System and method for changing end-of-arm tooling

Abstract

Systems and methods for changing end-of-arm tooling and methods for manufacturing a vehicle are provided. An exemplary end-of-arm tooling changing system includes a rotatable tool holder configured to hold at least two end-of-arm tools and configured to move a selected end-of-arm tool from a distal position to a proximal position. The exemplary end-of-arm tooling changing system also includes a robot configured to reach the proximal position for attaching the selected end-of-arm tool to the robot.

Description

Technical Field

[0001] TECHNICAL FIELD

[0002] The field relates generally to assembly systems and methods within a manufacturing facility, and more particularly to vehicle assembly systems and methods utilizing robots having replaceable end-of-arm tooling or end effectors. Background Art

[0002] A multi-axis industrial robot consists of articulated arms connected by joints. Each arm segment is driven by one or more joint motors. A typical industrial robot is controlled relative to six different control axes. Collectively, these control axes enable the robot to rotate relative to a fixed or mobile base, extend / retract the first arm, raise / lower the second arm, and articulate and rotate / translate the wrist at the distal end of the second arm. Additional arms can be used in a tandem arrangement, depending on the design. An end-of-arm tool or end effector connected to the wrist can be manipulated to perform the desired work task.

[0003] The term "end-of-arm tooling," synonymous with "end effector," refers to the specific end link or portion that, depending on the robot's design, securely grips, carries, orients, and releases a workpiece or component. End-of-arm tooling includes gripping tools, welding tongs, vacuum grippers, clamping devices, adhesive and sealant applicators, and other similar devices.

[0004] After completing one task, the assembly process may require replacing the end-of-arm tooling on the robot so that the robot can perform the next task. A tool changer can be used to replace the attached end-of-arm tooling with the next required end-of-arm tooling. A typical tool changer consists of a robot side plate that attaches to the robot arm and a tool side plate that attaches to the end-of-arm tooling. To attach the end-of-arm tooling, these plates are coupled together.

[0005] Typically, a tool holder can be used to hold end-of-arm tooling and facilitate its installation and removal from the robot. For example, removal occurs when the robot guides the installed end-of-arm tooling into the tool holder, the tool holder engages the end-of-arm tooling, the robot actuates a latch mechanism to release the end-of-arm tooling from the robot, and the robot arm moves away from the end-of-arm tooling. Installation of the end-of-arm tooling is the reverse of this process, where the robot moves to mate the robot side plate of the tool changer assembly with the tool side plate attached to the desired end-of-arm tooling, the robot actuates the latch mechanism, the tool holder releases the end-of-arm tooling, and the robot moves the end-of-arm tooling out of the tool holder.

[0006] When multiple robots are operating at a single assembly station, space is limited. Therefore, it is desirable to provide a system and method for changing end-of-arm tooling that reduces the space required for specialized tool replacement. Furthermore, it is desirable to provide a system and method for manufacturing vehicle assembly that provides active or passive tool indexing capabilities for tool replacement by multiple robots. Furthermore, other desirable features and characteristics of the embodiments will become apparent from the following detailed description and the appended claims, taken in conjunction with the accompanying drawings and the foregoing technical field and background. Summary of the Invention

[0007] Systems and methods for changing end-of-arm tooling and methods for manufacturing vehicles are provided. An exemplary end-of-arm tooling changing system includes a tool rack configured to hold at least two end-of-arm tools and configured to move a selected end-of-arm tool from a distal position to a proximal position. The exemplary end-of-arm tooling changing system also includes a robot configured to reach the proximal position for attaching the selected end-of-arm tool to the robot.

[0008] In some embodiments, the robot is configured to selectively rotate the tool holder to move a selected end-of-arm tool to a proximal position for attaching the selected end-of-arm tool to the robot. In such embodiments, the tool holder can be unpowered, thereby not requiring connection to a power source. Furthermore, in such embodiments, the tool holder and the robot can be formed with a mating coupling to allow the robot to selectively rotate the tool holder. Specifically, the mating coupling can be formed on a shaft of the tool holder.

[0009] In some embodiments, the system further comprises a drive mechanically coupled to the tool holder to rotate the tool holder to move the selected end-of-arm tool from a distal position to a proximal position for attaching the selected end-of-arm tool to the robot. In such embodiments, the tool holder can be powered.

