Vehicle component carrier assembly

Abstract

A carrier assembly for carrying a vehicle component 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, and includes a carrier frame configured to be coupled to a robotic arm assembly, a linear actuator assembly configured to be coupled to the robotic arm assembly, and a clamp assembly configured to be coupled to the robotic arm assembly. A linear actuator assembly is mounted on the carrier frame and includes a rod and a linear actuator that linearly moves the rod along a first axis, and a clamp assembly is fixed to the rod and configured to linearly move along the first axis. The clamp assembly includes a first jaw and a second jaw configured to clamp an edge portion of the vehicle component.

Description

Technical Field

[0001] This disclosure relates to vehicles, and more particularly to carrier assemblies for vehicle components. Background Technology

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

[0003] In one exemplary embodiment, a carrier assembly for carrying a vehicle component 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 carrier frame, a linear actuator assembly, and a clamp assembly. The carrier frame is configured to be coupled to a robot arm assembly. The linear actuator assembly is mounted on the carrier frame and includes a rod and a linear actuator for linearly moving the rod along the first axis. The clamp assembly is fixed to the rod and configured to move linearly along the first axis. The clamp assembly includes a first jaw and a second jaw configured to clamp an edge portion of the vehicle component.

[0004] In addition to one or more features described herein, the clamping assembly includes a clamping arm on which a second gripper is disposed.

[0005] In addition to one or more features described herein, the clamping arm is configured to rotate about the hinge from an unclamped configuration to a clamped configuration.

[0006] In addition to one or more features described herein, the carrier assembly also includes a controller and a sensor, the controller being configured to control a linear actuator and the sensor being configured to send data indicating the position of the vehicle component to the controller.

[0007] In addition to one or more features described herein, the controller is configured to control a linear actuator based on data from sensors to move vehicle components to a desired location.

[0008] In addition to one or more features described herein, the carrier assembly also includes a gripper assembly configured to grip the surface of the vehicle component.

[0009] In addition to one or more features described herein, the gripper assembly includes a suction cup fluidly coupled to a fluid suction mechanism that generates a vacuum force.

[0010] In addition to one or more of the features described herein, the fluid suction mechanism is a pump or a blower.

[0011] In addition to one or more features described herein, the gripper assembly also includes a gripper housing mounted on a carrier frame and a shaft passing through the gripper housing so as to be linearly movable relative to the gripper housing along a third axis, with a suction cup disposed on the shaft.

[0012] In addition to one or more features described herein, the shaft has a hole extending through it along a third axis, the hole fluidly connecting the suction cup and the fluid suction mechanism.

[0013] In addition to one or more features described herein, the gripper housing includes a locking structure configured to lock the shaft relative to the gripper housing.

[0014] In addition to one or more features described herein, an elastic structure is disposed between the gripper housing and the suction cup, the elastic structure being configured to surface-bias the suction cup toward the vehicle component along a third axis.

[0015] In addition to one or more features described herein, the carrier frame includes a beam extending along a first axis, and the gripper housing is directly mounted on a gripper bracket extending from the beam along a second axis.

[0016] In addition to one or more features described herein, the carrier frame includes a beam extending along a first axis, and a linear actuator assembly is mounted on a support bracket extending from the beam along a second axis.

[0017] In addition to one or more features described herein, the clamp assembly includes a vertical attachment structure, a horizontal attachment structure, and a body attached to the vertical attachment structure and having a hinge mounted thereon, a first gripper mounted on one of the vertical and horizontal attachment structures, and a rod attached to the other of the vertical and horizontal attachment structures.

[0018] In another exemplary embodiment, a method of operating a carrier assembly defining a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to the first and third axes includes: moving the carrier assembly along the third axis to a position above a vehicle component; moving a clamping assembly of the carrier assembly along the first axis toward an edge portion of the vehicle component until the edge portion is positioned between a first jaw and a second jaw of each clamping assembly in the clamping assembly; moving a second jaw to clamp the edge portion of the vehicle component between the first jaw and the second jaw of each clamping assembly in the clamping assembly; and performing a task on the vehicle component.

