Vehicle component gripper assembly

Abstract

The gripper assembly defines a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to the first axis and the second axis, a suction head assembly disposed on the shaft and including a suction head configured to form a seal against a surface of the vehicle component; and a brake assembly movably supporting the shaft such that the shaft is movable along the third axis, the suction head is fluidly coupled to the through bore of the shaft, and the brake assembly includes a brake structure configured to selectively secure the shaft along a third axis.

Description

Technical Field

[0001] This disclosure relates to vehicles, and more particularly to a gripper assembly for vehicle parts. Background Technology

[0002] During vehicle manufacturing, vehicle components can be carried by carrier assemblies attached to a robotic arm for transporting the vehicle components and / or performing tasks on them. Improvements to the carrier assemblies are likely desirable. Summary of the Invention

[0003] In one exemplary embodiment, the gripper assembly defines a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to both the first and second axes, and includes a shaft extending along the third axis and defining a through-hole extending along the third axis therein; a suction head assembly disposed on the shaft and including a suction head configured to form a seal against a surface of a vehicle component; and a braking assembly movably supporting the shaft such that the shaft is movable along the third axis. The braking assembly includes a braking structure configured to selectively fix the shaft along the third axis.

[0004] In addition to one or more features described herein, the gripper assembly also includes a biasing member disposed between the suction head assembly and the braking assembly, and configured to bias the suction head assembly away from the suction head assembly along the third axis.

[0005] In addition to one or more features described herein, the biasing member is a helical spring arranged around an axis.

[0006] In addition to one or more features described herein, the through-hole of the shaft is fluidly coupled to a fluid suction mechanism that generates a vacuum force within the suction head.

[0007] In addition to one or more features described herein, the braking structure includes brake shoes disposed around an axle and a brake actuator disposed at least partially around the brake shoes.

[0008] In addition to one or more features described herein, the gripper assembly defines a radial direction perpendicular to the third axis, the brake actuator is movable along the third axis but not along the radial direction, and the brake shoe is movable along the radial direction but not along the third axis.

[0009] In addition to one or more features described herein, the brake actuator includes a drive surface, the brake shoe includes a driven surface, and the drive surface is configured to press against the drive surface when the brake actuator moves along the third axis.

[0010] In addition to one or more of the features described herein, the driving surface and the driven surface are inclined relative to the third axis.

[0011] In addition to one or more features described herein, the brake shoe includes a braking surface facing the shaft and configured to press the shaft along the radial direction to secure the shaft along the third axis.

[0012] In addition to one or more features described herein, the brake actuator is coupled to an actuation mechanism configured to move the brake actuator along the third axis.

[0013] In addition to one or more features described herein, the suction head is shaped like a bellows.

[0014] In addition to one or more features described herein, the suction head assembly also includes a pivot plate rotatably mounted on the shaft via a rotary joint.

[0015] In addition to one or more of the features described herein, the pivot plate is rotatable about the second axis.

[0016] In addition to one or more features described herein, the gripper assembly also includes a controller configured to control the fluid suction mechanism and the braking structure.

[0017] In addition to one or more features described herein, the brake assembly includes a brake housing, in which a braking structure is mounted.

[0018] In another exemplary embodiment, the carrier assembly defines a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to the first and second axes, and includes a support frame and a gripper assembly mounted on a gripper bracket. The support frame includes a beam extending along the first axis and a gripper bracket extending from the beam along the second axis. The gripper assembly includes a shaft extending along the third axis and defining a through-hole extending along the third axis therein; a suction head assembly disposed on the shaft and including a suction head configured to form a seal against a surface of a vehicle component; the suction head being fluidly connected to the through-hole of the shaft; and a braking assembly movably supporting the shaft such that the shaft is movable along the third axis. The braking assembly includes a braking structure configured to selectively fix the shaft along the third axis.

[0019] In addition to one or more features described herein, the brake assembly includes a brake housing, a brake structure mounted within the brake housing, and the brake housing is directly mounted on the gripper bracket.

[0020] In addition to one or more of the features described herein, the axis can move relative to the carrier frame along a third axis.

