Carrier arrangement for carrying a vehicle component

Abstract

A support assembly for carrying a vehicle component defines a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to both the first and second axes. It includes a support frame configured to be coupled to a robot arm assembly, a linear actuator assembly mounted to the support frame, comprising a rod and a linear actuator that moves the rod linearly along the first axis, and a clamping assembly attached to the rod and configured to move linearly along the first axis. The clamping assembly includes a first claw and a second claw configured to clamp an edge section of the vehicle component.

Description

[0001] The disclosure in question relates to vehicles and in particular to a carrier arrangement for a vehicle component.

[0002] During vehicle manufacturing, a vehicle component can be guided by a carrier assembly that is coupled to a robot arm for transporting the vehicle component and / or performing tasks on the vehicle component. Improvements to the carrier assembly may be desirable.

[0003] US 2014 / 0165388A1 discloses a floating hanger for roof mounting of vehicle bodies, comprising a mounting frame, a floating hanger frame, and a position corrector that applies pressure to accurately align the roof panel.

[0004] Further state of the art is described in DE 20 2008 018 124 U1, DE 601 04 583 T2, EP 2 465 651 A1, US 7 044 706 B2 and CN 1 10 434 575 A.

[0005] The object of the invention is to create a support arrangement for a vehicle component that enables an improvement in the positioning of a vehicle component for performing tasks on the vehicle component.

[0006] The problem is solved by the subject matter of claim 1. Advantageous embodiments of the invention are described in the dependent claims.

[0007] In an exemplary embodiment, a support arrangement for carrying a vehicle component defines a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to both the first and second axes. It comprises a support frame configured to be coupled to a robot arm assembly, a linear actuator assembly mounted on the support frame comprising a rod and a linear actuator that moves the rod linearly along the first axis, and a clamping arrangement attached to the rod and configured to move linearly along the first axis. The clamping arrangement includes a first claw and a second claw configured to clamp an edge section of the vehicle component.

[0008] In addition to one or more of the features described here, the clamping arrangement includes a clamping arm on which the second claw is arranged.

[0009] In addition to one or more of the features described here, the clamping arm is configured to rotate around a hinge from an unclamped configuration to a clamped configuration.

[0010] In addition to one or more of the features described herein, the carrier assembly further includes a controller configured to control the linear actuator and a sensor configured to send data indicating a position of the vehicle component to the controller.

[0011] In addition to one or more of the features described here, the controller is configured to control the linear actuator based on data from the sensor to move the vehicle component to a desired position.

[0012] In addition to one or more of the features described herein, the carrier arrangement further includes a gripper arrangement configured to grip a surface of the vehicle component.

[0013] In addition to one or more of the features described here, the gripper assembly includes a suction cup which is fluidically coupled to a fluid suction mechanism that generates a vacuum force.

[0014] In addition to one or more of the features described here, the fluid suction mechanism is a pump or a blower.

[0015] In addition to one or more of the features described herein, the gripper arrangement further comprises a gripper housing mounted on the support frame and a shaft passing through the gripper housing in such a way that it is movable in a straight line with respect to the gripper housing along the third axis, the suction cup being arranged on the shaft.

[0016] In addition to one or more of the features described here, the shaft has a hole that runs through it along the third axis, with the hole fluidically coupling the suction cup and the fluid suction mechanism.

[0017] In addition to one or more of the features described here, the gripper housing includes a locking structure configured to lock the shaft relative to the gripper housing.

[0018] In addition to one or more of the features described herein, an elastic structure is arranged between the gripper housing and the suction cup, the elastic structure being configured to preload the suction cup towards the surface of the vehicle component along the third axis.

[0019] In addition to one or more of the features described here, the support frame includes a beam extending along the first axis, and the gripper housing is directly mounted to a gripper retaining bracket extending from the beam along the second axis.

[0020] In addition to one or more of the features described herein, the support frame includes a beam extending along the first axis and the linear actuator assembly is mounted on a support bracket extending from the beam along the second axis.

[0021] In addition to one or more of the features described herein, the clamping arrangement comprises a vertical mounting structure, a horizontal mounting structure, and a main body attached to the vertical mounting structure and having the hinge mounted thereon, wherein the first claw is mounted on one of the vertical mounting structure and the horizontal mounting structure, and the rod is attached to the other of the vertical mounting structure and the horizontal mounting structure.

