Fixtureless robotic assembly
AssigneeDivergent Technologies, Inc.
InventorLukas Philip Czinger
Life of this patent
Estimating the term…
Abstract
A computing system may direct a first robotic arm to a first position based on a first set of coordinates. The computing system may cause the first robotic arm to engage with a first structure based on the first position of the first robotic arm. Further, the computing system may direct the first robotic arm to a second position based on a second set of coordinates such that the first structure is brought within a joining proximity of a second structure without a fixture retaining the first structure and without a fixture retaining the second structure, wherein the first structure is configured to be joined with the second structure when the first and second structures are within the joining proximity, the joining proximity being a proximity at which the first and second structures can be joined together.
Claims97
An apparatus comprising:
- a first robotic arm;
- a second robotic arm;
- a first structure;
- a second structure;
- and
- a processor communicatively connected with a memory and configured to:
- cause the first robotic arm to engage with the first structure,
- cause the second robotic arm to engage with the second structure,
- direct the first robotic arm and the second robotic arm to move the first structure, without a fixture retaining the first structure, and the second structure, without a fixture retaining the second structure, such that a protrusion of the first structure or an opening of the second structure is brought within a joining proximity wherein the first structure and the second structure do not contact, and
- cause a first adhesive to join the first structure and the second structure at the protrusion or the opening, wherein the first structure is joined to the second structure with the first adhesive.
A computer-readable medium storing computer-executable code for controlling one or more robotic arms in a fixtureless assembly system, the code when executed by at least one processor causes the at least one processor to:
- cause a first robotic arm to engage with a first structure,
- cause a second robotic arm to engage with a second structure,
- direct the first robotic arm and the second robotic arm to move the first structure, without a fixture retaining the first structure, and the second structure, without a fixture retaining the second structure, such that a protrusion of the first structure or an opening of the second structure is brought within a joining proximity wherein the first structure and the second structure do not contact, and
- cause a first adhesive to join the first structure and the second structure at the protrusion or the opening, wherein the first structure is joined to the second structure with the first adhesive.
A method comprising:
- causing a first robotic arm to engage a first structure;
- causing a second robotic arm to engage a second structure;
- directing the first robotic arm and the second robotic arm to move the first structure, without a fixture retaining the first structure, and the second structure, without a fixture retaining the second structure, such that a protrusion of the first structure or an opening of the second structure is brought within a joining proximity wherein the first structure and the second structure do not contact;
- and
- causing a first adhesive to join the first structure and the second structure at the protrusion or the opening, wherein the first structure is joined to the second structure with the first adhesive.
Dependencies are inferred from the claim text.