[0021] In yet another exemplary embodiment, the support assembly includes a support frame comprising a first beam and a second beam extending along a first axis and spaced apart from each other along a second axis, a first gripper bracket and a second gripper bracket extending from the first beam along the second axis and spaced apart from each other along the first axis, and a third gripper bracket and a fourth gripper bracket extending from the second beam along the second axis and spaced apart from each other along the first axis, a first gripper assembly mounted on the first gripper bracket, a second gripper assembly mounted on the second gripper bracket, and a third gripper assembly braking assembly mounted on the third gripper bracket, which movably supports the shaft such that the shaft is movable along the third axis. The braking assembly includes a brake housing and a braking structure mounted in the brake housing, the braking structure being configured to selectively fix the shaft along the third axis, and a helical spring disposed around the shaft between the suction head assembly and the braking assembly and configured to bias the suction head assembly away from the suction head assembly along the third axis. The braking structure includes a brake shoe disposed around the shaft and a brake actuator disposed at least partially around the brake shoe. The gripper assembly defines a radial direction perpendicular to a third axis. The brake actuator is movable along the third axis but not along the radial direction. The brake shoe is movable radially but not along the third axis. The brake actuator includes a drive surface, the brake shoe includes a driven surface, and the drive surface is configured to press against the drive surface when the brake actuator moves along the third axis. The drive surface and the driven surface are inclined relative to the third axis. The brake shoe includes a braking surface facing the shaft and configured to press the shaft along the radial direction to fix the shaft along the third axis. The suction head assembly also includes a pivot plate rotatably mounted on the shaft via a rotary joint so as to be rotatable about a second axis.

[0022] In addition to one or more features described herein, the through-hole of the shaft is fluidly coupled to a fluid suction mechanism that generates a vacuum force within the suction head, the brake actuator is coupled to an actuation mechanism configured to move the brake actuator along the third axis, and the carrier assembly further includes a controller configured to control the fluid suction mechanism and the actuation mechanism.

[0023] The above-described features and advantages, as well as other features and advantages, of this disclosure will become apparent when taken in conjunction with the accompanying drawings and the following detailed description. Attached Figure Description

[0024] Other features, advantages, and details appear by way of example only in the following detailed description, which is described in detail with reference to the accompanying drawings, wherein:

[0025] Figure 1 It is a side view of a vehicle having vehicle components according to one or more embodiments;

[0026] Figure 2 This is a perspective view of a gripper assembly for a carrier assembly for a vehicle component according to one or more embodiments, the gripper assembly being coupled to a robotic arm assembly and carrying the vehicle component.

[0027] Figure 3 This is a front view of a crawler component according to one or more embodiments; and

[0028] Figure 4 This is a schematic diagram of a crawler component according to one or more embodiments. Detailed Implementation

[0029] The following description is exemplary in nature only and is not intended to limit this disclosure, its application, or use. It should be understood that throughout the drawings, corresponding reference numerals denote the same or corresponding parts and features.

[0030] Figure 1 A vehicle 10 according to a non-limiting example is shown. Vehicle 10 includes a body 12 supported on a plurality of wheels 16. Body 12 partially defines a passenger compartment 20, which includes a driver's seat 23, an instrument panel 26, and a steering wheel 30. One or more of the wheels 16 can be steered via the steering wheel 30. Body 12 also partially defines a prime mover compartment housing a prime mover 34. Prime mover 34 can be, for example, an engine, an electric motor, or both an engine and an electric motor in a hybrid configuration. A rechargeable energy storage system (RESS) can be arranged in body 12 and can provide power to components within vehicle 10, such as prime mover 34. As a non-limiting example, the rechargeable energy storage system may include a battery assembly 38. A gear assembly and / or transmission 36 can be coupled to prime mover 34 to drive one or more of the wheels 16. Although in Figure 1 The specific locations of the prime mover 34, gear assembly and / or transmission 36, and battery assembly 38 are shown, but these locations are merely exemplary and not limiting, and the locations of these structures may vary.