[0022] In a further exemplary embodiment, a method for operating a support arrangement defining a first axis, a second axis perpendicular to the first axis, and a third axis perpendicular to the first and third axes comprises moving the support arrangement to a position over a vehicle component along the third axis, moving clamping arrangements of the support arrangement along the first axis to edge sections of the vehicle component until the edge sections are positioned between a first claw and a second claw of each of the clamping arrangements, moving the second claw to clamp the edge sections of the vehicle component between the first claw and the second claw of each of the clamping arrangements, and performing a task on the vehicle component.

[0023] In addition to one or more of the features described herein, moving the carrier assembly to the first position includes applying suction cups of gripper assemblies of the carrier assembly to a surface of the vehicle component and enabling the suction cups and the shafts on which the suction cups are mounted to be pushed upwards through the surface of the vehicle component along the third axis with respect to gripper housings of the gripper assemblies.

[0024] In addition to one or more of the features described herein, the method further comprises locking the shafts of the gripper assemblies such that they are immobile with respect to the gripper housings, and providing vacuum forces for the suction cups such that the suction cups grip the surface of the vehicle component.

[0025] In addition to one or more of the features described herein, the method further comprises determining a position of the vehicle component based on data from a sensor, determining differences between actual positions of the clamping arrangements and ideal positions of the clamping arrangements determined on the basis of the position of the vehicle component, and moving the clamping arrangements holding the vehicle component along the third axis to the ideal positions.

[0026] In a further exemplary embodiment, a support arrangement for carrying a vehicle component 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 comprises a support frame configured to be coupled to a robot arm arrangement, wherein the support 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 retaining bracket and a second gripper retaining bracket extending from the beam along the second axis; a first linear actuator arrangement mounted on the support frame by means of the first support bracket, wherein the first linear actuator arrangement comprises the first rod and a first linear actuator moving the first rod linearly along the first axis; and a second linear actuator arrangement.which is mounted on the support frame by means of the second support bracket, wherein the second linear actuator assembly comprises the second rod and a second linear actuator which moves the second rod linearly along the first axis, a first clamping assembly which is attached to the first rod and configured to be moved linearly along the first axis, wherein the first clamping assembly comprises a first upper claw and a first lower claw which are configured to clamp a first edge section of the vehicle component, and a first clamping arm on which the first lower claw is arranged, a second clamping assembly which is attached to the second rod and configured to be moved linearly along the first axis, wherein the second clamping assembly comprises a second upper claw and a second lower claw which are configured to clamp a second edge section of the vehicle component,which is arranged along the first axis opposite the first edge section, comprises a fluid suction mechanism, which is a pump or a blower and is configured to generate a vacuum force; a first gripper assembly configured to grip a surface of the vehicle component, wherein the first gripper assembly comprises a first gripper housing mounted on the support frame by means of the first gripper retaining bracket; a first shaft passing through the first gripper housing such that it is linearly movable along the third axis with respect to the first gripper housing; a first suction cup attached to the first shaft and fluidically coupled to the fluid suction mechanism by means of a first hole formed by the first shaft; a first locking structure in the first gripper housing configured to lock the first shaft with respect to the first gripper housing; and a first elastic structure.which is arranged between the first gripper housing and the first suction cup and is configured to preload the first suction cup towards the surface of the vehicle component along the third axis, comprises a second gripper arrangement configured to grip a surface of the vehicle component, wherein the second gripper arrangement comprises a second gripper housing mounted on the support frame by means of the second gripper retaining bracket, a second shaft passing through the second gripper housing such that it is linearly movable with respect to the second gripper housing along the third axis, a second suction cup attached to the second shaft and fluidically coupled to the fluid suction mechanism by means of a second hole formed by the second shaft, a second locking structure in the second gripper housing configured to lock the second shaft with respect to the second gripper housing, and a second elastic structure.The assembly, which is located between the second gripper housing and the second suction cup and is configured to preload the second suction cup towards the surface of the vehicle component along the third axis, comprises a controller configured to control the first and second linear actuators, and a sensor configured to send data indicating the position of the vehicle component to the controller. The controller is configured to control the first and second linear actuators to move the vehicle component to a desired position based on the data from the sensor.

