Low deflection tooling apparatus
In the present disclosure, systems and apparatuses of a low deflection end-of-arm tooling configured to interface with robots are described. In one aspect, an apparatus may include a shaft with dimensions that include a length greater than a width and having lengthwise distal and proximal ends, and the distal end may be configured to interface with a tool. The apparatus may further includes a flange connected to the proximal end of the shaft and configured to interface with a robotic arm. The apparatus may further include a tool located at the proximal end of the shaft and configured to interface with a plurality of parts associated with vehicular assembly. The shaft may be configured to resist deformation beyond a configured amount when a respective load is applied by each part of the plurality of parts retained by the tool.
1 . An apparatus comprising:
a shaft with dimensions that include a length greater than a width and having lengthwise distal and proximal ends;
a flange connected to the proximal end of the shaft, the flange being configured to interface with a robotic arm;
a tool directly connected to the distal end of the shaft, the tool including a fixtureless tooling interface configured to interface with a plurality of parts associated with vehicular assembly, and the shaft being configured to resist deformation beyond a configured amount when a respective load is applied by each part of the plurality of parts retained by the tool.
2 . The apparatus of claim 1 , wherein the shaft comprises a hollow structural section, a lattice structural section, or a stochastic structural section.
3 . The apparatus of claim 1 , wherein the length of the shaft is inclusively between 110 millimeters (mm) and 700 mm, and the width of the shaft is inclusively between 10 mm and 100 mm.
4 . The apparatus of claim 1 , wherein the configured amount comprises a deflection inclusively within a range of 0.025 millimeters (mm) to 0.12 mm for a load of forty (40) pounds (lbs).
5 . The apparatus of claim 1 , wherein the configured amount comprises an angular deflection from a neutral axis inclusively within a range of 0.2 degrees) (°) to 0.01° for a load of forty (40) pounds (lbs).
6 . The apparatus of claim 1 , wherein the shaft comprises a rectangular cross section.
7 . The apparatus of claim 1 , wherein the shaft tapers from the proximal end to the distal end.
8 . The apparatus of claim 1 , further comprising:
a measurement component connected with the shaft between the flange and the tool, and configured to obtain measurement data indicative of a spatial location of the tool.
9 . The apparatus of claim 8 , wherein the measurement component comprises at least a portion of a laser guidance system configured to position the tool.
10 . The apparatus of claim 8 , wherein the measurement component comprises an optical sensor angled inclusively between five (5) and thirty (30) degrees above a lengthwise neutral axis of the shaft.
11 . An apparatus comprising:
a substantially straight rigidity element;
a robotic arm interface extending radially outward from one side of the rigidity element; and
a common parts interface directly connected to another side of the rigidity element, the common parts interface being fixtureless and configured to secure each of a plurality of parts through an access area to a position associated with an assembly in a robotic cell, the rigidity element being configured to avoid angular deflection greater than a known degree in response to a force applied by any of the plurality of parts that is secured by the common parts interface.
12 . The apparatus of claim 11 , wherein a cross section of the rigidity element comprises a stochastic structure or another spatially dependent structure.
13 . The apparatus of claim 11 , wherein a cross section of the rigidity element comprises a hollow opening.
14 . The apparatus of claim 11 , wherein at the known degree, the deflection of the rigidity element does not exceed one of 0.025 millimeters (mm), 0.05 mm, 0.0631 mm, 0.075 mm, 0.1 mm, or 0.12 mm.
15 . The apparatus of claim 11 , wherein the known degree is one of 0.2 degrees) (°), 0.15°, 0.1°, 0.5°, 0.05°, or 0.01° from a neutral axis of the rigidity element.
16 . The apparatus of claim 11 , wherein the common parts interface is removably connected to the rigidity element, and the rigidity element is configured to be connected with a plurality of parts interfaces.
17 . The apparatus of claim 11 , further comprising:
a laser tracking system configured to obtain spatial location data upon which positioning of the rigidity element is based.
18 . An end effector comprising:
a substantially straight extension, greater in length relative to width, having a proximal end configured to be connected with an assembly robot in a robotic assembly cell, and having a stiffness coefficient sufficient to support each of a plurality of parts used for vehicular assembly in the robotic assembly cell with an angular deflection of inclusively within a range of 0.2 degrees) (°) to 0.01° from a neutral axis of the extension; and
a fixtureless vehicular part interface directly connected to a distal end of the substantially straight extension and configured for connection with each of the plurality of parts.
19 . The end effector of claim 18 , wherein the extension comprises a hollow structural section, a lattice structural section, or a stochastic structural section.
20 . The end effector of claim 18 , wherein a maximum deflection of the substantially straight extension is inclusively within a range of 0.025 millimeters (mm) to 0.12 mm.