[0031] The vehicle body 12 may also include a roof with a roof outer panel 51, one or more front doors with front door outer panels 53, one or more rear doors with rear door outer panels 54, an engine hood with an engine hood outer panel 55, fenders 56, and a rear bulkhead 57. The roof outer panel 51, front door outer panels 53, rear door outer panels 54, engine hood outer panel 55, fenders 56, and rear bulkhead 57 are vehicle components 50 according to one or more embodiments (see...). Figure 2 Examples are provided. However, vehicle component 50 is not limited to this.

[0032] Figure 2 A gripper assembly 200 is shown that is coupled to a carrier assembly 100 and carries a vehicle component 50 according to one or more embodiments. The robot arm assembly 90 includes a base 91, a plurality of rotating mechanisms 93a, 93b, 93c, 93d, 93e, 93f, a plurality of arms 94a, 94b, a plurality of motors 95a, 95b, and a plurality of motors 95a, 95b that can drive one or more of the rotating mechanisms 93a, 93b, 93c, 93d, 93e, 93f and terminate at a free end 97.

[0033] A carrier assembly 100 (which may be an end effector according to one or more embodiments) may be disposed on the free end 97 of the robot arm assembly 90. Specifically, the carrier base 101 of the carrier assembly 100 may be attached to the free end 97 of the robot arm assembly 90, such that the robot arm assembly 90 may move the carrier assembly 100 along multiple degrees of freedom provided by the rotation mechanisms 93a, 93b, 93c, 93d, 93e, 93f.

[0034] The carrier assembly 100 defines a first axis X, a second axis Y perpendicular to the first axis X, and a third axis Z perpendicular to the first axis X and the second axis Y. The carrier assembly 100 may include a carrier frame 110 attached to the bottom surface of a carrier base 101, and a plurality of gripper assemblies 200 coupled to the carrier frame 110. The gripper assemblies 200 are configured to grip the surface 50a of the vehicle component 50. Although... Figure 2 The embodiment shown includes four gripper components 200, but this disclosure is not limited thereto.

[0035] The robot arm assembly 90 or carrier assembly 100 may include a controller 80 configured to control the robot arm assembly 90 and / or the gripper assembly 200. The controller 80 may be a single controller or multiple controllers. The controller 80 may include processing circuitry, which may include application-specific integrated circuits (ASICs), electronic circuitry, a processor (shared, dedicated, or grouped) and memory executing one or more software or firmware programs, combinational logic circuitry, and / or other suitable components providing the described functionality. The controller 80 may be or include a robot controller.

[0036] The carrier frame 110 may include an attachment base 111 attached to the carrier base 101, and a pair of first beams 113 extending along a first axis X and attached to the sides of the attachment base 111 along a second axis Y. A pair of second beams 115 extend between the first beams 113. The carrier frame 110 may further include a plurality of gripper supports 119.

[0037] The carrier assembly 100 may include a linear actuator assembly and a clamping assembly, as disclosed in U.S. Patent Application No. 18 / 914,712, filed October 14, 2024, with the United States Patent and Trademark Office, the contents of which are incorporated herein by reference in their entirety. While the clamping assembly can support the weight of the vehicle component 50, the dimension of the vehicle component 50 along the first axis X may be relatively large relative to its thickness along the third axis Z, which could cause the central portion of the vehicle component 50 to sag due to gravity. To counteract this sag, the carrier assembly 100 includes a gripper assembly 200 to grip the surface 50a of the vehicle component 50 via vacuum force.

[0038] Now for reference Figure 2 , Figure 3 and Figure 4 Each gripper assembly 200 includes a suction head assembly 210, a bias member assembly 220, a brake assembly 230, and a shaft assembly 240.

[0039] Shaft assembly 240 includes shaft 241 having a first through-hole 243 extending through shaft 241 along a third axis Z. Shaft 241 may have an upper end 242 having a larger diameter than the rest of shaft 241. The upper end 242 of shaft 241 may be fluidly coupled to fluid suction mechanism 260. Fluid suction mechanism 260 may be, for example, a pump or a blower. The upper end 242 of shaft 241 of each gripper assembly 200 may be coupled to an individual fluid suction mechanism 260 or a single common fluid suction mechanism 260. Fluid suction mechanism 260 may be controlled by controller 80 to open and close fluid suction mechanism 260 and / or adjust the suction level at fluid suction mechanism 260.

