# US 11,440,192 B2 · Robot end effector for dispensing an extrudable substance > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,440,192 B2 - Document ID: US11440192B2 - Status: Granted - Kind: B2 - Application number: 16/882,415 - Filed: 2020-05-22 - Published: 2021-11-25 - Granted: 2022-09-13 - Earliest claimed: 2020-05-22 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: John Walter Pringle, IV; Angelica Davancens; Dehwei Oliver Hsu - Web page: https://patentgrep.com/patent/US11440192B2 ## CPC - B25J 9/1679: {characterised by the tasks executed} - B05C 5/0216: {by relative movement of article and outlet according to a predetermined path} - B05C 11/1036: {Means for supplying a selected one of a plurality of liquids or other fluent materials, or several in selected proportions, to the applying apparatus} - B25J 9/0009: {Constructional details, e.g. manipulator supports, bases} - B25J 9/123: {Linear actuators} - B25J 15/0019: {End effectors other than grippers} - B25J 15/02: servo-actuated - B25J 15/045: {having screw means} - B25J 19/0029: {arranged within the different robot elements} - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B05C: APPARATUS FOR APPLYING FLUENT MATERIALS TO SURFACES, IN GENERAL (spraying apparatus, atomising apparatus, nozzles B05B; plant for applying liquids or other fluent materials to objects by electrostatic spraying B05B5/08) ## Abstract A robot end effector for dispensing an extrudable substance comprises a chassis and cartridge bays, attached to the chassis and each shaped to receive a corresponding one of two-part cartridges. Robot end effector also comprises a dispensing valve, attached to the chassis and comprising a valve inlet and a valve outlet. The valve outlet is in selective fluidic communication with the valve inlet. Robot end effector further comprises a manifold, comprising a manifold outlet and manifold inlets, which are in fluidic communication with the manifold outlet. Robot end effector additionally comprises a plunger assembly, comprising pairs of plungers and arranged to concurrently extrude contents of the two-part cartridges through the cartridge outlets. Robot end effector also comprises an electric motor, attached to the chassis and configured to selectively move the plunger assembly relative to the chassis. ## Claims ### Claim 1 A robot end effector for dispensing an extrudable substance, the robot end effector comprising: a chassis; cartridge bays, attached to the chassis and each shaped to receive a corresponding one of two-part cartridges; a dispensing valve, attached to the chassis and comprising a valve inlet and a valve outlet, wherein the valve outlet is in selective fluidic communication with the valve inlet; a manifold, comprising a manifold outlet and manifold inlets, which are in fluidic communication with the manifold outlet, wherein: the manifold outlet is in fluidic communication with the valve inlet, and when the two-part cartridges are received by the cartridge bays, the manifold inlets are in fluidic communication with corresponding ones of the two-part cartridges via static mixers, attached to cartridge outlets of the two-part cartridges; a plunger assembly, comprising pairs of plungers and arranged to concurrently extrude contents of the two-part cartridges through the cartridge outlets, when the two-part cartridges are received by the cartridge bays; and an electric motor, attached to the chassis and configured to selectively move the plunger assembly relative to the chassis. ### Claim 2 (depends on 1) The robot end effector according to claim 1, further comprising: a threaded drive rod, coupling the electric motor and the plunger assembly, wherein the electric motor is operable to selectively rotate the threaded drive rod to selectively move the plunger assembly relative to the chassis. ### Claim 3 (depends on 2) The robot end effector according to claim 2, wherein: the threaded drive rod is oriented along an axis; and the electric motor is operable to selectively move the pairs of plungers along the axis. ### Claim 4 (depends on 3) The robot end effector according to claim 3, wherein the electric motor is operable to selectively move the pairs of plungers bi-directionally along the axis. ### Claim 5 (depends on 3) The robot end effector according to claim 3, wherein: the electric motor, in a first state, is operable to selectively move the pairs of plungers toward the cartridge bays along the axis; and the electric motor, in a second state, is operable to selectively move the pairs of plungers away from the cartridge bays along the axis. ### Claim 6 (depends on 2) The robot end effector