Method of configuring applicators that deliver glutinous substances to workpiece from end-effector

Patent metadata

Field	Value
Publication number	US-10780451-B2
Application number	US-201816230228-A
Country	US
Kind code	B2
Filing date	Dec 21, 2018
Priority date	Oct 15, 2015
Publication date	Sep 22, 2020
Grant date	Sep 22, 2020

Abstract

A method of removing a tip from a body of an applicator, fixed to an end- effector, wherein the applicator comprises a coupler, releasably engageable with the tip to interlock the tip with the body of the applicator, is disclosed. The method comprises, with the coupler of the applicator releasably engaged with the tip, locating the end-effector so that a pawl is engaged with a third tooth on the tip to prevent movement of the tip in a fifth direction away from the pawl, and a wedge disengages the coupler of the applicator from the tip. The method also comprises, with the pawl engaged with the third tooth on the tip and the coupler of the applicator disengaged from the tip by the wedge, using the end-effector to move the body of the applicator in the fifth direction to disengage the tip from the body of the applicator.

First claim

What is claimed is:

1. A method of removing a tip from a body of an applicator, fixed to an end-effector, wherein the applicator comprises a coupler, releasably engageable with the tip to interlock the tip with the body of the applicator, the method comprising:
with the coupler of the applicator releasably engaged with the tip, locating the end-effector so that:
a pawl is engaged with a third tooth on the tip to prevent movement of the tip in a fifth direction away from the pawl; and
a wedge disengages the coupler of the applicator from the tip; and

with the pawl engaged with the third tooth on the tip and the coupler of the applicator disengaged from the tip by the wedge, using the end-effector to move the body of the applicator in the fifth direction to disengage the tip from the body of the applicator.

2. The method according to claim 1 , wherein locating the end-effector so that the pawl is engaged with the third tooth on the tip comprises using the end-effector to move the body of the applicator toward the pawl, in a sixth direction opposite the fifth direction, along a straight line until the pawl engages the third tooth.

3. The method according to claim 2 , wherein as the end-effector moves the body of the applicator in a straight line in the sixth direction, the wedge causes the coupler of the applicator to disengage from the tip.

4. The method according to claim 3 , wherein locating the end-effector, so that the pawl is engaged with the third tooth on the tip, comprises resiliently flexing the pawl.

5. The method according to claim 3 , wherein disengaging the coupler of the applicator from the tip with the wedge comprises moving the coupler away from the tip.

6. The method according to claim 2 , wherein locating the end-effector, so that the pawl is engaged with the third tooth on the tip, comprises resiliently flexing the pawl.

7. The method according to claim 2 , wherein disengaging the coupler of the applicator from the tip with the wedge comprises moving the coupler away from the tip.

8. The method according to claim 1 , wherein locating the end-effector, so that the pawl is engaged with the third tooth on the tip, comprises resiliently flexing the pawl.

9. The method according to claim 8 , wherein disengaging the coupler of the applicator from the tip with the wedge comprises moving the coupler away from the tip.

10. The method according to claim 1 , wherein locating the end-effector, so that the pawl is engaged with the third tooth on the tip, comprises using the end-effector to move the body of the applicator in a seventh direction, perpendicular to the fifth direction, along a straight line until the pawl is engaged with the third tooth on the tip.

11. The method according to claim 10 , wherein disengaging the coupler of the applicator from the tip with the wedge comprises moving the coupler away from the tip.

12. The method according to claim 10 , wherein as the end-effector moves the body of the applicator in a straight line in the seventh direction, perpendicular to the fifth direction, the wedge causes the coupler of the applicator to disengage from the tip.

13. The method according to claim 12 , wherein disengaging the coupler of the applicator from the tip with the wedge comprises moving the coupler away from the tip.

14. The method according to claim 1 , wherein disengaging the coupler of the applicator from the tip with the wedge comprises moving the coupler away from the tip.

15. The method according to claim 14 , wherein:
the applicator further comprises a retainer, configured to maintain the coupler in contact with the body and with the tip when the tip is interlocked with the body of the applicator; and
moving the coupler away from the tip comprises resiliently stretching the retainer.

Assignees

• Boeing Co

Inventors

• Pringle Iv John W
• Erickson Chris
• Khong Ted
• Trend Don D

Classifications

• A46B11/06 Primary

  connected to supply pipe {or to other external supply means (A46B11/0003 and A46B11/0006 take precedence)} · CPC title

• B23Q2003/1558

  involving insertion or removal of other machine components together with the removal or insertion of tools or tool holders · CPC title

• B23P19/04

  for assembling or disassembling parts · CPC title

• B23P19/02

  for connecting objects by press fit or for detaching same (B23P19/10 takes precedence) · CPC title

• Y10T483/17

  including machine tool or component · CPC title