Method for forming a chuck for transporting parts

Abstract

A method for forming one or more chucks to be used with a gripping device is provided. The method includes obtaining 3D data based on the geometry of the component. The method further includes forming a collet, including 3D printing the collet based on the obtained 3D data. The forming step includes forming one or more openings in the collet and forming a nest of the collet to position and releasably retain the component based on application of suction through the one or more openings.

Description

Technical Field

[0001] The present disclosure generally relates to grippers that are used in combination with a vacuum generator to suck components in order to transport them from one location to another. Background Art

[0002] Standard suction cups or mechanical grippers are available, which are used in combination with a vacuum generator to suck one or more components and transport them from one location to another. However, these standard suction cups require the components to have a minimum surface area in order to generate the necessary suction to hold the components. Additionally, these standard suction cups only work with components that can withstand the threshold suction force established by the suction cup. Therefore, these conventional suction cups are not suitable for transporting components with a minimum surface area and / or components that are fragile and cannot withstand these threshold suction forces.

[0003] Additionally, in addition to the main valve for establishing vacuum suction, these standard suction cups typically feature a secondary valve that provides a jet pulse to release the component from the suction cup after transportation. Therefore, by introducing these secondary valves, these conventional suction cups increase the cycle time for the unit to transport components between locations.

[0004] These conventional suction cups also require a large suction rate, which requires an increase in the weight and size of the end of the arm tool on which the suction cup is positioned. This increased size and weight necessarily reduces the performance of the system. Summary of the Invention

[0005] Various embodiments address the above problems and provide a chuck device for transporting components from one location to another, particularly those with a minimum surface area or components that are fragile such that they cannot withstand the threshold suction force established by conventional suction cups. Various embodiments also provide a kit that includes a plurality of chucks for use with the chuck device. Various embodiments also provide a method for using the chuck device to transport components from one location to another. Various embodiments also provide a method for forming a plurality of chucks for use in a method for transporting components.

[0006] In a first set of embodiments, a gripping device is provided for transporting a component from one location to another. The gripping device includes a body defining a chamber and an exhaust port at a first end of the body. The device further includes a chuck configured to be attached to a second end of the body opposite the first end. The chuck defines one or more openings and an insert kit having a profile configured to position and releasably hold a component based on an air flow generated within the chamber and discharged through the exhaust port. The device further includes an air conveyor positioned within the chamber. The air conveyor is configured to generate an air flow that enters through an inlet and discharges through the exhaust port. The air conveyor defines a central hole and an exhaust port. The inlet includes an inlet port having a nozzle in communication with the central hole and the exhaust port.

[0007] In a second set of embodiments, a kit for a gripping device is provided. The gripping device includes a body defining a chamber and an exhaust port at a first end of the body. The gripping device further includes an air conveyor positioned within the chamber. The air conveyor is configured to generate an air flow that enters through an inlet and discharges through the exhaust port. The kit includes a plurality of chucks, each chuck configured to be attached to a second end of the body opposite the first end. Each chuck defines a respective interchangeable insert kit different among the plurality of chucks. Each chuck is configured to position and releasably hold one of a plurality of components based on an air flow generated within the chamber and discharged through the exhaust port.

[0008] In a third set of embodiments, a method is provided for using a gripping device to transport a component from a first location to a second location. The gripping device includes a body defining a chamber and includes an exhaust port at a first end of the body. The gripping device further includes an air conveyor positioned within the chamber. The method includes attaching one of a plurality of chucks to a second end of the body opposite the first end. The chuck defines one or more openings and an insert kit. The method further includes generating an air flow that enters through the inlet of the air conveyor and discharges through the exhaust port. The method further includes applying suction via one or more of the openings in the chuck based on the generating step to position and releasably hold one of a plurality of components at the first location together with the chuck. The method further includes transporting the component releasably held to the chuck from the first location to the second location.

[0009] In a fourth set of embodiments, a method is provided for forming one or more chucks for use with a gripping device. The method includes obtaining 3D data based on the geometry of a component. The method further includes forming a chuck, including 3D printing the chuck based on the obtained 3D data. The forming step includes forming one or more openings in the chuck and forming an insert kit of the chuck to position and releasably hold a component based on suction applied through the one or more openings. Description of the Drawings

[0010] Many aspects of the present disclosure can be better understood with reference to the following drawings.

[0011] Figure 1A is an example according to various embodiments, showing a side perspective view of an automated system for moving a chuck device in one or more directions.

[0012] Figure 1B is an example according to various embodiments, showing the use of Figure 1A of an automated system to move a component from a first position to a second position, a top view.

[0013] Figure 2 is an example according to various embodiments, showing a cross-sectional perspective view of a gripping device including a chuck for releasably holding a component.

[0014] Figure 3A is an example according to various embodiments, showing a cross-sectional side view of a gripping device including a chuck for releasably holding a component.

[0015] Figures 3B to 3D is an example according to various embodiments, showing Figure 3A a perspective view of a chuck for releasably holding a component.

[0016] Figure 4A is an example according to various embodiments, showing a cross-sectional side view of a gripping device including a chuck for releasably holding a component.

[0017] Figures 4B to 4D is an example according to various embodiments, showing Figure 4A a perspective view of a chuck for releasably holding a component.

[0018] Figure 5A is an example according to various embodiments, showing a cross-sectional side view of a gripping device including a chuck for releasably holding a component.

[0019] Figures 5B to 5C is an example according to various embodiments, showing Figure 5A a perspective view of a chuck for releasably holding a component.

[0020] Figure 6 is an example according to various embodiments, showing a kit for a gripping device, the kit including a plurality of chucks for transporting a plurality of components from a first position to a second position.

[0021] Figure 7 is an example according to various embodiments, showing a method for transporting one or more components using one or more chucks of a Figure 6 kit, a flowchart.

[0022] Figure 8 Examples in accordance with various embodiments are shown that illustrate a system for one or more chucks of a kit for 3D printing Figure 6 of a system.

[0023] Figure 9 Examples in accordance with various embodiments are shown that illustrate a flowchart of a method for forming one or more chucks using a Figure 8 system.

[0024] It should be understood that the various embodiments are not limited to the examples shown in the figures. DETAILED DESCRIPTION

[0025] Introduction and Definitions

[0026] This disclosure is written to describe the invention to a person of ordinary skill in the art, who will understand that the disclosure is not limited to the specific examples or embodiments described. The examples and embodiments are single instances of the invention, which will make a broader scope obvious to a person of ordinary skill in the art. Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by a person of ordinary skill in the art. It should also be understood that the terms used herein are not for the purpose of describing only the examples and embodiments and are not intended to be limiting, since the scope of the disclosure will be limited only by the appended claims.

