# US 11,305,890 B2 · Stiffener composite charge application system > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,305,890 B2 - Document ID: US11305890B2 - Status: Granted - Kind: B2 - Application number: 16/400,982 - Filed: 2019-05-01 - Published: 2020-11-05 - Granted: 2022-04-19 - Earliest claimed: 2019-05-01 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: Jonathan Young Ahn; Davis Tran - Web page: https://patentgrep.com/patent/US11305890B2 ## CPC - B29C 70/38: Automated lay-up, e.g. using robots, laying filaments according to predetermined patterns {(application heads for tyres B29D30/28)} - B64F 5/10: Manufacturing or assembling aircraft, e.g. jigs therefor - B29C 70/541: {Positioning reinforcements in a mould, e.g. using clamping means for the reinforcement (positioning inserts in moulds B29C33/12; lay-up on a mould B29C70/30)} - B29L 2031/3082: {Fuselages} - B29L 2031/3085: {Wings} - B29C: SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING (making preforms B29B11/00; making laminated products by combining previously unconnected layers which become one product whose layers will remain together B32B37/00 - B32B41/00) - B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR - B29L: INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES ## Abstract A stiffener composite charge placement system is presented. The stiffener composite charge placement system comprises a longitudinal end effector having a first attachment point and a second attachment point; a first rotational arm having a first connector configured to connect to the first attachment point; a first movement system configured to move the first rotational arm within a manufacturing environment; a second rotational arm having a second connector configured to connect to the second attachment point; and a second movement system configured to move the second rotational arm within the manufacturing environment. ## Claims ### Claim 1 A stiffener composite charge placement system comprising: a longitudinal end effector having a first attachment point and a second attachment point; a first rotational arm having a first connector configured to connect to the first attachment point; a first movement system configured to move the first rotational arm within a manufacturing environment; a second rotational arm having a second connector configured to connect to the second attachment point; and a second movement system configured to move the second rotational arm within the manufacturing environment, wherein the first movement system has a first set of mechanical indices configured to interface with a first set of docking points of a support tool configured to support a mandrel, and wherein the second movement system has a second set of mechanical indices configured to interface with a second set of docking points of the support tool. ### Claim 2 (depends on 1) The stiffener composite charge placement system of claim 1, wherein a rotation point of the first rotational arm is mounted on the first movement system, and wherein a rotation point of the second rotational arm is mounted on the second movement system. ### Claim 3 (depends on 2) The stiffener composite charge placement system of claim 2, wherein the first rotational arm is extendable relative to the rotation point of the first rotational arm; and wherein the second rotational arm is extendable relative to the rotation point of the second rotational arm. ### Claim 4 (depends on 1) The stiffener composite charge placement system of claim 1, wherein the longitudinal end effector comprises a plurality of vacuum cups distributed along a length of the longitudinal end effector. ### Claim 5 (depends on 4) The stiffener composite charge placement system of claim 4, wherein the longitudinal end effector further comprises a plurality of movement systems configured to change an orientation of the plurality of vacuum cups relative to a manufacturing floor. ### Claim 6 (depends on 1) The stiffener composite charge placement system of claim 1, wherein the longitudinal end effector further comprises a location system having a plurality of sensors configured to position the longitudinal end effector relative to a stiffener composite charge. ### Claim 7 (depends on 6) The stiffener composite charge placement system of claim 6, wherein the plurality of sensors comprise at least one of an optical sensor or a laser sensor. ### Claim 8 (depends on 1) The stiffener composite charge placement system of claim 1, wherein the longitudinal end effector further comprises a plurality of movement systems configured to move the longitudinal end effector independently of the first rotational arm and the second rotational arm. ### Claim 9 A stiffener composite charge placement system comprising: a first rotational system comprising a first rotational arm mounted on a first movement system configured to relocate the first rotational arm within a manufacturing environment; a second rotational system comprising a second rotational arm mounted on a second movement system configured to relocate