# US 12,005,468 B2 · End effectors and methods for adhesively attaching a first part to a second part > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,005,468 B2 - Document ID: US12005468B2 - Status: Granted - Kind: B2 - Application number: 17/494,557 - Filed: 2021-10-05 - Published: 2023-04-06 - Granted: 2024-06-11 - Earliest claimed: 2021-10-05 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: Gary E. Georgeson; Marc J. Piehl; Joseph L. Hafenrichter - Web page: https://patentgrep.com/patent/US12005468B2 ## CPC - B05C 11/00: Component parts, details or accessories not specifically provided for in groups B05C1/00 - B05C9/00 (means for manipulating or holding work B05C13/00; enclosures for apparatus, booths B05C15/00; spray booths B05B16/00) - B25J 15/0293: {having fingers directly connected to actuator} - B05C 5/02: {the liquid or other fluent material being discharged through an outlet orifice by pressure, e.g.} from an outlet device in contact or almost in contact, with the work - B05C 5/0216: {by relative movement of article and outlet according to a predetermined path} - B05C 5/027: {Coating heads with several outlets, e.g. aligned transversally to the moving direction of a web to be coated (B05C5/0254 takes precedence)} - B05C 9/04: for applying liquid or other fluent material to opposite sides of the work - B05C 11/1018: {responsive to distance of target} - B25J 19/026: {Acoustical sensing devices} - B25J 15/0019: {End effectors other than grippers} - 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) - 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}) ## Abstract An end effector, for adhesively attaching a first part to a second part, comprises a support, a first nozzle, movable relative to the support, and a second nozzle, movable relative to the support. The first nozzle comprises a first-nozzle-body outlet port and a first-nozzle separator plate. The second nozzle comprises a second-nozzle-body outlet port and a second-nozzle separator plate. The end effector additionally comprises a first ultrasonic-sensor roller that is rotatable relative to the support, translationally fixed relative to support, and located between the first nozzle and the second nozzle. The end effector also comprises a second ultrasonic-sensor roller that is rotatable relative to the support, translationally fixed relative to support, and located between the first ultrasonic-sensor roller and the second nozzle. ## Claims ### Claim 1 An end effector for adhesively attaching a first part to a second part, the end effector comprising: a support; a first nozzle, coupled to the support and movable relative to the support, wherein the first nozzle comprises: a first-nozzle body, comprising a first-nozzle-body outlet port; and a first-nozzle separator plate, extending from the first-nozzle body; a second nozzle, coupled to the support and movable relative to the support, wherein the second nozzle comprises: a second-nozzle body, comprising a second-nozzle-body outlet port; and a second-nozzle separator plate, extending from the second-nozzle body; a first ultrasonic-sensor roller, coupled to the support such that the first ultrasonic-sensor roller is rotatable relative to the support and is translationally fixed relative to the support, wherein the first ultrasonic-sensor roller is located between the first nozzle and the second nozzle; and a second ultrasonic-sensor roller, coupled to the support such that the second ultrasonic-sensor roller is rotatable relative to the support and is translationally fixed relative to the support, wherein the second ultrasonic-sensor roller is located between the first ultrasonic-sensor roller and the second nozzle. ### Claim 2 (depends on 1) The end effector according to claim 1, wherein each of the first ultrasonic-sensor roller and the second ultrasonic-sensor roller is configured to emit an ultrasonic signal and to detect a reflection of the ultrasonic signal. ### Claim 3 (depends on 1) The end effector according to claim 1, wherein the first ultrasonic-sensor roller and the second ultrasonic-sensor roller are located on opposite sides of a virtual plane, passing through the support. ### Claim 4 (depends on 3) The end effector according to claim 3, further comprising: a first arm, attached to the first nozzle and coupled to the support; and a second arm, attached to the second nozzle and coupled to the support wherein: the first arm is translationally movable relative to the support, along a first-arm axis, to one of a first-arm engaged position or a first-arm disengaged position; the second arm is translationally movable relative to the support, along a second-arm axis, to one of a second-arm engaged position or a second-arm disengaged position; the first-arm axis and the second-arm axis are perpendicular to the virtual plane; and the first-nozzle separator plate is closer to the second-nozzle separator plate when the first arm is in the first-arm engaged position and the second arm is in the second-arm engaged position than when the first arm is in the first-arm disengaged position and the second arm is in the second-arm disengaged position. ### Claim 5 (depends on 4) The end effector according to claim 4, wherein: the first nozzle is translationally movable relative to the first ultrasonic-sensor roller along the first-arm axis; the first nozzle is translationally movable relative to the first arm in a direction, perpendicular to the first-arm axis; the second nozzle is translationally movable relative to the second ultrasonic-sensor roller along the second-arm axis; and the second nozzle is translationally movable relative to the second arm in a direction, perpendicular