[0027] Unless otherwise expressly stated, all features disclosed in this specification (including any appended claims, abstract, and drawings) may be replaced by alternative features serving the same, equivalent, or similar purpose. Thus, unless otherwise expressly stated, each feature disclosed is only one example of a generic series of equivalent or similar features. The examples and embodiments described herein are for illustrative purposes only, and a person of ordinary skill in the art will make various modifications or changes in accordance with these examples and embodiments, and such modifications or changes will be included within the spirit and scope of this application. Many variations and modifications can be made to the embodiments of the disclosure without substantially departing from the spirit and principles of the disclosure. All such modifications and variations are intended to be included within the scope of the disclosure herein. For example, unless otherwise specified, the disclosure is not limited to specific materials, reagents, reaction materials, manufacturing processes, etc., as they may vary. It should also be understood that the terms used herein are for the purpose of describing only specific embodiments and are not intended to be limiting. It is also possible in the disclosure that the steps may be performed in a logically different order.

[0028] All numerical values in this disclosure are assumed, whether or not explicitly indicated, to be modified by the term "about". The term "about" generally refers to a range of values that a person of ordinary skill in the art would consider equivalent to the recited value (e.g., having the same function or result). In many instances, the term "about" may include values that round to the nearest significant figure.

[0029] In common usage, the indefinite article (such as "a") is used before a countable noun, and an uncountable noun almost never takes an indefinite article. Thus, it must be noted that, as used in this specification and the following claims, the singular forms "a" and "the" include plural referents unless the context clearly indicates otherwise. Thus, for example, reference to "a carrier" includes a plurality of carriers. In particular, when a single countable noun is listed as an element in a claim, the specification will generally use a phrase such as "a single". For example, "a single carrier".

[0030] Where a numerical range is provided, it is to be understood that each intervening value, to the tenth of the unit of the lower limit (unless the context clearly dictates otherwise), between the upper and lower limits of that range, and any other stated or intervening value within the stated range, is encompassed within the disclosure. The upper and lower limits of these smaller ranges may independently be included in the smaller ranges and are also encompassed within the disclosure, subject to any explicit exclusionary limits set forth in the stated range. Where the stated range includes one or both of the limits, ranges excluding either one or both of those included limits are also included in the disclosure.

[0031] In this specification and the following claims, unless the contrary intention is apparent, numerous terms will be referred to that are defined to have the following meanings.

[0032] Automation System

[0033] Figure 1Ais an example according to various embodiments, which shows a side perspective view of an automated system 300 for moving a component 200 removably held by a gripping device 100 in one or more directions. The component can include any small discrete part that needs to be moved from one area to another for further assembly or finishing operations. For example, the component can include razor components such as a razor blade cartridge housing, a razor connector, a razor blade cartridge dispenser. In another example, the component can have a high surface complexity but a light weight (e.g., less than or greater than about 5 grams), depending on the surface area. However, it should be understood that the component is not limited to a razor blade cartridge. In an embodiment, the gripping device 100 includes a body 102 having a first end 108 that is attached to a component 302 of the automated system 300. In one embodiment, the component 200 is removably held by a chuck 120 that is fixed to a second end 110 of the body 120 that is opposite the first end 108. In some embodiments, an air flow supplied to the body 102 through a hose 301 is used to removably hold the component 200 by the chuck 120. In one embodiment, the component 302 of the automated system 300 is configured to move in one or more directions. In an example embodiment, the component 302 is a pick-and-place device configured to move in one or two dimensions. As Figure 1A shown, the component 302 is configured to move in multiple directions (e.g., up to six directions), including moving along one or more axes 304a, 304b, 304c and / or rotating in one or more rotational directions 305a, 305b, 305c about the respective axes 304a, 304b, 304c. In another example embodiment, the automated system 300 is a robotic system, and the position of the component 302 is automatically adjusted by a controller (not shown).

[0034] Figure 1B is an example according to various embodiments, which shows the use of Figure 1A of the automated system 300 to move the component 200 from a first position to a second position in a top view. In one embodiment, the first position is a first conveyor line 310a, and the second position is a second conveyor line 310b. In these embodiments, the component 302 and the gripping device 100 are configured to move the component 200 from the first conveyor line 310a to the second conveyor line 310b. As Figure 1BAs shown, in some embodiments, in addition to moving the component 200 from the first conveyor line 310a to the second conveyor line 310b, the component 302 and the gripping device 100 are configured to rearrange these components when placing the component 200 on the second conveyor line 310b. In an exemplary embodiment, the component 302 and the gripping device 100 are configured to move the component 200 from a random arrangement 320 on the first conveyor line 310 to an ordered arrangement 321 on the second conveyor line 310b (e.g., aligned with the axis 312 along the second conveyor line 310b). Additionally, as Figure 1B shown, the second conveyor line 310b includes one or more calibration positions 318a, 318b (whose positions are known). As will be understood by those of ordinary skill in the art, the automated system 300 is calibrated by moving the component 302 to each of the one or more calibration positions 318a, 318b and recording the position of the component 302 at each calibration position 318a, 318b in the memory of the controller. These stored positions are then used by the automated system 300 to determine other positions on the second conveyor line 310b (e.g., other points along the axis 312).

[0035] Gripping Device

[0036] The gripping device 100 discussed with reference Figure 1A will now be described in more detail. Figure 2 is an example according to various embodiments, which shows a cross-sectional perspective view of a gripping device 100 including a chuck 120 for releasably holding a component 200. In some embodiments, the gripping device 100 is similar to the device 100 depicted in Figure 1A and includes a bolt 103 disposed at the first end 108 of the body 102 for securing the body 102 to the component 302 of the automated system 300.

[0037] In an embodiment, the gripping device 100 includes a body 102 defining a chamber 104 and includes an exhaust port 106 at the first end 108 of the body 102. The chuck 120 is attached to the second end 110 of the body 102 opposite the first end 108. In some embodiments, the second end 110 of the body 102 is removably attached to the chuck 120 using one or more bolts 121 (e.g., passing through alignment openings in the chuck 120 and the body 102). As Figure 2 shown, in some embodiments, the bolt 121 is used to secure the first end 170 of the chuck 120 to the second end 110. Although Figure 2Depicts a bolt 121 for removably attaching the chuck 120 to the second end 110 of the body 102, but any other device understood by one of ordinary skill in the art can be used to secure the chuck 120 to the second end 110 (e.g., a clamp, a magnet, and / or an air vacuum).

