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US 10,118,714 B2Granted
System and method for positioning an automated assembly tool relative to a structure
AssigneeThe Boeing Company
InventorsEric M. Reid, David Paul Banks, Darrell Darwin Jones
Life of this patent
Estimating the term…
Abstract
A method and apparatus for positioning an end effector relative to a structure. The apparatus may comprise the end effector and a sensor system. The end effector may be configured to perform an operation on the structure. The sensor system may have a plurality of sensors extending outward from the end effector.
Claims44
An apparatus comprising:
- an end effector configured to perform an operation on a structure;
- a sensor system having a plurality of sensors extending outward from the end effector;
- and
- a pressure foot connected to the end effector and configured to contact a surface of the structure, wherein the plurality of sensors extends outward from the pressure foot.
1 more element
An apparatus comprising:
- an end effector configured to perform an operation on a structure;
- a sensor system having a plurality of sensors extending outward from the end effector;
- and
- a pressure foot connected to the end effector and configured to contact a surface of the structure, wherein the plurality of sensors has an equilateral triangular arrangement.
1 more element
An apparatus comprising:
- an end effector configured to perform an operation on a structure;
- a sensor system having a plurality of sensors extending outward from the end effector;
- and
- a pressure foot connected to the end effector and configured to contact a surface of the structure, wherein the plurality of sensors is configured to contact the surface of the structure prior to the pressure foot contacting the surface of the structure.
1 more element
The apparatus of claim further comprising:
- a load cell associated with the pressure foot and configured to identify a contact force between the pressure foot and the surface of the structure.
A method for positioning an end effector relative to a structure, the method comprising:
- generating position data about a position of a plurality of sensors in a sensor system relative to a surface of the structure, wherein the plurality of sensors extends outward from a pressure foot associated with the end effector;
- and
- changing a position of the end effector relative to the surface of the structure based on the position data generated by the plurality of sensors.
Dependencies are inferred from the claim text.