Serial multi-up effector and rotary table for use in an automated assembly line
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.
1 . 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.
2 . The multi-up effector of claim 1 , wherein the frame further comprises a connection for securing the frame to the end point of the moveable assembly.
3 . The multi-up effector of claim 2 , wherein the plurality of effectors are movable between the respective pick-up positions and holding positions by rotation of the frame about the connection.
4 . The multi-up effector of claim 2 , wherein the plurality of effectors are movable between the respective pick-up positions and holding positions by extending and retracting respective ones of the plurality effectors relative to the frame.
5 . The multi-up effector of claim 1 , wherein one or more of the plurality of effectors each comprise a vacuum based effector.
6 . The multi-up effector of claim 5 , wherein the vacuum tubes are slidable along a longitudinal axis of the vacuum tubes and biased towards a fully extended position by a spring element.
7 . The multi-up effector of claim 1 , wherein one or more of the plurality of effectors each comprise a mechanical effector movable to engage with a respective one of the plurality of parts.
8 . The multi-up effector of claim 7 , wherein the mechanical effector is slidable along the frame and biased towards a fully extended position by a spring element.
9 . 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.
10 . The assembly station of claim 9 , wherein the delivery assembly comprises a rotary table having at least two bin locations, where respective ones of the two bin locations are rotatable between being located in either the picking position or a filling position.
11 . The assembly station of claim 10 , wherein the rotary table comprises a safety partition between the two bin locations.
12 . The assembly station of claim 11 , wherein the assembly line robot continues to operate while an operator is providing a filled parts bin at the filling position.
13 . The assembly station of claim 12 , wherein the filling position is located within a safety enclosure with a door and the rotary table is prevented from rotating when the door is open or while the operator is within the enclosure.
14 . 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.
15 . The method of claim 14 , wherein identifying one or more possible parts within the image data comprises identifying a plurality of possible parts, including the first target part and the second target part from the image data.
16 . The method of claim 14 , further comprising capturing additional image data of the plurality of parts after moving the first effector to the holding position and determining the second target part from the additional image data.
17 . The method of claim 14 , wherein moving the first effector and the second effector of the multi-up effector comprises rotating the multi-up effector about a connection point connecting the multi-up effector to an automated assembly robot.
18 . The method of claim 14 , wherein moving the first effector of the multi-up effector comprises extending the first effector away from a connection point connecting the multi-up effector to an automated assembly robot and moving the second effector of the multi-up effector comprises extending the second effector away from the connection point.
19 . The method of claim 14 , further comprising determining if the attempt to pick-up the first target part is successful and if the attempt is not successful determining if a number of failed pick-up attempts is greater than a threshold value and when the number of failed pick-up attempts is greater than the threshold value, replacing the picking bin with a new picking bin filled with parts.
20 . The method of claim 19 , wherein replacing the picking bin with the new picking bin comprises:
determining that a working area is clear of individuals and a door securing the working area is closed; and
causing a rotary table to rotate in order to replace the picking bin with the new picking bin when the working area is clear and the door is closed.