[0010] In certain embodiments, the tool holder includes a shaft, and the system further includes an encoder coupled to the shaft, and a servo motor and gearbox coupled to the encoder.

[0011] In some embodiments, the robot has a maximum reach, and the remote location is outside the maximum reach of the robot.

[0012] In certain embodiments, the system further includes a vehicle configured for movement and for selective anchoring at a fixed location, and the tool rack is mounted on the vehicle.

[0013] In certain embodiments, the tool holder rotates about an axis; the tool holder has a first tool mount for holding a first end-of-arm tool and a second tool mount for a second end-of-arm tool; and the axis is located between the first tool mount and the second tool mount.

[0014] In certain embodiments, the robot is a first robot, and the system further includes a second robot configured to reach a remote location for attaching a second end-of-arm tooling to the second robot.

[0015] In some embodiments, the robot is a first robot, the system further includes a second robot, and the tool rack is located between the first robot and the second robot.

[0016] In another exemplary embodiment, a method for changing an end-of-arm tooling is provided. The method for changing an end-of-arm tooling includes positioning the end-of-arm tooling on a rotatable tool holder, rotating the tool holder to move the end-of-arm tooling to a selected position, and reaching to the end-of-arm tooling with a robot and attaching the end-of-arm tooling to the robot.

[0017] In certain embodiments of the method, rotating the tool holder to move the end-of-arm tooling to the selected position is performed by a robot.

[0018] In certain embodiments of the method, rotating the tool holder to move the end-of-arm tooling to the selected position is performed by a drive mechanically coupled to the rotatable tool holder.

[0019] In certain embodiments, the method further includes positioning a rotatable tool holder on a vehicle; moving the vehicle into the assembly cell; and anchoring the vehicle at a fixed location in the assembly cell.

[0020] In certain embodiments of the method, the robot is a first robot and the end-of-arm tool is a first end-of-arm tool, and the method further includes: positioning a second end-of-arm tool on a rotatable tool holder; rotating the tool holder to move the second end-of-arm tool to a second selected position; and reaching to the second end-of-arm tool with a second robot and attaching the second end-of-arm tool to the second robot.

[0021] In certain embodiments, the system further includes a camera configured to identify a location of the tool holder and / or a selected end-of-arm tool to enable alignment of the robot with the tool holder and / or the selected end-of-arm tool.

[0022] In another exemplary embodiment, a method for manufacturing a vehicle is provided, the method comprising: positioning an end-of-arm tool on a rotatable tool holder; rotating the tool holder to move the end-of-arm tool to a selected position; reaching to the end-of-arm tool with a robot and attaching the end-of-arm tool to the robot; and grasping a component with the end-of-arm tool and performing an assembly operation.

[0023] In certain embodiments of the method, rotating the tool holder to move the end-of-arm tooling to the selected position is performed by a robot.

[0024] In certain embodiments of the method, rotating the tool holder to move the end-of-arm tooling to the selected position is performed by a drive mechanically coupled to the rotatable tool holder.

[0025] In certain embodiments, the method further includes positioning a rotatable tool holder on a vehicle; moving the vehicle into the assembly cell; and anchoring the vehicle at a fixed location in the assembly cell.

[0026] In some embodiments, the end-of-arm tool is a first end-of-arm tool and the robot is a first assembly robot, and the method further includes: positioning a second end-of-arm tool on a rotatable tool holder; rotating the tool holder to move the second end-of-arm tool to a second selected position; reaching to the second end-of-arm tool with a second assembly robot and attaching the second end-of-arm tool to the second assembly robot; grabbing the first part with the first assembly robot; grabbing the second part with the second assembly robot; moving the first part and / or the second part to align the first part with the second part for joining; and fastening the first part to the second part to form a joined part.