[0038] As Figure 2 shown, the second end 172 of the chuck 120 opposite the first end 170 defines an opening 122 and a nesting kit 124 having a profile configured to position and releasably hold the component 200 based on an air flow generated within the chamber 104 and discharged through the exhaust port 106. Although a single opening 122 is depicted in the chuck 120 of Figure 2 , in other embodiments, the chuck 120 features multiple openings. In one exemplary embodiment, the nesting kit 124 is rigid. In another exemplary embodiment, the opening 122 and the nesting kit 124 are configured such that the component 200 is held by the chuck 120 at the maximum speed or maximum inertia at which the automated system 300 operates. In this exemplary embodiment, the design of the chuck 120 advantageously ensures that the component 200 is not dropped by the chuck 120 when it is transported by the automated system 300 from a first location (e.g., the conveyor line 310a) to a second location (e.g., the conveyor line 310b).

[0039] Additionally, in an embodiment, the clamping device 100 includes an air conveyor 140 positioned within the chamber 104. The air conveyor 140 generates an air flow that passes through the inlet 144 and is discharged through the exhaust port 106. As previously discussed, in some embodiments, the air flow is provided to the inlet 144 via a hose 301 connected to a compressed air source (not shown) of the automated system 300. As Figure 2 shown, in one embodiment, the body 102 firmly encloses and encapsulates the air conveyor 140 within the chamber 104.

[0040] Figure 3A is an example according to various embodiments, which shows a cross-sectional side view of a vacuum clamping device 100 including a chuck 120a that releasably holds a component 200a. As Figure 3A shown, the nesting kit 124 has a profile configured to position and releasably hold the component 200a based on an air flow 142 generated within the chamber 104 and discharged through the exhaust port 106. The air conveyor 140 defines a central hole 146 and an exhaust port 148. The inlet 144 includes an inlet port 145 having a nozzle 147 that communicates with the central hole 146 and the exhaust port 148. As Figure 3A shown, in one embodiment, the nozzle 147 and the inlet port 145 are oriented at a non-zero angle (e.g., an orthogonal angle) with respect to the longitudinal axis 150 of the air conveyor 140 defined by the central hole 146.Figure 3A Further shown, in an embodiment, the exhaust port 148 of the air conveyor 140 is positioned at an end of the chamber 104 adjacent to the first end 108 of the body 102. Based on this arrangement, the exhaust port 106 at the first end 108 of the body 102 is in communication with the exhaust port 148 of the air conveyor 140 and the central bore 146. Additionally, due to this arrangement, the air flow 142 generated within the central bore 146 is discharged through the exhaust port 106 at the first end 108 of the body 102. Figure 3A Also depicted in one embodiment, the exhaust port 106 at the first end 108 of the body 102 defines a plurality of exhaust openings 112a through 112d. As Figure 3A Further shown, the plurality of exhaust openings 112a through 112d are spaced along the outer surface 116 of the first end 108 of the body 102 such that the generated air flow 142 dissipates through the plurality of exhaust openings 112a through 112d. In an exemplary embodiment providing four exhaust openings 112a through 112d, the exhaust openings are angularly spaced at approximately 90 degrees.

[0041] As Figure 3A shown, in an embodiment, the chuck 120a is secured to the second end 110 of the body 102 using an O-ring 119 that forms a vacuum seal between the chuck 120a and the second end 110 of the body 102. In one embodiment, the chuck 120a defines a recess 118 sized and shaped to receive the O-ring 119 such that a vacuum seal is formed between the chuck 120a and the second end 110 of the body 102 when the O-ring 119 is positioned within the recess 118 and the bolt 121 is secured through openings in both the chuck 120a and the second end 110 of the body 102. Although the O-ring 119 is depicted in Figure 3A , in other embodiments, any device may be used to form a vacuum seal between the chuck 120a and the second end 110 of the body 102. Additionally, as Figure 3A shown, in one embodiment, the chuck 120a defines an inner conical surface 174 on which the recess 118 is formed.

[0042] First Chuck Design

[0043] A first embodiment of the chuck 120a and an associated component 200a positioned and releasably held by the chuck 120a will now be discussed and is depicted in Figures 3B to 3D . In an embodiment, the component 200a may include a razor blade cartridge cover configured to hold a razor blade cartridge.

[0044] Figures 3B to 3D is an example according to various embodiments, which shows Figure 3APerspective view of the chuck 120a for releasably holding the component 200a. As Figure 3A shown, in one embodiment, the chuck 120a defines a single opening 122a parallel to the longitudinal axis 126 of the chuck 120a. The single opening 122a and the insert kit 124a are configured to position and releasably hold the component 200a based on the generated air flow 142. In an example embodiment, the width of the single opening 122a is non-tapering on the chuck 120a. ( Figure 2 B, Figures 3A to 3C ). In another example embodiment, the single opening 122a is circular in shape.

[0045] As Figure 3A and Figure 3D shown, in an embodiment, the insert kit 124a of the chuck 120a defines a contoured recess 132 that communicates with the single opening 122a. The contoured recess 132 is configured to receive the portion 204 of the component 200a that is releasably engaged by the chuck 120a. As Figure 3B shown, in some embodiments, the contoured recess 132 extends along a transverse axis 127 that is orthogonal to the longitudinal axis 126 of the chuck 120a. In an example embodiment, the contoured recess 132 is shaped based on the shape of the portion 204 of the component 200a that is received within the contoured recess 132. In this example embodiment, the internal length and / or internal width of the contoured recess 132 is based on the corresponding external length and / or external width of the portion 204 (e.g., the internal length and / or width of the contoured recess 132 is slightly larger such that the portion 204 fits within the contoured recess 132).

[0046] The chuck 120a is designed based on the features of the component 200a. As previously discussed, in one embodiment, the size and shape of the contoured recess 132 are based on the corresponding size and shape of the portion 204 of the component 200a to be received within the contoured recess 132. The shaping of the contoured recess 132 can advantageously assist the chuck 120a in positioning and receiving the component 200a within the contoured recess 132. Additionally, in another embodiment, the component 200a may not have an opening (e.g., is solid as a whole). Thus, the single opening 122a in the chuck 120a can be positioned towards the center of the component 200a received within the contoured recess 132 to achieve a relatively even suction force distribution on the component 200a when the air flow 142 is generated in the body 102. Thus, the position of the opening 122a can be designed based on the specific geometry of the component 200a to be picked up and moved (e.g., the shape and position of any voids in the component 200 that make it difficult to hold the component).

