公开(公告)号：US11613078B2

公开(公告)日：2023-03-28

申请号：US15959036

申请日：2018-04-20

Applicant: DIVERGENT TECHNOLOGIES, INC.

Inventor： Antonio Bernerd Martinez ,  Muhammad Faizan Zafar ,  Chukwubuikem Marcel Okoli ,  William David Kreig ,  Roy Smith ,  David Brian TenHouten

IPC: B29C64/209 ,  B29C64/379 ,  B29C64/106 ,  B33Y80/00 ,  B33Y10/00 ,  B33Y30/00

Abstract: Apparatus and methods for additively manufacturing adhesive inlet and outlet ports are presented herein. Adhesive inlet and outlet ports are additively manufactured to include additively manufactured (AM) valves for reducing and/or eliminating sealant leakage and backflow. Robot end effectors are tailored to interface with the AM inlet and outlet ports and to provide an adhesive source and/or a vacuum source. AM inlet and outlet ports enable robust, lightweight, multi-material AM parts connected via adhesive joining.

公开(公告)号：US11449021B2

公开(公告)日：2022-09-20

申请号：US16222926

申请日：2018-12-17

Applicant: DIVERGENT TECHNOLOGIES, INC.

Inventor： Lukas Philip Czinger ,  Oussama Rawas ,  Thomas Samuel Bowden, Jr. ,  Roy Smith

IPC: G05B19/042 ,  B25J9/16

Abstract: An approach to positioning one or more robotic arms in an assembly system may be described herein. For example, a system for robotic assembly may include a first robot, a second robot, and a control unit. The control unit may be configured to receive a first target location proximal to a second target location. The locations may indicate where the robots are to position the features. The control unit may be configured to calculate a first calculated location of the first feature of the first subcomponent, measure a first measured location of the first feature of the first subcomponent, determine a first transformation matrix between the first calculated location and the first measured location, reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.

公开(公告)号：US20190322040A1

公开(公告)日：2019-10-24

申请号：US15959036

申请日：2018-04-20

Applicant: Divergent Technologies, Inc.

Inventor： Antonio Bernerd Martinez, JR. ,  Muhammad Faizan Zafar ,  Chukwubuikem Marcel Okoli ,  William David Kreig ,  Roy Smith ,  David Brian TenHOUTEN

IPC: B29C64/209 ,  B29C64/379 ,  B29C64/106

Abstract: Apparatus and methods for additively manufacturing adhesive inlet and outlet ports are presented herein. Adhesive inlet and outlet ports are additively manufactured to include additively manufactured (AM) valves for reducing and/or eliminating sealant leakage and backflow. Robot end effectors are tailored to interface with the AM inlet and outlet ports and to provide an adhesive source and/or a vacuum source. AM inlet and outlet ports enable robust, lightweight, multi-material AM parts connected via adhesive joining.

公开(公告)号：US20190283260A1

公开(公告)日：2019-09-19

申请号：US15925640

申请日：2018-03-19

Applicant: DIVERGENT TECHNOLOGIES, INC.

Inventor： Oussama Rawas ,  Roy Smith ,  Alex James Hamade ,  Muhammad Faizan Zafar ,  Keith Allen Fleming ,  Eahab Nagi El Naga ,  Antonio Bernerd Martinez ,  Chukwubuikem Marcel Okoli

IPC: B25J15/00 ,  B29C64/153 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y80/00

Abstract: One aspect is an apparatus including an additively manufactured component including a surface with an end effector feature, the end effector feature co-additively manufactured with the additively manufactured component and configured to be gripped by a corresponding end effector on a robot. In an aspect, the end effector feature includes a recess in the surface. In another aspect, the recess includes an angled face. In an aspect, the recess has a teardrop shape. An aspect further includes an identification feature. In an aspect, the end effector feature includes a plurality of recesses in the surface. In another aspect, the end effector feature enables a 3-point kinematic self-aligning positive control lock.

公开(公告)号：US11872689B2

公开(公告)日：2024-01-16

申请号：US15925640

申请日：2018-03-19

Applicant: DIVERGENT TECHNOLOGIES, INC.

Inventor： Oussama Rawas ,  Roy Smith ,  Alex James Hamade ,  Muhammad Faizan Zafar ,  Keith Allen Fleming ,  Eahab Nagi El Naga ,  Antonio Bernerd Martinez ,  Chukwubuikem Marcel Okoli

IPC: B25J15/00 ,  B29C64/153 ,  B33Y30/00 ,  B33Y80/00 ,  B33Y10/00 ,  B22F10/28 ,  B22F12/44

CPC classification number: B25J15/0033 ,  B22F10/28 ,  B29C64/153 ,  B33Y10/00 ,  B33Y30/00 ,  B33Y80/00 ,  B22F12/44 ,  Y10S901/30

Abstract: One aspect is an apparatus including an additively manufactured component including a surface with an end effector feature, the end effector feature co-additively manufactured with the additively manufactured component and configured to be gripped by a corresponding end effector on a robot. In an aspect, the end effector feature includes a recess in the surface. In another aspect, the recess includes an angled face. In an aspect, the recess has a teardrop shape. An aspect further includes an identification feature. In an aspect, the end effector feature includes a plurality of recesses in the surface. In another aspect, the end effector feature enables a 3-point kinematic self-aligning positive control lock.

公开(公告)号：US20230158675A1

公开(公告)日：2023-05-25

申请号：US17814441

申请日：2022-07-22

Applicant: DIVERGENT TECHNOLOGIES, INC.

Inventor： Lukas Philip Czinger ,  Oussama Rawas ,  Thomas Samuel Bowden, JR. ,  Roy Smith

IPC: B25J9/16 ,  G05B19/042 ,  B22F12/90 ,  B22F10/31

CPC classification number: B25J9/1682 ,  G05B19/042 ,  B25J9/1628 ,  B22F12/90 ,  B22F10/31 ,  G05B2219/31305 ,  B22F10/25

Abstract: An approach to positioning one or more robotic arms in an assembly system may be described herein. For example, a system for robotic assembly may include a first robot, a second robot, and a control unit. The control unit may be configured to receive a first target location proximal to a second target location. The locations may indicate where the robots are to position the features. The control unit may be configured to calculate a first calculated location of the first feature of the first subcomponent, measure a first measured location of the first feature of the first subcomponent, determine a first transformation matrix between the first calculated location and the first measured location, reposition the first feature of the first subcomponent to the first target location using the first robot, the repositioning based on the first transformation matrix.