ROBOTIC GROMMET INSTALLERS AND METHODS OF INSTALLING GROMMETS

• US 20190321982A1
• Filed: 10/11/2018
• Published: 10/24/2019
• Est. Priority Date: 04/18/2018
• Status: Active Grant

• Current Assignee: Toyota Research Institute, Inc. (Toyota Motor Corporation)
• Original Assignee: Toyota Research Institute, Inc. (Toyota Motor Corporation)
• Inventors: Sobel, Erik C., Phillips-Grafflin, Calder, Goncalves, Aimee, Danner, Guy, Spool, Ira, Kalow, Jonathan, Brennan, Nicholas, Newburg, Seth, Fenton, Joseph
• Granted Patent: US 10,632,621 B2
• Time in Patent Office: Days
• CPC Class Codes: B23P 19/006 Holding or positioning the article in front of the applying tool
• CPC Class Codes: B23P 19/007 Picking-up and placing mechanisms
• CPC Class Codes: B23P 19/02 for connecting objects by press fit or for detaching same B23P19/10 takes precedence
• CPC Class Codes: B23P 19/084 for placing resilient or flexible rings, e.g. O-rings, circlips
• CPC Class Codes: B23Q 7/10 by means of magazines
• CPC Class Codes: B25B 27/28 positioning or withdrawing resilient bushings or the like
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: B25J 15/0408 Connections means
• CPC Class Codes: B25J 15/0441 having vacuum or magnetic means
• CPC Class Codes: B25J 15/0616 with vacuum
• CPC Class Codes: B25J 15/0683 Details of suction cup structure, e.g. grooves or ridges
• CPC Class Codes: B25J 18/04 rotatable
• CPC Class Codes: B25J 19/06 Safety devices
• CPC Class Codes: B25J 9/10 characterised by positioning means for manipulator elements
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: Y10T 29/53478 with magazine supply

Abstract

A robotic grommet installer includes a robotic arm and an installation unit. The installation unit includes a rotary grommet holder rotatively coupled to the robotic arm and an installer coupled to the robotic arm. The rotary grommet holder includes a plurality of grommet chambers spaced circumferentially about a rotational axis of the rotary grommet holder. Each grommet chamber of the plurality of grommet chambers is configured to hold a plurality of grommets. The installer is configured to retrieve a grommet from the rotary grommet holder, wherein the rotary grommet holder is configured to rotate to align the installer with an available grommet positioned within one of the plurality of grommet chambers.

Claims

1. A robotic grommet installer, comprising:

a robotic arm, and

an installation unit comprising;

a rotary grommet holder rotatively coupled to the robotic arm, the rotary grommet holder comprising a plurality of grommet chambers spaced circumferentially about a rotational axis of the rotary grommet holder, wherein each grommet chamber of the plurality of grommet chambers is configured to hold a plurality of grommets, and

an installer coupled to the robotic arm and configured to retrieve a grommet from the rotary grommet holder, wherein the rotary grommet holder is configured to rotate to align the installer with an available grommet positioned within one of the plurality of grommet chambers.

2. The robotic grommet installer of claim 1, wherein the rotary grommet holder further comprises an installation opening wherein the installer passes through the installation opening of the rotary grommet holder to install the grommet into a grommet aperture.

3. The robotic grommet installer of claim 1, wherein each of the grommet chambers of the plurality of grommet chambers comprise zones configured to prevent the plurality of grommets positioned within the grommet chamber from nesting within one another.

4. The robotic grommet installer of claim 1, wherein the rotary grommet holder is removably coupled to the robotic arm.

5. The robotic grommet installer of claim 1, wherein the installer comprises a tip assembly configured to supply vacuum pressure to attach to the grommet.

6. The robotic grommet installer of claim 5, wherein the tip assembly comprises a suction cup configured to provide a seal between the tip assembly and the grommet.

7. The robotic grommet installer of claim 1, wherein the installer comprises:

a tip assembly configured to pick up and release the grommet; and

an actuator coupled to the tip assembly configured to raise and lower the tip assembly relative to the rotary grommet holder.

8. A robotic grommet installer, comprising:

a control unit for controlling installation of a grommet using the robotic grommet installer;

a robotic arm communicatively coupled to the control unit, and

an installation unit comprising;

a rotary grommet holder communicatively coupled to the control unit and rotatively coupled to the robotic arm, the rotary grommet holder comprising a plurality of grommet chambers spaced circumferentially about a rotational axis of the rotary grommet holder, wherein each grommet chamber of the plurality of grommet chambers is configured to hold a plurality of grommets, and

an installer communicatively coupled to the control unit, coupled to the robotic arm, and configured to retrieve the grommet from the rotary grommet holder, wherein the rotary grommet holder is configured to rotate to align the installer with an available grommet positioned within one of the plurality of grommet chambers;

wherein the control unit executes logic to cause the robotic grommet installer to;

rotate the rotary grommet holder to an installer loading position;

attach the available grommet positioned within the grommet chamber to the installer;

rotate the rotary grommet holder to an installation position; and

install the grommet with the installer into a grommet aperture.

9. The robotic grommet installer of claim 8, wherein the rotary grommet holder further comprises an installation opening wherein the installer passes through the installation opening of the rotary grommet holder to install the grommet into the grommet aperture.

10. The robotic grommet installer of claim 8, wherein each of the grommet chambers of the plurality of grommet chambers comprises grooves configured to prevent the plurality of grommets positioned within the grommet chamber from nesting within one another.

11. The robotic grommet installer of claim 8, wherein the rotary grommet holder is removably coupled to the robotic arm.

12. The robotic grommet installer of claim 8, wherein the installer comprises a tip assembly configured to supply vacuum pressure to attach to the grommet and the control unit controls the vacuum pressure to attach to and release the grommet.

13. The robotic grommet installer of claim 12, wherein the tip assembly comprises a suction cup configured to provide a seal between the tip assembly and the grommet.

14. The robotic grommet installer of claim 12, further comprising a vacuum sensor configured to output a signal indicatively of the vacuum pressure being supplied by the tip assembly, wherein the control unit determines whether the grommet is attached to the tip assembly based on the signal of the vacuum sensor.

15. The robotic grommet installer of claim 8, wherein the installer comprises:

a tip assembly configured to pick up and release the grommet; and

an actuator coupled to the tip assembly, wherein the control unit causes the actuator to raise and lower the tip assembly relative to the rotary grommet holder.

16. A method of installing a grommet into a grommet aperture, comprising:

loading a rotary grommet holder with a plurality of grommets, wherein;

the rotary grommet holder is rotatively coupled to a robotic arm;

the rotary grommet holder comprises a plurality of grommet chambers spaced circumferentially about a rotational axis of the rotary grommet holder; and

the plurality of grommets are loaded into at least one of the plurality of grommet chambers;

rotating the rotary grommet holder to an installer loading position;

attaching the grommet positioned within a grommet chamber of the rotary grommet holder to an installer, wherein the installer is coupled to the robotic arm;

rotating the rotary grommet holder to an installation position; and

installing the grommet with the installer into the grommet aperture.

17. The method of claim 16, further comprising:

extending the installer to contact the grommet within the grommet chamber;

retracting the installer relative to the rotary grommet holder; and

extending the installer with the grommet attached thereto once the rotary grommet holder is positioned at the installation position through an installation opening of the rotary grommet holder.

18. The method of claim 16, wherein the installer is configured to load the rotary grommet holder with the plurality of grommets.

19. The method of claim 16, wherein the grommet is attached to the installer by a vacuum pressure.

20. The method of claim 16, wherein the rotary grommet holder is removably coupled to the robotic arm.