Patent Publication Number: US-11377333-B2

Title: End effectors and methods of raising and lowering vehicle components using end effectors

Description:
TECHNICAL FIELD 
     The present specification generally relates to end effectors and associated methods, and more specifically, transmission pick end effectors with locking mechanisms for locking one or more support locations in place. 
     BACKGROUND 
     End effectors are frequently used to hook chains and parts together for a lifting operation. One such lifting operation is lifting transmissions from one assembly process to the next. Some end effectors may have false lifting points, which can lead to unintended unlatching and unsuccessful lifting operations. The shape of transmissions are generally elongated and asymmetric. Further the shapes and weight distributions from transmission type to transmission type can vary substantially. Accordingly, a need exists for transmission pick end effectors that include multiple support locations that are adjustable for different transmission types and can lock in place to reliably hold the transmissions. 
     SUMMARY 
     In one embodiment, an end effector includes an elongated body that is non-circular in cross section. A guide rail is mounted on a top surface of the elongated body. A hook carriage includes a linear motion guide that moves linearly along the guide rail to position a hook member. A locking mechanism locks the hook carriage at a preselected position along a length of the guide rail. 
     In another embodiment, a method of lifting a transmission using an end effector is provided. The method includes inserting a pin assembly into a bolt opening at a front portion of a transmission housing. A position of a hook carriage is adjusted along a length of a guide rail that is mounted on a top surface of an elongated body. The position of the hook carriage is locked. A rear portion of the transmission housing is engaged with a hook member that is pivotally connected to the hook carriage. 
     These and additional features provided by the embodiments described herein will be more fully understood in view of the following detailed description, in conjunction with the drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The embodiments set forth in the drawings are illustrative and exemplary in nature and not intended to limit the subject matter defined by the claims. The following detailed description of the illustrative embodiments can be understood when read in conjunction with the following drawings, where like structure is indicated with like reference numerals and in which: 
         FIG. 1  is a side perspective view of a transmission pick end effector, according to one or more embodiments shown and described herein; 
         FIG. 2  is another side perspective view of the transmission pick end effector of  FIG. 1 , according to one or more embodiments shown and described herein; 
         FIG. 3  is a detail view of a hook carriage in a locked configuration, according to one or more embodiments shown and described herein; 
         FIG. 4  is another detail view of the hook carriage of  FIG. 3  in an unlocked configuration, according to one or more embodiments shown and described herein; and 
         FIG. 5  is a diagrammatic illustration of a transmission pick end effector in use lifting a transmission, according to one or more embodiments shown and described herein. 
     
    
    
     DETAILED DESCRIPTION 
     The present description is generally directed to transmission pick end effectors with locking mechanisms for locking support locations in place after moving them to a desired location. The transmission pick end effectors include an elongated body that is non-circular in cross section (e.g., rectangular) in the form of a rod that includes a guide rail mounted on a top of the elongated body. The guide rail may be rectangular in cross-section including a flat top surface and a flat bottom surface. The guide rail may be part of a linear bearing assembly that further includes one or more linear motion guides. The linear motion guides can include bearings that ride along tracks that are provided by the guide rail. One linear motion guide may be provided as part of a hook carriage that moves linearly along the guide rail between preselected positions. The hook carriage may carry a hook member that hangs from the hook carriage and provides a first support location. Another linear motion guide may be provided as part of a chain carriage that also moves linearly along the guide rail between preselected positions. The chain carriage may include connecting structure that connects to a chain or other suitable linkage, such as from a hoist, to lift, hold and lower the transmission pick end effector. Both the hook carriage and the chain carriage may utilize locking mechanisms for locking them in their preselected locations along a length of the guide rail. 
     Referring to  FIG. 1 , a transmission pick end effector  10  includes an elongated body  12  in the form of a rod. In the illustrated example, the elongated body  12  is rectangular in cross-section and has a length that is much greater than its width, such as five times greater or more (e.g., 10 times greater or more, 15 times greater or more, 20 times greater or more, etc.). While a rectangular cross-section is illustrated for the elongated body  12 , other non-circular cross-sections may be used. A guide rail  14  is mounted on a top surface  16  of the elongated body  12 . For example, fasteners may be used to mount the guide rail  14  through openings  18  to the elongated body  12 . The guide rail  14  may also be rectangular in cross-section including a flat top surface  20  and a flat bottom surface  22  that mates with the top surface  16  of the elongated body  12 . The guide rail  14  may also have a length that is much greater than its width, such as five times greater or more (e.g., 10 times greater or more, 15 times greater or more, 20 times greater or more, etc.). While a rectangular cross section is illustrated for the guide rail  14 , other non-circular cross-sections may be possible. 