[0027] The features and advantages described above, and further features and advantages of the disclosure, will become apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0028] Further features, advantages and details appear only as examples in the following detailed description, which refers to the drawings; they show: Fig. 1 a side view of a vehicle having vehicle components according to one or more embodiments; Fig. 2 a perspective view of a vehicle component carrier arrangement coupled to a robot arm arrangement and carrying a vehicle component according to one or more embodiments; Fig. 3 a perspective view of a vehicle component carrier arrangement according to one or more embodiments; Fig. 4. A front view of the vehicle component carrier arrangement of Fig. 3; Fig. 5 a perspective view of the vehicle component carrier arrangement of Fig. 3, which carries a vehicle component; Fig. 6 a perspective view of a clamping arrangement of the vehicle component carrier arrangement of Fig. 3, which carries a vehicle component; Fig. 7A a front view of the clamping arrangement in an extended position according to one or more embodiments; Fig. 7B a front view of the clamping arrangement in a retracted position according to one or more embodiments; Fig. 8 a schematic diagram showing a gripper arrangement according to one or more embodiments; and Fig. 9 a flowchart showing a method for operating a vehicle component carrier arrangement according to one or more embodiments.

[0029] The following description is merely exemplary and is not intended to limit the present disclosure, its application, or uses. It should be noted that in the course of the drawings, corresponding reference numerals denote similar or corresponding sections and features.

[0030] Fig. Figure 1 shows a vehicle 10 according to a non-restrictive example. The vehicle 10 includes a vehicle body 12, which is supported on several wheels 16. The vehicle 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 steerable by means of the steering wheel 30. The vehicle body 12 further partially defines a propulsion unit compartment, which accommodates a propulsion unit 34. The propulsion unit 34 can be, for example, a power unit, an engine, or both a power unit and an engine in a hybrid configuration. A rechargeable energy storage system (RESS) can be arranged in the vehicle body 12 and can provide power to the components in the vehicle 10 (e.g., the propulsion unit 34). As a non-restrictive example, the rechargeable energy storage system can include a battery arrangement 38.A gear assembly and / or a transmission 36 can be coupled to the drive machine 34 to drive one or more of the wheels 16.

[0031] The vehicle body 12 can further comprise a roof with a roof outer panel 51, one or more front doors with a front door outer panel 53, one or more rear doors with a rear door outer panel 54, a hood with a hood outer panel 55, a fender panel 56, and a side panel 57. The roof outer panel 51, the front door outer panel 53, the rear door outer panel 54, the hood outer panel 55, the fender panel 56, and the side panel 57 are examples of a vehicle component 50 (see Fig. 2) according to one or more embodiments. However, the vehicle component 50 is not limited to this. Although in Fig. 1. Specific structures and locations for the roof outer panel 51, the front door outer panel 53, the rear door outer panel 54, the hood outer panel 55, the fender panel 56 and the side panel 57 are shown; these locations are merely exemplary and not limiting, and their structures and locations may vary.

[0032] Fig. Figure 2 shows a carrier arrangement 100 coupled to a robot arm arrangement 90 and carrying a vehicle component 50, according to one or more embodiments. The robot arm arrangement 90 comprises a base 91, several rotary mechanisms 93a, 93b, 93c, 93d, 93e, 93f, several arms 94a, 94b, and several motors 95a, 95b, which can drive one or more of the rotary mechanisms 93a, 93b, 93c, 93d, 93e, 93f and can terminate at a free end 97.

[0033] A carrier arrangement 100, which according to one or more embodiments may be an end effector, may be arranged at a free end 97 of the robot arm arrangement 90. In particular, a carrier base 101 of the carrier arrangement 100 may be attached to the free end 97 of the robot arm arrangement 90 such that the robot arm arrangement 90 can move the carrier arrangement 100 along several degrees of freedom provided by the rotary mechanisms 93a, 93b, 93c, 93d, 93e, 93f.

[0034] The support arrangement 100 defines a first axis X, a second axis Y perpendicular to the first axis X, and a third axis Z perpendicular to both the first axis X and the second axis Y. The support arrangement 100 can include a support frame 110 attached to a base surface of the support base 101, several linear actuator assemblies 120 coupled to the support frame 110, several clamping assemblies 130 coupled to the linear actuator assemblies 120, and several gripper assemblies 140 coupled to the support frame 110. The clamping assemblies 130 are configured to be moved into positions along the first axis X by the linear actuator assemblies 120 and to clamp and / or hold edge sections 50b of the vehicle component 50. The gripper assemblies 140 are configured to grip a surface 50a of the vehicle component 50.While four linear actuator arrangements 120, four clamping arrangements 130 and four gripper arrangements 140 are shown, the present disclosure is not limited thereto.

