Component handling systems and methods
An end-of-arm tool and an associated fixture for clamping objects are disclosed. The end-of-arm tool and fixture may each have corresponding interfacing features, such that the end-of-arm tool may be located with respect to the feature. Such interfacing features may be used to clamp one or more objects between the tool and the fixture.
1 . A system for holding at least one assembly of parts, comprising:
a fixture including a frame and a first interfacing feature; and
an end-of-arm-tool (EOAT) including a frame and a second interfacing feature, the fixture and the EOAT cooperating to hold the at least one assembly of parts by coupling the EOAT to the fixture through a magnetic interaction between the first interfacing feature of the fixture and the second interfacing feature of the EOAT, and
wherein the EOAT includes a plurality of grippers coupled to the frame and positioned to hold at least a portion of the at least one assembly of parts to the EOAT when the EOAT is spaced apart from the fixture, a first gripper of the plurality of grippers is adapted to hold the portion of the at least one assembly of parts to the EOAT through a first interaction with the at least one assembly of parts.
2 . The system of claim 1 , wherein the first interfacing feature of the fixture and the second interfacing feature of the EOAT cooperate to both position and orient the EOAT relative to the fixture.
3 . The system of claim 1 , wherein the first interfacing feature is one of a first plurality of interfacing features of the fixture and the second interfacing feature is one of a second plurality of interfacing features of the EOAT and the first plurality of interfacing features of the fixture and the second plurality of interfacing features cooperate to both position and orient the EOAT relative to the fixture.
4 . The system of claim 1 , wherein the magnetic interaction between the first interfacing feature of the fixture and the first interfacing feature of the EOAT is established due to contact between the first interfacing feature of the fixture and the second interfacing feature of the EOAT independent of the at least one assembly of parts.
5 . The system of claim 4 , wherein the at least one assembly of parts defines an ultimate outer perimeter and the first interfacing feature of the fixture and the second interfacing feature of the EOAT are both positioned to be within the ultimate outer perimeter of the at least one assembly of parts.
6 . The system of claim 4 , wherein the at least one assembly of parts defines an ultimate outer perimeter and the first interfacing feature of the fixture and the second interfacing feature of the EOAT are both positioned to be outboard of the ultimate outer perimeter of the at least one assembly of parts.
7 . The system of claim 1 , wherein the first interfacing feature of the fixture and the second interfacing feature of the EOAT are spaced apart and the magnetic interaction between the first interfacing feature of the fixture and the second interfacing feature of the EOAT is established through the at least one assembly of parts.
8 . The system of claim 1 , wherein one of the first interfacing feature of the fixture and the second interfacing feature of the EOAT includes a locator pin and the other of the first interfacing feature of the fixture and the second interfacing feature of the EOAT includes a recess which receives the locator pin of the one of the first interfacing feature of the fixture and the second interfacing feature of the EOAT.
9 . The system of claim 1 , wherein the fixture includes a third interfacing feature and the end-of-arm-tool (EOAT) includes a fourth interfacing feature, the fixture and the EOAT cooperating to hold the at least one assembly of parts by a magnetic interaction between the third interfacing feature of the fixture and the fourth interfacing feature of the EOAT.
10 . The system of claim 9 , wherein the fixture includes a fifth interfacing feature and the end-of-arm-tool (EOAT) includes a sixth interfacing feature, the fixture and the EOAT cooperating to hold the at least one assembly of parts by a magnetic interaction between the fifth interfacing feature of the fixture and the sixth interfacing feature of the EOAT.
11 . The system of claim 1 , wherein when the EOAT is coupled to the fixture through the magnetic interaction between the first interfacing feature of the fixture and the second interfacing feature of the EOAT, the first gripper of the plurality of grippers is adapted to hold the portion of the at least one assembly of parts to the EOAT through a second interaction with the portion of the at least one assembly of parts.
12 . The system of claim 1 , wherein the first gripper is a magnetic gripper and the first interaction is a magnetic interaction between the first gripper and the portion of the at least one assembly of parts and the second interaction is a clamping of the portion of the at least one assembly of parts between the first gripper and the fixture.
13 . The system of claim 1 , wherein each of the plurality of grippers are single side grippers which are adapted to directly contact a single side of the portion of the at least one assembly of parts.
14 . The system of claim 1 , wherein at least one of the plurality of grippers is a double side gripper which is adapted to directly contact both sides the portion of the at one assembly of parts.
15 . The system of claim 1 , wherein each of the plurality of grippers are positioned to be within an ultimate outer envelope of the portion of the at one assembly of parts.
16 . The system of claim 1 , wherein the fixture is supported on a base.
17 . The system of claim 16 , wherein the fixture is stationary.
18 . The system of claim 1 , wherein the fixture is a second EOAT, the EOAT is adapted to be coupled to a first robot for movement by the first robot and the fixture is adapted to be coupled to a second robot for movement by the second robot.