System and method for automated component assembly

Abstract

A system (12) for automated handling of components (38) for assembly to a product (14) on an assembly line (16) includes a carriage (34) movable between a first position retracted and spaced from the assembly line (16) and a second position displaced from the retracted position in a direction toward the assembly line (16). A manipulator (32) on the carriage (34) supports a component installation tool (36) configured to receive and support at least one component (38) for assembly to the product (14). The manipulator (32) can be arranged to have a first orientation when the carriage (34) is in a first position, and can pivot to a second orientation when the carriage (34) is in a second position, such that when the carriage (34) is in the first position, the component (38) on the component installation tool (36) is supported in a processing orientation, and when the carriage (34) is in the second position, the component is supported in an assembly orientation into the product (14).

Description

Technical Field

[0001] Cross - Reference to Related Applications This application claims the benefit of priority of U.S. Patent Application No. 17 / 171,688, filed on February 9, 2021 (pending), which claims the benefit of the filing date of U.S. Provisional Patent Application No. 63 / 006,491, filed on April 7, 2020, the entire disclosure of which is incorporated herein by reference.

[0002] The present invention generally relates to automated manufacturing systems, and more particularly, to systems and methods for the automated assembly of components.

Background Art

[0003] The role played by automation in the manufacture and assembly of products is on the rise. In response to the increasing automation of manufacturing systems, the use of robotic manipulators for manufacturing, processing, and assembling components and sub - assemblies into final products has also increased. An example of such an automated manufacturing system can be seen in the automotive industry, where finished vehicles are assembled from component parts on an automated production line. In many automated manufacturing systems, an assembly line equipped with multiple multi - axis robotic manipulators that cooperate with each other is used to process components and assemble them into the desired final product. Typically, such multi - axis robotic manipulators are provided with a plurality of links arranged in series and driven by motors to perform processing and assembly functions.

[0004] It should be noted that there is a possible error in the " " in the original text. I have translated it as " " as it is. If it is a mislabeled ID, please correct it for a more accurate translation. Also, if there are any other specific requirements or corrections needed, feel free to let me know.As these manufacturing systems become increasingly automated, tolerances between assembled components are becoming smaller and smaller. While conventional 6-degree-of-freedom manipulators provide the flexibility required in such highly automated manufacturing systems, the configuration of robotic manipulators with series-arranged links results in looser tolerances in assembled components, or requires frequent calibration of the robotic manipulator to achieve and maintain tight tolerances. Therefore, there is a need for improved automated systems that can easily assemble components into final products in a rapid, efficient, and repeatable manner, overcoming the aforementioned and other shortcomings of current automated manufacturing systems. [Overview of the project] [Problems that the invention aims to solve]

[0005] The present invention provides a system and method for the automated assembly of components onto a workpiece in an assembly line. While the invention will be described in relation to several embodiments, it will be understood that the invention is not limited to those embodiments. Rather, the invention includes all alternative methods, modifications, and equivalents, as long as they are within the spirit and scope of this disclosure. [Means for solving the problem]

[0006] In one embodiment, a typical system for automatically handling components to be assembled into a product on an assembly line includes a carriage supported by a frame that positions the system adjacent to the assembly line. The carriage is movable, including, between a first retracted position at a distance from the assembly line and a second working position shifted toward the assembly line from the retracted position. The carriage supports a multi-axis articulated manipulator, which in turn supports a component mounting tool configured to receive and support at least one component to be assembled into a product. The manipulator can be configured to have a first orientation when the carriage is in the first position, and can pivot to a second orientation when the carriage is in the second position, thereby supporting the component of the component mounting tool in a machining position when the carriage is in the first position, and supporting the component in a product-assembly position when the carriage is in the second position.

[0007] In another embodiment, a method for handling components to be assembled into a product on an assembly line includes the steps of receiving the component from a component mounting tool at a first retraction position spaced away from the assembly line, and moving the component mounting tool to a second working position toward the assembly line. At the first position, the component mounting tool is in a first orientation suitable for facilitating the receiving or processing of the component. At the second position, the component mounting tool is in a second orientation adapted to facilitate the assembly of the component into the product.