[0035] The robot arm assembly 90 and / or the carrier assembly 100 may include a controller 80 configured to control the robot arm assembly 90, the linear actuator assemblies 120, the clamping assemblies 130, and / or the gripper assemblies 140. The controller 80 may be a single controller or multiple controllers. The controller 80 may include a processing circuitry that may contain an application-specific integrated circuit (ASIC), an electronic circuit, a processor (shared, dedicated, or a group) with memory that executes one or more software or firmware programs, a combinational logic circuit, and / or other suitable components that provide the described functionality. The controller 80 may be a robot controller or contain one.

[0036] The carrier assembly 100 can be coupled to a sixth axis of the robot arm assembly 90, and the position of the linear actuator assembly 120 and / or the clamping assembly 130 can be controlled by the controller 80. The gripper assembly 140 can have passive position control, wherein the height of the gripper assembly 140 is determined by the carrier assembly 100 when the carrier assembly 100 approaches the vehicle component 50.

[0037] Referring to Fig. 3-5 The support base 101 can include a cylindrical structure 101a having an upper mounting plate 101b above it and a lower mounting plate 101c below it. The upper mounting plate 101b can be configured to be attached to the free end 97 of the robot arm assembly 90 (see Fig. 2).

[0038] The support frame 110 can include a mounting base 111 attached to the lower mounting plate 101c, and a pair of first supports 113 extending along the first axis X and attached to sides of the mounting base 111 along the second axis Y. A pair of second supports 115 runs between the first supports 113. The support frame 110 can further include several first support brackets 117 and several second support brackets 118 extending downwards from the first supports 113 along the third axis Z, and several gripper retaining brackets 119 extending along the second axis Y.

[0039] Each of the linear actuator assemblies 120 can contain a linear actuator 121, a housing 123, and a rod 125. The linear actuator 121 can, for example, contain a motor and gears (not shown). The linear actuator 121 is operable to move the rod 125 linearly along the X-axis in and out of the housing 123. The linear actuator 121 and / or the housing 123 can be mounted on the support frame 110 by means of the first support bracket 117 and the second support bracket 118. As a non-limiting example, the first support bracket 117 can support one end of the linear actuator 121 along the second X-axis, and the second support bracket 118 can support one end of the housing 123 along the second X-axis.

[0040] With reference to Fig. 3-6 The clamping assemblies 130 can be attached to the rods 125 of the linear actuator assemblies 120. Each of the clamping assemblies 130 can include an upper claw 131a and a lower claw 131b.

[0041] Each of the clamping arrangements 130 can include a main body 135, a vertical mounting structure 137 extending along the third axis Z and attached to the main body 135, and a horizontal mounting structure 138 extending along the second axis Y. As shown in Fig. As shown in Figure 3, one of the vertical mounting structures 137 and the horizontal mounting structure 138 can be attached to the rod 125, and the other can be attached to the upper claw 131a. By varying the size and / or position of the horizontal mounting structure 138, the positions of the edge sections 50b of the vehicle component 50, which are clamped by the upper claw 131a and the lower claw 131b, can be adjusted along the second axis Y to accommodate that one end of the vehicle component 50 is wider than the other, thus providing better balance. According to one or more embodiments, the upper claw 131a and / or the lower claw 131b can be oval-shaped and / or have pivot tips to compensate for varying angles of the edge sections 50b of different vehicle components 50.

[0042] The upper claw 131a can be fixed relative to the main body 135, the vertical mounting structure 137, and / or the horizontal mounting structure 138. A clamping arm 133 can be rotatably attached to the main body 135 by means of a hinge 134, and the lower claw 131b can be mounted on the clamping arm 133. Thus, the lower claw 131b can be rotatable about the hinge 134 relative to the main body 135 by means of the clamping arm 133. According to one or more embodiments, the main body 135 can include a pneumatic power mechanism such that the hinge 134 is rotated by pneumatic power to rotate the clamping arm 133. According to one or more embodiments, the main body 135 can include a rotary actuator (not shown) that rotates the hinge 134 to provide a rotary motion for the clamping arm 133. Additionally or alternatively, the clamping arm 133 can be manually rotated around the hinge 134.