[0019] In addition to one or more features described herein, moving the carrier assembly to the first position includes bringing the suction cup of the gripper assembly of the carrier assembly against the surface of the vehicle component, and allowing the suction cup and the shaft on which the suction cup is mounted to be pushed upward relative to the gripper housing of the gripper assembly from the surface of the vehicle component along a third axis.

[0020] In addition to one or more features described herein, the method also includes locking the axis of the gripper assembly so that it is immovable relative to the gripper housing, and providing a vacuum force to the suction cup so that the suction cup grips the surface of the vehicle component.

[0021] In addition to one or more features described herein, the method also includes determining the position of a vehicle component based on data from sensors, determining the difference between the actual position of the clamping assembly and the ideal position of the clamping assembly determined based on the position of the vehicle component, and moving the clamping assembly holding the vehicle component to the ideal position along a third axis.

[0022] In yet another exemplary embodiment, a carrier assembly for carrying vehicle components 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 carrier frame configured to be coupled to a robotic arm assembly. The carrier frame includes a beam extending along the first axis, a first support bracket and a second support bracket extending from the beam along the third axis, and a first gripper bracket and a second gripper bracket extending from the beam along the second axis. A first linear actuator assembly is mounted on the carrier frame via the first support bracket. The first linear actuator assembly includes a first rod and a first linear actuator that linearly moves the first rod along the first axis. The assembly is mounted via the second support bracket. A second linear actuator assembly mounted on a carrier frame, the second linear actuator assembly including a second rod and a second linear actuator for linearly moving the second rod along a first axis; a first clamping assembly fixed to the first rod and configured to move linearly along the first axis, the first clamping assembly including a first upper jaw and a first lower jaw configured to clamp a first edge portion of a vehicle component, and a first clamping arm, the first lower jaw disposed on the first clamping arm; a second clamping assembly fixed to the second rod and configured to move linearly along the first axis, the second clamping assembly including a second upper jaw and a second lower jaw configured to clamp a second edge portion of a vehicle component, the second edge portion being disposed opposite to the first edge portion along the first axis; flow The fluid suction mechanism is a pump or blower configured to generate a vacuum force; a first gripper assembly configured to grip the surface of a vehicle component, the first gripper assembly including a first gripper housing mounted on a carrier frame via a first gripper bracket; a first shaft passing through the first gripper housing so as to be linearly movable relative to the first gripper along a third axis; a first suction cup attached to the first shaft and fluidly connected to the fluid suction mechanism via a first hole formed through the first shaft; a first locking structure within the first gripper housing configured to lock the first shaft relative to the first gripper housing; and a first resilient structure disposed between the first gripper housing and the first suction cup and configured to move toward the vehicle component along the third axis. The system comprises: a surface-biased first suction cup; a second gripper assembly configured to grip the surface of a vehicle component, the second gripper assembly including a second gripper housing mounted on a carrier frame via a second gripper bracket; a second shaft passing through the second gripper housing so as to be linearly movable relative to the second gripper housing along a third axis; a second suction cup attached to the second shaft and fluidly coupled to the fluid suction mechanism via a second hole formed through the second shaft; a second locking structure within the second gripper housing configured to lock the second shaft relative to the second gripper housing; and a second resilient structure disposed between the second gripper housing and the second suction cup and configured to bias the second suction cup toward the surface of the vehicle component along the third axis.The system includes a controller configured to control a first linear actuator and a second linear actuator, and sensors configured to send data indicative of the position of a vehicle component to the controller. The controller is configured to control the first and second linear actuators based on the data from the sensors to move the vehicle component to a desired position.

[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 only as examples in the following detailed description, which is described in detail with reference to the accompanying drawings, in which:

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

[0026] Figure 2 It is a perspective view of a vehicle component carrier assembly coupled to a robot arm assembly and carrying a vehicle component according to one or more embodiments;

[0027] Figure 3 It is a perspective view of a vehicle component carrier assembly according to one or more embodiments;

[0028] Figure 4 yes Figure 3 Front view of the vehicle component carrier assembly;

[0029] Figure 5 It carries vehicle components. Figure 3 A perspective view of the vehicle component carrier assembly;

[0030] Figure 6 It carries vehicle components. Figure 3 A perspective view of the clamp assembly of the vehicle component carrier assembly;

[0031] Figure 7A This is a front view of a clamp assembly in an extended position according to one or more embodiments;

[0032] Figure 7B This is a front view of a clamp assembly in a retracted position according to one or more embodiments;

[0033] Figure 8 This is a schematic diagram illustrating a gripper assembly according to one or more embodiments; and

[0034] Figure 9 This is a flowchart illustrating a method of operating a vehicle component carrier assembly according to one or more embodiments. Detailed Implementation

[0035] 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.

