公开(公告)号：US20240009864A1

公开(公告)日：2024-01-11

申请号：US17810723

申请日：2022-07-05

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC ,  Northwestern University

Inventor： Joshua Lee Solomon ,  Hui-ping Wang ,  Lu Huang ,  Dalong Gao ,  Dohyun Leem

IPC: B25J15/08 ,  B25J17/00 ,  B25J13/08 ,  B25J15/06 ,  B25J11/00

CPC classification number: B25J15/083 ,  B25J17/00 ,  B25J13/085 ,  B25J15/0616 ,  B25J11/005

Abstract: Robotic systems and methods are provided with an end effector having lockable compliance. A robotic system for manipulating a workpiece includes an arm having a pair of sections connected by a joint assembly, with a lock disposed in the joint assembly. A gripper is connected on the arm and is configured to alternately grip and release the workpiece. A controller operates the lock to alternately lock and unlock the joint assembly. The gripper holds the workpiece during a deformation of the workpiece, while the controller may unlock the lock to allow movement of the joint assembly to relieve forces on the arm arising during a deformation of the workpiece.

公开(公告)号：US20230025116A1

公开(公告)日：2023-01-26

申请号：US17384267

申请日：2021-07-23

Applicant: GM Global Technology Operations LLC

Inventor： Xiang Zhao ,  Dalong Gao ,  Jinglin Li

IPC: H01R13/66 ,  H01R13/717

Abstract: An electrical connector assembly includes a pair of electrical connectors for electrically connecting to one another to close an electric circuit. The assembly further includes a connection indicator attached to one or more of the electrical connectors. The connection indicator generates a feedback, in response to the electrical connectors being one of connected to one another and disconnected from one another. The connection indicator is separate from the electric circuit, and the feedback is at least one of a radio frequency signal (RF signal), an electronic signal, a visible light, and an acoustic signal.

公开(公告)号：US10688595B2

公开(公告)日：2020-06-23

申请号：US15575170

申请日：2015-06-02

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： David S. Yang ,  Justin Allen Wolsker ,  Jing Zhang ,  Wu Tao ,  Dalong Gao

IPC: B23K26/244 ,  B23K101/34 ,  B23K103/04 ,  B23K103/08

Abstract: A method of laser welding a workpiece stack-up (10) that includes at least two overlapping steel workpieces (12, 14) comprises directing a laser beam (40) at a top surface (26) of the workpiece stack-up to form a keyhole (56) surrounded by a molten steel weld pool (58). The laser beam is conveyed along a predefined weld pattern that includes one or more nonlinear inner weld paths (66) and an enclosed outer peripheral weld path (68) surrounding the one or more nonlinear inner weld paths. During conveyance of the laser beam along the one or more nonlinear inner weld paths, the keyhole fully penetrates through the workpiece stack-up from the top surface of the stack-up to the bottom surface (28) of the stack-up. The method produces weld joints between the steel workpieces that do not have an intentionally imposed gap formed between their faying surfaces.

公开(公告)号：US09770993B2

公开(公告)日：2017-09-26

申请号：US14275954

申请日：2014-05-13

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Xiang Zhao ,  Dalong Gao ,  Roland J. Menassa

IPC: H02J7/00 ,  H02J7/14 ,  B60L11/18

CPC classification number: B60L11/1846 ,  B60L11/1818 ,  B60L11/182 ,  B60L11/1824 ,  B60L11/1827 ,  B60L11/1835 ,  B60L2230/22 ,  Y02T10/7005 ,  Y02T10/7088 ,  Y02T90/121 ,  Y02T90/125 ,  Y02T90/128 ,  Y02T90/14 ,  Y02T90/16 ,  Y02T90/163 ,  Y02T90/169 ,  Y04S30/14

Abstract: A vehicle charging station includes a track configured to extend across a plurality of vehicle parking spaces and a movable charging apparatus supported by the track. The movable charging apparatus is translatable along the track between the plurality of vehicle parking spaces to charge one or more vehicles. The movable charging apparatus includes a base slidably coupled with the track, an end effector in mechanical communication with the base and configured to electrically couple with an electric vehicle disposed within one of the plurality of vehicle parking spaces, and a power delivery circuit configured to receive an electrical charge from a power source and to controllably provide the electrical charge to the electric vehicle.