[0047] Second Chuck Design

[0048] A second embodiment of the collet 120b and an associated component 200b positioned and removably held by the collet 120b will now be discussed and is depicted in Figures 4A to 4D . In an embodiment, the component 200b may include a razor blade cartridge housing.

[0049] Figure 4A is an example according to various embodiments, which shows a cross-sectional side view of a gripping device 100 including a collet 120b that releasably holds a component 200b. With respect to the gripping device 100, Figure 4A it is depicted that the nozzle 147 has a diameter 162 that is smaller than the diameter 164 of the central hole 146. The transition from the nozzle 147 to the central hole 146 is a Venturi transition because the air flow 142 experiences a diameter transition from the nozzle 147 to the central hole 146. Also as Figure 4A shown, the central hole 146 has a diameter 166 adjacent to the second end 110 of the body 102, which diameter decreases to a diameter 164 adjacent to the central portion of the central hole 146, and thus the air flow 142 transmitted from the bottom of the central hole 146 to the central portion of the central hole 146 also experiences a Venturi transition. As Figure 4A further shown, in an embodiment, the body 102 has an outer diameter 171 at the second end 110, which is greater than the outer diameter 173 of the collet 120 at the second end 172 forming the insert sleeve 124. It should be appreciated that the outer diameter 173 should be large enough to surround the component 200 to be positioned and removably held by the insert sleeve 124 of the collet 120.

[0050] As Figure 4AAs shown, in an embodiment, the chuck 120b defines one or more openings that are different from the single opening 122a in the chuck 120a. Additionally, in this embodiment, the chuck 120b defines a nesting kit 124b that is different from the nesting kit 124a of the chuck 120a. In these embodiments, the chuck 120b has a different set of openings and nesting kits because the chuck 120b is configured to position and releasably hold a component 200b having different characteristics from the component 200a positioned and releasably held by the chuck 120a. In these embodiments, the chuck 120b defines an angled opening 134 that is angled relative to the longitudinal axis 126 of the chuck 120b. In this embodiment, the angled opening 134 forms an angle 138 with the longitudinal axis 126. In an exemplary embodiment, the angle 138 is in the range of 30 degrees to 60 degrees. In one embodiment, a specific value of the angle 138 is not necessary because the angle 138 is used to combine the paths of the airflows through the single opening 136 and the angled opening 134 based on the position of the suction to be applied to the component 200b. In other embodiments, the value of the angle 138 is determined based on the clearance required to position the component 200b within the recess 139 of the chuck 120b by the automated system 300 employing the chuck 120b. As Figure 4A Further shown, the chuck 120b further defines a single opening 136 that is oriented parallel to the longitudinal axis 126. In some embodiments, the angled opening 134 has a first width 135, and the single opening 136 has a second width 137 that is different from the first width 135. In one exemplary embodiment, the first width 135 is less than the second width 137.

[0051] Figures 4B to 4D is an example according to various embodiments, which shows Figure 4A a perspective view of the chuck 120b that releasably holds the component 200b. As Figure 4A Further shown, the nesting kit 124b of the chuck 120a defines a recess 139. Figure 4C Depicted is that in some embodiments, the component 200b includes a solid portion 206 (e.g., non-porous and without openings), a portion having an opening 208, and a convex portion 205. In these embodiments, the shape and size of the recess 139 are designed to receive the convex portion 205 of the component 200b.

[0052] As Figure 4B and Figure 4CAs shown, when the component 200b is releasably held by the chuck 120b, the angled opening 134 is aligned with the solid portion 206 of the component 200b, and the single opening 136 is aligned with the opening 208 of the component 200b. The design and size of the openings can maximize the force on the platform (e.g., a flat open space where suction is applied) on the component 200b. The specific arrangement of the openings 134, 136 with the corresponding solid portion 206 and opening 208 of the component 200b can achieve certain advantages. For example, this specific arrangement can distribute the suction force across the component 200b (e.g., across the solid portion 206 and the opening 208) based on the generated air flow 142. In this exemplary embodiment, the wider opening 136 is aligned with the opening 208, while the narrower opening 134 is aligned with the solid portion 206 because a larger air flow is required to pass through the opening 208 relative to the solid portion 206 in order to achieve balanced suction across the component 200b.

[0053] Third Chuck Design

[0054] A third embodiment of the chuck 120c and the associated component 200c positioned and removably held by the chuck 120c will now be discussed and depicted in Figures 5A to 5C In the embodiment, the component 200c is another possible example of a razor blade cartridge cover.

[0055] Figure 5A is an example according to various embodiments, which shows a cross-sectional side view of the holding device 100 including the chuck 120c that releasably holds the component 200c. Figures 5B to 5C is an example according to various embodiments, which shows Figure 5A a perspective view of the chuck 120c that releasably holds the component 200c. As Figure 5A shown, the chuck 120c includes a single opening 122c. In one embodiment, unlike the single opening 122a (non-tapering width) of Figure 3A , the width of the single opening 122c tapers on the chuck 120c.

[0056] In addition, as Figure 5A shown, in some embodiments, the chuck 120c and the single opening 122c extend along a transverse axis 127 that is orthogonal to the longitudinal axis 126 of the chuck 120c. In the embodiment, the size of the elongated single opening 122c is designed to distribute the suction force across the component 200c along the transverse axis 127 based on the generated air flow 142. The insert kit 124c of the chuck 120c is a shaped surface 130 that extends along the transverse axis 127. The size of the shaped surface 130 is designed along the transverse axis 127 based on the corresponding inner diameter of the recess 202 of the component 200c. In addition, as Figure 5CAs shown, the contoured surface 130 is configured to be received within a recess 202 defined by the component 200c. In an exemplary embodiment, the outer diameter of the contoured surface 130 along the transverse axis 127 is less than the inner diameter of the recess 202 along the transverse axis 127, but is close enough to the inner diameter of the recess 202 to achieve a tight fit of the contoured surface 130 within the recess 202.

[0057] The chuck 120c is designed to have these specific features (e.g., the elongate opening 122c along the transverse axis 127 and / or the elongate contoured surface 130 along the transverse axis 127) to achieve one or more advantages with respect to positioning and removably holding the component 200c. The shape and dimensions of the single opening 122c and the contoured surface 130 can be designed to advantageously enhance the fit of the contoured surface 130 within the recess 202 along the transverse axis 127 and further distribute the suction force across the transverse axis 127 over the component 200c.

