Patent ID: 6505393
Filing Date: 2003-01-14
Classification: B21J,Y10T

Abstract:
A joining apparatus for joining together large format surface area workpieces along longitudinal joints extending parallel to an X-axis and orbital joints extending orbitally around said X-axis to form a manufactured product including a barrel-shaped structure, said apparatus comprising:i) an outer apparatus part comprising an outer support arrangement, a ring-shaped machine guide arrangement, and a joining machine system; wherein said outer support arrangement is supported on an assembly area floor independent of the manufactured product, and at least said outer support arrangement or the manufactured product is supported movably relative to each other to enable relative motion therebetween in a longitudinal direction parallel to said X-axis; wherein said ring-shaped machine guide arrangement is supported by said outer support arrangement independently of and without being supported on the manufactured product, and is dimensioned, configured and adapted to extend around an outer perimeter of the barrel-shaped structure in an orbital direction; and wherein said joining machine system includes at least a first joining tool and is movably arranged on said machine guide arrangement so as to be movable therealong in said orbital direction, wherein said first joining tool can be moved selectively and sequentially to plural joint locations on the outer perimeter of the barrel-shaped structure by moving said joining machine system along said machine guide arrangement in said orbital direction and moving at least one of said outer support arrangement and the manufactured product relative to each other in said longitudinal direction parallel to said X-axis; ii ) an inner apparatus part comprising an inner support arrangement, a mounting frame, a multi-axis movable robot, and a tool head; wherein said inter support arrangement is supported on said assembly area floor independent of the manufactured product; wherein said mounting frame is supported by said inner support arrangement independently of and without being supported on the manufactured product, and is movable in said longitudinal direction parallel to said X-axis on said inner support arrangement; wherein said multi-axis movable robot is mounted on and supported by said mounting frame and adapted to be moved into a space within the barrel-shaped structure; and wherein said tool head includes at least one second joining tool mounted on and supported by said robot, wherein said second joining tool can be moved selectively and sequentially to said plural joint locations on an internal surface of the barrel-shaped structure by moving said mounting frame in said longitudinal direction parallel to said X-axis and by moving said robot to move said tool head at least in said orbital direction relative to said mounting frame; and iii) at least one control unit respectively including a computer, which is connected to said inner apparatus part and to said outer apparatus part, and adapted to provide to said inner apparatus part and to said outer apparatus part control signals generated by said computer to control and coordinate moving of said inner apparatus part and said outer apparatus part sequentially to said plural joint locations and to control and coordinate operating steps of said first and second joining tools to form joint connections at said joint locations.