory packet from each interface. The receiving module acknowledges with a discovery data packet over the receiving interface transceiver. The discovery packet comprises the receiving module unique identifier (i.e. S/N) and module type, as well as the detection interface identifier of the discovered detected interface. The exploratory module controller receives the discovery packet, and records it along with the exploratory detection interface identifier in a connectivity mirror table. Connectivity mirror table can provide redundancy and a possibility of error checking and correction, if main controller 12000 will find that the amalgamation of connectivity tables is inconsistent with the amalgamation of connectivity mirror tables. Interfaces in questions can be commanded to recheck and re-report their facing interface and module identifiers.
In some alternative embodiments, the exploratory module controller only records from one discovered detected interface from each unique module. For example, each module controller may record an entry in its connectivity mirror table only for the detected interfaces shown with cross-hatched backgrounds in
In some embodiments, the exploratory module, after discovering a new adjacent module at one detection interface, determines which other detection interfaces of the exploratory module are connected to the same discovered module (based on the discovered detection interface identifier, and orientation of the discovered module determined therefrom), and the exploratory module then refrains from sending a discovery packet through its detection interfaces so determined. For example, each module controller may send an exploratory packet only to the detected interfaces shown with cross-hatched backgrounds in
Self-configuration 800 further comprises transmitting of connectivity tables and associated module identifiers over the network 840, by module controllers 12001-12004 to main controller 12000. The transmissions can be coordinated and made using protocols and/or algorithms known in the art.
In some embodiments, connectivity tables and/or connectivity mirror tables are sent by a reporting module to main controller 12000 in real time, enabling reporting modules to check with main module 12000 in real time as to whether a module discovering or discovered by the reporting model has already been reported by another module. This can enable the reporting module to skip transmissions via detection interfaces connected to the already reported module.
Self-configuration 800 further comprises main module 12000 constructing a tessellation table 845. The tessellation table comprises orientations of the modules, absolute coordinates of facing detection interfaces, and extents of the tabletop and tessellation of the modules. Constructing 845 is made based on the aggregation of the connectivity tables received from module controllers 12001-12004. Such a table is shown in
For example, starting with main module 1100 positioned at default orientation OR1 (see row 1 in
Main controller 12000 continues constructing the tessellation table 845 from module 1101 (see row 3 in
Main controller 12000 continues the calculation until all modules that reported connectivity tables are accounted for. In some embodiments, main controller continues cross-checking of redundant data, further described herein. From the tessellation table in
It is appreciated that the self-configuration method 800 disclosed herein is non-limiting. A person skilled in the art, given the teachings of the invention disclosed in this application, may implement a self-configuration result using a method whose details differ from the disclosed configuration method example.
Note: A substantially similar non-limiting explanation of a self-configuration method is found in Appendices A-C.
Reference is now made to
Apparatus modules 104 comprise a door-sliding module 170, shelf lifting module 175, 1335 QA post module 180, a tray magazine module 155 for feeding tray modules to lift module (further described herein), and a main plate module 105M.
A cobot 15 is mounted on a cobot adapter plate 185 placed on main plate module 105M and positioning in known relation to the Positioning arrangements. Cobot adapter plate 185 comprises feed-through connectors for power and data connections and pneumatic controls required for operation of cobot 15, thereby simplifying substitution or replacement of cobot 15. A controller of cobot 15 may be a part of the main controller 120M of apparatus 1000A, or may be a separate controller in communicative connection with main controller 120M.
An inlay tray 140 is positioned on a plate module 105 of tabletop 1000A with positioning arrangements (further described herein) of plate module 105. Given a type ID from a standard set of inlay trays—either manually by a UI of controlling software or by some encoding of inlay tray 140 transmitted to plate module 105 and then over the wireless network to main controller 120M—inlays of tray 140 are disposed in known positions relative to positioning arrangements 110 in periodic and known positioning locations. Raw workpieces may be wedged into corners of inlays, thereby being in a predictive position that cobot 15 may be programmed to lift raw workpieces (of known size) from. Such predictive positioning also applies to heights of shelves in shelving module 155.