[0058] Chuck Kit

[0059] Although the embodiments discussed previously disclose the gripping device 100 including the body 102, the present invention is not limited to these embodiments and, in some embodiments, includes providing a kit that can be used with the gripping device 100 to secure different chucks 120 to the body 102 in order to move different types of components 200 from a first position to a second position. This advantageously allows the same gripping device 100 and body 102 (which would otherwise only be capable of transporting one type of component) to be converted into an improved gripping device that can be used to transport multiple different types of components by securing different chucks to the body 102 of the gripping device 100.

[0060] Figure 6 is an example according to various embodiments, which shows a kit 350 for a gripping device 100 that includes multiple chucks 120a, 120b, 120c for transporting multiple components 200a, 200b, 200c from a first position to a second position. Although three chucks 120a, 120b, 120c are depicted in Figure 6 the kit 350 is not limited to including one or more of these chucks 120a, 120b, 120c and includes other chucks having different designs that can similarly be used to position and releasably hold different components other than the components 200a, 200b, 200c.

[0061] In some embodiments, as Figure 6As shown, kit 350 includes calibration tip 125. In these embodiments, calibration tip 125 can be secured to the second end 110 of body 102 in a manner similar to chuck 120 (e.g., by passing bolt 121 through aligned openings in calibration tip 125 and the second end 110 of body 102). The calibration tip 125 can then be used to calibrate the position of a system in which gripping device 100 is employed. In one example embodiment, FIG. 1C depicts a pair of calibration positions 318a, 318b on second conveyor line 310b. To calibrate the position of gripping device 100 within automated system 300, calibration tip 125 is secured to the second end 110 of body 102, after which body 102 is moved by components 302 of automated system 300 until calibration tip 125 is at each calibration position 318a, 318b. A controller (not shown) of automated system 300 then stores the position of calibration tip 125 in memory, which position is subsequently used to position body 102 with attached chuck 120 at one or more other positions on second conveyor line 310b.

[0062] As Figure 6 As further shown, in some embodiments, kit 350 includes one or more components to facilitate removal of first chuck 120a from the second end 110 of body 102 and attachment of second chuck 120b (different from first chuck 120a) to the second end 110 of body 102. This advantageously facilitates use of the same gripping device 100 to transport one or more components 200a (along with chuck 120a) from a first position to a second position and then to transport one or more components 200b (along with chuck 120b) from a first position to a second position. Although chucks 120a, 120b and components 200a, 200b are discussed in this embodiment, the kit is not limited to these chucks and components and can thus facilitate removal and replacement of any two different chucks to facilitate transport of any two different components that can be positioned and releasably held by the two different chucks.

[0063] In some embodiments, the components used to facilitate removal and replacement of the collet 120 from the second end 110 of the body 102 include an O-ring 119 and a bolt 121. In these embodiments, the first collet 120a is removed by removing the bolt 121 from the second end 110 of the body 102 and removing the O-ring 119 from the recess 118 in the first collet 120a. The O-ring 119 is then positioned in the recess 118 of the second collet 120b. The bolt openings of the second collet 120b are then aligned with the bolt openings in the second end 110 of the body 102, and the bolt 121 is passed through the aligned openings to secure the second collet 120b to the second end 110 of the body 102. These steps can be repeated to replace any collet with another, and thus promote the versatility of the clamping device 100 for transporting a variety of different types of components 200. However, while in Figure 6 O-ring 119 and bolt 121 are depicted in FIG. 3 , but kit 350 is not limited to these specific components for removing and replacing the collet, and in other embodiments includes other components or devices (e.g., clamps, magnets, or air vacuum) for removing and replacing the collet.

[0064] Method for Transporting Components Using Multiple Chucks

[0065] A method is now presented in which the gripping device 100 and one or more gripping heads 120 are used to transport one or more components 200 from a first location to a second location. Figure 7 is an example according to various embodiments, which shows a method for using Figure 6 Flow chart of a method 400 for transporting one or more components 200 using one or more chucks 120 of a kit 350. In one embodiment, the method 400 is used to transport one or more components from a first conveyor line 310a to a second conveyor line 310b ( Figure 1B ). Although for illustrative purposes Figure 7 The flowcharts are depicted as overall steps in a particular order, but in other embodiments, one or more steps or portions thereof are performed in a different order or overlapped in time, serially or in parallel, or one or more steps or portions thereof are omitted, or one or more additional steps are added, or the method is combined and changed in some way.

[0066] Method 400 begins at step 401, where chuck 120 is selected to transport one or more components 200. In one embodiment, at step 401, one or more characteristics of component 200 are determined and used to select chuck 120. In an example embodiment, at step 401, chuck 120a is selected to transport one or more components 200a. In another example embodiment, at step 401, chuck 120b is selected to transport one or more components 200b. In an example embodiment, at step 401, chuck 120c is selected to transport one or more components 200c. However, step 401 is not limited to selecting among chucks 120a, 120b, 120c to transport components 200a, 200b, 200c, and includes other chucks 120 designed in a manner similar to chucks 120a, 120b, 120c to transport components 200 other than components 200a, 200b, 200c.

[0067] Method 400 then proceeds to step 402, where the chuck 120 selected in step 401 is secured to the second end 110 of the body 102 of the gripper device 100. In one embodiment, at step 402, an O-ring 119 is positioned in the recess 118 of the chuck 120. The bolt opening in the chuck 120 is then aligned with a corresponding bolt opening in the second end 110 of the body 102. A bolt 121 then passes through the aligned bolt openings to secure the chuck 120 to the second end 110 of the body 102. It should be appreciated that step 402 secures the chuck 120 to the second end 110 of the body 102 to form a vacuum seal between the chuck 120 and the second end 110 such that air does not transfer between the chuck 120 and the second end 110 of the body 102. In other embodiments, other means are employed at step 402 to secure the chuck 120 to the second end 110 of the body 102 (e.g., clamps, magnets, or vacuum sources). In an example embodiment, at step 402, a chuck 120a having a single opening 122a and a bush kit 124a is attached to the second end 110 of the body 102.

[0068] Method 400 then proceeds to step 404, where an air stream 142 is generated through the inlet 144 of the air conveyor 140 and exhausted through the exhaust port 106 at the first end 108 of the body 102. In some embodiments, at step 404, a compressed air source (not shown) supplies the air stream 142 to the inlet 144 through a hose 301( Figure 1A ). In some embodiments, at step 404, the pressure of the compressed air supplied from the compressed air source to the inlet 144 is selected (e.g., between 4 bar, 5 bar, and 6 bar). In these embodiments, the pressure value is selected based on one or more characteristics of the component 200.