[0036] Figure 1 A vehicle 10 according to a non-limiting example is shown. The vehicle 10 includes a body 12 supported on a plurality of wheels 16. The 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. The body 12 also partially defines a prime mover compartment housing a prime mover 34. The prime mover 34 can be, for example, an engine, a motor, or both an engine and a motor in a hybrid configuration. A rechargeable energy storage system (RESS) can be arranged in the body 12 and can provide power to components within the vehicle 10, such as the prime mover 34. As a non-limiting example, the rechargeable energy storage system may include a battery assembly 38. A gear assembly and / or a transmission 36 can be coupled to the prime mover 34 to drive one or more of the wheels 16.

[0037] 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, a hood with a hood outer panel 55, fender panels 56, and a quarter panel 57. The roof outer panel 51, front door outer panels 53, rear door outer panels 54, hood outer panel 55, fender panels 56, and quarter panel 57 are vehicle components 50 according to one or more embodiments (see [link to embodiment]). Figure 2 (Example). However, vehicle component 50 is not limited to this. Although in Figure 1 The specific structure and location of the roof outer panel 51, front door outer panel 53, rear door outer panel 54, engine hood outer panel 55, mudguard panel 56 and rear side panel 57 are shown, but these locations are merely exemplary and not restrictive, and their structure and location may vary.

[0038] Figure 2 A carrier assembly 100 according to one or more embodiments is shown, which is coupled to a robot arm assembly 90 and carries a vehicle component 50. 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, and a plurality of motors 95a, 95b, which can drive one or more of the rotating mechanisms 93a, 93b, 93c, 93d, 93e, 93f and can terminate at a free end 97.

[0039] 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.

[0040] 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, a plurality of linear actuator assemblies 120 coupled to the carrier frame 110, a plurality of clamping assemblies 130 coupled to the linear actuator assemblies 120, and a plurality of gripper assemblies 140 coupled to the carrier frame 110. The clamping assemblies 130 are configured to be moved into place along the first axis X by the linear actuator assemblies 120 and to clamp and / or retain the edge portion 50b of the vehicle component 50. The gripper assemblies 140 are configured to grip the surface 50a of the vehicle component 50. Although four linear actuator assemblies 120, four clamping assemblies 130, and four gripper assemblies 140 are shown, this disclosure is not limited thereto.

[0041] The robot arm assembly 90 and / or carrier assembly 100 may include a controller 80 configured to control the robot arm assembly 90, the linear actuator assembly 120, the gripper assembly 130, and / or the grasper assembly 140. 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.

[0042] The carrier assembly 100 can be coupled to the sixth axis of the robot arm assembly 90, and the position of the linear actuator assembly 120 and / or the gripper assembly 130 can be controlled by the controller 80. The gripper assembly 140 may have passive position control, and the height of the gripper assembly 140 is determined by the carrier assembly 100 when the carrier assembly 100 approaches the vehicle component 50.

[0043] Now for reference Figure 3-5 The carrier base 101 may include a cylindrical structure 101a having an upper attachment plate 101b above it and a lower attachment plate 101c below it. The upper attachment plate 101b may be configured to attach to the free end 97 of the robot arm assembly 90 (see [link to documentation]). Figure 2 ).

[0044] The carrier frame 110 may include an attachment base 111 attached to the lower attachment plate 101c, 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 also include a plurality of first support brackets 117 and a plurality of second support brackets 118 extending downward from the first beams 113 along a third axis Z, and a plurality of gripper brackets 119 extending along the second axis Y.

[0045] Each of the linear actuator assemblies 120 may include a linear actuator 121, a housing 123, and a rod 125. The linear actuator 121 may include, for example, a motor and gears (not shown). The linear actuator 121 is operable to linearly move the rod 125 into and out of the housing 123 along the X-axis. The linear actuator 121 and / or housing 123 may be mounted on the carrier frame 110 via a first support bracket 117 and a second support bracket 118. As a non-limiting example, the first support bracket 117 may support an end of the linear actuator 121 along a second axis X, and the second support bracket 118 may support an end of the housing 123 along a second axis X.

