Multifunction end effector apparatus and methods for assembling thermoplastic composite articles are disclosed. An example apparatus for assembling a thermoplastic composite article includes a robot and an end effector coupled to the robot. The end effector includes a cutting head, a vacuum head, and a welding head.

An end effector is disclosed for an articulated arm. The end effector includes a valve assembly including a plurality of supply channels, each supply channel including a supply conduit, a pressure sensor in fluid communication with the supply conduit, and a supply conduit plug. The supply conduit is in fluid communication with a vacuum source. During use, each supply conduit is either at vacuum such that the pressure within the supply conduit is substantially at a vacuum pressure, or is at a pressure that is substantially higher than vacuum pressure because the supply conduit plug has moved to block a portion of the supply conduit. The pressure sensor of each supply conduit provides a pressure sensor signal responsive to whether the pressure in the conduit is either substantially at vacuum or is at a pressure that is substantially higher than vacuum.

In a suction nozzle which sucks and holds a component on a suction surface by using negative pressure air and detaches the sucked and held component from the suction surface by using positive pressure air, the positive pressure air and the negative pressure air used when the component is held and detached selectively flow through an air flow path. In addition, a rod is advanced and retracted toward the suction surface in an inside section of the suction nozzle. The rod protrudes from the suction surface by the positive pressure air flowing through the air flow path and is retracted to the inside section of the suction nozzle when the negative pressure flows through the air flow path.

In a soft grip unit, a grip device having the soft grip unit, and a driving method of the grip device, the soft grip unit includes a flexible cover, a particle, a negative pressure generator and a flexible supporting part. The flexible cover has a gripping surface on which a target object is attached and a reference surface coupled with the gripping surface. The particle is received by the receiving space, and transformed corresponding to a shape of the target object. The negative pressure generator is connected to the flexible cover. The negative pressure generator absorbs an air of the receiving space to contract the flexible cover. The flexible supporting part is tightly attached to the reference surface, and transformed at the same time when the flexible cover is pressurized and transformed by the target object.

The present invention provides systems, methods, and apparatus for a vacuum tool having a switchable plate, such that a common vacuum tool may be adapted with different plates. A switchable plate may form the entirety of the vacuum tool's material contacting surface or a switchable plate may form a portion of the material contacting surface. The vacuum tool is effective for picking and placing one or more manufacturing parts utilizing a vacuum force.

An end effector is disclosed for an articulated arm. The end effector includes a valve assembly including a plurality of supply channels, each supply channel including a supply conduit, a pressure sensor in fluid communication with the supply conduit, and a supply conduit plug. The supply conduit is in fluid communication with a vacuum source. During use, each supply conduit is either at vacuum such that the pressure within the supply conduit is substantially at a vacuum pressure, or is at a pressure that is substantially higher than vacuum pressure because the supply conduit plug has moved to block a portion of the supply conduit. The pressure sensor of each supply conduit provides a pressure sensor signal responsive to whether the pressure in the conduit is either substantially at vacuum or is at a pressure that is substantially higher than vacuum.

An end effector assembly includes a housing and a permeable component. The housing includes a first component having a first edge and a second edge spaced from each other relative to a central axis to define a pocket therebetween. The housing also includes a second component attached to the first edge of the first component. The housing further includes a third component attached to the second edge of the first component. The first component, the second component, and the third component cooperate with each other to close the pocket. The permeable component is contained inside of the pocket. The third component defines a plurality of perforations to allow fluid communication through the third component.

The disclosed embodiments are and include at least an apparatus, system and method for providing a vacuum grip for an end effector. The apparatus, system and method may include at least a vacuum draw eyelet connectively associated with a vacuum at a base portion thereof, and having a larger cross-sectional circumference at a topmost portion thereof than at the base portion; an extending cup foam portion including a receiving portion suitable for receiving therewithin the larger cross-sectional circumference of the topmost portion; and a wire clip having two legs inserted along a cross-sectional plane of the extending cup foam portion, the two legs being suitable to compress the receiving portion into frictional contact at two tangent points on a second cross-sectional circumference of the vacuum draw eyelet below the larger cross-sectional circumference.

The present invention provides systems, methods, and apparatus for a vacuum tool having a switchable plate, such that a common vacuum tool may be adapted with different plates. A switchable plate may form the entirety of the vacuum tool's material contacting surface or a switchable plate may form a portion of the material contacting surface. The vacuum tool is effective for picking and placing one or more manufacturing parts utilizing a vacuum force.

A gripping head can be used for applying a patch to a surface to be draped. The gripping head for gripping a patch and applying the patch to a surface to be draped includes a suction chamber delimiting a suction sector and connected to a suction intake and a gripper connected to said suction chamber and comprising a piece of elastically deformable material configured to grip a patch under a gripping effect created in said suction chamber. The gripper includes selectively activatable gripping zones and the gripping head includes means for selectively activating the gripping zones.