[0043] Since the linear actuator 121 moves the rod 125 along the X-axis, the clamping arrangement 130, which is arranged on the rod 125, moves in a straight line along the X-axis. As shown in Fig. 7A and Fig. As shown in Figure 7B, when the rod 125 is moved in and out of the housing 123, the clamping arrangement 130 moves between an extended position, which is in Fig. 7A is shown, and a withdrawn position, which is in Fig. 7B is shown.

[0044] The clamping arrangements 130 in the extended position with the lower claws 131b in a lowered position can be positioned on each side of the vehicle component 50 and then actuated in a straight line to the retracted position until each of the edge sections 50b of the vehicle component 50 is between the upper claw 131a and the lower claw 131b of the clamping arrangements 130. Fig. 7B, is positioned. The linear actuation can then be stopped and each of the clamping arms 133 can be rotated about the hinge 134 until the lower claw 131b makes contact with the edge sections 50b of the vehicle component 50 with sufficient force to support the weight of the vehicle component 50. This allows the clamping assemblies 130 to clamp a vehicle component 50 of various sizes, including, but not limited to, the roof outer panel 51, the front door outer panel 53, the rear door outer panel 54, the hood outer panel 55, the fender panel 56, and the side panel 57.

[0045] As in Fig. As shown in Figure 4, the support assembly 100 can further include a sensor 139. The sensor 139 can be, for example, an aircraft vision sensor or a camera. The sensor 139 can be positioned on a bottom surface of the mounting base 111, although its position is not limited to this. The sensor 139 is configured to scan the vehicle component 50, and data from the scan is transmitted to the controller 80 either by wire or wirelessly. The data from the scan can be used to determine the positions of the edge sections 50b of the vehicle component 50 that the clamping assembly 130 is to clamp, and the controller 80 can control the linear actuator assemblies 120 based on these determined positions. The controller 80 can control the clamping assemblies 130 to rotate the lower jaws 131b to clamp the edge sections when the clamping assemblies 130 are in the determined positions.

[0046] The sensor 139 can scan the vehicle component 50 to determine a desired position of the vehicle component 50 for performing tasks on the vehicle component 50, and can determine ideal positions I x The clamping arrangements 130 determine which would position the vehicle component 50 in the desired position. The controller 80 can be a sight controller or contain one. The controller 80 can determine the offsets Δ x between the actual positions A x the clamping arrangements 130 and the ideal positions I x calculate the clamping arrangements 130 and control the linear actuator arrangements 120 to adjust the clamping arrangements 130 by the offsets Δ x to move, such that the clamping arrangements 130 are in their ideal positions I x are and the vehicle component 50 is in the desired position. The actual positions A xThe positions of the clamping arrangements 130 can be determined, for example, by measuring the extension distances of the rods 125 of the linear actuator arrangements 120 or by real-time scanning of the vehicle component 50 and / or the clamping arrangements 130. The tasks can be performed once the vehicle component 50 is in its desired position.

[0047] While the clamping arrangements 130 are configured to support the weight of the vehicle component, the size of the vehicle component 50 along the first axis X may be relatively large in relation to its thickness along the third axis Z, which may result in a central section of the vehicle component 50 sagging due to gravitational forces. To counteract this sagging, the support arrangement 100 may further include gripper arrangements 140 to grip the surface 50a of the vehicle component 50 by means of vacuum forces.

[0048] With reference to Fig. 3-5 and Fig. Each of the gripper assemblies 140 contains a suction cup 141, which is arranged at the lower end of a shaft 142 with a plate 144 between it and the shaft. The suction cup 141, the shaft 142, and the plate 144 may contain holes extending along the third axis Z and may be fluidically coupled to one another. An upper end 147 of the shaft 142 may be fluidically coupled 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 of the gripper assemblies 140 may be coupled to a separate fluid suction mechanism 149 or to a single common fluid suction mechanism 149. The fluid suction mechanism 149 may be controlled by the controller 80 to switch the fluid suction mechanism 149 on and off and / or to 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 forces from the fluid suction mechanism 149 can empty air from the suction cup 141 via the plate 144 and the shaft 142.