the second rotational arm within the manufacturing environment; and a longitudinal end effector configured to be connected to the first rotational arm and the second rotational arm, wherein the first movement system has a first set of mechanical indices configured to interface with a first set of docking points of a support tool configured to support a mandrel, and wherein the second movement system has a second set of mechanical indices configured to interface with a second set of docking points of the support tool. ### Claim 10 (depends on 9) The stiffener composite charge placement system of claim 9, wherein a rotation point of the first rotational arm is mounted on the first movement system, and wherein a rotation point of the second rotational arm is mounted on the second movement system. ### Claim 11 (depends on 10) The stiffener composite charge placement system of claim 10, wherein the first rotational arm is extendable relative to the rotation point of the first rotational arm; and wherein the second rotational arm is extendable relative to the rotation point of the second rotational arm. ### Claim 12 (depends on 9) The stiffener composite charge placement system of claim 9, wherein the longitudinal end effector further comprises a plurality of movement systems configured to move the longitudinal end effector independently of the first rotational arm and the second rotational arm. ### Claim 13 (depends on 9) The stiffener composite charge placement system of claim 9, wherein the longitudinal end effector comprises a plurality of vacuum cups distributed along a length of the longitudinal end effector. ### Claim 14 (depends on 13) The stiffener composite charge placement system of claim 13, wherein the longitudinal end effector further comprises a plurality of movement systems configured to change an orientation of the plurality of vacuum cups relative to a manufacturing floor. ### Claim 15 (depends on 9) The stiffener composite charge placement system of claim 9, wherein the longitudinal end effector further comprises a location system having a plurality of sensors configured to position the longitudinal end effector relative to a stiffener composite charge. ### Claim 16 (depends on 15) The stiffener composite charge placement system of claim 15, wherein the plurality of sensors comprise at least one of an optical sensor or a laser sensor. ### Claim 17 An apparatus, comprising: a longitudinal end effector having a first attachment point and a second attachment point; a first rotational system comprising a first rotational arm having a first connector configured to connect to the first attachment point, the first rotation system mounted on a first movement system configured to relocate the first rotational arm within a manufacturing environment; and a second rotational system comprising a second rotational arm having a second connector configured to connect to the second attachment point, the second rotational system mounted on a second movement system configured to relocate the second rotational arm within the manufacturing environment, wherein the first movement system has a first set of mechanical indices configured to interface with a first set of docking points of a support tool configured to support a mandrel, and wherein the second movement system has a second set of mechanical indices configured to interface with a second set of docking points of the support tool. ### Claim 18 (depends on 17) The apparatus of claim 17, wherein a rotation point of the first rotational arm is mounted on the first movement system, and wherein a rotation point of the second rotational arm is mounted on the second movement system. ### Claim 19 (depends on 18) The apparatus of claim 18, wherein the first rotational arm is extendable relative to the rotation point of the first rotational arm; and wherein the second rotational arm is extendable relative to the rotation point of the second rotational arm. ### Claim 20 (depends on 17) The apparatus of claim 17, wherein the longitudinal end effector comprises a plurality of vacuum cups distributed along a length of the longitudinal end effector. ### Claim 21 (depends on 20) The apparatus of claim 20, wherein the longitudinal end effector further comprises a plurality of movement systems configured to change an orientation of the plurality of vacuum cups relative to a manufacturing floor. ### Claim 22 (depends on 17) The apparatus of claim 17, wherein the longitudinal end effector further comprises a location system having a plurality of sensors configured to position the longitudinal end effector relative to a stiffener composite charge. ### Claim 23 (depends on 22) The apparatus of claim 22, wherein the plurality of sensors comprise at least one of an optical sensor or a laser sensor. ### Claim 24 (depends on 17) The apparatus of claim 17, wherein the longitudinal end effector further comprises a plurality of movement systems configured to move the longitudinal end effector independently of the first rotational arm and the second rotational arm.