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US 12,594,634 B2Granted
End effector and methods of use
AssigneesThe Boeing Company, Korean Air Lines Co., Ltd.
InventorsHarinder Singh Oberoi, Kevin Marion Barrick, Yuanxin Charles Hu, Melissa A. Johnson, Laura Carolyn Foster, Hwangyu Shin, Gi Jun Hong, Youngwoo Koh
Life of this patent
Estimating the term…
Abstract
An end effector is presented. The end effector comprises a torque wrench and a first vacuum source. The torque wrench is configured to hold a collar and apply a single-sided clamp-up to a structure. The first vacuum source is pneumatically connected to the torque wrench and configured to supply a vacuum for the single-sided clamp-up.
Claims20
An end effector comprising:
- a torque wrench configured to hold a collar and apply a single-sided clamp-up to a structure;
- a first vacuum source pneumatically connected to the torque wrench and configured to supply a vacuum for the single-sided clamp-up;
- a number of non-contact inspection sensors configured to scan a surface of the structure to generate surface data;
- and
- a controller configured to perform non-contact normalization using the surface data.
2 more elements
An end effector comprising:
- a torque wrench with a contact pad, a housing configured to hold a collar, and a vacuum port configured to supply a vacuum to the housing;
- wherein the torque wrench further comprises a collar retainer configured to hold the collar within the housing, the collar retainer connected to a gear of a number of gears within the housing.
An end effector comprising:
- a torque wrench configured to hold a collar and apply a single-sided clamp-up to a structure;
- a first vacuum source pneumatically connected to the torque wrench and configured to supply a vacuum for the single-sided clamp-up;
- and
- a collar positioning assembly comprising collar supply tubes and a rotating collar plate, wherein the rotating collar plate has a plurality of holes with a plurality of diameters configured to hold a plurality of collar diameters.
1 more element
An end effector comprising:
- a torque wrench configured to hold a collar and apply a single-sided clamp-up to a structure;
- a first vacuum source pneumatically connected to the torque wrench and configured to supply a vacuum for the single-sided clamp-up;
- a collar positioning assembly comprising collar supply tubes and a rotating collar plate;
- and
- a collar transfer unit comprising a collar gripper connected to a telescoping arm, the telescoping arm configured to extend away from the collar positioning assembly, wherein the collar gripper comprises a number of moveable fingers connected to a number of finger actuators.
2 more elements
Dependencies are inferred from the claim text.