A method of delivering a glutinous substance from a cartridge to an applicator is disclosed. The method comprises receiving the cartridge inside a sleeve through an inlet of the sleeve while a pressure cap is in an open position. The method also comprises moving the pressure cap into a closed position to sealingly couple the pressure cap with a trailing end of the cartridge and to sealingly couple the applicator with a leading end of the cartridge. The method further comprises applying pressure to the glutinous substance in the cartridge through the pressure input of the pressure cap to urge the glutinous substance from the cartridge into the applicator. Additionally, the method comprises moving the pressure cap into the open position to provide sufficient clearance sufficient for removal of the cartridge from the sleeve through the inlet of the sleeve.

A method and apparatus are disclosed for assembling an end effector for an automated modular tool. A processor is programmed with data corresponding to a portion of a part surface at a designated location. A setting fixture is driven with a plurality of linear motion actuators to a selected three-dimensional location relative to an adaptor bar of the modular tool that is attached to a frame. A tool setting head is rotated with a rotary drive. A platen is tilted with at least one platen tilting motor and gear set to angularly orient the platen to correspond to an angular orientation of the portion of the part surface at the designated location. An end effector is then placed on the platen and secured with a tooling arm to the adaptor bar.

A method of removing a tip from a body of an applicator, fixed to an end- effector, wherein the applicator comprises a coupler, releasably engageable with the tip to interlock the tip with the body of the applicator, is disclosed. The method comprises, with the coupler of the applicator releasably engaged with the tip, locating the end-effector so that a pawl is engaged with a third tooth on the tip to prevent movement of the tip in a fifth direction away from the pawl, and a wedge disengages the coupler of the applicator from the tip. The method also comprises, with the pawl engaged with the third tooth on the tip and the coupler of the applicator disengaged from the tip by the wedge, using the end-effector to move the body of the applicator in the fifth direction to disengage the tip from the body of the applicator.

A machine tool includes a lower tool post for holding a cutting tool, a tool main spindle for holding a cutting tool, a storage unit capable of storing the cutting tool, an exchange mechanism for exchanging the cutting tools between the tool main spindle and the storage unit, an inside robot for exchanging the cutting tools between the lower tool post and the tool main spindle, and a controller. The controller performs control such that the cutting tools are exchanged between the lower tool post and the storage unit via the inside robot, the tool main spindle, and the exchange mechanism.

Presently disclosed systems and methods provide for a quick-change clamp arm that may be coupled to and removed from a robot end effector via a quick-change feature coupled to the robot end effector. Systems may include a plurality of such quick-change clamp arms that each may be coupled to a given robot end effector such that when one is removed, a different respective quick-change clamp arm may be coupled to the robot end effector. The robot end effector may be configured to perform a task to one side of a workpiece, while the quick-change clamp arm applies a stabilizing normal force to the other side of the workpiece. Due to the interchangeable nature of presently disclosed quick-change clamp arms, systems may reduce the number of robot end effectors required for a given manufacturing process. Related methods of removing and coupling quick-change clamp arms to robot end effectors may be automated.

A method of delivering a glutinous substance from a cartridge to a brush comprises receiving the cartridge inside a sleeve through an inlet of the sleeve while a pressure cap, located proximate the inlet of the sleeve, is in an open position. The method also comprises moving the pressure cap, located proximate the inlet of the sleeve, into a closed position to sealingly couple the pressure cap with a trailing end of the cartridge and to sealingly couple a valve with a leading end of the cartridge. The method further comprises applying pressure to the glutinous substance in the cartridge through a pressure input of the pressure cap to urge the glutinous substance from the cartridge to the valve. The method additionally comprises rotating the brush and opening the valve to enable the glutinous substance to flow from the valve to the brush at least when the brush is rotating.

Systems and methods for changing end-of-arm tools and methods for manufacturing vehicles are provided. An exemplary end-of-arm tool changing system includes a rotatable tool rack configured to hold at least two end-of-arm tools and configured to move a selected end-of-arm tool from a far location to a near location. The exemplary end-of-arm tool changing system further includes a robot configured to reach the near location for attachment of the selected end-of-arm tool to the robot.

An apparatus (102) for delivering a glutinous substance (168) from a cartridge (166) to an applicator (254) comprises a sleeve (106) and a pressure-cap assembly (104). The pressure-cap assembly (104) comprises a pressure cap (110), proximate an inlet (124) of the sleeve (106). The pressure-cap assembly (104) also comprises an actuator (114), coupled to the pressure cap (110) and to the sleeve (106). The apparatus (102) further comprises an automated coupler (223), configured to automatically reversibly sealingly couple the applicator (254) with the leading end (167) of the cartridge (166).

An apparatus (812) for loading and unloading a brush (822) to and from a brush-arm assembly (802) of an end-effector (102) is disclosed. The apparatus (812) comprises a base (814) and a carriage (818), which is movable along an axis (A) at least to a first position, a second position, or a third position relative to the base (814). The carriage (818) comprises a brush receptacle (820), configured to prevent movement of the brush (822) in a first direction, but not in a second direction, opposite to the first direction, when the brush (822) is placed in the brush receptacle (820). The apparatus (812) also comprises a stationary component (832), fixed relative to the base (814) and configured to prevent movement of the brush-arm assembly (802) in the second direction. Additionally, the apparatus (812) comprises a linear actuator (816), configured to move the carriage (818).

A method and apparatus for attaching a nozzle to a fluid dispensing system and a tip to the nozzle. In one illustrative example, the fluid dispensing system may be moved by a robotic device towards a nozzle retaining structure having nozzle retaining areas holding nozzles. A nozzle may be selected for use based on a nozzle identifier element corresponding to each of the nozzles. The robotic device may move the fluid dispensing system to the nozzle selected to attach the fluid dispensing system to the nozzle selected. Further, the fluid dispensing system may be moved by a robotic device towards a tip retaining structure having tip retaining areas holding tips. A tip may be selected for use based on a tip identifier element corresponding to each of the tips. The robotic device may move the fluid dispensing system to the tip selected to attach the nozzle to the tip selected.