US 12,263,605 B2
Collaborative dual-robot hinge installation system including a single multi-purpose vision system
Dooil Hwang, Rochester Hills, MI (US); and Frederick G. Landry, Jr., Shelby Township, MI (US)
Assigned to GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed by GM GLOBAL TECHNOLOGY OPERATIONS LLC, Detroit, MI (US)
Filed on Sep. 21, 2022, as Appl. No. 17/949,657.
Prior Publication US 2024/0091947 A1, Mar. 21, 2024
Int. Cl. B25J 9/16 (2006.01); B62D 65/06 (2006.01)
CPC B25J 9/1697 (2013.01) [B25J 9/1664 (2013.01); B25J 9/1682 (2013.01); B62D 65/06 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A collaborative dual robot hinge mounting system comprising:
a first robot comprising a first end effector and configured to move a pair of bolts via the first end effector in position to be run through a pair of hinges and into a body-in-white (BIW), wherein the first end effector comprises a first bolt runner and a second bolt runner;
a first camera and a second camera configured to detect at least one of locations and orientations of hinge mounting holes on the BIW for the pair of hinges; and
a control module configured to i) send to a second robot the at least one of the locations and the orientations of the hinge mounting holes to signal the second robot to position the pair of hinges relative to the BIW, and ii) in response to detecting the pair of hinges being placed relative to the BIW, drive the pair of bolts via the first bolt runner and the second bolt runner through the pair of hinges and into the hinge mounting holes in the BIW,
wherein
the first camera and the second camera are mounted on the first end effector, and
the first end effector comprises a linear actuator configured to move the first camera relative to the second camera.