     The guide rail  14  may be part of a linear bearing assembly, generally represented by element  24 , that further includes linear motion guides  26  and  28 . The linear motion guides  26  and  28  facilitate motion along the guide rail  14 . For example, the linear motion guides  26  and  28  may include bearings that ride along tracks  30  and  32  that are provided in the guide rail  14 . One linear motion guide  26  may be provided as part of a hook carriage  34 . The hook carriage  34  may further include a housing  36  that connects to the linear motion guide  26 , e.g., using fasteners that mount through openings  38 . As can be seen, the housing  36  is formed by two C-shaped housing portions  40  and  42  that are connected to the linear motion guide  26  in a side-by-side fashion. The housing portions may also be connected directly to each other, e.g., using fasteners through openings  44 . 
     The housing  36  carries a hook member  50  as a rear transmission engagement structure that is pivotally connected to the housing  36  at a pivot location  52 . The pivot location  52  may be formed by a bolt or pin that extends through an opening  54  that is formed by both of the housing portions  40  and  42  under the elongated body  12 . As will be described in greater detail below, the hook carriage  34  can be positioned along the guide rail  14  so that the hook member  50  can engage a rear portion of a transmission housing. 
     Referring also to  FIGS. 2 and 3 , the hook carriage  34  can be positioned along the guide rail  14  at predetermined positions that are defined by lock openings  56 . The lock openings  56  are formed in one or more side rail members  58 ,  60  and  62  that are mounted on a side  64  of the elongated body  12 , e.g., using fasteners that mount through openings  66 . The lock openings  56  may be formed as notches that are formed in the side rail members  58 ,  60  and  62  and that intersect bottom edges  68 ,  70  and  72  of the side rail members  58 ,  60  and  62 . 
     Referring particularly to  FIG. 3  and also to  FIG. 4 , the hook member  50  is mounted to a pivot member  74  that is pivotally connected to the housing  36 . The pivot member  74  includes an upper surface  76  to which a locking pin  78  is mounted. The locking pin  78  includes a stem portion  80  that extends outwardly from the upper surface  76  and a pin portion  82  that extends outwardly from the stem portion  80 . The pin portion  82  provides a locking mechanism that is sized to be received within the lock openings  56  when the pivot member  74  and hook member  50  are in a lowered configuration, represented diagrammatically by  FIG. 3 . Because the center of gravity of the hook member  50  is below the pivot location  52  when in use, the hook member and the pivot member  74  are biased toward the lowered configuration by gravity. Rotation of the hook member  50  and the pivot member  74  into a raised configuration removes the pin portion  82  from the lock opening  56  and allows for linear movement of the hook carriage  34  from one position along the guide rail  14  to another position (e.g., to accommodate a different type of transmission). 
     Referring again to  FIG. 1 , another linear motion guide  28  may be provided as part of a chain carriage  90 . The chain carriage  90  may further include a housing  92  that connects to the linear motion guide  26 , e.g., using fasteners that mount through openings  94 . As can be seen, the housing  92  is formed by two C-shaped housing portions  96  and  98  that are connected to the linear motion guide  26  in a side-by-side fashion. The housing portions  96  and  98  may also be connected directly to each other, e.g., using fasteners through openings  100 . 
     The housing  92  carries connecting members  102  and  104  that extend outward from the housing portions  96  and  98 . The connecting members  102  and  104  each include an opening  106  and  108  that are used to connect to a chain for lifting, supporting and lowering the transmission pick end effector  10  with a transmission connected thereto. The chain carriage  90  can be positioned along the guide rail  14  at predetermined positions that are defined by lock openings  110 . The lock openings  110  are formed in one or more side rail members  112  that are mounted on a side  114  of the elongated body  12 , e.g., using fasteners that mount through openings  114 . A pin connector  116  may be provided that can be inserted through the housing  92  and into the lock openings  110 . The lock opening  110  positions may correspond to a center of gravity of the transmission pick end effector  10  with a certain type of transmission connected thereto so that the transmission is supported in a horizontal orientation, for example, for installation to a motor. 
