Dana Corporation

Re2, Inc.

Joseph J Vasalani, Iii

Richard A Marando

Eric M Schrack

Jeffrey P Dziki

Daniel E Hunter

Nabil Michael Rizk

Frank F Campagna

James C Larkin

Aaron P Nicely

Edward Drost

A compliant tool holder is provided for use with robots, unmanned ground vehicles, and the like. The compliant tool holder is characterized in that it involves the use of means for compliance, such as springs, rubber, plastics, metals, composites, shock mounts, vibration mounts, or similar means for permitting compliant movement in three rotational and three translational degrees of freedom during end effector changes. The compliant tool holder reduces costs associated with automated tool change in the field, and allows for more rapid switching of end effectors, enabling a greater range of uses for robots and unmanned ground vehicles.

Compliant tool holder

A hydroforming apparatus includes upper and lower platens that are connected together by tie rods extending through respective compression tubes. An upper die section is carried on the upper platen by a generally C-shaped suspension arm, while a lower die section is carried on the lower platen. The upper and lower die sections have recessed areas formed therein that define a die cavity. Lift assemblies are provided on the lateral ends of the hydroforming apparatus for selectively elevating the lower die section upwardly into engagement with the upper die section. When the lower die section is elevated by the lift assemblies, a workpiece is enclosed within the die cavity. A bolster is then moved between the hydroforming die and the lower platen. A cylinder array containing a plurality of pistons is next hydraulically actuated so as to securely clamp the hydroforming die between the cylinder array and the lower platen. While the cylinder array is actuated, pressurized fluid is supplied within the workpiece, deforming it into conformance with the die cavity.

Apparatus for performing a hydroforming operation

A hydroforming apparatus includes an upper platen carrying an upper die section and a lower platen carrying a lower die section. The platens are connected together by tie rods extending through respective compression tubes. The upper and lower die sections have recessed areas formed therein that define a die cavity. When the lower die section is moved to a lowered position, a workpiece can be disposed in the recessed area formed therein. Then, the lower die section and the workpiece are elevated by cylinders such that the workpiece is enclosed within the die cavity and mechanically deformed by the cooperated upper and lower die sections. A support block is then moved between the hydroforming die and the lower platen. A cylinder array containing a plurality of pistons is next hydraulically actuated so as to securely clamp the hydroforming die between the cylinder array and the lower platen. While the cylinder array is actuated, pressurized fluid is supplied within the workpiece, deforming it into conformance with the die cavity.

Apparatus for performing hydroforming operation

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McKees Rocks, PA, United States of America

Joseph J Vasalani, Iii