Clamping feet for an end effector

Patent metadata

Field	Value
Publication number	US-10201847-B2
Application number	US-201414559191-A
Country	US
Kind code	B2
Filing date	Dec 3, 2014
Priority date	Jul 9, 2014
Publication date	Feb 12, 2019
Grant date	Feb 12, 2019

Abstract

An attachment for an end effector. The attachment may include a clamp and a foot adhesively bonded to an edge of the clamp and having a set of interlocking features that form a mechanical interlock with the clamp.

First claim

What is claimed is:

1. An apparatus comprising:
an end effector for a robotic device, the end effector comprising:
a cylindrical clamp at a distal end of the end effector, the cylindrical clamp configured to hold a tool within a cavity extending through the cylindrical clamp;
a foot adhesively bonded to an edge of the cylindrical clamp such that the foot is positioned between the edge of the cylindrical clamp and a part when the cylindrical clamp is used to apply a clamping force to the part and having a set of interlocking features that form a mechanical interlock with the cylindrical clamp, wherein the set of interlocking features have a shape configured to increase a cohesive strength of an interface between the cylindrical clamp and the foot; and wherein the cylindrical clamp is comprised of a first material and the foot is comprised of a second material different from the first material.

2. The apparatus of claim 1 , wherein the set of interlocking features give the interface between the cylindrical clamp and the foot cohesive strength to resist bending forces.

3. The apparatus of claim 1 , wherein the set of interlocking features is a set of projections.

4. The apparatus of claim 1 , wherein the foot further comprises:
a base portion, wherein the set of interlocking features extend from the base portion.

5. The apparatus of claim 4 , wherein an interlocking feature in the set of interlocking features comprises:
an elongated portion that extends from the base portion of the foot, the elongated portion having opposing parallel sides extending from the base.

6. The apparatus of claim 5 , wherein the interlocking feature further comprises:
a locking portion located at an end of the elongated portion and having a first width greater than a second width between the sides of the elongated portion.

7. The apparatus of claim 6 , wherein the locking portion is a circular portion having a diameter greater than the second width of the elongated portion.

8. The apparatus of claim 5 , wherein the elongated portion extends substantially perpendicularly from the base portion into the cylindrical clamp.

9. The apparatus of claim 1 , wherein the cylindrical clamp is detachable from the end effector.

10. The apparatus of claim 1 , wherein the foot comprises a plastic material that acts as a shock absorber when the cylindrical clamp with the foot is placed on the part.

11. The apparatus of claim 1 , wherein a cross-sectional area of the foot taken along an axis substantially parallel to the edge of the cylindrical clamp has a width that changes along a length of the cross-sectional area.

12. The apparatus of claim 1 , wherein the first material is a metallic material and the second material is a plastic material comprising at least one of a thermosetting plastic or a thermoplastic material.

13. The apparatus of claim 1 , wherein the second material is polyurethane.

14. An attachment for an end effector comprising:
a first element configured to be attached to an end effector for a robotic device, having a substantially cylindrical shape, and having a complementary set of interlocking features along an edge of the first element, wherein the set of interlocking features comprise an elongated portion having parallel sides extending from the edge and a circular locking portion at an end of the elongated portion;
a second element adhesively bonded to the first element at the edge such that the second element is positioned between the edge of the first element and a part when the attachment is used for performing an operation on the part and such that a set of interlocking features of the second element mate with the complementary set of interlocking features of the first element to form a mechanical interlock between the first element and the second element, and
wherein the second element is comprised of a plastic material and the first element is comprised of a metallic material.

15. The attachment of claim 14 , wherein the first element and the second element together form a first tool.

16. The attachment of claim 15 , wherein the first tool is a clamp.

17. The attachment of claim 15 further comprising:
a second tool integrated with the first tool.

18. The attachment of claim 17 , wherein the second tool is a bucking bar.

19. An apparatus comprising:
an end effector for a robotic device, the end effector comprising:
a cylindrical clamp at a distal end of the end effector, the cylindrical clamp configured to hold a tool within a cavity extending through the cylindrical clamp; and
a foot adhesively bonded to an edge of the cylindrical clamp such that the foot is positioned between the edge of the cylindrical clamp and a part when the cylindrical clamp is used to apply a clamping force to the part and having a set of interlocking features that form a mechanical interlock with the cylindrical clamp.

Assignees

• Boeing Co

Inventors

• Oberoi Harinder S
• Findlay Melissa Ann
• Arriaga Jorge Alberto
• Sarh Branko
• Draper Alan S

Classifications

• G05B19/41865

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• B21J15/02 Primary

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• B29C39/123

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• B25B5/163

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• B60G2206/8207

  by screwing · CPC title