System and method for assembling a vehicle body structure

• US 8,046,895 B2
• Filed: 01/21/2008
• Issued: 11/01/2011
• Est. Priority Date: 01/21/2008
• Status: Expired due to Fees

• Current Assignee: Ford Motor Company
• Original Assignee: Ford Motor Company
• Inventors: Pastrick, Richard D., Heerema, Douglas P., Sherrill, Cary R.
• Primary Examiner(s): Banks; Derris
• Assistant Examiner(s): Kue; Kaying
• Application Number:
  US12/017,088
• Publication Number:
  US 20090183355A1
• Time in Patent Office: 1,380 Days
• Field of Search: 292311-283, 29428-52515, 29700-824, 298/972
• US Class Current: 29/468
• CPC Class Codes: B25J 15/0061 mounted on a modular gripping structure
• CPC Class Codes: B25J 9/009 being mechanically linked with one another at their distal ends
• CPC Class Codes: Y10T 29/49902 by manipulating aligning means
• CPC Class Codes: Y10T 29/49904 Assembling a subassembly, then assembling with a second subassembly
• CPC Class Codes: Y10T 29/53 Means to assemble or disassemble
• CPC Class Codes: Y10T 29/53961 with work-holder for assembly
• CPC Class Codes: Y10T 29/53974 having means to permit support movement while work is thereon
• CPC Class Codes: Y10T 29/53978 including means to relatively position plural work parts

Abstract

A system and method for assembling a vehicle body structure. The system includes first and second end effectors for positioning first and second body structure components. The second end effector engages the first end effector to position the second body structure component relative to the first body structure component.

Claims

1. A system for assembling a vehicle body structure, the system comprising:

a first manipulator having a first end effector for positioning a first body structure component; and

a second manipulator having a second end effector for positioning a second body structure component;

wherein the second end effector engages the first end effector to position the second body structure component relative to the first body structure component; and

wherein the first end effector is fixedly positioned on a member of a set of stationary base docking units, the second end effector does not engage any member of the set of stationary base docking units, and each member of the set of stationary base docking units has an arm that is rotated to secure the first end effector.

2. The system of claim 1 wherein the first and second end effectors each include a plurality of clamps for grasping the first and second body structure components, respectively.

3. The system of claim 1 wherein engagement of the second end effector to the first end effector locates the second body end effector and second body structure component in a stationary position along three perpendicular axes.

4. The system of claim 1 further comprising a base docking unit having a base docking feature that receives a docking feature disposed on the first end effector to position the first end effector.

5. The system of claim 1 wherein the first body structure component is a body side subassembly and the second body structure component is a rear side frame subassembly.

6. A system for assembling a vehicle body structure, the system comprising:

a set of stationary base docking units that include a rotatable arm; and

a set of end effectors, including;

a first subset of the set of end effectors, each member of the first subset being configured to grasp a different member of a set of body structure components and

a second subset of the set of end effectors, each member of the second subset being configured to grasp a different member of the set of body structure components;

wherein each member of the second subset engages more than one member of the first subset to position the members of the set of body structure components in an assembly position;

wherein each member of the first subset is fixedly positioned with respect to a member of the set of base docking units when each member of the first subset engages a member of the set of base docking units; and

wherein the rotatable arm on each member of the set of stationary base docking units is rotated to engage a member of the first subset of the set of end effectors.

7. The system of claim 6 further comprising a set of robotic manipulators, wherein each member of the set of robotic manipulators engages and is configured to position a different member of the set of end effectors.

8. The system of claim 6 wherein no member of the second subset engages another member of the second subset.

9. The system of claim 6 further comprising a set of base docking units positioned on a floor and spaced apart from each other, wherein each member of the first subset interlocks with a member of the set of base docking units before the members of the second subset engage a member of the first subset.

10. The system of claim 9 further comprising a first docking interface that engages members of the first subset to members of the set of base docking units and a second docking interface that differs from the first docking interface and engages members of the first and second subsets to each other.

11. A method for assembling a vehicle body structure, the method comprising:

providing a set of end effectors;

providing a set of body structure components;

providing a set of base docking units that are stationary;

engaging each member of the set of end effectors with a different member of a set of body structure components;

positioning a first subset of the set of end effectors into engagement with a member of the set of base docking units;

rotating an arm on each member of the set of base docking units to engage a member of the first subset;

positioning a second subset of the set of end effectors after positioning the first subset;

engaging a member of the second subset to at least one member of the first subset; and

performing an assembly operation to join the body structure components.

12. The method of claim 11 wherein at least one member of the second subset engages more than one member of the first subset.

13. The method of claim 11 wherein each member of the first subset engages each member of the second subset in a different location.

14. The method of claim 11 wherein no member of the second subset engages another member of the second subset.

15. The method of claim 11 wherein the members of the first subset are positioned opposite each other.

16. The method of claim 11 wherein the first subset includes left and right side end effectors that receive left and right side vehicle body structures, respectively.

17. The method of claim 11 wherein the second subset includes top and rear side end effectors that receive top and rear side vehicle body structures, respectively.

18. The method of claim 11 wherein the arm includes a docking feature that is received in a corresponding docking feature disposed on a member of the first subset.

19. The method of claim 11 each member of the first subset of the set of end effectors include first and second types of docking interfaces that differ from each other for engaging members of the set of base docking units and the second subset of end effectors, respectively.

20. The method of claim 11 wherein each member of the set of end effectors is disposed on a different robotic manipulator.