[0046] Now for reference Figure 3-6 The clamping assembly 130 can be attached to the rod 125 of the linear actuator assembly 120. Each of the clamping assemblies 130 may include an upper jaw 131a and a lower jaw 131b. Each of the clamping assemblies 130 may include a body 135, a vertical attachment structure 137 extending along a third axis Z and attached to the body 135, and a horizontal attachment structure 138 extending along a second axis Y. Figure 3 As shown, one of the vertical attachment structure 137 and the horizontal attachment structure 138 can be attached to the rod 125, and the other can be attached to the upper jaw 131a. By changing the size and / or position of the horizontal attachment structure 138, the position of the edge portion 50b of the vehicle component 50 clamped by the upper jaw 131a and the lower jaw 131b along the second axis Y can be adjusted to accommodate a wider end of the vehicle component 50 than the other, thereby providing better balance. According to one or more embodiments, the upper jaw 131a and / or the lower jaw 131b can be elliptical and / or have rotating ends to accommodate varying angles of the edge portion 50b of different vehicle components 50.

[0047] The upper gripper 131a may be fixed relative to the body 135, the vertical attachment structure 137, and / or the horizontal attachment structure 138. The gripper arm 133 may be rotatably attached to the body 135 via a hinge 134, and the lower gripper 131b may be mounted on the gripper arm 133. Therefore, the lower gripper 131b may rotate relative to the body 135 about the hinge 134 via the gripper arm 133. According to one or more embodiments, the body 135 may include a pneumatically powered mechanism such that the hinge 134 is pneumatically rotated to rotate the gripper arm 133. According to one or more embodiments, the body 135 may include a rotary actuator (not shown) that rotates the hinge 134 to provide rotational movement of the gripper arm 133. Additionally or alternatively, the gripper arm 133 may be manually rotated about the hinge 134.

[0048] When the linear actuator 121 moves the rod 125 along the X-axis, the clamp assembly 130 mounted on the rod 125 moves linearly along the X-axis. For example... Figure 7A and 7B As shown, when rod 125 moves into and out of housing 123, clamp assembly 130 is in Figure 7A The extended positions shown and Figure 7B Move between the indicated retracted positions.

[0049] The clamping assembly 130, with its extended position and lower jaw 131b in a lowered position, can be positioned on either side of the vehicle component 50 and then linearly actuated toward a retracted position until each edge portion 50b of the vehicle component 50 is positioned between the upper jaw 131a and the lower jaw 131b of the clamping assembly 130, as shown. Figure 7B As shown. Linear actuation can then be stopped, and each clamping arm 133 can rotate about hinge 134 until the lower clamping jaw 131b contacts the edge portion 50b of the vehicle component 50 with sufficient force to bear the weight of the vehicle component 50. Thus, the clamping assembly 130 can clamp onto vehicle components 50 of various sizes, including but not limited to the roof outer panel 51, front door outer panel 53, rear door outer panel 54, hood outer panel 55, fender panel 56, and rear bulkhead panel 57.

[0050] like Figure 4As shown, the carrier assembly 100 may further include a sensor 139. The sensor 139 may be, for example, an aerial vision sensor or a camera. The sensor 139 may be positioned on the bottom surface of the attachment base 111, but its position is not limited thereto. The sensor 139 is configured to scan the vehicle component 50, and data from the scan is transmitted wired or wirelessly to the controller 80. The data from the scan can be used to determine the position of the edge portion 50b of the vehicle component 50 that the clamping assembly 130 should clamp, and the controller 80 can control the linear actuator assembly 120 based on the determined position. Once the clamping assembly 130 is in the determined position, the controller 80 can control the clamping assembly 130 to rotate the lower gripper 131b to clamp the edge portion.

