Serial multi-up effector and rotary table for use in an automated assembly line
AssigneeATS Automation Tracking System Inc.
InventorsPaul Kosinski, Alexander Joseph Folz, Mateus de Camargo Jonas, Howard F. Speiden
Life of this patent
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Abstract
A serial multi-up effector can be used in an automated assembly line in order pick parts from a parts bin one after the other before placing them at a desired location. In an automated assembly line, a parts bin will be depleted of parts and need to be replaced with a full parts bin. The bin replacement may be replaced using a rotary table that allows an empty bin to be replaced with a full bin. Additionally, the rotary table allows for filling of the empty bins while the full bins are being used to pick parts from.
Claims20
A multi-up effector for an assembly line robot capable of moving an end point of a movable assembly along one or more axes, the multi-up effector comprising:
- a frame coupled to the end point of the moveable assembly providing a plurality mounting points;
- and
- a plurality of pick-up effectors, each of the individual effectors secured to a respective one of the plurality of mounting points of the frame and moveable between:
- a pick-up position in which the respective individual effector is capable of picking up a part from among a plurality parts;
- and
- a holding position in which the respective individual effector is capable of holding the part to the respective individual effector while the multi-up effector is moved to place a different individual effector in the pick-up position.
An assembly station for use in an assembly line comprising:
- an assembly line robot comprising:
- a moveable assembly comprising one or more actuators arranged to move an end point of the moveable assembly along one or more axes;
- and
- a multi-up effector coupled to the end point of the moveable assembly comprising a plurality of individual effectors, each of the individual effectors moveable between:
- a pick-up position in which the respective individual effector is capable of picking up a part from among a plurality parts;
- and
- a holding position in which the respective individual effector is capable of holding the part to the respective individual effector while the multi-up effector is moved to place a different individual effector in the pick-up position;
- a delivery assembly for positioning a bin filled with parts to a picking position to allow the multi-up effector to pick parts out from the bin and removing an at least partially empty bin from the picking position;
- a removal assembly for positioning an empty part holder to a placing positon position to allow the multi-up effector to deliver the picked parts to the part holder and remove an at least partially filled parts holder from the placing position.
A method of picking and placing parts in an assembly line, the method comprising:
- capturing image data of a plurality of parts arranged in a picking bin;
- identifying one or more possible parts within the image data suitable for picking out of the picking bin;
- moving a first effector of a multi-up effector arranged on an end point of an assembly line robot to a position to pick-up a first target part from the one or more possible parts and attempting to pick-up the first target part with the first effector;
- moving the first effector to a holding position;
- moving a second effector of the multi-up effector to a position to pick-up a second target part from among the plurality of parts and attempting to pick-up the second target part with the second effector;
- and
- moving the first and second effectors to deliver the respect target part to a first delivery target and second delivery target respectively.
Dependencies are inferred from the claim text.