Measurement-based corrections for structure assembly

Patent metadata

Field	Value
Publication number	US-2023234228-A1
Application number	US-202318159470-A
Country	US
Kind code	A1
Filing date	Jan 25, 2023
Priority date	Jan 25, 2022
Publication date	Jul 27, 2023
Grant date	—

Abstract

Systems, methods, and computer-readable media for robotic joining of components, parts, and structures are disclosed. A method in accordance with an aspect of the present disclosure comprises determining a target first position and a target second position in a reference frame, controlling robotic arms to move a first part to the target first position and a second part to the target second position, measuring the parts at the target first and second positions to obtain a measured first and second positions, performing a first operation to determine differences between the measured positions and the target positions, and when the differences exceeds desired tolerances, controlling the robotic arms to move the parts to compensate for the differences, and controlling at least the first or second robotic arm to join the first and second parts after the first and second operations are concluded.

First claim

What is claimed is:

1 . A method for automatically joining parts, comprising:
determining a target first position in a reference frame; determining a target second position in the reference frame; controlling a first robotic arm to move a first part to the target first position; controlling a second robotic arm to move a second part to the target second position; measuring the first part at the target first position to obtain a measured first position; measuring the second part at the target second position to obtain a measured second position; performing a first operation including determining a first difference between the measured first position and the target first position, determining whether the first difference exceeds a first tolerance, and if the first difference exceeds the first tolerance, controlling the first robotic arm to move the first part to compensate for the first difference; performing a second operation including determining a second difference between the measured second position and the target second position, determining whether the second difference exceeds a second tolerance, and if the second difference exceeds the second tolerance, controlling the second robotic arm to move the second part to compensate for the second difference; and controlling at least the first or second robotic arm to join the first and second parts after the first and second operations are concluded.

2 . The method of claim 1 , wherein measuring at least the first part at the target first position or the second part at the target second position controlling at least a laser interferometer or an optical scanner to perform a measurement.

3 . The method of claim 1 , wherein controlling the first robotic arm includes controlling the first robotic arm in more than three degrees of freedom, and controlling the second robotic arm includes controlling the second robotic arm in more than three degrees of freedom.

4 . The method of claim 3 , wherein controlling the first robotic arm includes controlling the first robotic arm in six degrees of freedom, and controlling the second robotic arm includes controlling the second robotic arm in six degrees of freedom.

5 . The method of claim 1 , wherein at least the first target position or the second target position is determined by at least a robot calibration, an assembly sequence, a nominal positioning, a best-fit analysis, or a gravity deflection offset.

6 . The method of claim 1 , wherein the first part comprises a tongue.

7 . A non-transitory computer-readable medium storing computer executable code for automatically joining parts, the computer executable code when executed by a processor causes the processor to:
determine a target first position in a reference frame; determine a target second position in the reference frame; control a first robotic arm to move a first part to the target first position; control a second robotic arm to move a second part to the target second position; measure the first part at the target first position to obtain a measured first position; measure the second part at the target second position to obtain a measured second position; perform a first operation including determining a first difference between the measured first position and the target first position, determining whether the first difference exceeds a first tolerance, and if the first difference exceeds the first tolerance, controlling the first robotic arm to move the first part to compensate for the first difference; perform a second operation including determining a second difference between the measured second position and the target second position, determining whether the second difference exceeds a second tolerance, and if the second difference exceeds the second tolerance, controlling the second robotic arm to move the second part to compensate for the second difference; and control at least the first or second robotic arm to join the first and second parts after the first and second operations are concluded.

8 . The non-transitory computer-readable medium of claim 7 ,
wherein the computer executable code for measuring at least the first part at the target first position or the second part at the target second position, further includes computer executable code for controlling at least a laser interferometer or an optical scanner to perform a measurement.

9 . The non-transitory computer-readable medium of claim 7 ,
wherein the computer executable code for controlling the first robotic arm further includes code for controlling the first robotic arm in more than three degrees of freedom, and the computer executable code for controlling the second robotic arm further includes computer executable code for controlling the second robotic arm in more than three degrees of freedom.

10 . The non-transitory computer-readable medium of claim 9 ,
wherein the computer executable code for controlling the first robotic arm further includes code for controlling the first robotic arm in six degrees of freedom, and the computer executable code for controlling the second robotic arm further includes computer executable code for controlling the second robotic arm in six degrees of freedom.

11 . The non-transitory computer-readable medium of claim 7 ,
wherein at least the target first position or the target second position is determined by at least a robot calibration, an assembly sequence, a nominal positioning, a best-fit analysis, or a gravity deflection offset.

12 . The non-transitory computer-readable medium of claim 7 ,
wherein the first part comprises a tongue.

13 . A system for automatically joining parts, comprising:
a first robot for manipulating a first part; a second robot for manipulating a second part; a measurement instrument; and at least one controller, coupled to the first robot, the second robot, and the measurement instrument, wherein the at least one controller transmits signals to the first robot, the second robot, and the measurement instrument to:
move the first part to a target first position in a reference frame;
move the second part to a target second position in the reference frame;
measure, with the measurement instrument, the first part at the target first position to obtain a measured first position;
measure, with the measurement instrument, the second part at the target second position to obtain a measured second position;
perform a first operation including determining a first difference between the measured first position and the target first position, determining whether the first difference exceeds a first tolerance, and if the first difference exceeds the first tolerance, controlling the first robot to move the first part to compensate for the first difference;
perform a second operation including determining a second difference between the measured second position and the target second position, determining whether the second difference exceeds a second tolerance, and if the second difference exceeds the second tolerance, controlling the second robot to move the second part to compensate for the second difference; and
control at least the first robot or the second robot to join the first part and the second part after the first operation and the second operation are concluded.

14 . The system of claim 13 , wherein the measurement instrument is a laser interferometer.

15 . The system of claim 13 , wherein the measurement instrument is an optical scanner.

16 . The system of claim 13 , wherein the at least one controller controls the first robot in more than three degr

Assignees

• Divergent Tech Inc

Inventors

• Czinger Lukas Philip

Classifications

• B62D65/028

  by determining relative positions by measurement · CPC title

• B25J9/0084

  comprising a plurality of manipulators · CPC title

• G05B2219/39129

  One manipulator holds one piece, other inserts, screws other piece, dexterity · CPC title

• G05B2219/31031

  Assembly, manipulator cell · CPC title

• G05B2219/45064

  Assembly robot · CPC title