to the second-arm axis. ### Claim 6 (depends on 5) The end effector according to claim 5, further comprising a first-nozzle biasing member, coupled to the first arm, and a second-nozzle biasing member, coupled to the second arm, wherein: the first-nozzle biasing member is configured to bias the first nozzle such that the first-nozzle separator plate is biased away from the first-arm axis; and the second-nozzle biasing member is configured to bias the second nozzle such that the second-nozzle separator plate is biased away from the second-arm axis. ### Claim 7 (depends on 4) The end effector according to claim 4, wherein: the first-nozzle-body outlet port is open in a first direction; the second-nozzle-body outlet port is open in a second direction; and when the first arm is in the first-arm engaged position, and when the second arm is in the second-arm engaged position, the first nozzle and the second nozzle are oriented relative to each other such that a first virtual ray, corresponding with the first direction, is directed toward and is co-linear with a second virtual ray, corresponding with the second direction. ### Claim 8 (depends on 4) The end effector according to claim 4, wherein: the first-nozzle separator plate comprises a first-nozzle-separator-plate first-part engagement surface and a first-nozzle-separator-plate second-part engagement surface, facing in opposite directions; the first-nozzle-separator-plate first-part engagement surface and the first-nozzle-separator-plate second-part engagement surface are parallel to each other; the second-nozzle separator plate comprises a second-nozzle-separator-plate first-part engagement surface and a second-nozzle-separator-plate second-part engagement surface, facing in opposite directions; the second-nozzle-separator-plate first-part engagement surface and the second-nozzle-separator-plate second-part engagement surface are parallel to each other; when the first arm is in the first-arm disengaged position, and the second arm is in the second-arm disengaged position, the first-nozzle-separator-plate first-part engagement surface and the second-nozzle-separator-plate first-part engagement surface are coplanar; and when the first arm is in the first-arm engaged position, and the second arm is in the second-arm engaged position, the first-nozzle-separator-plate first-part engagement surface and the second-nozzle-separator-plate first-part engagement surface are coplanar. ### Claim 9 (depends on 4) The end effector according to claim 4, wherein, when the first arm is in the first-arm engaged position, and when the second arm is in the second-arm engaged position: a minimum distance between the first-nozzle separator plate and the second-nozzle separator plate is less than a minimum distance between the first-nozzle-body outlet port and the second-nozzle-body outlet port; and a minimum distance between the first ultrasonic-sensor roller and the second ultrasonic-sensor roller is less than the minimum distance between the first-nozzle separator plate and the second-nozzle separator plate. ### Claim 10 (depends on 4) The end effector according to claim 4, wherein: the first-nozzle-body outlet port is open in a first direction; the first-nozzle separator plate extends from the first-nozzle body in the first direction; the second-nozzle-body outlet port is open in a second direction; the second-nozzle separator plate extends from the second-nozzle body in the second direction; and when the first arm is in the first-arm engaged position, and the second arm is in the second-arm engaged position, the first nozzle and the second nozzle are oriented relative to each other such that a first virtual ray, corresponding with the first direction, and a second virtual ray, corresponding with the second direction, are co-planar. ### Claim 11 (depends on 10) The end effector according to claim 10, wherein: the first ultrasonic-sensor roller is rotatable about a first axis; the second ultrasonic-sensor roller is rotatable about a second axis; the first axis is oblique relative to the first virtual ray, which corresponds with the first direction; and the second axis is oblique relative to the second virtual ray, which corresponds with the second direction. ### Claim 12 (depends on 4) The end effector according to claim 4, further comprising: a first linear slide, coupling the first nozzle to the first arm such that the first nozzle is translatable relative to the first arm; and a second linear slide, coupling the second nozzle to the second arm such that the second nozzle is translatable relative to the second arm. ### Claim 13 (depends on 4) The end effector according to claim 4, further comprising: a first actuator, coupled to the support and to the first arm, wherein the first actuator is selectively actuatable such that the first arm translationally moves to one of the first-arm engaged position or the first-arm disengaged position; and a second actuator, coupled to the support and the second arm, wherein the second actuator is selectively actuatable such that the second arm translationally moves to one of the second-arm engaged position or the second-arm disengaged position. ### Claim 14 (depends on 1) The end effector according to claim 1, wherein: the first-nozzle-body outlet port is open in a first direction; the second-nozzle-body outlet port is open in a second direction; the first-nozzle separator plate extends from the first-nozzle body in the first direction; the second-nozzle separator plate extends from the second-nozzle body in the second direction; the first-nozzle separator plate is offset from the first-nozzle-body outlet port along a first-nozzle-body