Component assembly system

Patent metadata

Field	Value
Publication number	US-2020262057-A1
Application number	US-201916277341-A
Country	US
Kind code	A1
Filing date	Feb 15, 2019
Priority date	Feb 15, 2019
Publication date	Aug 20, 2020
Grant date	—

Abstract

A component assembly system comprises a first robot arm having a first end-of-arm tool mounted thereon and adapted to grasp a first subcomponent; a second robot arm having a second end of arm tool mounted thereon and adapted to grasp a second subcomponent. A system controller is adapted to control the first and second robot arms and first and second end-of-arm tools to position the first and second subcomponents relative to one another. A first interlocking mechanism is mounted onto the first end-of-arm tool and a second interlocking mechanism is mounted onto the second end-of-arm tool, wherein the first and second interlocking mechanisms engage one another and lock the first end-of-arm tool to the second end-of arm tool, thereby locking the first and second subcomponents into an initial position relative to one another.

First claim

What is claimed is:

1 . A method of assembling a component, the method comprising:
grasping a first subcomponent with a first end-of-arm tool, wherein the first end-of-arm tool is attached to a first robot arm; grasping a second subcomponent with a second end-of-arm tool, wherein the second end-of-arm tool is attached to a second robot arm; moving the first and second end-of-arm tools to engage the first and second subcomponents; applying a first force on the first and second subcomponents with the first and second robot arms and establishing an initial position of the second subcomponent relative to the first subcomponent without releasing the first subcomponent from the first end-of-arm tool and without releasing the second subcomponent from the second end-of-arm tool; locking the first and second end-of-arm tools to one another, wherein the first and second end-of-arm tools hold the first and second subcomponents together under the first load and at the initial position; switching the first and second robot arms from position control to force control, wherein the first and second robot arms no longer exert the first force onto the first and second components and only exert forces on the first and second end-of-arm tools to compensate for gravitational forces to support the end-of-arm tools; applying external loads, independent of the first force, to the first and second subcomponents to distort the first and second subcomponents relative to the initial position and establish a working position of the second subcomponent relative to the first subcomponent without releasing the first subcomponent from the first end-of-arm tool and without releasing the second subcomponent from the second end-of-arm tool.

2 . The method of claim 1 , further comprising:
after applying external loads, independent of the first force, to the first and second subcomponents to distort the first and second subcomponents relative to the initial position and establish a working position of the second subcomponent relative to the first subcomponent without releasing the first subcomponent from the first end-of-arm tool and without releasing the second subcomponent from the second end-of-arm tool; forming a joint between the first subcomponent and the second subcomponent with a joining tool attached to a joining robot arm to thereby assemble the component; unlocking the first and second end-of-arm tools from one another; and releasing the first end-of-arm tool, releasing the second end-of-am tool, and dropping the component.

3 . The method of claim 2 , further comprising:
after forming a joint between the first subcomponent and the second subcomponent with a joining tool attached to a joining robot arm to thereby assemble the component; removing the external loads from the first and second subcomponents.

4 . The method of claim 1 , further comprising:
after locking the first and second end-of-arm tools to one another, wherein the first and second end-of-arm tools hold the first and second subcomponents together under the first load and at the initial position; confirming that the first and second end-of-arm tools are locked to one another and sending a lock confirmation signal to a system controller.

5 . The method of claim 2 , further comprising:
after unlocking the first and second end-of-arm tools from one another, switching the first and second robot arms from force control to position control.

6 . The method of claim 2 , wherein applying external loads, independent of the first force, to the first and second subcomponents to distort the first and second subcomponents relative to the initial position and establish a working position of the second subcomponent relative to the first subcomponent without releasing the first subcomponent from the first end-of-arm tool and without releasing the second subcomponent from the second end-of-arm tool further comprises;
activating at least one of a plurality of linear actuators mounted on at least one of the first and second end-of-arm tools to apply forces on the first and second subcomponents.

7 . The method of claim 6 , further comprising:
simultaneously, while forming a joint between the first subcomponent and the second subcomponent with a joining tool attached to a joining robot arm to thereby assemble the component; independently varying the amount of force applied by each of the plurality of linear actuators throughout the forming of the joint.

8 . A component assembly system comprising:
a first robot arm having a first end-of-arm tool mounted thereon and adapted to grasp a first subcomponent and a second robot arm having a second end of arm tool mounted thereon and adapted to grasp a second subcomponent, wherein each of the first and second end-of-arm tools has single side part holding capability; a system controller adapted to control the first and second robot arms and first and second end-of-arm tools to position the first and second subcomponents relative to one another and apply a first force on the first and second subcomponents to establish an initial position of the second subcomponent relative to the first subcomponent; an interlocking mechanism mounted onto at least one of the first end-of-arm tool and the second end-of-arm tool, wherein the interlocking mechanism locks the first end-of-arm tool to the second end-of-arm tool and holds the first and second subcomponents together under the first load and at the initial position; wherein at least one of the first and second end-of-arm tools includes a plurality of linear actuators mounted thereon, each of the plurality of linear actuators adapted to apply external loads, independent of the first force, to the first and second subcomponents to distort the first and second subcomponents relative to the initial position and establish a working position of the second subcomponent relative to the first subcomponent, without transferring reaction forces to the first and second robot arms.

9 . The system of claim 8 , further comprising a third robot arm having a joining tool mounted thereon, wherein the system controller is adapted to control the third robot arm to bring the joining tool into engagement with the first and second subcomponents and join the first and second subcomponents to one another.

10 . The system of claim 9 , wherein the joining tool is a welding tool adapted to weld the first subcomponent to the second subcomponent.

11 . The system of claim 8 , further comprising sensors adapted to detect when the first and second end-of-arm tools are locked to one another and send a signal back to the system controller.

12 . The system of claim 8 , further comprising a first force gauge mounted on the first end-of-arm tool adapted to measure the forces placed on the first end-of-arm tool by the first robot arm, and a second force gauge mounted on the second end-of arm tool adapted to measure the forces placed on the second end-of-arm tool by the second robot arm.

13 . The system of claim 8 , wherein the first and second robot arms are adapted to be controlled by the system controller based on one of position control, wherein the position of the first and second robot arms is controlled based on the three dimensional position of the robot arm within a given space, and force control, wherein the position of the first and second robot arms is controlled based on the forces placed on the first and second end-of-arm tools by the first and second robot arms as measured by the first and second force gauges.

14 . The system of claim 13 , wherein the system controller is adapted to use force control to control movem

Assignees

• Gm Global Tech Operations Llc

Inventors

• Saez Miguel A
• Spicer John P
• Wells James W
• Abell Jeffrey A
• Abdallah Muhammad E

Classifications

• B25J9/009 Primary

  being mechanically linked with one another at their distal ends · CPC title

• B25J15/0052

  multiple gripper units or multiple end effectors · CPC title

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B25J9/1682

  Dual arm manipulator; Coordination of several manipulators · CPC title

• G05B2219/39149

  To assemble two objects, objects manipulation · CPC title