according to claim 2, wherein: the plunger assembly further comprises a support plate, comprising a drive-rod through-opening; the threaded drive rod is threadably received through the drive-rod through-opening; and the pairs of plungers are attached to the support plate. ### Claim 7 (depends on 6) The robot end effector according to claim 6, further comprising: a guide rod, fixed to the chassis and oriented parallel to the threaded drive rod, wherein: the support plate further comprises a guide-rod through-opening; and the guide rod is received through the guide-rod through-opening. ### Claim 8 (depends on 1) The robot end effector according to claim 1, wherein: the cartridge bays are each oriented length-wise along an axis; the cartridge bays are arranged side-by-side along a second axis, transverse to the axis; when the two-part cartridges are received by the cartridge bays, a first-part container and a second-part container of each of the two-part cartridges are oriented side-by-side along a third axis; and the third axis is transverse to the axis and the second axis. ### Claim 9 (depends on 1) The robot end effector according to claim 1, wherein each of the cartridge bays comprises a retention feature, shaped to retain the two-part cartridges in the cartridge bays. ### Claim 10 (depends on 9) The robot end effector according to claim 9, wherein, when the two-part cartridges are retained in the cartridge bays, the pairs of plungers are aligned with corresponding working axes of the two-part cartridges. ### Claim 11 (depends on 9) The robot end effector according to claim 9, wherein, when the two-part cartridges are retained in the cartridge bays, the manifold inlets receive mixer outlets of the static mixers, attached to the two-part cartridges. ### Claim 12 (depends on 1) The robot end effector according to claim 1, further comprising a connector, attached to the chassis, wherein the dispensing valve and the electric motor are controllable by signals, received through the connector. ### Claim 13 (depends on 1) The robot end effector according to claim 1, wherein the manifold inlets each comprise: a manifold-inlet interior wall; an inlet groove, defined in, and extending circumferentially around, the manifold-inlet interior wall; and an inlet O-ring, received in the inlet groove and configured, when the two-part cartridges are received by the cartridge bays, to seal an interface between the manifold inlet and a corresponding one of mixer outlets of the static mixers, attached to the corresponding one of the two-part cartridges. ### Claim 14 (depends on 13) The robot end effector according to claim 13, wherein the manifold outlet comprises: a manifold-outlet interior wall; an outlet groove, defined in, and extending circumferentially around, the manifold-inlet interior wall; and an outlet O-ring, received in the outlet groove and sealing an interface between the manifold outlet and the valve inlet. ### Claim 15 (depends on 1) The robot end effector according to claim 1, wherein the manifold further comprises: a junction, wherein the manifold inlets are parallel to an axis and are in fluidic communication with the junction; a first leg, extending from the junction along a second axis, transverse to the axis; and a second leg, extending between the first leg and the manifold outlet along the axis. ### Claim 16 (depends on 15) The robot end effector according to claim 15, further comprising: a manifold tab, formed integrally with the manifold; and a manifold fastener, received through the manifold tab and attached to the chassis. ### Claim 17 (depends on 15) The robot end effector according to claim 15, further comprising a manifold bracket, attaching the first leg of the manifold to the chassis. ### Claim 18 (depends on 1) The robot end effector according to claim 1, wherein the manifold further comprises: a junction, wherein the manifold inlets are parallel to an axis and are in fluidic communication with the junction; and a single leg, extending from the junction to the manifold outlet along the axis. ### Claim 19 (depends on 18) The robot end effector according to claim 18, wherein: the chassis comprises a first end and a second end, spaced away from the first end; and the cartridge bays are mounted at the first end of the chassis; the dispensing valve is mounted at the second end of the chassis. ### Claim 20 (depends on 1) The robot end effector according to claim 1, wherein: the cartridge bays are defined by walls, parallel to one another and spaced apart from each other; and each of the cartridge bays is partially bounded by a corresponding pair of adjacent ones of the walls.