[0027] This summary is provided to introduce a selection of concepts in a simplified form that are further described below in the detailed description. This summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Exemplary embodiments will be described below with reference to the following drawings, wherein like numerals represent like elements, and wherein:

[0029] Figure 1 is a schematic diagram of a system for changing end-of-arm tooling according to various embodiments;

[0030] Figure 2 According to various embodiments Figure 1 Schematic diagram of a tool holder used in a system for changing end-of-arm tools;

[0031] Figure 3 is a diagram showing two robots and Figure 1 Schematic diagram of the interaction of the tool shelf;

[0032] Figure 4 is a flow chart of a method for manufacturing a vehicle including replacing end-of-arm tooling according to various embodiments. DETAILED DESCRIPTION

[0033] The following detailed description is merely exemplary in nature and is not intended to limit the application and uses. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, summary or the following detailed description.

[0034] As used herein, the word "exemplary" means "serving as an example, instance or illustration". As used herein, unless otherwise specified, "a", "an" or "the" means one or more. The term "or" can be conjunction or disjunction. Open terms such as "comprising", "containing" and the like mean "including". In certain embodiments, the numbers indicating amounts, ratios of materials, physical properties of materials and / or uses in this description may be understood to be modified by the word "about". The term "about" used in conjunction with numerical values ​​and claims indicates an interval of accuracy that is familiar and acceptable to those skilled in the art. Typically, this interval of accuracy is ±10%. Unless otherwise expressly indicated, all numbers indicating amounts, ratios of materials, physical properties of materials and / or uses in this description may be understood to be modified by the word "about".

[0035] The accompanying drawings are simplified schematic diagrams and are not intended to be accurate to scale. Furthermore, terms such as "upper," "lower," "above," "above," "below," "under," "upward," and "downward," etc., used to describe the accompanying drawings are not intended to limit the scope of the subject matter as defined by the appended claims. Any numerical designations such as "first" or "second" are merely illustrative and are not intended to limit the scope of the subject matter in any way. It should be noted that while embodiments may be described herein with respect to automotive applications, those skilled in the art will recognize their broader applicability.

[0036] Embodiments herein relate to the assembly of components, such as for use in the manufacture of vehicles. An exemplary component may be a body panel for a vehicle body. In an exemplary embodiment, a reconfigurable body assembly system and method configures the geometry of multiple body panels or components relative to each other. During assembly, a first robot uses a selected end-of-arm tool and a second robot uses another selected end-of-arm tool to perform assembly operations on one or more components to form a subassembly. The process is repeated with the same or different end-of-arm tools to join together a desired number of components.

[0037] Figure 1FIG1 is a basic schematic diagram of an exemplary embodiment of a system 10 for changing end-of-arm tooling, such as for manufacturing vehicles. As shown, the exemplary system 10 is located at an assembly station or cell 11, which includes a first robot 12 having a first end-of-arm tooling 14 mounted thereon, and a second robot 16 having a second end-of-arm tooling 18 mounted thereon. The first end-of-arm tooling 14 is adapted to grasp a primary component 20 and hold the primary component 20 during assembly. The second end-of-arm tooling 18 is adapted to grasp a secondary component 22 and hold the secondary component 22 during assembly.

[0038] As non-limiting examples, the primary and secondary components 20, 22 may be panels configured for a trunk lid or liftgate of an automobile. Alternatively, the primary and secondary components 20, 22 may be aircraft fuselage panels, door panels for household appliances, armrests for chairs, or any other subcomponents configured to be joined or attached to another subcomponent. The primary and secondary components 20, 22 may be formed of any suitable material, such as metal, plastic, composite materials, etc. Figure 1 The main and auxiliary components 20, 22 shown in the exemplary embodiment of the present invention are frame components for an automobile. More specifically, the main component 20 is a frame and the auxiliary component 22 is a subcomponent such as a bracket attached to the main component 20.

[0039] The first and second robots 12, 16 can each be a programmable robotic arm; can include a hand, wrist, elbow, and shoulder (not shown); and can be remotely controlled via pneumatics and / or electronics. As non-limiting examples, the first and second robots 12, 16 can be six-axis articulated robotic arms, Cartesian robotic arms, spherical or polar coordinate robotic arms, selectively compliant assembly robotic arms, and the like. In one non-limiting example, the first and second robots 12, 16 can be six-axis articulated robotic arms.