[0040] The suction head assembly 210 includes a suction head 211 mounted on the underside of a pivot plate 213. The pivot plate 213 includes an upper surface 214. The suction head 211 may be formed of a deformable material. As a non-limiting example, the suction head 211 may be formed of rubber or silicone. The suction head 211 includes a sealing end 212 configured to abut against a surface 50a of the vehicle component 50 to form a seal therebetween. The pivot plate has a second through-hole 217 formed along a third axis Z through the pivot plate, the second through-hole 217 connecting to a first through-hole 243 of the shaft 241. When the suction head 211 abuts against the surface 50a of the vehicle component 50 to form a seal, suction force from the fluid suction mechanism 260 can expel air from the suction head 211 through the pivot plate 213 and the shaft 241.

[0041] Vehicle component 50 may also have a surface 50a that serves as an uneven surface. According to one or more embodiments, the suction head 211 may be configured as a bellows, allowing it to deform and thus enabling the sealing end 212 to abut against the uneven surface to form a seal. The suction head 211 may be configured to be flexible and / or foldable.

[0042] Vehicle component 50 may also have a surface 50a as an inclined surface. Pivot plate 213 can be rotatably mounted on shaft 241 via rotary joint 215 to allow pivot plate 213 to rotate about a second axis Y, as indicated by arrow M1. Rotation of pivot plate 213 about rotary joint 215 also causes suction head 211 mounted on pivot plate 213 to rotate, thereby allowing suction head 211 to abut against the inclined surface to form a seal. This inclined surface... Figure 4 It is shown in dashed lines.

[0043] The brake assembly 230 includes a brake housing 231, which is mounted on the support frame 110 via a gripper bracket 119 extending from the first beam 113. The upper end 242 of the shaft 241 may have a larger diameter than the channel formed in the upper wall of the brake housing 231, thereby preventing the shaft 241 from falling out of the brake housing 231.

[0044] Braking structure 233 may be disposed within brake housing 231. Braking structure 233 may include brake shoe 237 disposed around shaft 241 and brake actuator 235 disposed at least partially around brake shoe 237. Brake actuator may be an annular structure surrounding brake shoe 247, or alternatively, may be formed by segments surrounding brake shoe 247. Brake shoe 247 may be segmented and movably mounted within brake housing 231. Brake shoe 247 may be movable radially inward and outward relative to brake housing 231, but immovable relative to brake housing 231 along a third axis Z. The radial direction may extend along a plane perpendicular to the third axis Z. Bearing (not shown) may be disposed between the bottom of brake shoe 247 and brake housing 231 to facilitate radial movement of brake shoe 247.

[0045] The brake actuator 235 may be movably mounted within the brake housing 231 so as to be movable along the third axis Z, but not movable relative to the radial direction. As a non-limiting example, the brake actuator may be movably mounted on the brake housing 231 via a mounting structure 234, which may be one or more rod or ring structures. The brake actuator 235 and / or the mounting structure 234 are coupled to an actuation mechanism 250, which is configured to move the brake actuator 235 vertically along the third axis Z. The actuation mechanism 250 may move the brake actuator 235 vertically along the third axis Z via pneumatic, hydraulic, mechanical, and / or electrical structures. The actuation mechanism 250 may be coupled to a controller 80 such that the controller 80 can control the actuation mechanism 250 automatically or in conjunction with operator input.

[0046] The brake actuator 235 includes a drive surface 236 on its inner side, which is inclined relative to the third axis Z. Although the drive surface 236 is discussed herein as a plurality of surfaces, the brake actuator 235 may be an annular structure having a single annular drive surface 236. The drive surfaces 236 may be inclined such that a first gap G1 between the drive surfaces 236 in the radial direction increases from the upper part to the lower part of the brake actuator 235.