公开(公告)号：US20150114165A1

公开(公告)日：2015-04-30

申请号：US14063602

申请日：2013-10-25

Applicant: Universite Laval ,  GM Global Technology Operations LLC

Inventor： Nicolas Lauzier ,  Clement Gosselin ,  Dalong Gao ,  Martin Grenier ,  Robin Stevenson

IPC: B25J17/00 ,  B25J19/06 ,  B25J19/00

CPC classification number: B25J17/00 ,  B25J9/0048 ,  B25J17/0208 ,  B25J17/0266 ,  B25J19/0091 ,  B25J19/063 ,  Y10S901/28 ,  Y10S901/46 ,  Y10T74/20305 ,  Y10T74/20329

Abstract: The present invention relates to a method and apparatus for limiting the contact force between a moving device and another object, using a parallel mechanism and torque limiters where the threshold force to activate the force limiting mechanism is not related to the configuration of the moving device or the location of the contact force relative to the activation point of the force limiting mechanism, and where the mechanism may be configured for one, two or three degrees of freedom. A counterbalance mechanism is also provided to counteract gravity load when the force limiting mechanism is configured for three degrees of freedom and responsive to contact forces including a vertical element. In particular, the invention relates to a method and apparatus for limiting the contact force between a moving robotic device and a contactable object.

Abstract translation: 本发明涉及一种使用并联机构和扭矩限制器来限制移动装置与另一物体之间的接触力的方法和装置，其中启动力限制机构的阈值力与移动装置的构造无关，或者 接触力相对于力限制机构的激活点的位置，以及其中机构可被配置为一个，两个或三个自由度的位置。 还提供平衡机构以当力限制机构构造成三自由度并响应于包括垂直元件的接触力时抵抗重力负载。 特别地，本发明涉及一种用于限制移动机器人装置和可接触物体之间的接触力的方法和装置。

公开(公告)号：US20140021731A1

公开(公告)日：2014-01-23

申请号：US13782301

申请日：2013-03-01

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Dalong Gao ,  Jianying Shi ,  Lance T. Ransom ,  Richard Clemence Janis

IPC: B25J15/08

CPC classification number: B25J15/08 ,  B25J15/0213

Abstract: A reconfigurable gripping device for securely gripping, lifting, and transporting a work piece is provided. The reconfigurable gripping device may include at least a first finger and a second finger each secured to a base platform with a base support. Each of the respective fingers may have a first link, a second link, and a third link each having a corresponding drive mechanism to individually drive the respective link. The first link drive mechanism and second link drive mechanism are configured to control the grasp and adaptability of each of the respective fingers to place the third link upon a work piece. The third link drive mechanism is configured to drive the third link of each of the respective fingers to apply a clamping force upon the work piece.

Abstract translation: 提供了用于可靠地夹紧，提升和运输工件的可重构夹持装置。 可重新配置的夹持装置可以包括至少第一手指和第二手指，每个手指和第二手指均用基座支撑固定到基座平台。 每个相应的手指可以具有第一连杆，第二连杆和第三连杆，每个连杆具有相应的驱动机构以分别驱动相应的连杆。 第一链接驱动机构和第二链接驱动机构被配置为控制各个手指中的每一个的把握和适应性，以将第三连杆放置在工件上。 第三连杆驱动机构构造成驱动每个相应手指的第三连杆，以将夹紧力施加在工件上。

公开(公告)号：US20130253702A1

公开(公告)日：2013-09-26

申请号：US13788575

申请日：2013-03-07

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS, LLC ,  UNIVERSITE LAVAL

Inventor： Alexandre Lecours ,  Boris Mayer-St-Onge ,  Clement Gosselin ,  Dalong Gao