[0008] The following embodiments illustrate various aspects of automated systems and related methods for assembling components in accordance with the principles of this disclosure.

[0009] [Example 1] A system for automatically handling components that are assembled into products on an assembly line, A frame that can occupy a position adjacent to the assembly line, A carriage supported on a frame, for moving between a first retraction position located at a distance from the assembly line and a second working position shifted in the direction toward the assembly line from the retraction position, A multi-axis articulated manipulator supported by a carriage, comprising a base connected to a carriage, and a tool mounting plate that is movable with respect to the base in controllable manner with at least three degrees of freedom, The manipulator base is a multi-axis articulated manipulator that is arranged in a first orientation when the carriage is in a first position and pivots in a second orientation when the carriage is in a second position, A component mounting tool connected to a tool mounting plate of a manipulator, the component mounting tool configured to receive and support at least one component for assembly into a product, In a system equipped with, A system in which, when the carriage is in a first position, the component on the component mounting tool is supported in a position for mounting and / or machining, and when the carriage is in a second position, the component is supported in a position for assembly into a product.

[0010] [Example 2] The system of Embodiment 1 allows for a variable configuration of the component mounting tool so that it can support various components having different geometric shapes.

[0011] [Example 3] The component installation tool is A tool mounting plate for the manipulator and a connectable tool frame, At least one shaft assembly supported by a tool frame, Each of them At least one trunnion, The shaft supported by at least one trunnion, and At least one gripping member that is attached to a shaft and capable of engaging with a component in a manner that supports the component, A shaft assembly comprising, A system according to Example 1 or 2, comprising the above.

[0012] [Example 4] The system of Embodiment 3, wherein at least one shaft assembly comprises a first shaft assembly and a second shaft assembly supported by a tool frame.

[0013] [Example 5] Each shaft assembly comprises multiple gripping members positioned at various locations on the circumference surrounding the shaft. The gripping members, positioned at various locations on the circumference surrounding the shaft, are configured to engage with components of various geometric shapes. Each shaft is rotatable relative to the tool frame about its longitudinal axis, thereby positioning the selected gripping member to engage with the component by the rotation of each shaft. The system of Example 3 or 4.

[0014] [Example 6] A system according to any one of Embodiments 3 to 5, comprising a plurality of gripping members, each comprising at least one gripping member configured as an air handler adapted to engage airtightly with a component when subjected to a vacuum pressure.

[0015] [Example 7] Each shaft assembly is equipped with multiple air handlers positioned at various locations on the circumference surrounding the shaft. Air handlers at various positions on the circumference surrounding the shaft are configured to engage with components of various geometric shapes. Each shaft is rotatable relative to the tool frame around its longitudinal axis, thereby positioning the selected air handler to engage with the component by the rotation of each shaft. The system of Example 6.

[0016] [Example 8] The system of Example 5 or 7, further comprising a locking assembly on the tool frame capable of performing a locking operation on the rotation of the shaft with respect to the tool frame.

[0017] [Example 9] Further comprising at least one path configured to selectively provide communication between a vacuum pressure source and at least one air handler through the shaft, whereby vacuum pressure is supplied to the air handler when the air handler is in a position engaging a component. The system of any one of Examples 6 to 8.

[0018] [Example 10] The manipulator is At least three links connected between a manipulator base and a tool mounting plate, Each link having a first end pivotally connected to the tool mounting plate, Each link having a second end on the opposite side of the first end, the second end being connected to the manipulator base for controllable movement along at least one translation axis in a plane parallel to the base. The system of any one of Examples 1 to 9, comprising

[0019] [Example 11] The system of Example 10, wherein at least three links have a fixed length in the longitudinal direction.