[0047] The brake shoe 237 includes a driven surface 238 inclined relative to the third axis Z on its outer side. The driven surfaces 238 may be inclined such that the distance between the driven surfaces 238 increases radially from the upper portion to the lower portion of the brake shoe 237. The inclination angle of the driven surface 238 may correspond to the inclination angle of the drive surface 236. According to one or more embodiments, a low-friction coating may be formed on the drive surface 236 and / or the driven surface 238. According to one or more embodiments, a bearing may be disposed between the drive surface and the driven surface 238.

[0048] Shaft 241 passes through brake housing 231 along a third axis Z and is movably mounted within brake housing 231, such that shaft 241 can move relative to brake housing 231 and the gripper bracket 119 on which brake housing 231 is mounted, as indicated by arrow M2, along the third axis Z. Brake shoe 237 includes a braking surface 239 facing shaft 241 on its inner side. That is, as Figure 4 As shown, shaft 241 passes between braking surfaces 239.

[0049] When the brake actuator 235 moves downward, the drive surface 236 presses against the driven surface 238 of the brake shoe 237, and due to the inclination of the drive surface 236 and the driven surface 238, the brake shoe 237 is pushed inward in the radial direction, thereby reducing the second gap G2 between the brake surfaces 239 until the second gap G2 is equal to the outer diameter of the shaft 241, and the brake surfaces 239 push the shaft 241 inward in the radial direction, thereby fixing the shaft 241 relative to the brake shoe 237. Therefore, the brake structure 233 can selectively lock the shaft 241 and the suction head assembly 210 relative to the carrier frame 110 along the third axis Z. The brake structure 233 is configured to lock the shaft 241 along the third axis Z when the suction head assembly 210 is in the desired position.

[0050] The biasing member assembly 220 includes a biasing member 221 disposed about a shaft 241 between the upper surface 214 of the pivot plate 213 and the gripper bracket 119. The biasing member 221 may be, for example, a coil spring.

[0051] Before the suction head assembly 210 contacts the vehicle component 50, the brake actuator 235 is in a raised configuration, allowing the shaft 241 to move relative to the brake housing 231, and the biasing member 221 holds the shaft 241 in its lowest position along the third axis Z. As the robotic arm assembly 90 moves the carrier assembly 100 onto the vehicle component 50 and lowers it to a position for gripping the vehicle component 50, the sealed end 212 of the suction head 211 abuts the surface 50a of the vehicle component 50. Depending on the geometry of the surface 50a of the vehicle component 50, the pivot plate 213 can pivot about the rotary joint 215 and / or the bellows-configured suction head 211 can deform to conform to the surface 50a. As the carrier assembly 100 is lowered, the surface 50a of the vehicle component 50 pushes the suction head assembly 210 upward along the third axis Z, causing the shaft 241 to move upward relative to the brake housing 231, thereby compressing the biasing member 221 between the gripper bracket 119 and the pivot plate 213. Once the carrier assembly 100 has reached its desired position relative to the vehicle component 50, the braking structure 233 within the brake housing 231 locks the shaft 241, making the shaft 241 immovable relative to the brake housing 231. The fluid suction mechanism 260 can be opened to expel air from the suction head 211 via the pivot plate 213 and the shaft 241, causing the suction head 211 to grip the surface 50a of the vehicle component 50 by vacuum force. Therefore, the gripper assembly 200 grips the surface 50a of the vehicle component 50. Thus, the gripper assembly 200 prevents the vehicle component 50 from sagging. Figure 4 As shown, the controller 80 can be connected to the fluid suction mechanism 260 to control the fluid suction mechanism 260 automatically or in conjunction with operator input.

[0052] When the fluid suction mechanism 260 is closed, the gripper assembly 200 can release the surface 50a of the vehicle component 50. Once the surface 50a of the vehicle component 50 is released, the braking structure 233 can release the shaft 241 by, for example, moving the brake actuator 235 upward. The braking structure 233 may include a biasing member (not shown) that biases the brake shoe 237 outward in the radial direction when the brake actuator 235 is raised. The biasing member may be, for example, a spring. Once the shaft 241 is released by the braking structure 233, the biasing member 221 depressurizes to push the suction head assembly 210 back to its lowest position.

