# US 2019/0168388 A1 · Portable programmable machines, robotic end effectors, and related methods

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- Number: US 2019/0168388 A1
- Document ID: US20190168388A1
- Status: Published application
- Kind: A1
- Application number: 15/832,543
- Filed: 2017-12-05
- Published: 2019-06-06
- Earliest claimed: 2017-12-05
- Assignees: The Boeing Company
- Applicants: The Boeing Company
- Inventors: John Walter Pringle, IV; Chris J. Erickson
- Web page: https://patentgrep.com/patent/US20190168388A1

## CPC

- B25J 9/1687: {Assembly, peg and hole, palletising, straight line, weaving pattern movement}
- B25J 5/007: {mounted on wheels}
- B25J 9/0036: {with kinematics chains of the type prismatic-rotary-rotary}
- B25J 9/1697: {Vision controlled systems}
- B25J 11/005: {Manipulators for mechanical processing tasks}
- B25J 11/0075: {Manipulators for painting or coating}
- B25J 11/0085: {Cleaning}
- B25J 17/0283: {Three-dimensional joints}
- B25J 18/025: {telescopic}
- B25J 19/023: {including video camera means}
- B64F 5/00: Designing, manufacturing, assembling, cleaning, maintaining or repairing aircraft, not otherwise provided for; Handling, transporting, testing or inspecting aircraft components, not otherwise provided for
- B64F 5/10: Manufacturing or assembling aircraft, e.g. jigs therefor
- B64F 5/40: Maintaining or repairing aircraft
- B64F 5/30: Cleaning aircraft
- Y10S 901/43: Spray painting or coating
- 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})
- 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
- Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS

## Abstract

A portable work module includes a combination of prismatic and revolute joints (47/45) for positioning and orienting a robotic end effector for performing a task within confined space (17). For example, the portable work module may include telescoping arm (52) integrated with wrist (70) having a plurality of degrees of freedom with respect to telescoping arm (52). The portable work module includes an insert that is secured with respect to an access port of confined space (17), said access port serving as a reference location for calculating the position of the robotic end effector within confined space (17). The portable work module is configured to have a compacted configuration for insertion into confined space (17), and an extended configuration for performing tasks within confined space (17). In some examples, the portable work module is modular, such that the robotic end effector or other components may be selectively removed and replaced.

## Claims

### Claim 1

A portable programmable machine (26) configured to perform one or more tasks within a confined space (17), the portable programmable machine (26) comprising:
a prismatic joint (47) comprising a telescoping arm (52);
a base (34) configured to support the telescoping arm (52), a distal end region (39) of the telescoping arm (52) being unsupported by the base (34) and having an articulating wrist (70) configured to hold and manipulate a tool (49) for performing the one or more tasks within the confined space (17), wherein the distal end region (39) of the telescoping arm (52) is configured to be translated with respect to the base (34), wherein the wrist (70) comprises a plurality of joints (45/47) configured to rotate and translate the tool (49) with respect to the telescoping arm (52);
a revolute joint (45) configured to rotate the telescoping arm (52); and
a vision system (43) configured to facilitate positioning of the tool (49) and performance of the one or more tasks within the confined space (17);
wherein the portable programmable machine (26) is configured to position the tool (49) and perform the task at least one of autonomously and semi-autonomously via selectively moving the telescoping arm (52) and the wrist (70) with respect to the base (34); and
wherein the base (34) includes a power source (42) and a programmable computer (44) configured to process numerical data and to communicate with and control movements of the telescoping arm (52) and the wrist (70).

### Claim 2 (depends on 1)

The portable programmable machine (26) according to claim 1, wherein the revolute joint (45) comprises a fifth revolute joint (45e), wherein the plurality of joints (45/47) of the wrist (70) comprises:
a first revolute joint (45a) configured to adjust the yaw of the tool (49) with respect to the telescoping arm (52);
a second revolute joint (45b) configured to adjust the pitch of the tool (49) with respect to the telescoping arm (52);
a third revolute joint (45c) configured to adjust the roll of the tool (49) with respect to the telescoping arm (52); and
a first prismatic joint (47a) configured to translate the tool (49) with respect to the telescoping arm (52), and wherein the portable programmable machine (26) comprises a fourth revolute joint (45d) configured to rotate the tool (49) with respect to the wrist (70).

### Claim 3 (depends on 1)

The portable programmable machine (26) according to claim 1, wherein the combination of the prismatic joint (47), the revolute joint (45), and the plurality of joints (45/47) of the wrist (70) is configured to provide at least six degrees of freedom for articulation and movement of the tool (49) within the confined space (17).

