Systems and devices for assisted component insertion

Patent metadata

Field	Value
Publication number	US-11318585-B2
Application number	US-202016840583-A
Country	US
Kind code	B2
Filing date	Apr 6, 2020
Priority date	Apr 6, 2020
Publication date	May 3, 2022
Grant date	May 3, 2022

Abstract

An insertion system includes an insertion device including a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis, an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, and an insertion mechanism coupled with the effector body. The insertion mechanism enables a force application at a position offset from the insertion device.

First claim

What is claimed is:

1. An insertion device, comprising a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body further including a first portion, a second portion, and a third portion arranged along a length of the body, the first portion positioned at a first end of the body and including a gripping surface arranged on the inner surface, the second portion positioned contiguous with the first portion and the inner surface of the second portion defining an expansion area, and the third portion positioned at a second end of the body opposite the first end and defining a conical section at the second end of the body.

2. The insertion device of claim 1 , wherein the body comprises a first body portion and a second body portion formed by separating the body along the longitudinal axis.

3. The insertion device of claim 1 , wherein the third portion includes a first surface contiguous with a second surface such that the first and second surfaces define a lip extending from the inner surface of the body.

4. The insertion device of claim 1 , wherein the gripping surface includes a plurality of threads.

5. An insertion system, comprising:
an insertion device comprising a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis;
an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device; and
an insertion mechanism coupled with the effector body;
wherein the insertion mechanism is configured to enable an insertion force application at a position offset from the insertion device.

6. The insertion system of claim 5 further comprising a sensor coupled to the insertion device and a controller in electronic communication with the sensor, the sensor configured to generate imaging data of a terminal end of the insertion device during an insertion process.

7. The insertion system of claim 6 further comprising an actuator coupled to the insertion device and in electronic communication with the controller, the actuator providing an active impulsive force to the insertion device during the insertion process.

8. The insertion system of claim 5 , wherein the body of the insertion device further comprises a first portion, a second portion, and a third portion arranged along a length of the body.

9. The insertion system of claim 8 , wherein the first portion is positioned at a first end of the body and includes a gripping surface arranged on the inner surface, the second portion is positioned contiguous with the first portion and the inner surface of the second portion defines an expansion area, and the third portion is positioned at a second end of the body opposite the first end and defines a conical section at the second end of the body.

10. The insertion system of claim 9 , wherein the third portion includes a first surface contiguous with a second surface such that the first and second surfaces define a lip extending from the inner surface of the body.

11. The insertion system of claim 5 , wherein the insertion mechanism comprises a rod such that the force application is applied parallel to the longitudinal axis defined by the body of the insertion device.

12. The insertion system of claim 5 , wherein the insertion mechanism comprises a stand including a base member and a plurality of support members coupled to the base member, a vertical support member coupled to the base member and coupled to the support members, a vertical adjustment member coupled to and parallel to the vertical support member, a collar encircling the vertical adjustment member, a first horizontal member, a second horizontal member, and a third horizontal member, the first horizontal member rotatably coupled to the collar at a first end and rotatably coupled to the second horizontal member at a second end, the second horizontal member rotatably coupled to the third horizontal member, and the third horizontal member coupled at a first end to the effector via a first vertical member and coupled at a second end to a handle assembly.

13. The insertion system of claim 12 , wherein the insertion mechanism permits rotation only about the vertical support member and constrains moments related to an insertion force applied to the insertion mechanism at the handle assembly.

14. The insertion system of claim 5 , wherein the insertion mechanism comprises a first horizontal member, a second horizontal member, a vertical support member, a first vertical member, and a trolley, the first horizontal member including a guide member such that the trolley travels within the guide member, the first horizontal member rotatably coupled to the vertical support member, the second horizontal member rotatably coupled to the vertical support member, and the second horizontal member coupled at a first end to the effector via the first vertical member and coupled at a second end to a handle assembly.

15. An insertion system, comprising:
an insertion device comprising a body defining a longitudinal axis, the body including a wall having an outer surface and an inner surface defining a cylindrical opening through the body, the body having a first body portion and a second body portion formed by separating the body along the longitudinal axis;
an effector configured to interface with the insertion device, the effector having an effector body, a first mechanism coupled to the effector body and coupled to the first body portion of the insertion device, and a second mechanism coupled to the effector body and coupled to the second body portion of the insertion device, the first mechanism including a first link and a second link parallel to the first link and the second mechanism including a third link and a fourth link parallel to the third link; and
an insertion mechanism coupled with the effector;
wherein the insertion mechanism allows movement in rotational and translational degrees of freedom and enables an insertion force application at a position offset from the insertion device while constraining a rotational degree of freedom corresponding to a moment associated with the insertion force.

16. The insertion system of claim 15 further comprising a sensor coupled to the insertion device and a controller in electronic communication with the sensor, wherein the sensor is configured to generate imaging data of a terminal end of the insertion device during an insertion process.

17. The insertion system of claim 16 further comprising an actuator coupled to the insertion device and in electronic communication with the controller, the actuator providing an active impulsive force to the insertion device during the insertion process.

18. The insertion system of claim 15 , wherein the body of the insertion device further comprises a first portion, a second portion, and a third portion arranged along a length of the body, wherein the first portion is positioned at a first end of the body and includes a gripping surface arranged on the inner surface, the second portion is positioned contiguous with the first portion and the inner surface of the second portion defines an expa

Assignees

• Gm Global Tech Operations Llc
• Univ Laval

Inventors

• Abdallah Muhammad E
• Wells James W
• Gosselin Clement
• Laliberte Thierry
• Landure Jerome

Classifications

• B62D65/026

  by using a jig or the like; Positioning of the jig · CPC title

• B25B27/0035 Primary

  for motor-vehicles (wrenches for mounting or dismounting wheels B60B29/003) · CPC title

• B25B11/02 Primary

  Assembly jigs · CPC title

• B25B27/02 Primary

  for connecting objects by press fit or detaching same {(B25D1/16 takes precedence)} · CPC title