[0020] [Example 12] At least one actuator disposed between the second end of each link and the base The system of Example 10, further comprising

[0021] [Example 13] The system of Embodiment 12 comprises a first actuator and a second actuator, each having at least one actuator disposed between the second end and base of each link.

[0022] [Example 14] The system of Embodiment 13, wherein a first actuator associated with each link is a linear actuator positioned to control the movement of each second end in a first direction, and a second actuator is a linear actuator positioned to control the movement of each second end in a second direction perpendicular to the first direction.

[0023] [Example 15] A method for handling components that are assembled into a product on an assembly line, A step of receiving a component into a component mounting tool in a first position adapted to facilitate receiving or processing the component, at a first retraction position spaced apart from the assembly line, A step of moving the component on the component mounting tool toward the assembly line to a second working position in a second orientation adapted to facilitate the component's incorporation into the product, A method that includes this.

[0024] [Example 16] The component mounting tool is supported by a multi-axis manipulator with a manipulator base. The step of moving a component to a second working position on a component mounting tool includes the step of moving the manipulator base from a first orientation at the first position to a second orientation having a different orientation at the second position. The method of Example 15.

[0025] [Example 17] The component mounting tool includes at least one air handler configured to use vacuum pressure to hermetically engage the component, The method of Example 15 or 16, further comprising the step of selectively supplying vacuum pressure to at least one air handler.

[0026] [Example 18] The system comprises multiple air handlers, each configured to hermetically engage with components having various geometric shapes, The method of Embodiment 17 further includes the step of selectively indexing at least one of a plurality of air handlers for position and orientation for hermetically tight engagement with a component.

[0027] [Example 19] The method of Example 18 further comprises the step of selectively supplying vacuum pressure to at least one air handler in conjunction with indexing.

[0028] [Example 20] The steps include adding subcomponents to a component while the component is supported by a component mounting tool in a first position, and A step of performing a manufacturing process on a component while the component is supported by a component mounting tool in a first position, A method of any of Examples 15 to 19, further comprising at least one of the above.

[0029] The above and other objects and advantages of the present invention should become apparent from the accompanying drawings and their description.

[0030] The accompanying drawings included in this specification, which constitute part thereof, illustrate typical embodiments of the present invention and, together with the general description of the present invention set forth above and the detailed description below, are intended to illustrate the principles of the present invention. [Brief explanation of the drawing]

[0031] [Figure 1] This is a schematic plan view of a typical manufacturing plant equipped with a component handling system based on the principles of this disclosure. [Figure 2] This is a perspective view of a typical system for handling components based on the principles of this disclosure. [Figure 3A] This is a partial elevation view of the system in Figure 2, showing the carriage supported at the first retraction position. [Figure 3B] This is a partial elevation view similar to Figure 3A, showing the carriage at the second position. [Figure 4] Figure 2 shows a detailed perspective view of a typical multi-axis articulated manipulator in the system based on the principles of this disclosure. [Figure 5] Figure 2 shows a detailed perspective view of a typical component mounting tool in the system based on the principles of this disclosure. [Figure 6] Figure 5 is a cross-sectional view of the component mounting tool along line 6-6. [Modes for carrying out the invention]

[0032] Figure 1 shows a typical manufacturing plant 10 that includes a typical system 12 for automatically handling components to be assembled onto a workpiece 14 moving along a manufacturing assembly line 16 according to the principles of this disclosure. In the illustrated embodiment, the manufacturing plant 10 is located adjacent to the manufacturing assembly line 16 and comprises a plurality of individual manufacturing cells 18a, 18b, 18c, 18d located on either side of the assembly line 16. The assembly line 16 may include a transport structure (not shown) for the automatic movement of the workpiece 14 along the assembly line 16 (as in the direction of arrow 20), thereby allowing the workpiece 14 to be positioned adjacent to the plurality of manufacturing cells 18a-18d, and an automated system such as a robotic manipulator can perform the assembly of components onto the workpiece 14 or the machining of the workpiece 14 as part of the manufacturing process. In the illustrated embodiment, the workpiece 14 is depicted as an automated vehicle, and the cells 18a-18d of the manufacturing plant 10 are configured to assemble components onto the vehicle body or perform various machining steps as required. In this specification, a typical embodiment is shown and described as a manufacturing plant 10 having cells 18a to 18d adapted for the assembly and processing of vehicles; however, it will be understood that, in other ways, the manufacturing plant 10 and cells 18a to 18d can be configured to produce a variety of other products.