IPC: B25J9/16

CPC classification number: B25J9/163 ,  B25J5/04 ,  B25J9/0018 ,  G05B2219/37388 ,  G05B2219/37437 ,  G05B2219/39339 ,  G05B2219/39342 ,  G05B2219/39343 ,  G05B2219/39439 ,  G05B2219/40408

Abstract: A method of inferring intentions of an operator to move a robotic system includes monitoring the intention of the operator, with a controller. The intention of the operator is inferred to be one of a desired acceleration and a desired deceleration. The intention of the operator is also as a desired velocity. Admittance parameters are modified as a function of at least one of the inferred acceleration, deceleration, and velocity.

Abstract translation: 推断操作者移动机器人系统的意图的方法包括使用控制器监视操作者的意图。 推断操作者的意图是期望的加速度和期望的减速度之一。 操作者的意图也是期望的速度。 导纳参数被修改为推断的加速度，减速度和速度中的至少一个的函数。

公开(公告)号：US11931892B2

公开(公告)日：2024-03-19

申请号：US17554161

申请日：2021-12-17

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Qiao Sun ,  Xianbao Chen ,  Jing Sun ,  Feng Gao ,  Dalong Gao ,  Ningjian Huang

IPC: B25J13/08 ,  B25J9/00 ,  B25J9/16

CPC classification number: B25J9/0081 ,  B25J9/0009 ,  B25J9/0045 ,  B25J9/1633 ,  B25J13/085

Abstract: A robotic system includes a support structure, a motor mount assembly, first and second parallel chains, a serial translation assembly, a sensor and a control module. The motor mount assembly includes rotary motors, where the rotary motors include a first rotary motor and a second rotary motor. The first and second parallel chains are connected to the movable platform, the rotary motors and the motor mount assembly. The serial translation assembly is connected to the supporting structure and the motor mount assembly and includes a linear actuator and a third rotary motor. The sensor is connected to the movable platform and detects force applied by a human operator on the movable platform and generates a signal indicative of the force applied. The control module controls the rotary motors and the third rotary motor based on the signal to assist the human operator in moving the movable platform.

公开(公告)号：US20220088799A1

公开(公告)日：2022-03-24

申请号：US17030513

申请日：2020-09-24

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Dalong Gao ,  Ningjian Huang ,  Yhu-tin Lin ,  Roberto Hirayama

IPC: B25J15/06 ,  B25J15/04 ,  B25J15/00 ,  B62D65/02

Abstract: Robotic systems are provided for flexibility in assembly operations. A robotic system includes a suction module having a front side with a face shaped to match a mating component and a rear side with a coupling for a suction line. Openings extend through the face. The suction module defines internal passages connecting the coupling with the at least one opening through the face. An end-effector has a base plate, a mounting plate selectively moveable relative to the base plate, and a clamp. The suction module is selectively mounted to the mounting plate and releasably secured by the clamp. An actuator is mounted to selectively move the mounting plate and the suction module relative to the base plate.

公开(公告)号：US10682684B2

公开(公告)日：2020-06-16

申请号：US15371695

申请日：2016-12-07

Applicant: GM GLOBAL TECHNOLOGY OPERATIONS LLC

Inventor： Guoxian Xiao ,  Dalong Gao ,  Jorge F. Arinez ,  Ningjian Huang ,  Pei-chung Wang

IPC: B23K20/00 ,  B21J15/02 ,  B21J15/04 ,  B23K20/12 ,  B23K20/22 ,  B23K103/18

Abstract: A method for joining a plurality of workpieces includes providing a rotating drive tool. A fastener is secured to the drive tool. The drive tool is then rotatably driven such that a distal end of the fastener rotates against a surface of the plurality of workpieces. A heated material zone is then generated on the plurality of workpieces as caused by friction from the rotation of the fastener against the surface of the plurality of workpieces. The distal end of the fastener is rotatably and axially driven through the heated material zone. Finally, the drive tool is removed from the fastener, such that when the heated material zone cools, a portion of the heated material zone is fused to the fastener.