Gm Global Technolgoy Operations, Inc.

Delaware Capital Formation, Inc.

Yhu-Tin Lin

Andrew Leslie Bartos

Gary Lee Jones

Roland J Menassa

James W Wells

Chi-Hung Shen

Erik B Golm

Phillip A Bojda

John Patrick Spicer

Jeffrey A Abell

Mark A Kramarczyk

Dooil Hwang

Lance T Ransom

John Stilianos Agapiou

Dalong Gao

Kevin B Rober

Maurice Perlman

Xiang Zhao

Raymond D Turner, Iii

Roberto Hirayama

Joerg Pohlers

Bradley J Walworth

Joseph J Ekl, Jr

Anil Kumar Sachdev

Andrew H Leutheuser

Ryan Curtis Sekol

Alexandru Rajala

Ningjian Huang

Antoni J Malarz

Alexander Millerman

Richard Clemence Janis

Brian Daniel Kaminski

Mark Allen Smith

Wuhua Yang

Raymond Guo

Jinglin Li

Eberhard E Wasserbaech

Rodney L Smith

Daniel J Casoli

Terebara A Hughes

Chin-Hsiu Li

Charles W McClure

Mark A Cline

Ki-Beom Kim

Sang-Yul Ju

Douglas R Black

Ken Dellach

Thomas J Klakulak

Timothy Daro

Barry G Lalone

Lutz Renger

Hyunshik Shin

Shinho Kang

Yong-Hyun Ju

Systems are provided for gripping one or more workpieces. A tooling system includes a plurality of grippers configured to engage and grip the workpieces. An arm is connected with each gripper. A lock releasably locks each arm in a number of positions, including a home position. A pneumatic circuit is coupled with the grippers. A valve is disposed in the pneumatic power supply circuit and is positionable in an open state and in a closed state. When the arm is moved to the home position, in response the valve is mechanically moved to the closed state, idling the gripper.

On-demand pneumatic system for reconfigurable end effector

Robotic systems are provided for flexibility in assembly operations. A robotic system includes a suction module having a front side with a face shaped to match a mating component and a rear side with a coupling for a suction line. Openings extend through the face. The suction module defines internal passages connecting the coupling with the at least one opening through the face. An end-effector has a base plate, a mounting plate selectively moveable relative to the base plate, and a clamp. The suction module is selectively mounted to the mounting plate and releasably secured by the clamp. An actuator is mounted to selectively move the mounting plate and the suction module relative to the base plate.

Flexible robotic system using end-effector with pass-through suction modules

An end-effector for installation of an emblem assembly is provided. The end-effector includes a support frame, a first splitter, and a second splitter. The first splitter and the second splitter are connected to the support frame. The pneumatically actuated grippers include: a first gripper connected to the first splitter and configured to grab at least a portion of the emblem assembly; and a second gripper connected to the second splitter and configured to peel off one or more layers of the emblem assembly. The roller is connected to the support frame and configured to wet out an adhesive layer of the emblem assembly.

Multi-purpose end-effectors with rollers and pneumatically controlled grippers for robotic emblem installation

A roll-and-peel tool includes a frame, a roller, two traction rims, a peeling wheel, and a trailer arm. A roller shaft is supported by the frame, and the roller is rotatable relative to the frame on the shaft. The traction rims are axially-spaced from one another with a roller midportion between the traction rims and the traction rims extending outward of the roller midportion. The peeling wheel is rotatable about a wheel shaft and has two traction hubs axially-spaced from one another and protrusions extending proud at an exterior surface of the peeling wheel between the traction hubs. The trailer arm connects the wheel and roller shafts so that the traction hubs interface with the traction rims and a gap is defined between the roller and the peeling wheel with the protrusions extending into the gap. A method of installing a trim component may be carried out with the tool.

Roll-and-peel tool and method of installing a trim component using the roll-and-peel tool

An end-effector assembly comprising a master boom, a crossbar coupled to the master boom, at least one branch rail, and a swing arm is provided. The at least one branch rail is movably coupled to the crossbar by a branch lock. The at least one branch rail has a driving groove formed longitudinally therealong for telescopic movement relative to the crossbar. The branch lock comprises a crossbar clamp and a branch rail clamp. The crossbar clamp is slidably and pivotally disposed about the crossbar for slidable and pivotal movement therealong. The branch rail clamp comprises a body having a primary telescoping lock including a receiving bore formed therethrough and a wedging collet disposed in the receiving bore. The body further comprises a secondary telescoping lock having a ball and a plunger disposed in a ball-plunger cavity of the body.

Robotic system with reconfigurable end-effector assembly

A multi-tasking end effector system includes a base frame connected to a robot arm of a robot. A first shaft is rotatably supported on the base frame. A first pin-wheel assembly is rotatably mounted to the shaft at a first end of the base frame. Multiple first die assemblies are mounted to the first pin-wheel assembly. A second pin-wheel assembly is rotatably mounted to the shaft at a second end of the base frame. Multiple second die assemblies are mounted to the second pin-wheel assembly and individually oriented in mirror image configuration to one of the multiple first die assemblies. An index motor rotates the first shaft and co-rotates paired and mirror image die assemblies. First and second tab-bending actuators mounted to the base frame are operated to bend opposed cell tabs of a battery cell positioned between the first and second pin-wheel assemblies.