[0040] The first controller 28 is adapted to control the movement of the first robot 12, and the second controller 30 is adapted to control the movement of the second robot 16. The first and second system controllers 28 and 30 are non-universal electronic control devices having a pre-programmed digital computer or processor, a memory or non-transitory computer-readable medium for storing data such as control logic, software applications, instructions, computer code, data, look-up tables, and the like, and a transceiver or input / output port. Computer-readable media includes any type of media that can be accessed by a computer, such as read-only memory (ROM), random access memory (RAM), a hard drive, a compact disc (CD), a digital video disc (DVD), or any other type of memory. "Non-transitory" computer-readable media does not include wired, wireless, optical, or other communication links that transmit transient electrical or other signals. Non-transitory computer-readable media includes media that can permanently store data, as well as media that can store data and subsequently rewrite it, such as rewritable optical discs or erasable memory devices. Computer code includes any type of program code, including source code, object code, and executable code.

[0041] The first controller 28 moves the first robot 12 and actuates the first end-of-arm tool 14 to control the position of the primary part 20. The second controller 30 moves the second robot 16 and actuates the second end-of-arm tool 18 to control the position of the secondary part 22. The first and second controllers 28, 30 move the first and second robots 12, 16 based on executable code stored in memory or provided to the controllers 28, 30. A robot-to-robot communication architecture 32 interconnects the first controller 28 and the second controller 30. The robot-to-robot communication architecture 32 allows the first and second robots 12, 16 to communicate with each other and share information that the first and second controllers 28, 30 use to coordinate the movement of the primary and secondary parts 20, 22.

[0042] The first and second robots 12, 16 are adapted to be controlled by the first and second controllers 28, 30 based on position control or force control. When the system controllers 28, 30 use position control, the first and second robots 12, 16 are controlled based on the three-dimensional positions of the first and second robots 12, 16 within the workspace of the system 10. When position control is used, the first and second robots 12, 16 are controlled to maintain a specific position. When the system controllers 28, 30 use force control, the first and second robots 12, 16 are controlled based on force feedback measured by a dynamometer.

[0043] Force control can be used to control the first and second controllers 28, 30, wherein once the primary and secondary components 20, 22 are in contact, the first and second controllers 28, 30 use feedback from the force gauge to maintain contact between the primary and secondary components 20, 22 at a predetermined force. The first and second controllers 28, 30 can also vary the force measured between the primary and secondary components 20, 22 based on a predetermined force schedule.

[0044] In certain embodiments, the system 10 includes a joining robot 48 having a joining tool 40 mounted thereon. The joining tool 40 is adapted to join the primary and secondary components 20, 22. The joining robot 48 is controlled to bring the joining tool 40 close to or into engagement with the primary and secondary components 20, 22. The joining robot 48 may be a programmable robotic arm that may include a hand, a wrist, an elbow, and a shoulder (not shown) and may be remotely controlled by pneumatics and / or electronics. As a non-limiting example, the joining robot 48 may be a six-axis articulated robotic arm, a Cartesian robotic arm, a spherical or polar coordinate robotic arm, a selectively compliant assembly robotic arm, or the like. In one non-limiting example, the joining robot arm 48 may be a six-axis articulated robotic arm.

[0045] It should be understood that the bonding tool 40 may be any type of bonding tool suitable for bonding subcomponents of different materials and properties. Figure 1 In the exemplary embodiment shown, the joining tool 40 is a welding tool suitable for creating a welded attachment of the primary and secondary components 20 , 22 .

[0046] As further shown, the system 10 includes a rotatable tool holder 100. The exemplary rotatable tool holder 100 is configured to hold at least two end-of-arm tools, such as two, three, four, or any other suitable number of end-of-arm tools. In an exemplary embodiment, the rotatable tool holder 100 is provided to change tools of the first robot 12 and the second robot 16. Thus, the rotatable tool holder 100 is positioned between the first robot 12 and the second robot 16. As used herein, "between" can mean "indirectly between," wherein the rotatable tool holder 100 is both closer to the first robot 12 than the second robot 16 and closer to the second robot 16 than the first robot 12; and "directly between," wherein a straight line from the first robot 12 to the second robot 16 passes through the rotatable tool holder 100.

