End effectors and methods for adhesively attaching a first part to a second part

Patent metadata

Field	Value
Publication number	US-11738520-B2
Application number	US-202117494571-A
Country	US
Kind code	B2
Filing date	Oct 5, 2021
Priority date	Oct 5, 2021
Publication date	Aug 29, 2023
Grant date	Aug 29, 2023

Abstract

An end effector, for adhesively attaching a first part to a second part, comprises a support and a first nozzle, coupled to the support and movable relative to the support, and a second nozzle, coupled to the support and movable relative to the support. The first nozzle comprises a first-nozzle body, comprising a first-nozzle-body outlet port and a first-nozzle separator plate, extending from the first-nozzle body. The second nozzle comprises a second-nozzle body, comprising a second-nozzle-body inlet port and a second-nozzle separator plate, extending from the second-nozzle body. The end effector further comprises a roller, coupled to the support, rotatable relative to the support about a roller axis, and located between the first nozzle and the second nozzle.

First claim

What is claimed is:

1. An end effector for adhesively attaching a first part to a second part, the end effector comprising:
a support;
a first nozzle, coupled to the support and movable relative to the support, wherein the first nozzle comprises:
a first-nozzle body, comprising a first-nozzle-body outlet port; and
a first-nozzle separator plate, extending from the first-nozzle body;

a second nozzle, coupled to the support and movable relative to the support, wherein the second nozzle comprises:
a second-nozzle body, comprising a second-nozzle-body inlet port; and
a second-nozzle separator plate, extending from the second-nozzle body; and

a roller, coupled to the support, rotatable relative to the support about a roller axis, and located between the first nozzle and the second nozzle.

2. The end effector according to claim 1 , further comprising:
a first-nozzle biasing member, configured to bias the first nozzle away from the support; and
a second-nozzle biasing member, configured to bias the second nozzle away from the support.

3. The end effector according to claim 1 , further comprising:
a first arm, coupling the first nozzle to the support; and
a second arm, coupling the second nozzle to the support,
wherein:
the first arm is movable, relative to the support, such that the first arm is selectively movable to one of a first-arm disengaged position or a first-arm engaged position;
the second arm is movable, relative to the support, such that the second arm is selectively movable to one of a second-arm disengaged position or a second-arm engaged position; and
the first-nozzle separator plate is closer to the second-nozzle separator plate when the first arm is in the first-arm engaged position, and the second arm is in the second-arm engaged position, than when the first arm is in the first-arm disengaged position, and the second arm is in the second-arm disengaged position.

4. The end effector according to claim 3 , wherein:
the first arm has a first-arm central axis;
the first arm is pivotable, relative to the support, so that the first-arm central axis lies in a first virtual plane;
the second arm has a second-arm central axis; and
the second arm is pivotable, relative to the support, so that the second-arm central axis lies in a second virtual plane.

5. The end effector according to claim 4 , further comprising an axis, perpendicular to the first virtual plane and to the second virtual plane, wherein the first arm and the second arm are pivotable, relative to the support, about the axis.

6. The end effector according to claim 4 , further comprising an axis, perpendicular to the first virtual plane, and a second axis, perpendicular to the second virtual plane, wherein:
the first arm is pivotable, relative to the support, about the axis ;
the second arm is pivotable, relative to the support, about the second axis; and
the axis and the second axis are parallel to each other.

7. The end effector according to claim 4 , wherein the first virtual plane and the second virtual plane are parallel to each other.

8. The end effector according to claim 4 , wherein the first virtual plane and the second virtual plane are coincident with each other.

9. The end effector according to claim 4 , wherein at least one of the first virtual plane and the second virtual plane is parallel to a virtual plane, containing the roller axis, or is coincident with the virtual plane, containing the roller axis.

10. The end effector according to claim 3 , further comprising:
a first-nozzle biasing member, configured to bias the first nozzle away from the support; and
a second-nozzle biasing member, configured to bias the second nozzle away from the support.

11. The end effector according to claim 3 , wherein:
the first-nozzle-body outlet port is open in a first direction;
the second-nozzle-body inlet port is open in one of a second direction or a third direction; and
when the first arm is in the first-arm engaged position, and when the second arm is in the second-arm engaged position, the first nozzle and the second nozzle are oriented relative to each other such that a first virtual ray, corresponding with the first direction, is directed toward and is co-planar with a second virtual ray, corresponding with the second direction, and is perpendicular with a third virtual ray, corresponding with the third direction.

12. The end effector according to claim 11 , further comprising:
a reservoir, fluidically coupled with the first nozzle; and
a vacuum source, fluidically coupled with the second nozzle.

13. The end effector according to claim 11 , wherein:
the second-nozzle body further comprises a second second-nozzle-body inlet port;
the second-nozzle-body inlet port is open in the second direction; and
the second second-nozzle-body inlet port is open in the third direction.

14. The end effector according to claim 13 , wherein the second-nozzle-body inlet port is offset relative to the second second-nozzle-body inlet port in a fourth direction, corresponding with a fourth virtual ray ( 113 D) that is parallel with the first virtual ray.

15. The end effector according to claim 14 , wherein the second-nozzle-body inlet port is offset relative to the second second-nozzle-body inlet port in a fifth direction, corresponding with a fifth virtual ray that is perpendicular with the fourth virtual ray.

16. The end effector according to claim 3 , wherein:
the first-nozzle separator plate comprises a first-nozzle-separator-plate first-part engagement surface and a first-nozzle-separator-plate second-part engagement surface;
the first-nozzle-separator-plate first-part engagement surface and the first-nozzle-separator-plate second-part engagement surface are parallel to each other;
the second-nozzle separator plate comprises a second-nozzle-separator-plate first-part engagement surface and a second-nozzle-separator-plate second-part engagement surface;
the second-nozzle-separator-plate first-part engagement surface and the second-nozzle-separator-plate second-part engagement surface are parallel to each other;
when the first arm is in the first-arm disengaged position, and the second arm is in the second-arm disengaged position, the first-nozzle-separator-plate first-part engagement surface and the second-nozzle-separator-plate first-part engagement surface are non-coplanar; and
when the first arm is in the first-arm engaged position, and the second arm is in the second-arm engaged position, the first-nozzle-separator-plate first-part engagement surface and the second-nozzle-separator-plate first-part engagement surface are coplanar.

17. The end effector according to claim 3 , wherein, when the first arm is in the first-arm engaged position, and the second arm is in the second-arm engaged position, a minimum distance between the first-nozzle separator plate and the second-nozzle separator plate is less than a minimum distance between the first-nozzle-body outlet port and the second-nozzle-body inlet port.

18. The end effector according to claim 3 , further comprising:
a first linear slide, coupling the first nozzle to the first arm such that the first nozzle is movable relative to the first arm; and
a second linear slide, coupling the second nozzle to the second arm such that the second nozzle is movable relative to the second arm.

19. The end effector according to claim 3 , further comprising:
a first actuator, coupled to the support and to the first arm, wherein the first actuator is selectively actuatable such th

Assignees

• Boeing Co

Inventors

• Georgeson Gary E
• Piehl Marc J
• Hafenrichter Joseph L

Classifications

• B29C65/542 Primary

  by injection · CPC title

• B05C11/1044

  Apparatus or installations for supplying liquid or other fluent material to several applying apparatus or several dispensing outlets, e.g. to several extrusion nozzles · CPC title

• B05C13/00

  Means for manipulating or holding work, e.g. for separate articles {(B05C1/0821 takes precedence)} · CPC title

• B25J9/042

  comprising an articulated arm · CPC title

• B25J15/024 Primary

  having fingers directly connected to actuator · CPC title