### Claim 4 (depends on 1)

The portable programmable machine (26) according to claim 1, wherein the telescoping arm (52) extends from a proximal end region (37) to the distal end region (39), wherein the proximal end region (37) is supported by the base (34), and wherein the distal end region (39) is configured to receive, articulate, and support the tool (49), wherein the telescoping arm (52) is configured to extend between a compacted configuration having a first length, and an extended configuration having a second length, wherein the second length is greater than the first length, wherein, in the compacted configuration, the telescoping arm (52) has a reduced footprint and is configured to be inserted at least partially through an access port (12) to the confined space (17), and wherein, in the extended configuration, the telescoping arm (52) is configured to position the tool (49) and perform the one or more tasks at a location within the confined space (17) with the tool (49), spaced apart from the access port (12).

### Claim 5 (depends on 4)

The portable programmable machine (26) according to claim 4, further comprising an insert (54) that is configured to be selectively secured with respect to the access port (12) while the tool (49) performs the one or more tasks within the confined space (17), wherein the insert (54) is configured to remain substantially stationary with respect to the access port (12) while the insert (54) is secured with respect to the access port (12), wherein the telescoping arm (52) is configured to be rotated and translated with respect to the insert (54) via the prismatic joint 47 and the revolute joint (45), and wherein the portable programmable machine (26) is configured to utilize the access port (12) as a reference location for determining positions within the confined space (17).

### Claim 6 (depends on 1)

The portable programmable machine (26) according to claim 1, further comprising an air cylinder (240) configured to provide extra extension of wrist (70) with respect to telescoping arm (52).

### Claim 7

A robotic end effector (49) configured to perform a task within a confined space (17), wherein each performance of the task creates a piece of debris (212), the robotic end effector (49) comprising:
a debris retention structure (105) configured to retain the piece of debris (212) within the robotic end effector (49) subsequent to each performance of the task by the robotic end effector (49);
a debris catcher (202) configured to receive the piece of debris (212) from the debris retention structure (105) after each performance of the task; and
an actuation mechanism (103) configured to selectively move the piece of debris (212) from the debris retention structure (105) to the debris catcher (202) after each performance of the task.

### Claim 8 (depends on 7)

The robotic end effector (49) according to claim 7, wherein the debris catcher (202) is configured to retain the piece of debris (212) until removal of the robotic end effector (49) from the confined space (17), thereby removing the piece of debris (212) from the confined space (17).

### Claim 9 (depends on 8)

The robotic end effector (49) according to claim 8, wherein the actuation mechanism (103) is further configured to position a respective fastener (195) into the debris retention structure (105), substantially simultaneously with moving each respective piece of debris (212) into the debris catcher (202).

### Claim 10 (depends on 9)

The robotic end effector (49) according to claim 9, wherein the fastener (195) comprises a frangible nut (196), wherein the robotic end effector (49) is configured to install a plurality of frangible nuts (196) within the confined space (17), wherein each respective installation of a respective frangible nut (196) creates a piece of debris (212) that comprises a collar portion (213) that separates from the frangible nut (196) during installation, wherein the debris retention structure (105) is configured to retain the collar portion (213) after each respective installation of a respective frangible nut (196), and wherein the actuation mechanism (103) is configured to position a new respective frangible nut (196) into the debris retention structure (105) after each installation while substantially simultaneously moving the collar portion (213) from the previous installation into the debris catcher (202).

### Claim 11 (depends on 7)

The robotic end effector (49) according to claim 7, wherein the robotic end effector (49) is configured to install a plurality of frangible fasteners (195), one at a time, within the confined space (17), wherein each respective installation of a respective frangible fastener (195) creates a respective piece of debris (212), and wherein the robotic end effector (49) further comprises a nut cartridge (194) configured to store the plurality of frangible fasteners (195) until each respective frangible fastener (195) is installed within the confined space (17).

### Claim 12 (depends on 7)

The robotic end effector (49) according to claim 7, further comprising a drive mechanism (207) configured to drive and install a frangible fastener (195) within the confined space (17), wherein the drive mechanism (207) is configured to selectively translate the debris retention structure (105).