[0033] Continuing with reference to Figure 1, a typical manufacturing cell 18a may include a typical component handling system 12 based on the principles of this disclosure. The component handling system 12 may be arranged within a cell 18a adjacent to multiple robotic manipulators. For example, a first robotic manipulator 22a may be configured to take one or more components from a source (not shown) and place those components on or within the component handling system 12. The first robotic manipulator 22a may be located within the manufacturing cell 18a, or alternatively, adjacent to the manufacturing cell 18a, and may be configured to extend within the manufacturing cell 18a in cooperation with the component handling system 12. By arranging additional robotic manipulators 22b, 22c within the cell 18a and configuring them to cooperate with the component handling system 12, the assembly and / or processing of components positioned by the component handling system 12 for assembly onto a workpiece 14 can be facilitated. A typical manufacturing cell 18a is shown and described herein as including multiple robotic manipulators 22a, 22b, 22c that cooperate with the component handling system 12, but it will be understood that various other manufacturing cell configurations can be used in alternative ways.

[0034] Continuing with reference to Figure 1, and further with reference to Figures 2, 3A, and 3B, a typical component handling system 12 according to the principles of this disclosure will be described in more detail. In the illustrated embodiment, the component handling system 12 can be supported on a frame 30 in a position adjacent to the production line 16 within a production cell 18a. A typical component handling system 12 includes a multi-axis articulated manipulator 32 supported on the frame 30 by a carriage 34. Supported by the frame 30, the carriage 34 moves, including, between a first retracted position at a distance from the assembly line, as shown in Figure 3A, and a second working position shifted toward the assembly line 16 from the retracted position, as shown in Figure 3B. In the illustrated embodiment, the carriage 34 is selectively moved between the first and second positions by an actuator 26 having a telescopic rod 28. However, it will be understood that various other mechanisms suitable for moving the carriage 34 between the first and second positions are available.

[0035] A typical component handling system 12 includes a component mounting tool 36 coupled to a multi-axis manipulator 32, further comprising a mounting tool 36 configured to receive and support at least one component 38 to be assembled to a workpiece 14. In the illustrated embodiment, component 38 is depicted as a door that is attached to the vehicle body as the vehicle body moves along the assembly line 16 and reaches a position adjacent to the manufacturing cell 18a. While component 38 is shown herein as a vehicle door, it will be understood that in other embodiments, a variety of other components can be received by the component mounting tool 36 for machining and / or assembly to a workpiece. In non-exclusive examples, automotive components such as body panels, door handles, and hinges, as well as non-automotive components, can also be received and supported by a component mounting tool based on the principles of this disclosure.

[0036] As shown in Figure 3A, when the carriage 34 is in the first retracted position, the mounting tool 36 is oriented and positioned to receive the component 38, supporting the component 38 in a posture that facilitates subsequent processing of the component 38, such as by a robotic manipulator 22a located adjacent to the component handling system 12. In a non-limiting example of the illustrated embodiment, in the case of a component 38 in the shape of a vehicle door, positioning and mounting of the subcomponent to the door can be facilitated by supporting it with the inner surface of the door facing upward. Advantageously, the first position of the carriage 34 facilitates the mounting and processing of components and subcomponents as the workpiece 14 moves between manufacturing cells 18a-18d of the manufacturing assembly line 16, thereby enabling a high-efficiency processing rate. Then, when the carriage 34 moves to the second working position shown in Figure 3B, the mounting tool 36 moves translationally and also curved with the carriage 34 so that the mounting tool 36 supports the component 38 in a second posture that facilitates the assembly of the component 38 into the workpiece 14. For example, in the illustrated embodiment, component 38 can be supported in an overall door orientation corresponding to how the door is attached to the vehicle body (workpiece 14).

