Robotic end effectors for templating fasteners and related systems and methods

Patent metadata

Field	Value
Publication number	US-12466086-B2
Application number	US-202318528563-A
Country	US
Kind code	B2
Filing date	Dec 4, 2023
Priority date	Dec 4, 2023
Publication date	Nov 11, 2025
Grant date	Nov 11, 2025

Abstract

End effectors comprise a housing, a positioner, and a translator. The positioner is supported by the housing and is configured to sequentially receive fasteners from a source of fasteners into a receiving position and sequentially move fasteners from the receiving position to a deploying position. The translator is supported by the housing relative to the positioner and is configured to sequentially translate fasteners from the deploying position to ports of a fastener holder. Robotic methods comprise sequentially receiving fasteners from a source of fasteners into a receiving position, sequentially moving fasteners from the receiving position to a deploying position, and sequentially translating fasteners from the deploying position to ports of a fastener holder.

First claim

The invention claimed is:

1 . An end effector, comprising:
a housing; a positioner supported by the housing and configured to sequentially receive fasteners from a source of the fasteners into a receiving position and sequentially move the fasteners from the receiving position to a deploying position; and a translator supported by the housing relative to the positioner and configured to sequentially translate the fasteners from the deploying position to ports of a fastener holder; wherein the positioner comprises:
a rotatable structure defining a plurality of channels, each configured to receive a fastener and sequentially define the receiving position and the deploying position; and
a motor operatively coupled to the rotatable structure and configured to selectively rotate the rotatable structure.

2 . The end effector of claim 1 , wherein the housing is configured to be operatively coupled to a robotic manipulator.

3 . The end effector of claim 1 , further comprising a sensor supported by the housing and configured to detect the presence of a fastener in the receiving position.

4 . The end effector of claim 3 , wherein the sensor is a distance sensor.

5 . The end effector of claim 3 , further comprising a controller configured to operatively control the positioner and the translator, wherein the controller is configured to receive a signal from the sensor indicating the presence of a fastener in the receiving position, wherein the controller is configured to operate the positioner upon receipt of the signal from the sensor, and wherein the controller is configured to operate the translator following operation of the positioner.

6 . The end effector of claim 1 , wherein the translator comprises a linear actuator supported by the housing, aligned with the deploying position, and configured to sequentially and linearly translate the fasteners away from the deploying position.

7 . The end effector of claim 1 , wherein the translator comprises an inserter configured to operatively engage and mate with a fastener in the deploying position.

8 . The end effector of claim 7 , wherein the inserter comprises an end region configured to operatively engage and mate with a fastener in the deploying position, and wherein the end region comprises:
an elongate tip; and a rim extending circumferentially around the elongate tip, wherein the elongate tip and the rim define a circumferential channel between the elongate tip and the rim.

9 . The end effector of claim 8 , wherein the elongate tip is frustoconical.

10 . The end effector of claim 8 , wherein the elongate tip extends beyond the rim.

11 . The end effector of claim 1 , further comprising an insertion guide supported by the housing, aligned with the deploying position, and configured to operatively guide a fastener into a port of the fastener holder.

12 . The end effector of claim 1 , further comprising the source of the fasteners.

13 . The end effector of claim 12 , wherein the source comprises a gravity-fed cartridge supported by the housing to deliver the fasteners to the receiving position.

14 . The end effector of claim 12 , wherein the source comprises a pneumatic feed system coupled to the housing and configured to pneumatically deliver the fasteners to the receiving position.

15 . The end effector of claim 1 , wherein the fasteners are collar nuts.

16 . A system, comprising a plurality of the end effectors of claim 1 , wherein each end effector of the plurality of end effectors is configured to work with a distinct size and/or configuration of fastener.

17 . A system, comprising the end effector of claim 1 in combination with the fastener holder.

18 . A system, comprising the end effector of claim 1 in combination with a robotic manipulator operatively coupled to the housing.

19 . The system of claim 18 , wherein the robotic manipulator comprises a cobot.

20 . A robotic method, comprising:
sequentially receiving fasteners from a source of the fasteners into a receiving position; sequentially moving the fasteners from the receiving position to a deploying position; and sequentially translating the fasteners from the deploying position to ports of a fastener holder; wherein the robotic method is performed by an end effector that comprises:
a housing;
a positioner supported by the housing and configured to sequentially receive the fasteners from the source of the fasteners into the receiving position and sequentially move the fasteners from the receiving position to the deploying position; and
a translator supported by the housing relative to the positioner and configured to sequentially translate the fasteners from the deploying position to the ports of the fastener holder;
wherein the positioner comprises:
a rotatable structure defining a plurality of channels, each configured to receive a fastener and sequentially define the receiving position and the deploying position; and
a motor operatively coupled to the rotatable structure and configured to selectively rotate the rotatable structure; and
wherein the sequentially receiving is performed by the positioner, the sequentially moving is performed by the positioner, and the sequentially translating is performed by the translator.

Assignees

• Boeing Co

Inventors

• Bruvold Benjamin R
• Girard Torrin R
• Rider Anna J
• Black Elizabeth A

Classifications

• B25J15/0658

  Pneumatic type, e.g. air blast or overpressure · CPC title

• B25J13/088

  with position, velocity or acceleration sensors · CPC title

• B25J11/005

  Manipulators for mechanical processing tasks · CPC title

• B23K9/206

  with automatic stud supply · CPC title

• B23P19/003

  Escapement mechanisms used therewith · CPC title