Cobot 15 is programmed to periodically place finished or partially processed workpieces (e.g., every 1,000 finished workpieces) on placement pads (in this example, nos. 1-5) of QA post module 180, typically used for quality assurance checks. A beam of a photo-interrupter 182 of QA post module 180 passes over the top surface of the placement pads 1-5. Photo-interrupter 182 permits notification—e.g., indicator light; notifications may be communicated over the dedicated wireless network of apparatus 1000A, further described herein—to personnel that QA post module 180 is populated by one or more finished workpieces. Upon processing of 5,000 pieces (in our example), indicating that all five placement pads are filled, the cobot program initiates an alert that the five QA pieces are completed. Cobot program may continue processing by the cobot, but if photo-interrupter 182 is still blocked after processing of 1,000 more pieces, the cobot program pauses the processing because no slot is available for placing the next QA sample. There may be another, more attention-grabbing alert until the five QA samples are taken and the photo-interrupter path is cleared. When it is cleared, cobot program resumes processing from the point it stopped.
Reference is now made to
Reference is now made to
Lift module 158 can elevate a tray 156 to the tabletop surface level. On the surface there can be slides 157 for transferring a tray between the top surfaces of tray magazine module 155 and a plate module 105 atop tray magazine module 155. The tabletop surface may thus be enabled to hold two trays 156. The combined tray magazine 155 and lift module 158 enables, for example, manually loading unfinished workpieces on trays 156 on multiple levels, for subsequent manipulation and processing of workpieces from the top surface, thereby enabling a longer time between manual reloading. Additionally (or alternatively), for example, after being processed workpieces can be robotically placed on a tray 156 at the top surface and the tray 156 can subsequently be carried to a lower level of tray magazine module 155.
Lift module 158 and tray magazine module 155 may be joined to each other and/or to other modules of the apparatus by connection arrangements 112 and/or detection interfaces 107, in accordance with teachings disclosed herein.
Reference is now made to
Note, in
For the octagonal tessellation 165, connection locations are periodic with periods, in the x1 and y1 dimensions, equal to the extent of the octagonal plates. In the x2 and y2 dimensions, pairs of connection locations are periodic with periods equal to the extent of the octagonal plates. Each pair of connection arrangements are between an interstitial square plate and adjacent octagonal plates.
Reference is now made to
Note that octagonal plate module 105OCT and each of the other rectangular modules each have their own coordinate dimensions with regard to positioning, connection, and interface periodicities. The self-configuration method (described further herein) of tabletop 1000G further includes a step of transforming between the coordinate systems of neighboring rectangular module and octagonal modules, in order to seamlessly enable calculation of tessellation of the entire tabletop 1000G and motion of a robot to correct positions on both the rectangular and octagonal modules.
Reference is now made to
Apparatus 1000H may further comprise connection insert 175B for connecting two vertical modules meeting at a right angle. However, connection insert 175B can be designed to allow vertical modules 170 to intersect at any desired angle.
Vertical plates 170 may be their own module with their own detection interfaces, adapted for right-angle connection with detection interfaces of horizontal modules. Alternatively, a vertical plate 170 can be part of a horizontal module.
In addition could additional horizontal modules be positioned horizontally connected to the vertical module creating a box or shelf type module arrangement, as shown in
Horizontal modules may be mounted to vertical plates, as shown in
| Number | Date | Country | Kind |
|---|---|---|---|
| 272024 | Jan 2020 | IL | national |
This application is a bypass continuation of PCT Patent Application No. PCT/IL2021/050032 having International filing date of Jan. 11, 2021, which claims the benefit of priority of Israeli Patent Application No. 272024, filed Jan. 14, 2020, the contents of which are all incorporated herein by reference in their entirety.
| Number | Date | Country | |
|---|---|---|---|
| Parent | PCT/IL2021/050032 | Jan 2021 | US |
| Child | 17717508 | US |