[0037] The component handling system 12 may be further equipped with various sensors to monitor and facilitate the operation of the component handling system 12. In the illustrated embodiment, the system 12 may further include one or more optical sensors or cameras 40 positioned at various suitable locations on or near the manipulator 32, carriage 34, and / or component mounting tool 36. The optical sensors 40 may be supported, for example, by another support frame 42, or, if desired, connected to the frame 30 or other structure. Other sensors may include, but are not limited to, one or more non-contact proximity sensors 44 positioned on or near the component handling system 12 and configured to sense the presence of a workpiece 14 in close proximity to the component handling system 12. Other sensors may also be used to confirm the presence and / or orientation of components supported by the component mounting tool 36. Signals or data obtained from sensors 40, 44 may be supplied to a controller or other suitable computer and used for controlling and / or monitoring the operation of the component handling system 12.

[0038] A typical multi-axis articulated manipulator 32 will be described in more detail, continuing with reference to Figures 2, 3A, and 3B, and further with reference to Figure 4. In the illustrated embodiment, the manipulator 32 includes a base assembly 50 for connecting the manipulator 32 to a carriage 34 so that it can move together with the carriage 34 on the frame 30 between a first position and a second position. A number of links 52 are connected to a base plate 54 of the base assembly 50, and at their opposite ends are configured to support a tool mounting plate 56 and connect to a component mounting tool 36. In the illustrated embodiment, the manipulator 32 includes three fixed-length links 52 connected to the base plate 54 at their first ends 58, and the second ends 60 of the links 52 are connected to the tool mounting plate 56. 52The first end 58 of each link 52 is connected to the base plate 54 by a pivot joint 62 and at least one actuator configured to controllably operate the second end 60 of the link 52. Through the coordinated movement of the second end 60 of the link 52, the orientation (position and orientation) of the tool mounting plate 56 can be precisely controlled. In the illustrated embodiment, the first end 58 of each link 52 is connected to the base plate 54 by a pair of linear actuators 66a, 66b, which are aligned to control the movement of the first end 58 of the link 52 in a first direction 68 and a second direction 70, respectively, which are arranged to be orthogonal to each other. The second end 60 of each link 52 is connected to the tool mounting plate 56 by a swivel joint 72, respectively, so that the orientation of the tool mounting plate 56 can be controlled by the selective positioning of the linear actuators 66a, 66b connected to the respective link 52. When in use, the multi-axis articulated manipulator 32 facilitates the precise positioning of the component 38, which is supported by a component mounting tool 36 connected to a tool mounting plate 56, when the carriage 34 is in a second position.

[0039] When the carriage 34 is in the first position shown in Figure 3A, the base plate 54 of the multi-axis manipulator 32 is oriented so that the component mounting tool 36, connected to the tool mounting plate 56, is in the aforementioned position for receiving and supporting the component 38. As the carriage moves from the first position to the second position, the base plate 54 pivots so that the component mounting tool 36, connected to the tool mounting plate 56, is in the aforementioned position for mounting the component 38 onto the workpiece 14, as shown in Figures 2 and 3B.

[0040] While the multi-axis manipulator 32 has been shown and described herein as including three fixed-length links 52 and linear actuators 66a, 66b connecting the links 52 to the base plate 54 of the manipulator, it will be understood that various other arrangements of links and actuators, including those with variable link lengths, can be used instead to facilitate the positioning of the tool mounting plate 56 in the desired orientation when mounting the component 38 to the workpiece 14.