[0069] Method 400 then proceeds to step 406, where suction is applied through chuck 120 to component 200 such that the insert 124 of chuck 120 positions and releasably holds component 200. In some embodiments, step 406 is performed on component 200 located at a first position (e.g., first conveyor line 310a). At step 404, this suction is applied through chuck 120 due to the generated air flow 142. In an exemplary embodiment, where chuck 120a is attached to the second end 110 of body 102 at step 402, at step 406, suction is applied to component 200a via a single opening 122a to releasably hold component 200a together with chuck 120a at the first position. Additionally, in this exemplary embodiment, performing step 406 includes receiving the convex portion 204 of component 200a within the contoured recess 132 of chuck 120a to releasably hold component 200a together with chuck 120a.

[0070] In another exemplary embodiment, where a second chuck 120b is attached to the second end 110 of body 102 at step 402, at step 406, suction is applied to component 200b based on generation step 404 via an angled opening 134 and a single opening 136 to releasably hold second component 200b. Additionally, in this exemplary embodiment, angled opening 134 is aligned with the solid portion 206 of component 200b, and single opening 136 is oriented at the opening 208 of component 200b such that performing step 406 distributes the suction force across the solid portion 206 and the opening 208 of component 200b based on generation step 404.

[0071] In yet another exemplary embodiment, when chuck 120c is attached to the second end 110 of body 102, the elongated single opening 122c is sized such that performing step 406 distributes the suction force across component 200c along the transverse axis 127 based on generation step 404. Additionally, in this exemplary embodiment, performing step 406 causes the contoured surface 130 of component 200c to be received within the recess 202 defined by component 120c.

[0072] Method 400 then proceeds to step 408, where the component 200 releasably held at the first position by the chuck 120 in step 406 is transported to the second position. In one embodiment, in the case where the clamping device 100 is fixed to the component 302 of the automation system 300, in step 408, the component 302 of the automation system 300 moves in one or more directions (e.g., along one or more axes 304a, 304b, 304c and / or in one or more rotational directions 305a, 305b, 305c) until the component 200 is in the second position (e.g., the second conveyor line 310b). In this exemplary embodiment, in step 408, the component 302 moves until the component 200 is at a specific position at the second position (e.g., along the axis 312 of the second conveyor line 310b), such that the component 200 is arranged in a specific arrangement (e.g., the ordered arrangement 321 along the axis 312) at the second position.

[0073] Method 400 then moves to block 310, where it is determined whether to move a plurality of components 200 of the same type that were moved in step 308. If the result of this determination is affirmative, method 400 returns to step 404 and repeats steps 404 to 408 for another component 200 of the same type that was moved in step 408. This is repeated until all components 200 of the same type are moved from the first position to the second position. If the determination is negative, method 400 proceeds to block 412.

[0074] In block 412, method 400 determines whether to move additional components 200 other than the components 200 that were moved in the previous iteration of step 408. If the result of this determination is affirmative, method 400 moves to step 413. If the result of this determination is negative, method 400 ends because there are no more components 200 to be moved from the first position to the second position.

[0075] In step 413, method 400 removes the chuck 120 fixed to the second end 110 of the body 102. In an embodiment, step 413 is performed after all components 200 to be moved by the chuck 120 have been moved from the first position to the second position and a plurality of components 200 of different types still need to be transported from the first position to the second position. For purposes of description, step 413 will be discussed with respect to removing chuck 120a, which is performed after transporting component 200a from the first position to the second position. In this exemplary embodiment, step 413 is performed after all components 200a have been moved together with chuck 120a. In one embodiment, in step 413, the bolt 121 is removed from the second end 110 of the body 102, and the chuck 120a is removed from the second end 110. The O-ring 119 is also removed from the recess 118 of the chuck 120a.

[0076] After step 413, method 400 returns to steps 401 and 402, where chuck 120 is replaced with a different chuck 120 in order to move a different component 200 than the component 200 moved by chuck 120 removed in step 413. In the above example embodiment, after chuck 120a is removed in step 413, chuck 120b is selected in step 401 because component 200b needs to be transported from a first position to a second position. In this example embodiment, in step 402, an O-ring 119 is inserted into recess 118 of chuck 120b. Then chuck 120b is fixed to the second end 110 of the body 102 using a bolt 121. Although steps 401 and 402 are discussed in the context of the example of replacing chuck 120a with chuck 120b, these steps can be performed similarly when any chuck is replaced with a different chuck. After chuck 120b is attached in the second iteration of step 402, steps 404 through 408 are performed to transport component 200b from the first position to the second position.

[0077] System and Method for 3D Printing a Chuck for Transporting Components

[0078] Now a system and method for 3D printing one or more of the chucks 120 that are used to transport one or more components 200 will be discussed. Figure 8 is an example according to various embodiments, which shows a system 500 for 3D printing Figure 6 one or more of the chucks 120 of a kit 350. In an embodiment, system 500 includes a 3D printer 502 for 3D printing one or more of the components 200. System 500 also includes a controller 504 having a memory 505 communicatively coupled to the 3D printer 502. In some embodiments, system 500 also includes a scanner 506 for scanning one or more of the components 200. Scanner 506 is communicatively coupled to controller 504 and is configured to transmit scan data (e.g., CAD data) of component 200 to controller 504. The scan data indicates the geometry of component 200, and controller 504 uses this geometry to obtain data (e.g., CAD data) indicating the geometry of a chuck 120 that can be used to locate and releasably hold component 200.

[0079] In an example implementation, the correspondence between the geometry data of the component 200 and the geometry data of the chuck 120 is stored in the memory 505 of the controller 504. In this example implementation, the controller 504 determines the geometry data of the chuck 120 to be 3D printed from the memory 505 based on the geometry data of the component 200 received from the scanner 506 (or from another remote data source). In some implementations, the controller 504 transmits this data indicating the geometry of the chuck 120 to the 3D printer 502, which then 3D prints the chuck 120 to be used for transporting the component 200. In other implementations, the data indicating the geometry of the component 200 and / or the chuck 120 is downloaded from a remote source to the memory 505 of the controller 504. In these implementations, the scanner 506 is not used because the data indicating the geometry of the chuck 120 is downloaded from a remote source other than the scanner 506.