Multi-tasking end effector

An end-effector assembly includes a master boom, a frame rail coupled thereto, and at least one branch rail movably coupled to the frame rail by a swing branch lock. The swing arm is movably coupled to the at least one branch rail by a swing arm lock. Each of the swing branch lock and the swing arm lock further includes a clamp configured to movably secure the branch rail to the frame rail or the swing arm to the branch rail. A pivot shaft extends through the clamp and is configured to rotationally secure the clamp in place. A swing plate is secured to the pivot shaft and is configured for engagement with a configuration tool. A locking fastener extends through the swing plate and into the pivot shaft and is configured to lock and unlock the clamp in position.

A releasable adhesive system for joining a first surface to a second surface. The system includes a primary material having a first portion including at least one first-portion molecule configured to be positioned parallel with at least one first-surface molecule of the first surface, and a second portion, opposite the first portion, including at least one second-portion molecule configured to be positioned parallel with at least second surfaced one molecule of the second surface. The first surface molecule, positioned parallel with the first-surface molecule, is configured to maintain bonds between the first portion and the first surface up to one or more pre-determined three scenarios, such as pre-determined shear, pull, and peel forces being exerted on the first surface. The second portion can function similarly with respect to the second surface.

Systems for bonding surfaces using a releasable adhesive

A reconfigurable interface assembly includes, but is not limited to, a first sub-assembly that is adapted for attachment to a work-piece supporter. The first sub-assembly includes a first brake. The reconfigurable interface assembly further includes a second sub-assembly attached to the first sub-assembly. The second sub-assembly is adapted for attachment to a work-piece manipulator. The second sub-assembly includes a second brake. The first sub-assembly is configured to move the second sub-assembly in a first direction with respect to the first sub-assembly and the first brake is configured to inhibit movement of the second sub-assembly in the first direction with respect to the first sub-assembly. The second sub-assembly is configured to move the first sub-assembly in a second direction with respect to the second sub-assembly and the second brake is configured to inhibit movement of the first sub-assembly in the second direction with respect to the first sub-assembly.

Reconfigurable interface assembly, adaptable assembly line work-piece processor, and method

A releasable adhesive system, for securing a suction device to an attaching surface. The releasable adhesive comprises a primary material having a first portion including at least one first-portion molecule that is configured to be positioned parallel with at least one molecule of the attaching surface, and a second portion, opposite the first portion, that is configured to permanently attach to an interior surface of the suction device. The first-portion molecule positioned parallel with the molecule of the attaching surface is configured to maintain a bond between the first portion and the attaching surface up to one or more pre-determined forces on the attaching surface, such as a pre-determined shear force, pull force, and peel force.

Systems for using a releasable adhesive in suction

An end-effector assembly includes a master boom, a frame rail coupled to the master boom, at least one branch rail movably coupled to the frame rail by a branch lock, and a swing arm movably coupled to the at least one branch rail by a swing lock. The swing lock includes a clamp configured to movably secure the swing arm to the branch rail. A pivot shaft extends through the clamp and the swing arm and is configured to rotationally secure the swing arm to the clamp. A swing plate is secured to the pivot shaft and is configured for engagement with a configuration tool. Further, a locking fastener extends through the swing plate and into the pivot shaft. The locking fastener is configured to lock and unlock the swing lock in position along the branch rail.

A reconfigurable autonomous workstation includes a multi-faced superstructure including a horizontally-arranged frame section supported on a plurality of posts. The posts form a plurality of vertical faces arranged between adjacent pairs of the posts, the faces including first and second faces and a power distribution and position reference face. A controllable robotic arm suspends from the rectangular frame section, and a work table fixedly couples to the power distribution and position reference face. A plurality of conveyor tables are fixedly coupled to the work table including a first conveyor table through the first face and a second conveyor table through the second face. A vision system monitors the work table and each of the conveyor tables. A programmable controller monitors signal inputs from the vision system to identify and determine orientation of the component on the first conveyor table and control the robotic arm to execute an assembly task.

Reconfigurable assembly work station

A robotic system includes a robot, an end-effector assembly disposed at a distal end of a main boom, rotatable parallel frame rails, and tool support branches. Tool modules are connected to a tool support branch and rotatable/translatable with respect to a respective branch axis. A configuration tool has a control block engaged by a wrist of the robot and a work tool. A controller commands the robot to automatically configure the end-effector assembly by adjusting the frame rails and/or tool support branches or tool modules using the work tool, doing so in response to an identified work task. Engagement of the wrist with the tool changer is commanded and the identified work task is executed using the end-effector assembly. A configuration stand may automatically flip the end-effector assembly to a configuration location, command engagement of the wrist with the tool changer, and configure the end-effector assembly.

A set-up stand is provided including a counterbalance mechanism for use in reconfiguring an end-effector with an articulating portion rotated by a bi-directional rotary locking device, for example, a clutch. A counterbalance mechanism is provided including a holding member which is attached to a preloaded member and connected to an articulating portion of the end-effector during reconfiguration of the end-effector. The preloaded member provides a tension load to counterbalance the gravity moment load of the articulating portion when the articulated portion is rotated in the same direction as the output shaft of the bi-direction rotary locking device, to prevent overhauling, chattering or binding stops during rotation and reconfiguration. A method is provided to utilize the counterbalance mechanism as described.

Counterbalance mechanism for end-effector configuration and method of use

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Rochester Hills, MI, United States of America

Yhu-Tin Lin