[0053] According to one or more embodiments, the gripper assembly 200 can conform to different vehicle parts 50 of different shapes and sizes and with different geometries on surfaces 50a, thereby allowing the gripper assembly 200 to grip various vehicle parts 50. Therefore, the carrier assembly 100 having the gripper assembly 200 according to one or more embodiments can eliminate the need for multiple carrier assemblies of different shapes and sizes to accommodate vehicle parts of different shapes and sizes. Furthermore, the carrier assembly 100 having the gripper assembly 200 according to one or more embodiments can improve efficiency by eliminating the need to switch carrier assemblies to handle vehicle parts of different shapes and / or sizes.

[0054] The term “a” does not indicate a limitation of quantity, but rather that at least one of the referenced items is present. Unless the context clearly indicates otherwise, the term “or” means “and / or”. Throughout the specification, reference to “aspect” means that a particular element described in connection with that aspect (e.g., a feature, structure, step, or characteristic) is included in at least one aspect described herein and may or may not be present in other aspects. Furthermore, it should be understood that the described elements may be combined in any suitable manner in the aspects.

[0055] When an element, such as a layer, film, region, or substrate, is referred to as being “on” another element, it can be directly on the other element, or there may be intermediate elements present. Conversely, when an element is referred to as being “directly” on another element, there are no intermediate elements present.

[0056] Unless otherwise defined, the technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains.

[0057] While the foregoing disclosure has been described with reference to exemplary embodiments, those skilled in the art will understand that various changes can be made and elements can be substituted with equivalents without departing from its scope. Furthermore, many modifications can be made to adapt particular situations or materials to the teachings of this disclosure without departing from the basic scope of this disclosure. Therefore, it is intended that this disclosure be limited to the specific embodiments disclosed, but will include all embodiments falling within its scope.

Claims

1. A gripper assembly defining a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to both the first and second axes, the gripper assembly comprising: A shaft extending along the third axis and defining a through hole extending along the third axis therein; A suction head assembly, the suction head assembly being disposed on the shaft and including a suction head, the suction head being configured to form a seal against a surface of a vehicle component, the suction head being fluidly connected to the through-hole of the shaft; and A brake assembly that movably supports the shaft such that the shaft can move along the third axis, the brake assembly including a braking structure configured to selectively fix the shaft along the third axis.

2. The gripper assembly according to claim 1, characterized in that, The gripper assembly further includes a biasing member disposed between the suction head assembly and the braking assembly, and configured to bias the suction head assembly away from the suction head assembly along the third axis.

3. The gripper assembly according to claim 2, wherein, The biasing member is a helical spring arranged around the axis.

4. The gripper assembly according to claim 1, wherein, The shaft is fluidly connected to a fluid suction mechanism through a through-hole, which generates a vacuum force within the suction head.

5. The gripper assembly according to claim 1, wherein, The braking structure includes a brake shoe disposed around the shaft and a brake actuator disposed at least partially around the brake shoe.

6. The gripper assembly according to claim 5, in, The gripper assembly defines a radial direction perpendicular to the third axis. The brake actuator is capable of moving along the third axis but not along the radial direction, and The brake shoe is capable of moving along the radial direction, but not along the third axis.

7. The gripper assembly of claim 6, wherein, The brake actuator includes a drive surface, the brake shoe includes a driven surface, and the drive surface is configured to press against the drive surface when the brake actuator moves along the third axis.

8. The gripper assembly according to claim 7, wherein, The driving surface and the driven surface are inclined relative to the third axis.

9. The gripper assembly of claim 6, wherein, The brake shoe includes a brake surface facing the shaft and configured to press the shaft radially to secure the shaft along the third axis.

10. The gripper assembly of claim 6, wherein, The brake actuator is coupled to an actuation mechanism configured to move the brake actuator along the third axis.

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