[0080] Figure 9 is an example according to various implementations, which shows a method 550 for forming one or more chucks 120 using Figure 8 system 500. In an implementation, method 550 includes obtaining 552 3D data (e.g., CAD data) based on the geometry of the component 200. As previously discussed, in some implementations, step 552 is performed using the scanner 506, which scans the component 200 to be transported by the gripping device 100. The scanner 506 scans the component 200 to obtain data (e.g., CAD data) indicating the geometry of the component 200. This data is then transmitted from the scanner 506 to the controller 504, which determines the corresponding data indicating the geometry of the chuck 120 to be used for transporting the component 200. In one example implementation, the memory 505 of the controller 504 stores the correspondence between the geometry data of the component 200 and the geometry data of the chuck 120 to be used for transporting the component 200. Thus, the controller 504 uses the memory 505 to determine the geometry data of the chuck 120 based on the received geometry data of the component 200.

[0081] In some embodiments, the 3D data obtained in step 502 indicates the solid regions and openings of component 200. In one embodiment, for component 200b, the 3D data obtained in step 502 indicates the solid region 206 and the opening 208 in component 200b. The controller 504 uses the obtained 3D data to determine data indicative of the geometry of chuck 120b (e.g., having angled opening 134 and single opening 136) to position and releasably hold component 200b. In one example embodiment, the controller 504 determines the data indicative of the geometry of chuck 120b by positioning angled opening 134 to align with opening 208 and positioning single opening 136 to align with the solid portion 206 of component 200b. As previously discussed, this geometry of chuck 120b realizes significant advantages, such as distributing the suction force across component 200b.

[0082] In step 554, method 550 includes the step of forming chuck 120 based on the 3D data obtained in step 552. In an embodiment, in step 554, 3D printer 502 forms chuck 120 based on the geometry data of chuck 120 received from controller 504. In one embodiment, in step 554, 3D printer 502 forms insert kit 124 and one or more openings 122 in chuck 120. It should be appreciated that 3D printing advantageously allows chuck 120 to be formed with complex curvatures and openings (e.g., Figure 4D angled opening 134 in ) that are not possible with conventional manufacturing methods (e.g., injection molding, machining, etc.). In one example embodiment, in step 554, 3D printer 502 forms insert kit 124 and one or more openings 122 in chuck 120 to position and releasably hold component 200 based on applying suction through one or more openings 122.

[0083] In one example embodiment, the 3D printing in step 554 is performed using a 3D printable material (e.g., one of carbon fiber, metal, polymer, and impregnated polymer materials). Additionally, in another example embodiment, the 3D printing in step 554 is performed such that the 3D printed chuck 120 has a weight in the range between 0.1 kg and 0.5 kg.

[0084] Now will be based on Figure 9Method 550 discusses the formation of different collet designs 120a, 120b, 120c. In an exemplary embodiment of collet 120a, obtaining step 502 includes obtaining 3D data indicative of the geometry of component 200a. In one embodiment, obtaining step 502 includes identifying convex portion 204 of component 200a. In this embodiment, forming step 504 includes forming insert kit 124 of collet 120a having a shaped recess 132 in communication with opening 122a such that convex portion 204 of component 200a is received within shaped recess 132 based on suction applied through opening 122a. Forming step 504 further includes forming a single opening 122a in collet 120a parallel to longitudinal axis 126 of collet 120a such that collet 120a is configured to releasably hold component 200a based on suction applied through opening 122a. In another embodiment, forming step 504 includes forming an opening 122a having a fixed width above collet 120a.

[0085] In an exemplary embodiment of collet 120b, obtaining step 502 includes obtaining 3D data indicative of the geometry of component 200b. In an exemplary embodiment, obtaining step 502 includes obtaining 3D data indicative of solid portion 206 and opening 208 of component 200b. In this exemplary embodiment, forming step 504 includes orienting a plurality of angled openings 134 such that they are aligned with solid portion 206 of component 200b and orienting a single opening 136 such that it is aligned with opening 208 of component 200b to distribute suction forces across solid portion and openings 206, 208 of component 200b when suction is applied through the plurality of angled openings 134 and the single opening 136. In yet another exemplary embodiment, step 504 includes sizing the plurality of angled openings 134 to have a first width 135 and sizing the single opening 136 to have a second width 137 that is different from (e.g., greater than) the first width 135. In some embodiments, forming step 504 includes forming a single opening 136 in collet 120b parallel to longitudinal axis 126 such that component 200b is releasably held by collet 120b when suction is applied through single opening 136 and the plurality of angled openings 134. Additionally, forming step 504 involves forming a recess 139 in collet 120b to receive convex portion 205 of component 200b.

[0086] In an example implementation of the chuck 120c, obtaining step 502 includes obtaining 3D data indicative of the geometry of the component 200c. In some implementations, obtaining step 502 includes obtaining 3D data indicative of the recess 202 defined by the component 200c. In an implementation, forming step 504 includes forming a contoured surface 130 in the chuck 120c that extends along a transverse axis 127 and is in communication with the opening 122c such that the contoured surface 130 is received within the recess 202 of the component 200c based on suction applied through the opening 122c. In another implementation, forming step 504 then includes forming the opening 122c, including tapering the width of the opening 122c over the chuck 120c. Additionally, in some implementations, forming step 504 includes elongating the opening 122c along a transverse axis 127 that is orthogonal to the longitudinal axis 126 of the chuck 120c. In these implementations, forming step 504 further includes sizing the elongated opening 122c such that suction applied through the elongated opening 122c is distributed across the component 200c along the transverse axis 127.

[0087] In some implementations, after forming the chuck in step 554, in step 556 it is determined whether to transport a plurality of components other than the component of the chuck 120 formed in step 554. In an implementation, in step 556, it is determined whether different types of components 200 other than the component 200 of the chuck 120 formed in previous iterations of steps 552 and 554 are to be transported. If the determination is affirmative, the method 550 returns to step 552. If the determination is negative, the method 550 ends.

[0088] Further Definitions and Cross-References

[0089] The dimensions and values disclosed herein are not to be understood as being strictly limited to the exact numerical values recited. Instead, unless otherwise indicated, each such dimension is intended to represent the recited value and a functionally equivalent range surrounding that value. For example, a dimension disclosed as “40 mm” is intended to represent “about 40 mm”.

