Fixtureless robotic assembly

Patent metadata

Field	Value
Publication number	US-12280554-B2
Application number	US-202016950802-A
Country	US
Kind code	B2
Filing date	Nov 17, 2020
Priority date	Nov 21, 2019
Publication date	Apr 22, 2025
Grant date	Apr 22, 2025

Abstract

A computing system may direct a first robotic arm to a first position based on a first set of coordinates. The computing system may cause the first robotic arm to engage with a first structure based on the first position of the first robotic arm. Further, the computing system may direct the first robotic arm to a second position based on a second set of coordinates such that the first structure is brought within a joining proximity of a second structure without a fixture retaining the first structure and without a fixture retaining the second structure, wherein the first structure is configured to be joined with the second structure when the first and second structures are within the joining proximity, the joining proximity being a proximity at which the first and second structures can be joined together.

First claim

What is claimed is:

1. An apparatus comprising:
a first robotic arm;
a second robotic arm;
a first structure;
a second structure; and
a processor communicatively connected with a memory and configured to:
cause the first robotic arm to engage with the first structure,
cause the second robotic arm to engage with the second structure,
direct the first robotic arm and the second robotic arm to move the first structure, without a fixture retaining the first structure, and the second structure, without a fixture retaining the second structure, such that a protrusion of the first structure or an opening of the second structure is brought within a joining proximity wherein the first structure and the second structure do not contact, and
cause a first adhesive to join the first structure and the second structure at the protrusion or the opening, wherein the first structure is joined to the second structure with the first adhesive.

2. The apparatus of claim 1 , further comprising:
a third robotic arm configured to cure the first adhesive with a curing device.

3. The apparatus of claim 1 , wherein the first adhesive is cured by exposure to ultraviolet light.

4. The apparatus of claim 1 , wherein the processor is further configured to:
cause application of the first adhesive to at least the first structure or the second structure; and
cause the first adhesive to be cured.

5. The apparatus of claim 4 , wherein the processor is further configured to:
cause application of a second adhesive to at least one surface of at least the joined first and second structures or a third structure;
cause the joined first and second structures to be joined with the third structure at the at least one surface of the at least the joined first and second structures or a third structure having the second adhesive applied thereon; and
cure the second adhesive.

6. The apparatus of claim 5 , wherein each of the first and second adhesives comprises a quick-cure adhesive, and wherein the quick-cure adhesive is cured through exposure to ultraviolet (UV) light.

7. The apparatus of claim 1 , wherein directing at least the first robotic arm or the second robotic arm is based on a move-measure-correct procedure.

8. The apparatus of claim 7 , wherein the move-measure-correct procedure is based on laser metrology.

9. The apparatus of claim 1 , wherein the opening comprises a recess and the protrusion is inserted into the recess.

10. The apparatus of claim 9 , wherein the first adhesive is deposited in the recess of the second structure, and the protrusion of the first structure is bonded to the second structure by the first adhesive.

11. The apparatus of claim 1 , wherein the first robotic arm engages with the first structure with an end effector that is removable from the first robotic arm.

12. The apparatus of claim 1 , wherein the first robotic arm engages with the first structure with an end effector that is integral with the first robotic arm.

13. The apparatus of claim 1 , wherein the first structure has a volume of 500 milliliters or more.

14. The apparatus of claim 1 , wherein the first structure weighs 100 grams or more.

15. The apparatus of claim 1 , wherein the first structure includes a portion of a vehicle chassis.

16. The apparatus of claim 1 , wherein the processor is further configured to:
cause the first robotic arm to disengage the first structure,
cause the first robotic arm to engage a third structure, the third structure being a different structure than the first structure, and
cause the first robotic arm to move the third structure to a position that the third structure can be joined with a subassembly including the first structure and the second structure.

17. The apparatus of claim 1 , further comprising:
a third robotic arm, wherein the processor is further configured to:
cause the third robotic arm to apply a temporary adhesive across the first structure and the second structure.

18. The apparatus of claim 17 , wherein the processor is further configured to:
cause the third robotic arm to cure the temporary adhesive.

19. The apparatus of claim 18 , further comprising:
a tool configured to emit ultraviolet (UV) light, the tool being connected with the third robotic arm,
wherein the temporary adhesive comprises UV-curable glue, and the third robotic arm is configured to cure the temporary adhesive by controlling the tool to emit the UV light directed to the temporary adhesive.

20. The apparatus of claim 1 , further comprising:
a fourth robotic arm, wherein the processor is further configured to:
cause the fourth robotic arm to apply the first adhesive to the first structure or the second structure.

21. The apparatus of claim 1 , wherein the first structure is co-printed with a first feature, wherein the first robotic arm comprises an end effector configured to engage the first feature.

22. The apparatus of claim 21 , wherein the second structure is co-printed with a second feature, wherein the second robotic arm comprises an end effector configured to engage the second feature.

23. The apparatus of claim 1 , wherein the processor is further configured to:
direct the first robotic arm to disengage from the first structure while the second robotic arm remains engaged with the second structure.

24. The apparatus of claim 23 , wherein the processor is further configured to:
direct the first robotic arm or a third robotic arm to engage a third structure; and
direct the first robotic arm or the third robotic arm such that the third structure is brought within a joining proximity of the first structure or the second structure.

25. The apparatus of claim 24 , wherein the processor is further configured to:
cause the third structure to be joined to the first structure or the second structure.

26. The apparatus of claim 25 , wherein the processor is further configured to:
direct the first robotic arm or the third robotic arm to disengage from the third structure.

27. The apparatus of claim 25 , wherein the processor is further configured to:
direct the second robotic arm to disengage from the second structure while the first robotic arm or the third robotic arm remains engaged with the third structure.

28. The apparatus of claim 27 , wherein the processor is further configured to:
direct the second robotic arm to engage the first structure.

29. The apparatus of claim 28 , wherein the processor is further configured to:
direct the first robotic arm or the third robotic arm to disengage from the third structure.

30. The apparatus of claim 27 , wherein the processor is further configured to:
direct the second robotic arm to engage a fourth structure; and
direct the second robotic arm such that the fourth structure is brought within a joining proximity of the first structure, the second structure, or the third structure.

31. The apparatus of claim 1 , wherein causing at least the first robotic arm to engage the first structure or the second robotic arm to engage the second structure is based at least on a computer-aided design model.

32. The apparatus of claim 1 , wherein directing at least the first robotic arm to move the first structure or the second robotic arm to move the second structure is based at least on a computer-aided design mode

Assignees

• Divergent Tech Inc

Inventors

• Czinger Lukas Philip

Classifications

• B29L2031/3055

  Cars · CPC title

• B29C66/834

  moving with the parts to be joined · CPC title

• B29C65/4845

  Radiation curing adhesives, e.g. UV light curing adhesives · CPC title

• B29C65/1448

  radiating the edges of the parts to be joined, e.g. for curing a layer of adhesive placed between two flat parts to be joined, e.g. for making CDs or DVDs · CPC title

• B25J11/005

  Manipulators for mechanical processing tasks · CPC title