     Referring again to  FIG. 1 , the transmission pick end effector  10  further includes a front transmission engagement structure  120  including a pair of pin assemblies  122  and  124 . The pin assemblies  122  and  124  include pins  126  and  128  that are connected to a round bar  130  that extends from a front  132  of the elongated body  12 . In some embodiments, the bar  130  may be part of the elongated body  12  and formed monolithic therewith. In other embodiments, the bar  130  may be formed separately from the elongated body  12  and connected thereto. The pin assemblies  122  and  124  include arms  134  and  136  that are connected to the bar  130  by hangers  138  and  140 . In some embodiments, one of the arms  134  and  136  may rotate around the bar  130  while the other of the arms  134  and  136  may be stationary or fixed to the bar  130 . Rotating the arm  134 ,  136  can adjust the distance and position between pins  142  and  144  to accommodate transmissions of different types. The pins  142  and  144  are sized to be received within bolt holes of a bell housing portion of the transmission housing. 
     Referring to  FIG. 5 , the transmission pick end effector  10  is illustrated supporting a transmission  150 . Knowing the type of transmission (e.g., V8 4×4, V8 2×4, V6 4×4, V6 4×2, L4 4×2) a position of the chain carriage  90  may be adjusted along the length of the guide rail  14  and locked into a preselected position using the pin connector  116 . The chain carriage  90  may be connected to chains that are connected to a hoist. In some embodiments, a position of the hook carriage  34  may also be adjusted along the length of the guide rail  14  by rotating the hook member  50  to unlock the hook carriage  34 , sliding the hook carriage to a preselected location and then lowing the hook member  50  such that the locking pin  78  engages one of the lock openings  56  and locks the hook carriage  34  in place. In some embodiments, a position of one of the pin assemblies  122 ,  124  may be adjusted relative to the other of the pin assemblies  122 ,  124  by rotating the pin assembly  122 ,  124  about the bar  130 . The pins  142  and  144  may then be inserted into the bolt openings  152  and  154  of a front portion  158  of transmission housing  156 . The hook member  50  may be located under a rear portion  160  of the transmission housing  156 . With the hook carriage  34  and the chain carriage  90  locked in place, the transmission  150  may be lifted using the transmission pick end effector  10 . In some embodiments, with the transmission  150  lifted, the transmission  150  may be connected to an engine. 
     The split nature of the housings  36  and  92  into housing portions  40 ,  42  and  96 ,  98 , respectively, provides the housing with a release prevention formation that inhibits unintended release of the housings  36  and  92  from the elongated body  16 . In particular, should the rail  14  release from the elongated body  16 , the linear motion guides  26  and/or  28  release from the rail  14 , or the housings  36  and/or  38  release from their respective linear motion guides  26  and/or  28 , the closed structure provided by the C-shaped housing portions  40 ,  42  and  96 ,  98  will inhibit a complete release of the housings  36  and  92  from the elongated body  16 . Further, the C-shape of the housing portions  40 ,  42  and  96 ,  98  facilitates both manufacturing and assembly of the housings  36  and  92  compared to, for example, an enclosed single piece housing. 
     The above-described transmission pick end effectors allow for engagement with a transmission housing of a transmission at multiple locations (front and rear) to lift, support and lower the transmission in a reliable fashion. The transmission pick end effectors include a hook carriage and a chain carriage that can be locked into place along a length of a guide rail to inhibit unintended movement of the hook carriage and the chain carriage. The hook carriage and the chain carriage are each formed using a housing that completely surrounds an elongated body of the transmission pick end effectors. The hook carriage carries a hook member that has a locking pin located thereon such that rotation of the hook member locks or unlocks the position of the hook carriage along the length of the guide rail. 
     It is noted that the terms “substantially” and “about” may be utilized herein to represent the inherent degree of uncertainty that may be attributed to any quantitative comparison, value, measurement, or other representation. These terms are also utilized herein to represent the degree by which a quantitative representation may vary from a stated reference without resulting in a change in the basic function of the subject matter at issue. 
     While particular embodiments have been illustrated and described herein, it should be understood that various other changes and modifications may be made without departing from the spirit and scope of the claimed subject matter. Moreover, although various aspects of the claimed subject matter have been described herein, such aspects need not be utilized in combination. It is therefore intended that the appended claims cover all such changes and modifications that are within the scope of the claimed subject matter.