[0041] Continuing with reference to Figures 2, 3A, and 3B, and further with reference to Figures 5 and 6, a typical component mounting tool 36 according to the principles of this disclosure will be described in more detail. In the illustrated embodiment, the component mounting tool 36 includes a tool frame 80 configured to connect to a tool mounting plate 56 of a multi-axis manipulator 32. The tool frame 80 supports one or more shaft assemblies 82a, 82b, which in turn support gripping members 84 configured to engage and support components 38 to be placed on the workpiece 14. In the illustrated embodiment, the mounting tool 36 includes a first shaft assembly 82a and a second shaft assembly supported by the tool frame 80. 82b Each shaft assembly 82a, 82b includes shafts 86a, 86b rotatably supported relative to the tool frame 80 by their respective trunnion bases 88. Each shaft 86a, 86b may further include a plurality of gripping members 84 positioned at spaced circumferential positions surrounding the shaft 86. Advantageously, each gripping member 84 can be configured to engage with components of various geometric shapes, so that by rotating the shaft 86 relative to the frame 80 around their respective longitudinal axes 90a, 90b, any plurality of gripping members 84 can be selectively positioned to engage with components 38 to be assembled to the workpiece 14.

[0042] As can be clearly seen in Figure 6, the component mounting tool 36 may further include a locking assembly 92 that cooperates with one or more of the shaft assemblies 82a, 82b, to lock the shafts 86a, 86b at desired rotational positions so that the selected gripping member 84 is in a position to engage with the component 38. In the illustrated embodiment, the locking assembly 92 includes an actuator 94 having a telescopic rod 96 that locks each shaft 86a, 86b at a desired rotational position by engaging with the associated shaft assemblies 82a, 82b. For this purpose, each shaft assembly 82a, 82b further includes an alignment block 98 that is supported by the shafts 86a, 86b and has an alignment function configured to cooperate with the rod 96 of the locking assembly actuator 94. In the illustrated embodiment, the distal end 100 of the rod 96 has a wedge-shaped tip, and the alignment function of the alignment block includes correspondingly shaped notches 102 that are positioned at selected angular positions surrounding the shafts 86a, 86b. When in use, if the desired gripping member 84 is in a position to engage with the component 38, the rod 96 of the locking assembly actuator 94 is extended to engage with the corresponding notch 102 provided in the registration block 98, thereby preventing further rotation of the shafts 86a and 86b.

[0043] While the component mounting tool 36 has been shown and described herein as comprising two shaft assemblies 82a, 82b, each having a plurality of gripping members 84 positioned at spaced intervals on its circumference, it will be understood that the component mounting tool according to this disclosure may also comprise only one shaft assembly or three or more shaft assemblies. Furthermore, if the component mounting tool 36 handles only one type of component, or if the component has a sufficiently uniform geometric shape, the component mounting tool 36 may not require a plurality of different gripping members 84 positioned on the circumference surrounding the shaft assemblies 82a, 82b.

[0044] In the illustrated embodiment, the gripping member 84 of the component mounting tool 36 is configured as an air handler and is adapted to hermetically engage with the component when vacuum pressure is supplied. As can be clearly seen in Figure 6, each air handler includes a housing 110 supported on the respective shafts 86a, 86b by a bracket assembly 112. The air handler is provided with a suction surface 114 having one or more sealing members 116 configured to hermetically engage with the component 38, and a vacuum hole 118 formed in the housing 110 communicates with the suction surface 114 to supply sufficient vacuum pressure to engage with and support the component 38. The vacuum hole 118 of each air handler can be connected to a vacuum pressure source (not shown) and controlled to selectively grip and release the component 38.

[0045] In the illustrated embodiments, each shaft 86a, 86b includes at least one air passage 120a, 120b, 120c, 120d configured to provide selective communication between the vacuum pressure source and each vacuum port 118 of the air handler, for example, through each hose (not shown) passing through the shafts 86a, 86b. In one embodiment, one or more air passages 120a, 120b, 120c, 120d provided through the shafts 86a, 86b of the shaft assemblies 82a, 82b may be configured to provide selective communication between the vacuum pressure source and the selected air handler when each shaft 86a, 86b is rotated to a certain position so that the air handler engages with component 38, while the other air passages 120a, 120b, 120c, 120d passing through the shafts 86a, 86b do not communicate with the vacuum pressure source and no vacuum pressure is supplied to air handlers not used for engagement with component 38. In the illustrated embodiment, the component mounting tool 36 further includes slip rings associated with each shaft assembly 82a, 82b to supply electricity and / or vacuum pressure to the air passages 120a, 120b, 120c, 120d through the shafts 86a, 86b. A typical slip ring that can be used is the Pneumatic Rotary Union Part No. 3004012, sold by Senring Electronics Co., Ltd. in Guangdong, China.

