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DE-102024139722-A1 - Integrated robot dispensing system and process

DE102024139722A1DE 102024139722 A1DE102024139722 A1DE 102024139722A1DE-102024139722-A1

Abstract

An integrated robotic dispensing system for dispensing a strand of viscous material onto a workpiece according to a strand layout pattern, comprising a robot subsystem containing a robot, a dispensing subsystem containing a dispensing device attached to a working end of the robot to dispense the viscous material, and a control subsystem comprising a robot subsystem control module for moving the working end according to a motion profile, a dispensing subsystem control module for controlling the dispensing according to an output profile, and a central control module connected to the subsystem control modules. The central control module is configured to determine the motion and output profiles and to cause the robot subsystem to move according to the motion profile and the output subsystem to dispense according to the output profile to form a dispensed strand, thus minimizing any deviation between the dispensed strand and the strand layout pattern.

Inventors

  • DALONG GAO
  • Albert Chen
  • Prateek Mishra
  • Ryan C.R. Gergely
  • John P. Spicer
  • Joseph K. Williams

Assignees

  • GM Global Technology Operations LLC

Dates

Publication Date
20260513
Application Date
20241223
Priority Date
20241113

Claims (10)

  1. An integrated robotic dispensing system for dispensing a strand of viscous material onto a workpiece according to a strand layout pattern, comprising: a robot subsystem including a robot, the robot having a base and a set of one or more articulated arms with a base end attached to the base and a working end opposite the base end; a dispensing subsystem including a dispensing device operationally attached to the working end and configured to selectively dispense the viscous material from a dispensing device tip; and a control subsystem including a robot subsystem control module operationally connected to the robot subsystem to move and position the one or more arms and the working end according to a motion profile, a dispensing subsystem control module operationally connected to the dispensing subsystem to control the dispensing of the viscous material through the dispensing device according to a dispensing profile, and a central control module operationally connected to the robot subsystem control module and the dispensing subsystem control module; where the central control module is configured to determine the motion profile and the output profile and to cause the robot subsystem to move and position itself according to the motion profile and the output subsystem to output the viscous material according to the output profile to form an output strand, minimizing any deviation between the output strand and the strand layout pattern.
  2. Integrated robot dispensing system according to Claim 1 , wherein the central control module determines the motion profile and the output profile based on the strand layout pattern and one or more of the following: one or more material properties of the viscous material; one or more material properties of the workpiece; one or more geometric features or surface features of the workpiece; one or more constraints of the robot subsystem; one or more constraints of the output subsystem; one or more environmental factors; and machine learning based on data relating to previous instances of dispensing the viscous material.
  3. Integrated robot dispensing system according to Claim 2 , wherein the central control module is further configured to modify one or both of the motion profile and the output profile to cause the strand to conform to the strand layout pattern.
  4. Integrated robot dispensing system according to Claim 3 , wherein at least one of the motion profile and the output profile is modified due to a change in direction in the strand layout pattern.
  5. Integrated robot dispensing system according to Claim 1 , further comprising one or more sensors for monitoring the deviation between the strand layout pattern and the output strand, wherein the central control module is further configured to modify one or both of the motion profile and the output profile if the deviation is greater than a maximum permissible deviation.
  6. Integrated robot dispensing system according to Claim 1 , wherein the viscous material is a mixture of an adhesive, a sealant, a putty and a molten metal.
  7. Integrated robot dispensing system according to Claim 1 , wherein the motion profile defines one or more movements for one or more of the working end and the one or more arms to achieve a respective position and orientation for the one or more of the working end and the one or more arms; and wherein the output profile defines one or more output starts, one or more output stops and one or more output flow rates for dispensing the viscous material through the output device.
  8. Integrated robot dispensing system according to Claim 1 , where the strand layout pattern is defined in terms of a spatial position and a spatial orientation of the workpiece.
  9. Integrated robot dispensing system according to Claim 1 , where the strand layout pattern is defined in relation to one or more surface features of the workpiece.
  10. Integrated robot dispensing system according to Claim 1 , wherein the strand layout pattern includes one or more of the following: a respective start point, stop point and straight path for each of one or more straight strand segments; a respective start point, end point and curved path for each of one or more curved strand segments; and a respective strand width for each point along each of the one or more straight strand segments and each of the one or more curved strand segments.

Description

Introduction This description generally refers to integrated robot dispensing systems and methods for dispensing a strand of viscous material onto a workpiece according to a strand layout pattern. In many manufacturing applications, a viscous material, such as an adhesive or sealant, is dispensed onto a workpiece (or between two adjacent or abutting workpieces) to bond or seal them. In cases where this dispensing is automated, and even in cases where it is done manually by human operators, a dispensing pattern is often defined along which the viscous material is to be applied. However, the actual dispensed strand of viscous material often does not quite match the intended strand layout pattern. For example, the strand size or width may unintentionally vary along the strand length, resulting in some areas where the strand width is too wide (wasting the viscous material) and other areas where the strand width is too narrow (potentially impairing the intended bonding or sealing of the workpieces). Description According to one embodiment, an integrated robot dispensing system for dispensing a strand of viscous material onto a workpiece according to a strand layout pattern comprises: (i) a robot subsystem comprising a robot, wherein the robot has a base and a set of one or more articulated arms with a base end attached to the base and a working end opposite the base end; (ii) a dispensing subsystem comprising a dispensing device that is operationally attached to the working end and configured to selectively dispense the viscous material from a dispensing device tip; and (iii) a control subsystem comprising a robot subsystem control module operationally connected to the robot subsystem to move and position the one or more arms and the working end according to a motion profile, an output subsystem control module operationally connected to the output subsystem to control the output of the viscous material through the output device according to an output profile, and a central control module operationally connected to the robot subsystem control module and the output subsystem control module. The central control module is configured to determine the motion profile and the output profile and to cause the robot subsystem to move and position itself according to the motion profile and the output subsystem to output the viscous material according to the output profile to form an output strand, thus minimizing any deviation between the output strand and the strand layout pattern. The central control module can determine the motion profile and the output profile based on the strand layout pattern and one or more of the following: one or more material properties of the viscous material; one or more material properties of the workpiece; one or more geometric or surface features of the workpiece; one or more constraints of the robot subsystem; one or more constraints of the output subsystem; one or more environmental factors; and machine learning based on data relating to previous instances of dispensing the viscous material. The central control module can further be configured to modify one or both of the motion profile and the output profile to make the strand conform to the strand layout pattern. Additionally, at least one of the motion profile and the output profile can be modified due to a change in direction in the strand layout pattern. The integrated robot output system may also include one or more sensors to monitor the deviation between the strand layout pattern and the output strand, and the central control module may also be configured to modify one or both of the motion profile and the output profile if the deviation is greater than a maximum permissible deviation. The dispensing subsystem may further include a chamber for receiving the viscous material, and the dispensing device tip may be in fluid communication with the chamber. The output subsystem may further include a material reconditioner configured to modify a material property of the viscous material. This material property may be viscosity, and the material reconditioner may be configured to apply shear to the viscous material to reduce its viscosity. The viscous material can be an adhesive, a sealant, a putty, or molten metal. The motion profile can define one or more movements for one or more of the work end and the one or more arms to reach a respective position and orientation for the one or more of the work end and the one or more arms, and the output profile can define one or more output starts, one or more output stops, and one or more output flow rates for dispensing the viscous material through the output device. The strand layout pattern can be defined in terms of the workpiece's spatial position and orientation. Additionally or alternatively, the strand layout pattern can be defined in terms of one or more surface features of the workpiece. The strand layout pattern may include one or more of the following: a respective start point, stop poi