axis that is perpendicular to a first virtual ray, which corresponds to the first direction; and the second-nozzle separator plate is offset from the second-nozzle-body outlet port along a second-nozzle-body axis that is perpendicular to a second virtual ray, which corresponds to the second direction. ### Claim 15 (depends on 1) A method of using the end effector of claim 1 for adhesively attaching the first part, which comprises a first-part faying surface, to the second part, which comprises a first second-part faying surface and a second second-part faying surface, spaced away from the first second-part faying surface, the method comprising steps of: moving the first nozzle relative to the support such that the first-nozzle separator plate is inserted between and separates the first-part faying surface and the first second-part faying surface; moving the second nozzle relative to the support such that the second-nozzle separator plate is inserted between and separates the first-part faying surface and the second second-part faying surface; with the first-nozzle separator plate inserted between and separating the first-part faying surface and the first second-part faying surface: dispensing a first volume of adhesive, in a first direction, from the first-nozzle-body outlet port into a first space, defined between the first-part faying surface and the first second-part faying surface, wherein a first virtual ray corresponds with the first direction; and detecting presence of the first volume of adhesive between the first-part faying surface and the first second-part faying surface, by using the first ultrasonic-sensor roller; and with the second-nozzle separator plate inserted between and separating the first-part faying surface and the second second-part faying surface: dispensing a second volume of adhesive, in a second direction, from the second-nozzle-body outlet port into a second space, defined between the first-part faying surface and the second second-part faying surface, wherein a second virtual ray corresponds with the second direction, and the first direction is toward and opposite the second direction; and detecting the presence of the second volume of adhesive between the first-part faying surface and the second second-part faying surface, by using the second ultrasonic-sensor roller. ### Claim 16 (depends on 15) The method according to claim 15, further comprising a step of translationally moving the end effector relative to the first part and the second part, perpendicular to the first virtual ray and the second virtual ray, simultaneously with the steps of dispensing the first volume of adhesive in the first direction and dispensing the second volume of adhesive in the second direction. ### Claim 17 (depends on 16) The method according to claim 16, further comprising, simultaneously with the step of translationally moving the end effector relative to the first part and the second part, steps of: rolling the first ultrasonic-sensor roller along a first outer surface of the second part, wherein the first outer surface and the first second-part faying surface face away from each other; and rolling the second ultrasonic-sensor roller along a second outer surface of the second part, wherein the second outer surface and the second second-part faying surface face away from each other. ### Claim 18 (depends on 17) The method according to claim 17, further comprising, simultaneously with the steps of dispensing the first volume of adhesive in the first direction and dispensing the second volume of adhesive in the second direction, steps of: biasing the first-nozzle separator plate against the first part; and biasing the second-nozzle separator plate against the first part. ### Claim 19 (depends on 17) The method according to claim 17, wherein: the second part further comprises a non-faying surface, interposed between the first second-part faying surface and the second second-part faying surface, wherein the non-faying surface extends from the first second-part faying surface at a first junction and extends from the second second-part faying surface at a second junction; the step of detecting the presence of the first volume of adhesive between the first-part faying surface and the first second-part faying surface comprises detecting the presence of the first volume of adhesive at the first junction of the first second-part faying surface and the non-faying surface; and the step of detecting the presence of the second volume of adhesive between the first-part faying surface and the second second-part faying surface comprises detecting the presence of the second volume of adhesive at the second junction of the second second-part faying surface and the non-faying surface. ### Claim 20 (depends on 16) The method according to claim 16, further comprising: in response to detecting the presence of the first volume of adhesive between the first-part faying surface and the first second-part faying surface, by using the first ultrasonic-sensor roller, adjusting at least one of: a rate, at which the first volume of adhesive is dispensed from the first-nozzle-body outlet port; or a rate, at which the end effector translationally moves relative to the first part and the second part; and in response to detecting the presence of the second volume of adhesive between the first-part faying surface and the second second-part faying surface, by using the second ultrasonic-sensor roller, adjusting at least one of: a rate, at which the second volume of adhesive is dispensed from the second-nozzle-body outlet port; or a rate, at which the end effector translationally moves relative to the first part and the second part.