### Claim 13 (depends on 7)

The robotic end effector (49) according to claim 7, in combination with a work module (28), the work module (28) comprising:
a prismatic joint (47), wherein the prismatic joint (47) comprises a telescoping arm (52) that is configured to extend and retract within the confined space (17);
a plurality of revolute joints (45) integrated with the telescoping arm (52), wherein the prismatic joint (47) and the plurality of revolute joints (45) are configured to articulate and position the robotic end effector (49) within the confined space (17) in order to perform the task within the confined space (17), wherein the robotic end effector (49) is coupled within a distal end region (39) of the telescoping arm (52), wherein the distal end region (39) is configured to extend and retract with respect to an opposite proximal end region (37) of the telescoping arm (52), thereby transitioning the telescoping arm (52) between an extended configuration and a retracted configuration, respectively; and
an insert (54) that is configured to be selectively secured with respect to an access port (12) of the confined space (17) while the robotic end effector (49) performs the task within the confined space (17), wherein the insert (54) is configured to remain substantially stationary with respect to the access port (12) while the insert (54) is secured with respect to the access port (12), wherein the telescoping arm (52) is configured to be rotated and translated with respect to the insert (54), and wherein the robotic end effector (49) is configured to utilize the access port (12) as a reference location for determining positions within the confined space (17).

### Claim 14 (depends on 13)

The robotic end effector (49) according to claim 13, wherein the robotic end effector (49) is configured to maintain a respective orientation while the robotic end effector (49) is moved and positioned within the confined space (17) via the telescoping arm (52).

### Claim 15 (depends on 13)

The robotic end effector (49) according to claim 13, wherein the insert (54) comprises one or more engagement features (57) that are configured to substantially prevent movement of the insert (54) with respect to the access port (12) when the insert (54) is engaged with respect to the access port (12).

### Claim 16 (depends on 13)

The robotic end effector (49) according to claim 13, wherein the robotic end effector (49) is configured to perform a plurality of tasks within the confined space (17), wherein each respective task of the plurality of tasks is performed in a different respective target site (188) of the confined space (17), wherein the robotic end effector (49) further comprises a vision system (43) configured to inspect each respective target site (188) within the confined space (17) after the task is performed at the target site (188), wherein the vision system (43) is further configured to locate each respective target site (188) within the confined (17) space, and wherein the vision system (43) comprises one or more cameras (184).

### Claim 17 (depends on 13)

The robotic end effector (49) according to claim 13, wherein the plurality of revolute joints (45) comprises a wrist (70), and wherein the wrist (70) is configured to adjust the roll, pitch, and yaw of the robotic end effector (49) with respect to the telescoping arm (52), and wherein the wrist (70) comprises one or more additional prismatic joints (47).

### Claim 18

A method, comprising:
securing an insert (54) of a programmable work machine (26) with respect to an access port (12) of a confined space (17);
calculating a desired position of a robotic end effector (49) within the confined space (17), wherein the robotic end effector (49) is coupled to the programmable work machine (26), wherein the calculating the desired position is based on a reference location defined by the access port (12) of the confined space (17);
moving the robotic end effector (49) to the desired position within the confined space (17) while the insert (54) remains secured with respect to the access port (12); and
performing one or more tasks within the confined space (17) using the robotic end effector (49), wherein the performing the one or more tasks comprises performing a given task a plurality of times within the confined space (17) at a plurality of respective desired positions.

### Claim 19 (depends on 18)

The method according to claim 18, wherein the confined space (17) is a wing cavity (14) of an aircraft wing (10).

### Claim 20 (depends on 18)

The method according to claim 18, further comprising:
retracting a telescoping arm (52) of the programmable work machine (26) to a retracted configuration;
inserting the insert (54) at least partially into the access port (12) of the confined space (17);
extending a distal end region (39) of the telescoping arm (52) away from the insert (54) of the programmable work machine (26), to position the robotic end effector (49) within the confined space (17);
rotating the telescoping arm (52) with respect to the insert (54) of the programmable work machine (26);
again retracting the telescoping arm (52) of the robotic end effector (49) to the retracted configuration; and
removing the insert (54) from the access port (12), thereby removing the robotic end effector (49) from the confined space (17).

### Claim 21 (depends on 18)

The method according to claim 18, wherein the performing one or more tasks comprises:
installing a first fastener (195) within the confined space (17);
retaining a piece of debris (212) within a debris retention structure (105) of the robotic end effector (49) after the installing the first fastener (195), wherein the piece of debris (212) breaks off from the first fastener (195) during the installing the first fastener (195);
removing the piece of debris (212) from the debris retention structure (105) and capturing the piece of debris (212) in a debris catcher (202) of the robotic end effector (49); and
loading a subsequent fastener (195′) into the debris retention structure (105) after the installing the first fastener (195), wherein the removing the piece of debris (212) from the debris retention structure (105) is performed substantially simultaneously with the loading the subsequent fastener (195′).