Cooperative manufacturing using mobile machines

{
  "publication_number": "US9998931B2",
  "country": "US",
  "kind": "B2",
  "title": "Cooperative manufacturing using mobile machines",
  "abstract": "An embodiment of a computer program product for manufacturing an object includes a tangible storage medium readable by a processing circuit and storing instructions for execution by the processing circuit for performing a method. The method includes receiving instructions to manufacture an object by a three-dimensional (3D) printing operation; determining a manufacturing plan for performing the 3D printing operation, the manufacturing plan prescribing a plurality of operational stages to be performed cooperatively by a plurality of independently operable mobile machines, providing instructions to the plurality of mobile machines, each of the plurality of mobile machines configured to perform at least one of the plurality of operational stages, and manufacturing the object by the plurality of mobile machines according to the manufacturing plan.",
  "claims": [
    "1. A system for manufacturing an object, the system comprising: a plurality of independently operable mobile robots, each of the plurality of mobile robots configured to perform an aspect of a three-dimensional (3D) printing operation, wherein each of the plurality of mobile robots includes one or more tools, a moveable arm, and a dispensing head, wherein the moveable arm is configured to move in two or three dimensions to position the one or more tools during manufacturing, and wherein the dispensing head is connected to a material source and includes a heating unit and dispensing nozzle; and a processing device configured to communicate with the plurality of mobile robots, the processing device configured to perform a method comprising: receiving instructions to manufacture an object by a three-dimensional (3D) printing operation; generating a manufacturing plan for performing the 3D printing operation by at least decomposing the object into a plurality of constituent components and identifying components of the plurality of constituent components that can be manufactured in parallel by separate mobile robots of the plurality of mobile robots; and programming the plurality of mobile robots to manufacture the object based on the generated manufacturing plan, wherein each of the plurality of mobile robots manufacture at least one component of the identified components as a result of the programming.",
    "2. The system of claim 1, wherein the plurality of mobile robots are configured to wirelessly communicate with one another via a peer-to-peer network.",
    "3. The system of claim 1, wherein the processing device comprises a central controller, and wherein plurality of mobile robots communicate with and are directed by the central controller according to the manufacturing plan.",
    "4. The system of claim 1, wherein determining the manufacturing plan includes identifying one or more stages that can be performed in parallel by separate mobile robots of the plurality of mobile robots.",
    "5. The system of claim 1, wherein the one or more tools includes a milling tool, wherein the material source comprises a filament roll or pellet supply, and wherein the method further comprises monitoring the object during the manufacturing by comparing measurements of the object to specifications prescribed by the programming, and in response to detecting a difference between the measurements and the specifications that is greater than a selected amount, automatically directing one of the plurality of mobile robots to correct the object by programming the one of the plurality of mobile robots to remove, via the milling tool of the one of the plurality of mobile robots, an area that has exceeded the selected amount, wherein the removal of the area by milling generates shaving that are caught by a tray of the one of the plurality of mobile robots, wherein the programming further includes programming the one of the plurality of mobile robots to melt the shavings using the heating unit of the one of the plurality of mobile robots and to reform the melted shavings into pellet or filament form.",
    "6. The system of claim 1, wherein the method further comprises monitoring the plurality of mobile robots during the manufacturing, and in response to detecting that a first mobile robots is not operating as expected, automatically directing a second mobile robot to replace the first mobile robot."
  ],
  "description_excerpt": "The present invention relates generally to manufacturing using multiple moving machines, and more specifically, to planning and performing a coordinated three-dimensional printing or other manufacturing process. Three-dimensional (3D) printing is becoming an increasingly popular technique for manufacturing many types of objects or products, from individual pieces and prototypes to commercial products. 3D printing typically involves depositing layers of a thermoplastic material by a stationary printing machine to gradually build up an object in three dimensions.\n\nAn embodiment of a computer program product for manufacturing an object includes a tangible storage medium readable by a processing circuit and storing instructions for execution by the processing circuit for performing a method. The method includes receiving instructions to manufacture an object by a three-dimensional (3D) printing operation; determining a manufacturing plan for performing the 3D printing operation, the manufacturing plan prescribing a plurality of operational stages to be performed cooperatively by a plurality of independently operable mobile machines, providing instructions to the plurality of mobile machines, each of the plurality of mobile machines configured to perform at least one of the plurality of operational stages, and manufacturing the object by the plurality of mobile machines according to the manufacturing plan.",
  "cpc": [
    "B25J 9/1682",
    "B25J 9/1679",
    "B29C 64/386",
    "B29C 64/393",
    "B33Y 50/02",
    "G05B 19/4099",
    "G05B 2219/35134",
    "G05B 2219/39146",
    "G05B 2219/49007",
    "H04L 67/10",
    "H04L 67/104",
    "H04L 67/12",
    "H04W 24/04",
    "Y02P 90/02",
    "Y10S 901/01",
    "Y10S 901/02",
    "Y10S 901/41"
  ],
  "ipc": [
    "B25J 9/16",
    "B29C 64/386",
    "B33Y 50/02",
    "G05B 19/4099",
    "H04L 29/08",
    "H04W 24/04"
  ],
  "assignees": [
    "IBM"
  ],
  "inventors": [
    "DOW ELI M",
    "FITZSIMMONS THOMAS D",
    "GARRETT TYNAN J",
    "METRUCK EMILY M",
    "STOCKER IV CHARLES J"
  ],
  "filing_date": "2016-01-04",
  "publication_date": "2018-06-12",
  "grant_date": "2018-06-12",
  "priority_date": "2016-01-04",
  "application_number": "US-201614987320-A",
  "family_id": "59235299",
  "citations": [
    "CN203622967U",
    "US2013295338A1",
    "US2014053272A1",
    "US2014067609A1",
    "US2015057784A1",
    "US2015100970A1",
    "US2017021527A1",
    "US2017188233A1",
    "US8719560B2"
  ]
}