[0051] Sensor 139 can scan vehicle component 50 to determine the desired position of vehicle component 50 for performing a task on vehicle component 50, and can determine the ideal position I of the clamp assembly 130 for positioning vehicle component 50 at the desired position. x The controller 80 may be or include a vision controller. The controller 80 can calculate the actual position A of the fixture assembly 130. x Ideal position I with clamp assembly 130 x offset Δ between x And control the linear actuator assembly 120 to move the clamp assembly 130 by offset Δ x This allows the clamp assembly 130 to be in its ideal position. x And vehicle component 50 is in the desired position. The actual position A of fixture assembly 130. x This can be determined, for example, by the extension distance of the rod 125 of the linear actuator assembly 120 or by real-time scanning of the vehicle component 50 and / or the clamp assembly 130. Once the vehicle component 50 is in its desired position, the task can be performed.

[0052] Although the clamping assembly 130 is configured to support the weight of the vehicle component, 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 may cause the central portion of the vehicle component 50 to sag due to gravity. To counteract the sag, the carrier assembly 100 may further include a gripper assembly 140 to grip the surface 50a of the vehicle component 50 via vacuum force.

[0053] Now for reference Figure 3-5Each gripper assembly 140 includes a suction cup 141 disposed at the bottom end of a shaft 142, with a panel 144 located therebetween. The suction cup 141, shaft 142, and panel 144 may include holes extending along a third axis Z and may be fluidly connected to each other, and the upper end 147 of the shaft 142 may be fluidly connected to a fluid suction mechanism 149. The fluid suction mechanism 149 may be, for example, a pump or a blower. The upper end 147 of the shaft 142 of each gripper assembly 140 may be connected to an individual fluid suction mechanism 149 or a single common fluid suction mechanism 149. The fluid suction mechanism 149 may be controlled by a controller 80 to open and close the fluid suction mechanism 149 and / or adjust the suction level at the fluid suction mechanism 149. When the suction cup 141 is flush with the surface 50a of the vehicle component 50, the suction force from the fluid suction mechanism 149 can expel air from the suction cup 141 through the panel 144 and shaft 142.

[0054] Each of the gripper assemblies 140 may include a gripper housing 145, which is mounted on the carrier frame 110 via a gripper bracket 119 extending from the first beam 113. The gripper housing 145 may include a locking structure disposed therein. A shaft 142 passes through the gripper housing 145 along a third axis Z and is movably mounted within the gripper housing 145 such that the shaft 142 is movable relative to the gripper housing 145 along the third axis Z, as indicated by arrow M. The locking structure within the gripper housing 145 is configured to lock the shaft 142 in place when the suction cup 141 disposed on the shaft 142 is in a desired position. A resilient structure 143 is disposed around the shaft 142 between the panel 144 and the gripper bracket 119. The resilient structure 143 may be, for example, a coil spring. The upper end 147 of the shaft 142 may have a larger diameter than the rest of the shaft 142 and may have a larger diameter than the hole formed in the gripper housing 145, thereby preventing the shaft 142 from falling out of the gripper housing 145.

[0055] Before the gripper assembly 140 contacts the vehicle component 50, the locking structure is in an unlocked configuration, such that the resilient structure 143 holds the shaft 142 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 clamping and gripping the vehicle component 50, the suction cup 141 abuts against the surface 50a of the vehicle component 50. As the carrier assembly 100 lowers, the surface 50a of the vehicle component 50 pushes the suction cup 141 upward along the third axis Z, causing the shaft 142 to move upward relative to the gripper housing 145, thereby compressing the resilient structure 143 between the gripper bracket 119 and the panel 144. Once the carrier assembly 100 has reached its desired position relative to the vehicle component 50, and the gripper assembly 130 has clamped the edge portion 50b of the vehicle component and moved the vehicle component 50 to the desired position for performing a task thereon, the locking structure within the gripper housing 145 locks the shaft 142, making the shaft 142 immovable relative to the gripper housing 145. The fluid suction mechanism 149 can be opened to expel air from the suction cup 141 through the panel 144 and the shaft 142, causing the suction cup 141 to grip the surface 50a of the vehicle component 50 by vacuum force. Therefore, the gripper assembly 140 grips the surface 50a of the vehicle component 50 to prevent the vehicle component 50 from sagging.

[0056] like Figure 8 As shown, controller 80 can be connected to a locking structure in gripper housing 145 to control the locking of shaft 142, and / or controller 80 can be connected to fluid suction mechanism 149 to control fluid suction mechanism 149.

