Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same
IPC분류정보
국가/구분
United States(US) Patent
등록
국제특허분류(IPC7판)
B25J-009/16
B23P-019/04
B25J-015/06
B64F-005/00
B25J-015/00
B64F-005/50
B64F-005/10
출원번호
US-0742441
(2015-06-17)
등록번호
US-9962834
(2018-05-08)
발명자
/ 주소
Stone, Paul R.
Clark, Gregory Louis
Munk, Clayton Lynn
Mendez, Mario A.
출원인 / 주소
The Boeing Company
대리인 / 주소
D'Ascenzo Intellectual Property Law, P.C.
인용정보
피인용 횟수 :
0인용 특허 :
12
초록▼
Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same. The robots include a robotic arm and the compliant end effector. The compliant end effector includes a base, a jaw fixedly coupled to the base, a part-engaging surface, and a pivot structure. The
Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same. The robots include a robotic arm and the compliant end effector. The compliant end effector includes a base, a jaw fixedly coupled to the base, a part-engaging surface, and a pivot structure. The pivot structure extends between the part-engaging surface and the jaw and is configured to permit limited rotation of the part-engaging surface relative to the jaw about a single pivot axis. The methods include locating an apparatus with a vision system of the robot, locating a part with the vision system, gripping the part with the compliant end effector, positioning the part relative to the apparatus, and operatively attaching the part to the apparatus. The positioning includes deliberately contacting a toe end of a flange of the part with the apparatus prior to contacting a heel end of the flange with the apparatus.
대표청구항▼
1. A compliant end effector for selectively retaining a part, the compliant end effector comprising: a base;a jaw fixedly coupled to the base;a part-engaging surface; anda pivot structure that extends between the part-engaging surface and the jaw, wherein the pivot structure is configured to permit
1. A compliant end effector for selectively retaining a part, the compliant end effector comprising: a base;a jaw fixedly coupled to the base;a part-engaging surface; anda pivot structure that extends between the part-engaging surface and the jaw, wherein the pivot structure is configured to permit limited rotation of the part-engaging surface relative to the jaw about a single pivot axis. 2. The compliant end effector of claim 1, wherein the jaw is a first jaw, wherein the part-engaging surface is a first part-engaging surface, wherein the pivot structure is a first pivot structure, wherein the single pivot axis is a first single pivot axis, and further wherein the compliant end effector includes a second jaw, a second part-engaging surface, a second pivot structure, and a jaw actuator. 3. The compliant end effector of claim 2, wherein: (i) the second jaw is movably coupled to the base, via the jaw actuator, such that the second part-engaging surface faces toward the first part-engaging surface;(ii) the second pivot structure is configured to permit limited rotation of the second part-engaging surface relative to the second jaw about a second single pivot axis; and(iii) the first part-engaging surface and the second part-engaging surface are arranged to operatively grip opposed sides of the part. 4. The compliant end effector of claim 3, wherein the second single pivot axis is at least substantially parallel to the first single pivot axis. 5. The compliant end effector of claim 2, wherein the jaw actuator is configured to selectively transition the compliant end effector among a range of orientations that includes at least an open orientation and a gripping orientation, wherein, when the compliant end effector is in the open orientation, the compliant end effector is configured to permit the part to be located between the first part-engaging surface and the second part-engaging surface, and further wherein, when the compliant end effector is in the gripping orientation, the compliant end effector is configured to grip the part between the first part-engaging surface and the second part-engaging surface. 6. The compliant end effector of claim 1, wherein the part-engaging surface is defined by a part-engaging pad that is operatively attached to the pivot structure. 7. The compliant end effector of claim 1, wherein the part-engaging surface is a vacuum surface configured to selectively retain the part via a vacuum force. 8. The compliant end effector of claim 1, wherein the pivot structure is configured to permit rotation of the part-engaging surface relative to the jaw only about the single pivot axis. 9. The compliant end effector of claim 1, wherein the pivot structure includes a pair of spherical bearings. 10. The compliant end effector of claim 9, wherein each spherical bearing of the pair of spherical bearings defines a center of rotation, and further wherein the single pivot axis passes through the center of rotation of each spherical bearing of the pair of spherical bearings. 11. A robot for operatively attaching a part to an apparatus, the robot comprising: a robotic arm; andthe compliant end effector of claim 1, wherein the compliant end effector is operatively attached to the robotic arm;wherein the robot is programmed to operatively contact the part with a surface of the apparatus, and further wherein the single pivot axis is parallel, or at least substantially parallel, to an initial line of contact between the part and the surface of the apparatus when the robot operatively contacts the part with the surface of the apparatus. 12. The robot of claim 11, wherein the robot further includes a vision system operatively coupled to the robotic arm, wherein the vision system is configured to generate a location signal that quantifies a position of the part relative to the apparatus. 13. The robot of claim 12, wherein the robot further includes a controller programmed to control the operation of at least one of: (i) the robotic arm;(ii) the compliant end effector; and(iii) the vision system. 14. The robot of claim 13, wherein the controller is programmed to receive the location signal from the vision system, and further wherein the controller is programmed to provide a control signal to at least one of the robotic arm and the compliant end effector. 15. The robot of claim 14, wherein the control signal includes at least one of: (i) a signal for transitioning the compliant end effector to an open orientation;(ii) a signal for transitioning the compliant end effector to a gripping orientation to grip the part;(iii) a signal for moving the robotic arm to a first position for gripping the part;(iv) a signal for moving the robotic arm to a second position in which the part is in operative contact with the apparatus; and(v) an overdrive signal for pressing the part against the assembly. 16. The robot of claim 11, wherein the apparatus includes at least a portion of an aircraft, and further wherein the part includes a rib post of the aircraft. 17. A robot for operatively attaching a part to an apparatus, the robot comprising: a robotic arm;a vision system;a compliant end effector operatively attached to the robotic arm, the compliant end effector comprising:(i) a base;(ii) a jaw fixedly coupled to the base;(iii) a part-engaging surface; and(iv) a pivot structure that extends between the part-engaging surface and the jaw, wherein the pivot structure is configured to permit limited rotation of the part-engaging surface relative to the jaw about a single pivot axis; anda controller programmed to:(i) locate the apparatus with the vision system;(ii) locate the part with the vision system, wherein the robot is configured to operatively align the part with a surface of the apparatus for operative attachment of the part to the apparatus;(iii) grip the part with the compliant end effector;(iv) position the part relative to the apparatus; and(v) operatively attach the part to the apparatus. 18. The robot of claim 17, wherein the pivot structure is configured to permit rotation of the part-engaging surface relative to the jaw only about the single pivot axis. 19. The robot of claim 17, wherein the pivot structure includes a pair of spherical bearings, wherein each spherical bearing in the pair of spherical bearings defines a center of rotation, and further wherein the single pivot axis passes through the center of rotation of each spherical bearing of the pair of spherical bearings. 20. The robot of claim 17, wherein the robot is programmed to operatively contact the part with the surface of the apparatus, and further wherein the single pivot axis is parallel, or at least substantially parallel, to an initial line of contact between the part and the surface of the apparatus when the robot operatively contacts the part with the surface of the apparatus.
Preston, Christopher B.; Blake, Christine A.; Nandwani, Sunil; Agapiou, John S., Part transfer system that uses existing part features, and a method of using the part transfer system.
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