[0090] Each document cited herein, including any cross-referenced or related patent or patent application and any patent application or patent to which this application claims priority or its beneficial effects, is hereby incorporated by reference in its entirety unless expressly excluded or otherwise limited. The citation of any document is not an admission that it is prior art with respect to any invention disclosed or claimed herein or that it alone or in any combination with any other reference teaches, suggests, or discloses any such invention. Further, when any meaning or definition of a term in this invention conflicts with any meaning or definition of the same term in a document incorporated by reference, the meaning or definition assigned to the term in this invention shall govern.

[0091] Although specific embodiments of the invention have been illustrated and described, it will be apparent to those skilled in the art that various other changes and modifications can be made without departing from the spirit and scope of the invention. Accordingly, it is intended that all such changes and modifications that fall within the scope of the invention be covered by the appended claims.

Claims

1. A method (550), the method comprising: obtaining (552) 3D data based on the geometry of a component (200); and forming (554) a chuck (120), including 3D printing the chuck (120) based on the obtained 3D data, including forming one or more openings (122) in the chuck (120) and forming an insert kit (124) of the chuck (120) to position and releasably hold the component (200) based on suction applied through the one or more openings (122).

2. The method (550) according to claim 1, wherein the obtained 3D data indicates a solid region of the component (200), and wherein the forming step (554) forms the one or more openings (122) such that one of the one or more openings (122) is positioned adjacent to the solid region (206) of the component (200) held by the chuck (120).

3. The method (550) according to claim 1 or 2, wherein the forming (554) of the chuck (120) is performed using one of carbon fiber, metal, polymer, and impregnated polymer materials.

4. The method (550) according to any one of the preceding claims, wherein the forming step (554) is configured such that the weight of the formed chuck (120) is between 0.1 kg and 0.5 kg.

5. The method (550) according to any one of the preceding claims, wherein the obtaining step (552) includes scanning the component (200) with a device to obtain the 3D data.

6. The method (550) according to any one of the preceding claims, wherein the obtaining step (552) includes obtaining 3D data indicating the geometries of a plurality of components (200); and wherein the forming step (554) includes forming a plurality of chucks (120) for each of the plurality of components (200), including forming a corresponding one or more openings (122) in each chuck (120) and a corresponding insert kit (124) for each chuck (120) to position and releasably hold a corresponding one of the plurality of components (200) based on suction applied through the corresponding one or more openings (122) of the corresponding chuck (120).

7. The method (550) according to claim 6, wherein the plurality of chucks (120) includes a first chuck (120a) and a second chuck (120b) and the plurality of components (200) includes a first component (200a) and a second component (200b); wherein the obtaining step (552) includes obtaining 3D data indicating the geometry of the first component (200a) and obtaining 3D data indicating the geometry of the second component (200b); wherein the forming step (554) includes forming a single opening (122) parallel to the longitudinal axis (126) of the first chuck (120a) in the first chuck (120a), such that the first chuck (120a) is configured to releasably hold the first component (200a) based on applying suction through the single opening (122); and wherein the forming step (554) includes forming a plurality of openings (134, 136) including one or more angled openings (134) angled relative to the longitudinal axis (126) of the second chuck (120b) in the second chuck (120b), such that the second chuck (120b) is configured to releasably hold the second component (200b) based on applying suction through the angled opening (134).

8. The method (550) according to claim 7, wherein at least one of the following cases exists: the forming step (554) includes tapering the width of the single opening (122c) on the first chuck (120c); the forming step (554) includes forming a single opening (122a) having a fixed width above the first chuck (120a); and the forming step (554) includes elongating the single opening (122c) along a transverse axis (127) orthogonal to the longitudinal axis (126) of the first chuck (120c).

9. The method (550) according to claim 8, wherein the forming step (554) includes sizing the elongated single opening (122c) such that the suction applied through the elongated single opening (122c) is distributed across the first component (200c) along the transverse axis (127).

10. The method (550) according to claim 7, wherein the obtaining step (552) includes obtaining 3D data indicative of a recess (202) defined by the first component (200c); and wherein the forming step (554) includes forming an irregular surface (130) elongating along a transverse axis (127) orthogonal to the longitudinal axis (126) and communicating with the single opening (122c) in the first chuck (120a), such that the irregular surface (130) is received within the recess (202) of the first component (200c) based on applying suction through the single opening (122c).

11. The method (550) according to claim 7, wherein at least one of the following cases exists: the forming step (554) includes forming the single opening (122a) having a circular shape; The obtaining step (552) includes identifying the convex portion (204) of the first component (200a), and the forming step (554) includes forming the shape (124) of the first chuck (120a) having the shaped recess (132) communicating with the single opening (122a) such that the convex portion (204) of the first component (200) is received within the shaped recess (132) based on suction applied through the single opening (122a); and The forming step (554) includes forming a plurality of angled openings (134) in the second chuck (120b), each forming an angle (138) within a range of 30 degrees to 60 degrees with the longitudinal axis (126).

12. The method (550) according to claim 11, wherein the forming step (554) further includes forming a single opening (136) parallel to the longitudinal axis (126) in the second chuck (120b) such that when suction is applied via the single opening (136) and the plurality of angled openings (134), the second component (200b) is releasably held by the second chuck (120b).

13. The method (550) according to claim 12, wherein the obtaining step (552) includes obtaining 3D data indicative of the solid portion (206) and the opening (208) of the second component (200b); and wherein the forming step (554) includes orienting the plurality of angled openings (134) such that the plurality of angled openings (134) are aligned with the solid portion (206) of the second component (200b), and orienting the single opening (136) such that the single opening (136) is aligned with the opening (208) of the second component (200b) to distribute suction force across the solid portion and the opening (206, 208) of the second component (200b) when suction is applied via the plurality of angled openings (134) and the single opening (136).

14. The method (550) according to claim 13, wherein the forming step (554) includes sizing the plurality of angled openings (134) to have a first width (135), and sizing the single opening (136) to have a second width (137) that is less than the first width (135).

15. The method (550) according to claim 6, further including: attaching (402) one of the plurality of chucks (120) to a second end (110) of the body (102) opposite the first end (108), wherein the one of the plurality of chucks (120) defines one or more openings (122) and a nesting sleeve (124); generating (404) an air flow (142) that passes through an inlet (144) of an air conveyor (140) and exits through an exhaust port (106) at the first end (108) of the body (102); Applying suction (406) via the one or more openings (122) in the chuck (120) based on the generation step to position and releasably hold one of the plurality of components (200) together with the chuck (120) at a first position; And Transporting (408) one of the plurality of components (200) releasably held to the chuck (120) from the first position to a second position.

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