[0049] Each of the gripper assemblies 140 can include a gripper housing 145, which is mounted on the support frame 110 by means of the gripper retaining bracket 119, extending from the first support 113. The gripper housing 145 can include a locking structure arranged within it. The shaft 142 passes through the gripper housing 145 along the third axis Z and is movably mounted within the gripper housing 145 such that the shaft 142 is movable along the third axis Z, as indicated by arrow M, relative to the gripper housing 145. The locking structure in the gripper housing 145 is configured to lock the shaft 142 in its position when the suction cup 141, which is arranged on the shaft 142, is in a desired position. An elastic structure 143 is arranged around the shaft 142 between the plate 144 and the gripper retaining bracket 119. The elastic structure 143 can be, for example, a coil spring.The upper end 147 of the shaft 142 can have a larger diameter than the remainder of the shaft 142 and can have a larger diameter than the hole formed in the gripper housing 145, such that the shaft 142 is prevented from falling out of the gripper housing 145.

[0050] Before the gripper assembly 140 comes into contact with the vehicle component 50, the locking structure is in an unlocked configuration such that the elastic structure 143 holds the shaft 142 in a lowest position along the third axis Z. When the robot arm assembly 90 moves the carrier assembly 100 over the vehicle component 50 and lowers the vehicle component 50 into a clamping and gripping position, the suction cup 141 rests against the surface 50a of the vehicle component 50. As the carrier assembly 100 is lowered, the surface 50a of the vehicle component 50 pushes the suction cup 141 upwards along the third axis Z, such that the shaft 142 moves upwards relative to the gripper housing 145, compressing the elastic structure 143 between the gripper retaining bracket 119 and the plate 144.When the support arrangement 100 has reached its desired position relative to the vehicle component 50, and the clamping arrangement 130 has clamped the edge sections 50b of the vehicle component and moved the vehicle component 50 to the desired position for performing tasks on it, the locking structure locks the shaft 142 in the gripper housing 145 such that the shaft 142 is immobile relative to the gripper housing 145. The fluid suction mechanism 149 can be engaged via the plate 144 and the shaft 142 to evacuate air from the interior of the suction cup 141, such that the suction cup 141 grips the surface 50a of the vehicle component 50 by means of the vacuum forces. Thus, the gripper arrangements 140 grip the surface 50a of the vehicle component 50 to prevent sagging of the vehicle component 50.

[0051] As in Fig. As shown in Figure 8, the controller 80 can be connected to the locking structure in the gripper housing 145 to control the locking of the shaft 142, and / or the controller 80 can be connected to the fluid suction mechanism 149 to control the fluid suction mechanism 149.

[0052] A method for carrying a vehicle component 50 according to one or more embodiments is described in Fig.Figure 9 shows that in step S1, the robot arm assembly 90 is actuated to move a carrier assembly 100 into a desired position. The desired position can be, for example, above the vehicle component 50, such that the vehicle component 50 is positioned between clamping assemblies 130 of the carrier assembly 100. When the robot arm assembly 90 is moved to the desired position, the surface 50a of the vehicle component 50 can push the suction cup 141 and the shaft 142 of the gripper assembly 140 upwards along the third axis Z with respect to the gripper housing 145, compressing the elastic structure 143. In step S2, the clamping assemblies 130 can be moved along the first axis X towards the vehicle component 50 until edge sections 50b of the vehicle component 50 are between the upper claw 131a and the lower claw 131b. The linear actuator arrangements 120 can be actuated to move the clamping arrangements 130 along the first axis X.In step S3, the lower claw 131b of each clamping assembly 130 is rotated upwards towards the edge sections 50b of the vehicle component 50 in order to clamp the edge sections 50b between the upper claws 131a and the lower claws 131b. In step S4, the clamping assemblies 130 can be moved along the first axis X to move the vehicle component 50 to a desired position for performing tasks on it. In step S5, the shafts 142 of the gripper assemblies 140 are locked relative to the gripper housing 145 by means of the locking structure in the gripper housing 145. In step S6, the fluid suction mechanism 149 generates vacuum forces via the shafts 142 and the suction cups 141 of each of the gripper assemblies 140 such that the suction cups 141 grip the surface 50a of the vehicle component 50.In step S7, tasks are performed on the vehicle component 50, whereby the vehicle component 50 is held in the desired position by the support arrangement 100.

[0053] According to one or more embodiments, the controller 80 can perform at least steps S1-S5 alone or in combination with operator input. Depending on the tasks performed on the vehicle component 50, the controller 80 can also perform step S6 alone or in combination with operator input.

