# US 12,594,634 B2 · End effector and methods of use

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- Number: US 12,594,634 B2
- Document ID: US12594634B2
- Status: Granted
- Kind: B2
- Application number: 18/910,976
- Filed: 2024-10-09
- Published: 2025-01-30
- Granted: 2026-04-07
- Earliest claimed: 2022-08-23
- Assignees: The Boeing Company; Korean Air Lines Co., Ltd.
- Applicants: The Boeing Company; Korean Air Lines Co., Ltd.
- Inventors: Harinder Singh Oberoi; Kevin Marion Barrick; Yuanxin Charles Hu; Melissa A. Johnson; Laura Carolyn Foster; Hwangyu Shin; Gi Jun Hong; Youngwoo Koh
- Web page: https://patentgrep.com/patent/US12594634B2

## CPC

- B23P 19/06: Screw or nut setting or loosening machines
- B21J 15/142: {Aerospace structures}
- B23P 23/02: Machine tools for performing different machining operations (lathes, e.g. capstan lathes, B23B; combined horizontal boring and milling machines B23B39/02)
- B23P 2700/01: Aircraft parts
- B64F 5/10: Manufacturing or assembling aircraft, e.g. jigs therefor
- B23P: METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS (arrangements for copying or controlling B23Q)
- B21J: FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES (rolling of metal B21B; making particular products by forging or pressing B21K; cladding or plating B23K; finishing surfaces by hammering B23P9/04; compacting surfaces by blasting with particulate material B24C1/10; general features of presses, presses for consolidating scrap B30B; furnaces in general F27)
- 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

## 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.

## Claims

### Claim 1

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.

### Claim 2 (depends on 1)

The end effector of claim 1 further comprising:
a collar positioning assembly comprising collar supply tubes and a rotating collar plate.

### Claim 3 (depends on 2)

The end effector of claim 2 further comprising:
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.

### Claim 4 (depends on 3)

The end effector of claim 3, wherein the collar transfer unit further comprises a rotating arm connected to the telescoping arm by a rotation motor, the collar gripper directly connected to the rotating arm.

### Claim 5 (depends on 3)

The end effector of claim 3, wherein the collar gripper comprises a number of moveable fingers connected to a number of finger actuators.

### Claim 6 (depends on 1)

The end effector of claim 1, wherein the torque wrench comprises a contact pad configured to contact the structure, a housing configured to hold the collar, and a vacuum port configured to receive the vacuum from the first vacuum source and supply the vacuum to the housing.

### Claim 7 (depends on 6)

The end effector of claim 6, wherein the contact pad comprises an opening, wherein the vacuum travels from the housing through the opening to provide the single-sided clamp-up of the structure.

### Claim 8 (depends on 2)

The end effector of claim 2, wherein the collar positioning assembly further comprises a collar centering iris.

### Claim 9 (depends on 2)

The end effector of claim 2, wherein the rotating collar plate has a plurality of holes with a plurality of diameters configured to hold a plurality of collar diameters.

### Claim 10 (depends on 2)

The end effector of claim 2, wherein the collar supply tubes have a plurality of diameters, configured to feed collars with a plurality of collar diameters.

### Claim 11 (depends on 1)

The end effector of claim 1 further comprising:
a second vacuum source configured to provide a second vacuum within the torque wrench to remove a portion of the collar.

### Claim 12

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.

### Claim 13 (depends on 12)

The end effector of claim 12, wherein the torque wrench further comprises a drive shaft extending through the vacuum port and interfacing with one of the number of gears.

### Claim 14 (depends on 12)

The end effector of claim 12, wherein the contact pad comprises an opening, wherein the vacuum travels from a chamber in the housing through the opening to provide single-sided clamp-up of a structure by the end effector.

### Claim 15 (depends on 12)

The end effector of claim 12 further comprising:
a number of non-contact inspection sensors configured to scan a surface of a structure to generate surface data; and
a controller configured to perform non-contact normalization using the surface data.

### Claim 16

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.

### Claim 17 (depends on 16)

The end effector of claim 16 further comprising:
a second vacuum source configured to provide a second vacuum within the torque wrench to remove a portion of the collar.

### Claim 18 (depends on 16)

The end effector of claim 16, wherein the collar positioning assembly further comprises a collar centering iris.

### Claim 19 (depends on 16)

The end effector of claim 16, wherein the collar supply tubes have a plurality of diameters, configured to feed collars with a plurality of collar diameters.

### Claim 20

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.