Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same
US-9962834-B2 · May 8, 2018 · US
US10556266B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-10556266-B2 |
| Application number | US-201916351216-A |
| Country | US |
| Kind code | B2 |
| Filing date | Mar 12, 2019 |
| Priority date | Aug 12, 2016 |
| Publication date | Feb 11, 2020 |
| Grant date | Feb 11, 2020 |
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A tool including a pair of rails is attachable to the inside surface of the skin panel. A housing is pivotally and slidably connected between the pair of rails. The housing is pivotable about a first axis and is slidable along grooves in the pair of rails. The housing has a first end and a second end opposite each other. The tool includes a rod having a third end and a fourth end, the third end attached to and extending from the first end of the housing. The tool also includes a pressure foot attached to the fourth end of the housing. The pressure foot includes a curved ankle integrally formed with a flat flange, the curved ankle curving into the flat flange. The pressure foot is configured to apply pressure along a portion of the inside surface of the skin panel when the housing is in a vertical position.
Opening claim text (preview).
What is claimed is: 1. A method for manufacturing an aircraft, the method comprising: using a tool comprising: a pair of rails configured to attach to an inside surface of a first skin panel; a housing pivotally and slidably connected to the pair of rails between facing inside surfaces of the pair of rails such that the housing is pivotable about a first axis defined between the facing inside surfaces of the pair of rails and through the housing, and such that the housing is slidable along grooves in the pair of rails, the housing, located between the pair of rails, comprising a first end and a second end opposite each other; a rod having a third end and a fourth end, the third end attached to and extending from the first end of the housing; and a pressure foot attached to the fourth end of the rod, the pressure foot comprising a curved portion integrally formed with a flat flange, the curved portion curving into the flat flange, and wherein the pressure foot is configured to apply pressure along a portion of the inside surface of the first skin panel when a longitudinal axis defined between the first end and the second end of the housing is normal relative to the inside surface of the first skin panel; bringing together the first skin panel and a second skin panel; attaching the pair of rails to the inside surface of the first skin panel; applying a backing force to the second skin panel; and pivoting the housing about the first axis until the pressure foot applies a pressure against the inside surface of the first skin panel against the backing force. 2. The method of claim 1 , further comprising: drilling through the second skin panel and then through the first skin panel, wherein a drill bit extends into a hole disposed in the pressure foot after the drilling. 3. The method of claim 1 , further comprising: the housing comprising a plurality of holes disposed on the second end of the housing and arranged along the first axis; the tool further comprising a plurality of bolts disposed in corresponding ones of the plurality of holes; the plurality of bolts being threaded and selectively extendable into the plurality of holes by screwing the plurality of bolts into any one of the plurality of holes; the plurality of holes extending entirely through to the first end of the housing; the rod being removably attached to any one of the plurality of holes at the first end of the housing; the rod and a corresponding one of the plurality of bolts contacting each other inside a first of the plurality of holes; changing an amount of force applied to the pressure foot through the rod via changing a first distance that the corresponding one of the plurality of bolts extends into the first of the plurality of holes; removing the rod from the first of the plurality of holes; removably attaching the rod into a second hole in the plurality of holes such that the rod is in contact with a second one of the plurality of bolts inside the second hole; and adjusting a second distance that the second one of the plurality of bolts extends into the second hole, thereby adjusting an amount of pressure applied by the pressure foot through the rod. 4. A method for aligning panels while manufacturing an aircraft, the method comprising: bringing together a first skin panel and a second skin panel; setting a height of a pair of rails above a surface of the first skin panel via: connecting an indexing device to the pair of rails via sliding projections extending from opposing ends of a cross beam of the indexing device, respectively, into a groove within each rail of the pair of rails; and setting a height above the surface of the first skin panel for the pair of rails via: rotating the cross beam until an indexing foot at an end of a leg extending from the cross beam contacts the surface of the first skin panel at a first desired location, such that the leg stands normal to the surface of the first skin panel; pivoting the leg away from the first skin panel and sliding the indexing device along a length of the pair of rails; and rotating the cross beam until the indexing foot contacts the surface of the first skin panel at a second desired location, such that the leg stands normal to the surface of the first skin panel; attaching the pair of rails to the surface of the first skin panel after setting the height of the rails above the first skin panel; applying a backing force to the second skin panel; and pivoting a housing until a pressure foot connected to the housing applies a pressure against the surface of the first skin panel against the backing force, the housing, located between the pair of rails, comprising a first end and a second end opposite each other and being pivotally and slidably connected to the grooves in the pair of rails between facing inside surfaces of the pair of rails such that the housing is pivotable about a first axis defined between the facing inside surfaces of the pair of rails and through the housing. 5. The method of claim 4 , further comprising the first desired location comprising a mark for a hole to be drilled through the first skin panel. 6. The method of claim 4 , further comprising the indexing foot comprising a hole for aligning the indexing foot at the first desired location. 7. The method of claim 4 , further comprising attaching the pair of rails to the surface of the first skin panel via vacuum sealing flanges connected to the pair of rails. 8. A method for manufacturing an aircraft, the method comprising: using a tool that comprises: a pair of rails that comprise a first rail and a second rail, such that a length of the first rail extends substantially parallel to a length of the second rail, and the pair of rails attach to an inside surface of a first skin panel; the first rail comprising a substantially flat surface; the second rail comprising an opposing substantially flat surface that faces, and is substantially parallel to, the substantially flat surface of the first rail; a first groove in the first rail, the first groove extending along, and substantially parallel to, the length of the first rail; a second groove in the second rail, the second groove extending along, and substantially parallel to, the length of the second rail; and a housing pivotally and slidably connected to the pair of rails, the housing located between the pair of rails, the housing comprises: a first end, a second end opposite to the first end, and a peripheral surface extending between the first end and the second end; the first end comprises a first planar surface and a first hole configured to receive a rod; the second end comprises a second planar surface and a second hole configured to receive a bolt, the first planar surface being substantially parallel to the second planar surface, such that the first hole aligns, along a central axis substantially perpendicular to the first planar surface and the second planar surface, with the second hole, the substantially flat surface of the first rail separated from the opposing substantially flat surface of the second rail by a distance greater than a length of the second planar surface; and first and second indexing protrusions slidably connected to the first groove and the second groove, respectively, such that the housing pivots about a first axis that passes: through the first groove and the second groove, substantially perpendicular to the length of the first rail; through the housing; and slides along the first groove and the second groove; the rod comprising a third end and a fourth end, the third end attached to and extending from the first end of the housing; and a pressure foot attached to the fourth end of the rod, such that the pressure
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