Discrete assemblers utilizing conventional motion systems

Patent metadata

Field	Value
Publication number	US-10155313-B2
Application number	US-201615031545-A
Country	US
Kind code	B2
Filing date	Apr 22, 2016
Priority date	Apr 23, 2015
Publication date	Dec 18, 2018
Grant date	Dec 18, 2018

Abstract

An alternative to additive manufacturing is disclosed, introducing an end-to-end workflow in which discrete building blocks are reversibly joined to produce assemblies called digital materials. Described is the design of the bulk-material building blocks and the devices that are assembled from them. Detailed is the design and implementation of an automated assembler, which takes advantage of the digital material structure to avoid positioning errors within a large tolerance. To generate assembly sequences, a novel CAD/CAM workflow is described for designing, simulating, and assembling digital materials. The structures assembled using this process have been evaluated, showing that the joints perform well under varying conditions and that the assembled structures are functionally precise.

First claim

What is claimed is:

1. An apparatus for automated assembly of structures made up of individual building blocks, each building block having a discrete set of possible positions and orientations that structurally interlock with neighboring building blocks using press-fit joints that register the building blocks to one-another and to a lattice, the apparatus comprising:
a multi-axis motion gantry constructed to position a toolhead spatially with respect to a structure being built and to add compliance between the toolhead and the structure being built; and,
a placement mechanism that drives a blade constructed to push blocks out of a magazine containing a storage of blocks and onto the lattice, the part placement mechanism having an alignment mechanism adapted to register the toolhead with the lattice;
wherein, the toolhead continuously and sequentially registers and interlocks blocks supplied by the placement mechanism to produce the structure being built;
an interface configured to control the apparatus to produce said structures, perform online verification of block placement and measurement of toolhead wear; and,
a foot mechanism for moving the apparatus relative to the lattice.

2. The apparatus of claim 1 , wherein the axes of the multi-axis motion gantry use polymer linear guideways and a flexural mechanism to add compliance between the structure being built and the toolhead along, and in rotation about the axes, to allow the toolhead to register to the lattice.

3. The apparatus of claim 1 , wherein the multi-axis motion gantry uses three conventional linear axes (X, Y and Z), and uses a fourth C-axis for rotation about the Z-axis for placing parts with a rotational asymmetry.

4. The apparatus of claim 1 , wherein the multi-axis motion gantry has a power transmission between at least one motor and at least one positioning stage, the power transmission chosen from the group consisting of timing belts, leadscrews, ballscrews, and rack and pinion mechanisms.

5. The apparatus of claim 1 , wherein the multi-axis motion gantry is constructed from a steel reinforced HDPE frame, the frame being CNC milled to position holes and pockets.

6. The apparatus of claim 1 , wherein the a placement mechanism has a rackworm interface, comprising:
a DC gearmotor with a shaft operated with closed-loop feedback from a magnetic encoder attached to the shaft;
a worm gear driven by the DC gearmotor;
a piston with an integrated rack driven by the worm gear, the piston operated according to a velocity control algorithm with a trapezoidal velocity profile between desired positions;

wherein, as the motor is driven, the piston is forced downward, pushing out a next part from the magazine.

7. The apparatus of claim 1 , wherein the placement mechanism includes a series elastic actuator used for force controlled part placement comprising:
a controller controlling a motor;
a power transmission coupling power from the motor to the toolhead,
a load cell adapted to measure force between the motor and the toolhead.

8. The apparatus of claim 1 , wherein the placement mechanism is chosen from the group consisting of: a rack and worm gear mechanism, a linkage, a rack and pinion, a leadscrew, and a ballscrew.

9. The apparatus of claim 1 , wherein the magazine has a front and back and further comprises:
a spring constructed to preload the stack of blocks against the front of the magazine with a pusher;
a coupling mechanism having at least one dowel pin and a conical point setscrew which interfaces with a conical hole on the front of the magazine.

10. The apparatus of claim 1 , wherein the magazine can be repeatably decoupled from the placement mechanism via a coupling mechanism that constrains 6 degrees of freedom of the magazine to enable parts to be refilled mid-build, and allowing the magazine to be removed and reloaded without loss of precision.

11. The apparatus of claim 1 , wherein the toolhead has a front and back, and the alignment mechanism includes alignment fingers on the front of the toolhead used to correct for positioning errors prior to depositing a block, the fingers reaching into a negative space of the lattice to constrain the position of the toolhead in both X- and Y-axes.

12. The apparatus of claim 1 , wherein the foot mechanism operates independently of the toolhead.

13. The apparatus of claim 12 , wherein the foot mechanism includes an end-effector for locating and temporarily fixturing to the lattice, and includes a mechanism for locking to the lattice.

14. The apparatus of claim 1 , wherein the assembler has a placement accuracy in placing blocks on the lattice, and because block positioning errors made by the assembler are corrected by registering the blocks on the lattice, registration accuracy of the blocks is greater than the placement accuracy of the assembler.

15. The apparatus of claim 1 , wherein at least some of the building blocks are fabricated from an insulating material.

16. The apparatus of claim 1 , wherein at least some of the building blocks are fabricated from a conductive material.

17. The apparatus of claim 1 , wherein the building blocks have top and bottom slots that enable top-down vertical assembly, and wherein, the slots are sized such that the insertion of one slot into another creates a press-fit joint.

18. The apparatus of claim 1 , wherein the building blocks connect with neighbor building blocks on adjacent vertical layers but not within the same layer.

19. The apparatus of claim 1 , wherein the strength bonding force between the toolhead and a block is tuned so that it is greater than bonding force between the magazine and the block but less than bonding force between the block and the structure being built.

20. The apparatus of claim 1 , further including at least one force sensor coupled to the blade producing a force sensor output, the at least one force sensor being implemented in a Z-axis of the multi-axis motion gantry by adding a load cell in series between the toolhead and a drive motor.

21. The apparatus of claim 20 , wherein the apparatus uses the force sensor output in a closed loop control system.

22. The apparatus of claim 21 , wherein the closed loop control system limits compressive force applied by the blade during assembly.

23. The apparatus of claim 21 , wherein the closed loop control system logs accumulated error from placement of individual blocks in real-time.

24. The apparatus of claim 23 , wherein the apparatus alters spatial or force parameters for placement of a next block based on the accumulated error.

25. The apparatus of claim 1 , wherein the interface is implemented using industry-standard G-code.

26. The apparatus of claim 1 , wherein the compliance is implemented using flexural mechanisms or springs.

Assignees

• Massachusetts Inst Technology

Inventors

• Langford William Kai
• Carney Matthew Eli
• Jenett Benjamin
• Gershenfeld Neil

Classifications

• G06F30/00

  Computer-aided design [CAD] · CPC title

• B33Y30/00

  Apparatus for additive manufacturing; Details thereof or accessories therefor · CPC title

• Y10S901/09

  Closed loop, sensor feedback controls arm movement · CPC title

• B25J5/02

  travelling along a guideway · CPC title

• G01L5/0085

  Force sensors adapted for insertion between cooperating machine elements, e.g. for measuring the nip force between rollers · CPC title