[0046] The present invention has been described through various embodiments, each of which has been described in great detail; however, it is not intended to limit the scope of the appended claims to such details or to restrict them in any way. The various features illustrated and described herein can be used individually or in any combination. Those skilled in the art will readily find additional advantages and modifications. Therefore, in its broader aspects, the present invention is not limited to the specific details illustrated and described, representative apparatus and methods, or examples. Thus, deviations from such details may be made without departing from the spirit and scope of the overall inventive concept. [Explanation of Symbols]

[0047] 10 Manufacturing factory 12 Component Handling System 14 Work 16 Assembly Line 18 Manufacturing Cells 22 Robot Manipulators 26 Actuators 28 Telescopic Rods 30 frames 32 Multi-axis articulated manipulator 34 Carriage 36 Component Installation Tools 38 components 40 Optical Sensors 42 Support frame 44 Non-contact proximity sensors 50 Base Assembly 52 links 54 Base Plate 56 Tool Mounting Plate 58 First end 60 Second end 62 Pivot fittings 66 Linear Actuator 68 First Direction 70 Second direction 72 Swivel fittings 80 Tool Frames 82 Shaft Assembly 84 Gripping member 86 shaft 92 Locking Assembly 94 Locking Assembly Actuator 96 Telescopic Rod 98 Alignment Blocks 100 distal end 102 cuts 110 Housing 114 Suction surface 116 Sealing member 118 Vacuum hole 120 air passage

Claims

1. A system for automatically handling components that are assembled into products on an assembly line, A frame that can be positioned adjacent to the assembly line, A carriage supported on the frame, for moving between a first retraction position located at a distance from the assembly line and a second working position shifted in the direction toward the assembly line from the first retraction position, A multi-axis articulated manipulator supported by the carriage comprises a manipulator base connected to the carriage, and a tool mounting plate that is movable with respect to the manipulator base so as to be controllable with at least three degrees of freedom, The manipulator base is a multi-axis articulated manipulator that is positioned in a first orientation when the carriage is in the first retracted position and pivots in a second orientation when the carriage is in the second working position. A component mounting tool connected to the tool mounting plate of the manipulator, the component mounting tool configured to receive and support at least one component for assembly into the product, In a system equipped with, A system in which, when the carriage is in the first retracted position, a component on the component mounting tool is supported in a position for mounting and / or machining, and when the carriage is in the second working position, the component is supported in a position for assembly into the product.

2. The system according to claim 1, wherein the component mounting tool can be configured in a variable way so as to support various components having different geometric shapes.

3. The aforementioned component mounting tool, A tool frame that can be connected to the tool mounting plate of the manipulator, At least one shaft assembly supported by the tool frame, wherein each shaft assembly is At least one trunnion, A shaft supported by at least one of the aforementioned trunnions, and At least one gripping member that is attached to the shaft and capable of engaging with the component in a manner that supports the component, A shaft assembly comprising, The system according to claim 2, comprising:

4. The system according to claim 3, wherein the at least one shaft assembly comprises a first shaft assembly and a second shaft assembly supported by the tool frame.

5. Each shaft assembly comprises a plurality of gripping members positioned at various circumferential locations surrounding the shaft. The gripping members, positioned at various locations on the circumference surrounding the shaft, are configured to engage with components having various geometric shapes. Each shaft is rotatable relative to the tool frame about its longitudinal axis, thereby positioning the selected gripping member to engage with the component by the rotation of each shaft. The system according to claim 3.