[0054] The carrier arrangement 100 according to one or more embodiments is adjustable by means of the linear actuator arrangement 120, the clamping arrangement 130, and / or the gripper arrangement 140 and is therefore capable of guiding a vehicle component 50 of different sizes and shapes. Thus, the carrier arrangement 100 can eliminate the need for multiple carrier arrangements of different shapes and sizes to accommodate vehicle components of varying shapes and dimensions. Furthermore, by eliminating the need to exchange carrier arrangements to handle vehicle components of different shapes and / or dimensions, the carrier arrangement 100 can improve efficiency.

[0055] The terms "a" and "an" do not denote a limit on the number of elements, but rather indicate the presence of at least one of the referenced element. The term "or" means "and / or" unless clearly indicated otherwise by context. A reference to "an aspect" in the application text means that a specific element (e.g., a feature, a structure, a step, or a property) described in connection with that aspect is contained in at least one aspect described therein and may or may not be present in other aspects. It should also be understood that the described elements in the various aspects may be combined in any suitable manner.

[0056] When an element, such as a layer, a thin layer, an area, or a substrate, is described as "attached" to another element, it may be located directly adjacent to that element, or there may be intervening elements. Conversely, when an element is described as "directly adjacent" to another element, there are no intervening elements.

[0057] Unless otherwise defined, technical and scientific terms used herein have the same meaning as would normally be understood by a person skilled in the field to which this disclosure belongs.

Claims

[1] Support arrangement (100) for supporting a vehicle component (50) which 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), wherein the support arrangement (100) comprises: a support frame (110) configured to be coupled to a robot arm assembly (90); a linear actuator arrangement (120) mounted on the support frame (100) comprising a rod (125) and a linear actuator (121) which moves the rod (125) in a straight line along the first axis (X); a clamping arrangement (130) which is attached to the rod (125) and is configured to be moved in a straight line along the first axis (X), wherein the clamping arrangement (130) comprises a first claw (131a) and a second claw (131b) which are configured to clamp an edge section of the vehicle component; a controller (80) that is configured to control the linear actuator (121), and a sensor (139) that is configured to send data indicating a position of the vehicle component (50) to the controller (80), wherein the controller (80) is configured to control the linear actuator arrangement (120) based on the data from the sensor (139) to move the vehicle component (50) to a desired position, wherein the sensor (139) provides ideal positions (I x ) of the clamping arrangement (130) which would position the vehicle component (50) in the desired position, and the controller (80) offsets (Δ x ) between actual positions (Δ x ) the clamping arrangement (130) and the ideal positions (I x ) of the clamping arrangement (130) is calculated and the linear actuator arrangement (120) is controlled to adjust the clamping arrangement (130) by the offsets (Δ x ) to move such that the clamping arrangement (130) is in its ideal positions (Ix ) are and the vehicle component (50) is in the desired position, wherein the actual positions (Δ x ) of the clamping arrangement (130) are determined by extension distances of the rod (125) of the linear actuator arrangement (120). [2] Carrier arrangement (100) according to claim 1, wherein the clamping arrangement (130) comprises a clamping arm (133) on which the second claw (131b) is arranged. [3] Carrier arrangement (100) according to claim 2, wherein the clamping arm (133) is configured to rotate about a hinge (134) from an unclamped configuration to a clamped configuration. [4] Carrier arrangement (100) according to claim 1, further comprising a gripper arrangement (140) configured to grip a surface of the vehicle component (50). [5] Carrier arrangement (100) according to claim 4, wherein the gripper arrangement (140) comprises a suction cup (141) which is fluidically coupled to a fluid suction mechanism (149) which generates a vacuum force. [6] Carrier arrangement (100) according to claim 5, wherein the fluid suction mechanism (149) is a pump or a blower. [7] Carrier arrangement (100) according to claim 5, wherein the gripper arrangement (140) further comprises a gripper housing (145) mounted on the carrier frame (110) and a shaft (142) passing through the gripper housing (145) in such a way that it is movable in a straight line with respect to the gripper housing (145) along the third axis (Z) and the suction cup (141) is arranged on the shaft (142). [8] Carrier arrangement (100) according to claim 7, wherein the shaft (142) has a hole passing through it along the third axis (Z), and the hole fluidically couples the suction cup (141) and the fluid suction mechanism (149).

Images