[0047] In an exemplary embodiment, the rotatable tool holder 100 is mounted on an unmanned vehicle system 110. The unmanned independent vehicle system 110 can be or include one or more of the following: an automated guided vehicle (AGV), an automated guided cart (AGC), a laser guided vehicle (LGV), a vision guided vehicle (VGV), an autonomous vehicle (AV), any other wheeled vehicle, and / or a drone. In some examples, each unmanned independent vehicle system 110 includes an unmanned self-propelled robotic vehicle that is used to transport parts along a route that can be predefined or determined in real time by the unmanned independent vehicle system 110 itself. For example, the unmanned independent vehicle system 110 can be navigated using one or more controllers, optical sensors, distance sensors, a global positioning system (GPS), and / or laser guidance. The navigation system can specify a precise travel path for the unmanned independent vehicle system 110 and provide real-time route adjustments for anything that encroaches on the travel path of the unmanned independent vehicle system 110. In some examples, each unmanned independent vehicle system 110 may be generally autonomous in navigating its route or segment to a destination, as opposed to a defined or dedicated path.

[0048] In an exemplary embodiment, a selected unmanned vehicle system 110 docks or anchors itself at a fixed location 111 in the assembly station 11. Each unmanned vehicle system 110 and the fixed location 111 may include mating features to allow the unmanned vehicle system 110 to be repeatedly and accurately placed at the fixed location 111. If the rotatable tool holder 100 is unpowered during use, the connection between the unmanned vehicle system 110 and the assembly station 11 may be mechanical only. If the rotatable tool holder 100 is powered, both mechanical and electrical connections may exist between the unmanned vehicle system 110 and the assembly station 11.

[0049] It should be noted that the exemplary system 10 may also include one or more cameras 50 to identify the precise position (location and orientation) of the tool rack 100 and / or the tool base or tool holder thereon, thereby enabling the robot 12, 16 to be precisely aligned with the tool rack 100 and / or the tool base or tool holder (or the end-of-arm tool located thereon). The camera 50 may be mounted at a fixed position relative to the robot 12, 16, such as above the tool rack 100, to allow the position of the tool rack 100 and / or the tool base or tool holder (or the end-of-arm tool located thereon) to be precisely determined relative to the camera 50 and the robot 12, 16. In this system, the tool rack 100 may be brought to the assembly cell on a mobile unit that is positioned approximately adjacent to the robot 12, 16. As long as the tool holder 100 has a visual reference point within the field of view of the camera 50, the camera 50 can determine the precise location of the tool holder 100 and / or the tool base or tool holder (or the end-of-arm tool located thereon), thereby enabling the robot 12, 16 to properly align with the tool holder 100 for indexing and with the tool base or tool holder (or the end-of-arm tool located thereon) for picking up or placing down the end-of-arm tool. Alternatively, the camera 50 or an additional camera 50 can be mounted on the robot 12, 16 itself to identify the precise location (position and orientation) of the tool holder 100 and / or the tool base or tool holder (or the end-of-arm tool located thereon) so as to enable the robot 12, 16 to precisely align with the tool holder 100 and / or the tool base or tool holder (or the end-of-arm tool located thereon).

[0050] Figure 2 FIG2 is a schematic top view of an exemplary rotatable tool holder 100. As shown, the rotatable tool holder 100 includes a shaft 120 defining an axis 125 about which the rotatable tool holder 100 can rotate. Furthermore, the exemplary rotatable tool holder 100 may include a structure 105 for holding end-of-arm tools at a tool base or station 90. In the illustration, the structure 105 is formed as a pair of intersecting arms, but the structure can be formed as a tray or have any other suitable design. As shown, the rotatable tool holder 100 includes four tool bases or stations 90, designated as a first tool base 91, a second tool base 92, a third tool base 93, and a fourth tool base 94, for holding four end-of-arm tools. As shown, each tool base 90 is remote from the shaft 120, such that rotating the rotatable tool holder 100 changes the position of each tool base 90. During rotation, a tool located at any tool base 90 travels along a circle indicated by dashed line 130.

[0051] Figure 31 is a schematic diagram illustrating the spatial relationship between the rotatable tool holder 100 and the first robot 12 and the second robot 16. As shown, the first robot 12 has a maximum reach 112 defined by its robot arm (including the robot side plate 34) fully extended, and the second robot 16 has a maximum reach 116 defined by its robot arm (including the robot side plate 38) fully extended.