[0057] Figure 9A method for carrying a vehicle component 50 according to one or more embodiments is illustrated. In step S1, a robotic arm assembly 90 is actuated to move a carrier assembly 100 to a desired position. The desired position may be, for example, above the vehicle component 50, such that the vehicle component 50 is positioned between gripper assemblies 130 of the carrier assembly 100. As the robotic arm assembly 90 moves to the desired position, the surface 50a of the vehicle component 50 may push the suction cup 141 and shaft 142 of the gripper assembly 140 upward relative to the gripper housing 145 along a third axis Z, thereby compressing the resilient structure 143. In step S2, the gripper assembly 130 may be moved along a first axis X toward the vehicle component 50 until the edge portion 50b of the vehicle component 50 is located between the upper gripper 131a and the lower gripper 131b. A linear actuator assembly 120 may be actuated to move the gripper assembly 130 along the first axis X. In step S3, the lower jaw 131b of each gripper assembly 130 rotates upward toward the edge portion 50b of the vehicle component 50 to clamp the edge portion 50b between the upper jaw 131a and the lower jaw 131b. In step S4, the gripper assembly 130 can be moved along the first axis X to move the vehicle component 50 to a desired position for performing a task thereon. In step S5, the shaft 142 of the gripper assembly 140 is locked relative to the gripper housing 145, which can be performed by a locking structure within the gripper housing 145. In step S6, the fluid suction mechanism 149 generates a vacuum force through the shaft 142 and the suction cup 141 of each gripper assembly 140, causing the suction cup 141 to grip the surface 50a of the vehicle component 50. In step S7, with the vehicle component 50 held in the desired position by the carrier assembly 100, the task is performed on the vehicle component 50.

[0058] According to one or more embodiments, the controller 80 may perform at least steps S1-S5 alone or in combination with operator input. Depending on the task performed on the vehicle component 50, the controller 80 may also perform step S6 alone or in combination with operator input.

[0059] The carrier assembly 100, according to one or more embodiments, can be adjusted via a linear actuator assembly 120, a clamp assembly 130, and / or a gripper assembly 140 to accommodate vehicle parts 50 of various sizes and shapes. Therefore, the carrier assembly 100 eliminates 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 improves efficiency by eliminating the need to switch carrier assemblies to handle vehicle parts of different shapes and / or sizes.

[0060] The terms “a” and “an” do 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.

[0061] 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.

[0062] 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.

[0063] 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 carrier assembly for carrying a vehicle component, the vehicle component defining a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to the first and second axes, the carrier assembly comprising: A carrier frame configured to be attached to a robot arm assembly; A linear actuator assembly, mounted on the carrier frame and comprising a rod and a linear actuator that causes the rod to move linearly along a first axis; and A clamping assembly, which is fixed to the rod and configured to move linearly along a first axis, the clamping assembly including a first jaw and a second jaw configured to clamp an edge portion of the vehicle component.

2. The carrier assembly according to claim 1, wherein the clamping assembly includes a clamping arm and a second jaw disposed on the clamping arm.

3. The carrier assembly of claim 2, wherein the clamping arm is configured to rotate about the hinge from the unclamped configuration to the clamped configuration.

4. The carrier assembly of claim 1 further includes a controller and a sensor, the controller being configured to control a linear actuator and the sensor being configured to send data indicating the position of the vehicle component to the controller.

5. The carrier assembly of claim 4, wherein the controller is configured to control a linear actuator based on data from the sensor to move the vehicle component to a desired position.

6. The carrier assembly of claim 1, further comprising a gripper assembly configured to grip the surface of the vehicle component.

7. The carrier assembly of claim 6, wherein the gripper assembly includes a suction cup fluidly coupled to a fluid suction mechanism that generates a vacuum force.

8. The carrier assembly of claim 7, wherein the fluid suction mechanism is a pump or a blower.

9. The carrier assembly of claim 7, wherein the gripper assembly further comprises a gripper housing and a shaft, the gripper housing being mounted on the carrier frame, the shaft passing through the gripper housing so as to be linearly movable relative to the gripper housing along a third axis, the suction cup being disposed on the shaft.

10. The carrier assembly of claim 9, wherein the shaft has a hole extending through the shaft along a third axis, the hole fluidly connecting the suction cup and the fluid suction mechanism.

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