End effector features for additively manufactured components

Patent metadata

Field	Value
Publication number	US-11872689-B2
Application number	US-201815925640-A
Country	US
Kind code	B2
Filing date	Mar 19, 2018
Priority date	Mar 19, 2018
Publication date	Jan 16, 2024
Grant date	Jan 16, 2024

Abstract

One aspect is an apparatus including an additively manufactured component including a surface with an end effector feature, the end effector feature co-additively manufactured with the additively manufactured component and configured to be gripped by a corresponding end effector on a robot. In an aspect, the end effector feature includes a recess in the surface. In another aspect, the recess includes an angled face. In an aspect, the recess has a teardrop shape. An aspect further includes an identification feature. In an aspect, the end effector feature includes a plurality of recesses in the surface. In another aspect, the end effector feature enables a 3-point kinematic self-aligning positive control lock.

First claim

What is claimed is:

1. An apparatus, comprising:
an additively manufactured component including a surface with an end effector feature, the end effector feature including a face that recedes into a recess in the surface, wherein at least a portion of the face of the end effector feature is angled less than 90 degrees with respect to the surface such that the end effector feature can be gripped by an end effector on a robot such that the additively manufactured component can be lifted by the robot.

2. The apparatus of claim 1 , wherein the end effector feature comprises one of an additively manufactured end effector feature manufactured separate from the additively manufactured component, a co-additively manufactured end effector feature co-additively manufactured with the additively manufactured component, or an alternatively manufactured end effector feature manufactured separate from the additively manufactured component.

3. The apparatus of claim 1 , wherein the recess has a teardrop shape.

4. The apparatus of claim 1 , further comprising an identification feature.

5. The apparatus of claim 1 , wherein the end effector feature comprises a plurality of recesses in the surface.

6. The apparatus of claim 5 , wherein bottom surfaces of the plurality of recesses are coplanar.

7. The apparatus of claim 5 , wherein the plurality of recesses comprises three recesses.

8. The apparatus of claim 7 , further comprising an identification feature centered equidistant from the three recesses.

9. The apparatus of claim 1 , wherein the end effector feature comprises a teardrop shaped end effector feature.

10. The apparatus of claim 9 , wherein the end effector feature enables a 3-point kinematic self-aligning positive control lock.

11. The apparatus of claim 1 , wherein the end effector feature is configured to hold the weight of the additively manufactured component.

12. The apparatus of claim 11 , wherein the end effector feature is further configured to hold the additively manufactured component during acceleration of the additively manufactured component experienced during assembly.

13. The apparatus of claim 1 , wherein an angle between the face and a bottom face of the recess is less than 90 degrees.

14. The apparatus of claim 1 , wherein the face of the end effector feature is configured to engage a prong of the end effector to grip and lift the additively manufactured component.

15. The apparatus of claim 1 , wherein the end effector feature further comprises a second face, wherein the second face is perpendicular to the surface or a bottom face of the recess.

16. An apparatus, comprising:
means for additively manufacturing a component including a surface to form an additively manufactured component, and
means for manufacturing an end effector feature, the end effector feature including a face that recedes into a recess in the surface, wherein at least a portion of the face of the end effector feature is angled less than 90 degrees with respect to the surface such that the end effector feature can be gripped by an end effector on a robot such that the additively manufactured component can be lifted by the robot.

17. The apparatus of claim 16 , wherein the means for manufacturing the end effector feature is further configured to one of additively manufactured end effector feature manufactured separate from the additively manufactured component, co-additively manufacture the end effector feature with the additively manufactured component, or an alternatively manufactured end effector feature manufactured separate from the additively manufactured component.

18. The apparatus of claim 16 , wherein the recess has a teardrop shape.

19. The apparatus of claim 16 , further comprising means for manufacturing an identification feature.

20. The apparatus of claim 16 , wherein the means for manufacturing the end effector feature manufactures a plurality of recesses in the surface.

21. The apparatus of claim 20 , wherein bottom surfaces of the plurality of recesses are coplanar.

22. The apparatus of claim 20 , wherein the plurality of recesses comprises three recesses.

23. The apparatus of claim 22 , wherein the means for manufacturing the end effector feature manufactures an identification feature centered equidistant from the three recesses.

24. The apparatus of claim 16 , wherein the means for manufacturing the end effector feature is configured to manufacturing a teardrop shaped end effector feature.

25. The apparatus of claim 24 , wherein the means for manufacturing the end effector feature manufactures the end effector feature enables a 3-point kinematic self-aligning positive control lock.

26. The apparatus of claim 16 , wherein the end effector feature is configured to hold the weight of the additively manufactured component.

27. The apparatus of claim 26 , wherein the end effector feature is further configured to hold the additively manufactured component during acceleration of the additively manufactured component experienced during assembly.

28. The apparatus of claim 16 , wherein an angle between the face and a bottom face of the recess is less than 90 degrees.

29. The apparatus of claim 16 , wherein the face of the end effector feature is configured to engage a prong of the end effector to grip and lift the additively manufactured component.

30. The apparatus of claim 16 , wherein the end effector feature further comprises a second face, wherein the second face is perpendicular to the surface or a bottom face of the recess.

Assignees

• Divergent Tech Inc

Inventors

• Rawas Oussama
• Smith Roy
• Hamade Alex James
• Zafar Muhammad Faizan
• Fleming Keith Allen
• El Naga Eahab Nagi
• Martinez Antonio Bernerd
• Okoli Chukwubuikem Marcel

Classifications

• B25J15/0033 Primary

  with gripping surfaces having special shapes · CPC title

• B22F10/28

  Powder bed fusion, e.g. selective laser melting [SLM] or electron beam melting [EBM] · CPC title

• B29C64/153

  using layers of powder being selectively joined, e.g. by selective laser sintering or melting · CPC title

• B33Y10/00

  Processes of additive manufacturing · CPC title

• B33Y30/00

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