[0052] As shown, tools located on the rotatable tool holder 100 rotate along a path 130. As shown, the first robot 12 can reach a tool located at a near position 72 within the maximum reach 112, but cannot reach a tool located at a far position 82 outside the maximum reach 112. Similarly, the second robot 16 can reach a tool located at a near position 76 within the maximum reach 116, but cannot reach a tool located at a far position 86 outside the maximum reach 116.

[0053] Cross Reference Figure 2 and Figure 3 As can be seen, the rotatable tool rack 100 is selectively rotated so that each robot 12, 16 reaches each tool base 91-94 on the rotatable tool rack, thereby making each tool stored on the tool base 91-94 accessible to each robot 12, 16 and acquisitive.

[0054] In some embodiments, the rotatable tool holder 100 is unpowered and rotates due to force applied by the robot. In one embodiment, a selected robot can rotate the rotatable tool holder 100. In another embodiment, any robot can rotate the rotatable tool holder 100. In either case, the rotatable tool holder and the robot have mating couplings to allow the robot to selectively rotate the rotatable tool holder. For example, the robot can use a tool that mates with the shaft 120 (as shown) or the coupling 140 formed on the structure 105.

[0055] In other words, at least one robot is configured to selectively rotate the rotatable tool holder 100 to move a selected end-of-arm tool to a proximal position for attachment of the selected end-of-arm tool to the selected robot.

[0056] In certain embodiments, the rotatable tool holder 100 is self-powered and includes a mechanical connection to a drive 150 for rotating the rotatable tool holder 100. In such embodiments, the rotatable tool holder 100 may include an encoder coupled to a shaft and a servo motor and gearbox coupled to the encoder. The drive 150 may be activated to rotate the rotatable tool holder 100, thereby moving a selected end-of-arm tool from a distal position to a proximal position for attachment of the selected end-of-arm tool to the selected robot.

[0057] Figure 4 A flow chart of a method 200 for manufacturing a vehicle, including for replacing end-of-arm tooling, is provided. The method 200 includes, at action block 210, positioning an end-of-arm tool on a rotatable tool holder. The tool can be mounted, suspended, or otherwise positioned at a tool base on the rotatable tool holder. In an exemplary embodiment, a series of tools, i.e., tools used in succession, can be grouped together and mounted on the tool holder. Furthermore, in an exemplary embodiment, tools used by more than one robot are grouped together and mounted on the tool holder.

[0058] In certain embodiments, the rotatable tool holder may be positioned on the movable vehicle at action block 220. Although action block 220 is illustrated after action block 210, it is contemplated that actions 210 and 220 may be performed in either order within method 200.

[0059] The method 200 may also include moving the vehicle into the assembly cell at action block 230 and anchoring the vehicle at a fixed location in the assembly cell at action block 240 .

[0060] Furthermore, method 200 includes rotating the tool holder to move the end-of-arm tool to a selected position at action block 251. This action can be performed by a robot that contacts the tool holder and forces the tool holder to rotate about its axis. Alternatively, the tool holder can be self-powered and can be activated to rotate to a desired orientation, such as by a drive mechanically coupled to the rotatable tool holder.

[0061] Method 200 can continue, at action block 261, with the robot reaching for the end-of-arm tooling and attaching the end-of-arm tooling to the robot; and at action 271, with the end-of-arm tooling grasping the component and performing the assembly operation. Thereafter, at action block 281, the method can continue by replacing the end-of-arm tooling at the tool rack. Actions 251-281 can then be repeated as long as the necessary tools are on the tool rack. When a tool rack with different tools is required, method 200 includes moving the carrier out of the assembly cell at action block 290. Method 200 can then repeat, beginning at action 210, 220, or 230.