6. The system according to claim 3, wherein the at least one gripping member comprises a plurality of gripping members configured as air handlers adapted to engage airtightly with the component when a vacuum pressure is supplied.

7. Each shaft assembly is equipped with multiple air handlers positioned at various locations on the circumference surrounding the shaft. Air handlers at various positions on the circumference surrounding the shaft are configured to engage with components having various geometric shapes. Each shaft is rotatable relative to the tool frame about its longitudinal axis, thereby positioning the selected air handler to engage with the component by the rotation of each shaft. The system according to claim 6.

8. The system according to claim 7, further comprising on the tool frame a locking assembly capable of locking the rotation of the shaft relative to the tool frame.

9. The system further comprises at least one path passing through the shaft and configured to selectively provide communication between a vacuum pressure source and at least one air handler, thereby supplying vacuum pressure to the air handler when the air handler is in a position to engage with the component. The system according to claim 7.

10. The aforementioned manipulator, At least three links connected between the manipulator base and the tool mounting plate, Each link has a first end pivotably connected to the tool mounting plate, Each link has a second end connected to the manipulator base, which is located opposite the first end and moves in a controllable manner along at least one translation axis in a plane parallel to the manipulator base. The system according to claim 1, comprising:

11. The system according to claim 10, wherein at least three links have a fixed length in the longitudinal direction.

12. The system according to claim 10, further comprising at least one actuator disposed between the second end of each link and the manipulator base.

13. The system according to claim 12, wherein the at least one actuator comprises a first actuator and a second actuator disposed between the second end of each link and the manipulator base.

14. The system according to claim 13, wherein the first actuator associated with each link is a linear actuator positioned to control the movement of each of the second ends in a first direction, and the second actuator is a linear actuator positioned to control the movement of each of the second ends in a second direction perpendicular to the first direction.

15. A method for handling components that are assembled into a product on an assembly line, A step of providing a frame that can be positioned adjacent to the assembly line, A step of providing a carriage supported on the frame, for moving between a first retraction position spaced apart from the assembly line and a second working position shifted toward the assembly line from the first retraction position, A step of receiving the component onto a component mounting tool in the first retracted position, wherein in the first retracted position, the component mounting tool is in a first orientation adapted to facilitate receiving or processing the component; A step of moving the component to the second working position on the component mounting tool connected to the carriage, wherein at the second working position, the component mounting tool is in a second orientation adapted to facilitate the assembly of the component into the product. A method that includes this.

16. The component mounting tool is supported by a multi-axis manipulator having a manipulator base. The step of moving the component to the second working position on the component mounting tool includes the step of moving the manipulator base from a first orientation in the first retracted position to a second orientation having a different orientation in the second working position. The method according to claim 15.

17. The component mounting tool comprises at least one air handler configured to hermetically engage the component using vacuum pressure, The method further includes the step of selectively supplying vacuum pressure to the at least one air handler. The method according to claim 15.

18. The system comprises multiple air handlers, each configured to hermetically engage with components having various geometric shapes, The method according to claim 17, further comprising the step of selectively indexing at least one of the plurality of air handlers for position and orientation for hermetically secure engagement with the component.

19. The method according to claim 18, further comprising the step of selectively supplying vacuum pressure to the at least one air handler in conjunction with the indexing.

20. A method for handling components that are assembled into a product on an assembly line, A step of receiving the component onto a component mounting tool at a first retraction position spaced apart from the assembly line, wherein at the first retraction position, the component mounting tool is in a first position adapted to facilitate receiving or processing the component; A step of moving the component on the component mounting tool to a second working position in the direction toward the assembly line, wherein at the second working position, the component mounting tool is in a second orientation adapted to facilitate the assembly of the component into the product. The steps include adding a subcomponent to the component or performing a manufacturing process on the component while the component is supported by the component mounting tool in the first retracted position, A method that includes this.

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