[0062] It is contemplated that multiple robots sharing a tool rack can perform parallel actions. For example, the method may include, at action block 252, rotating the tool rack to move the second end-of-arm tool to a second selected position. It will be appreciated that in some embodiments, action 251 may include performing action 252. Method 200 may include, at action block 262, utilizing the second robot to reach the second end-of-arm tool and attach the second end-of-arm tool to the second robot; and, at action block 272, utilizing the second end-of-arm tool to grasp the second component and perform an assembly operation. Assembly operations 271 and 272 may be common to operation 270 and may include moving the components into alignment for joining and fastening the components together to form a joined component. Thereafter, at action block 282, the method may continue by replacing the second end-of-arm tool at the tool rack. Actions 252-282 may be repeated as long as the necessary tools are on the tool rack. If a tool rack with different tools is required, method 200 may include, at action block 290, removing the carrier from the assembly cell. Method 200 may then continue starting at act 210, 220, or 230, or end if the manufacturing process is complete at the assembly unit. Figure 4 Processing is shown using two robots, but it is contemplated that more than two robots may utilize tools from a tool rack.

[0063] Although at least one exemplary embodiment has been presented in the foregoing detailed description, it will be understood that there are a large number of variations. It will also be understood that the exemplary embodiment or exemplary embodiments are merely examples and are not intended to limit the scope, applicability, or configuration of the present disclosure in any way. On the contrary, the foregoing detailed description will provide those skilled in the art with a convenient roadmap for implementing the exemplary embodiment or exemplary embodiments. It will be understood that various changes may be made in the function and arrangement of elements without departing from the scope of the present disclosure as set forth in the appended claims and their legal equivalents.

Claims

1. An end-of-arm tool changing system, comprising: a tool rack configured to hold at least two end-of-arm tools and configured to move a first end-of-arm tool from a distal position to a proximal position; a first robotic arm configured to extend to the proximal position for attaching the first end-of-arm tool to the first robotic arm, wherein the first robotic arm is configured to selectively rotate the tool holder to move the first end-of-arm tool to the proximal position for attaching the first end-of-arm tool to the first robotic arm; a second robotic arm configured to reach the remote location for attaching a second end-of-arm tooling thereto; and A vehicle is configured for movement and for selective anchoring at a fixed location, wherein the tool holder is mounted on the vehicle, and wherein the fixed location is located between the first robotic arm and the second robotic arm.

2. The system according to claim 1, wherein: The first robotic arm is configured to selectively rotate the tool holder to move the second end-of-arm tool to the remote location for attaching the second end-of-arm tool to the second robotic arm, and wherein the tool holder includes a coupler and the first robotic arm includes a tool that cooperates with the coupler to allow the first robotic arm to selectively rotate the tool holder.

3. The system of claim 1 , wherein: The tool holder rotates around an axis; The tool rack has a first tool base for holding the first end-of-arm tool and a second tool base for holding the second end-of-arm tool; and The axis is located between the first tool base and the second tool base.

4. The system according to claim 1, wherein: The vehicle is an unmanned, self-propelled robotic vehicle, and wherein the vehicle includes mating features configured for repeatedly and accurately placing the vehicle at the fixed location and for anchoring at the fixed location.

5. The system according to claim 1, wherein: The tool holder is located directly between the first robotic arm and the second robotic arm.

6. The system of claim 1 further comprising a camera configured to identify a position of the tool holder and / or the first end-of-arm tool so as to enable the first robotic arm to be aligned with the tool holder and / or the first end-of-arm tool.

7. A method for replacing an end-of-arm tool using the end-of-arm tool changing system according to claim 1, the method comprising: Providing an end-of-arm tool changing system according to claim 1; moving the vehicle to the fixed position; selectively anchoring the vehicle at the fixed location; rotating the tool holder using the first robotic arm to move the first end-of-arm tool to the proximal position; reaching to the first end-of-arm tooling with the first robotic arm and attaching the first end-of-arm tooling to the first robotic arm; rotating the tool holder using the first robotic arm to move the second end-of-arm tool to the remote location; as well as Reach to the second end-of-arm tooling with the second robotic arm and attach the second end-of-arm tooling to the second robotic arm.

8. The method according to claim 7, wherein: The fixed location is located directly between the first robotic arm and the second robotic arm.

9. The method according to claim 7, wherein: The tool holder includes a coupler, and wherein the first robotic arm includes a tool that cooperates with the coupler to allow the first robotic arm to selectively rotate the tool holder.

10. The method according to claim 7, wherein: The vehicle is an unmanned, self-propelled robotic vehicle, and wherein the vehicle includes mating features configured for repeatedly and accurately placing the vehicle at the fixed location and for anchoring at the fixed location.

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