Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same

Patent metadata

Field	Value
Publication number	US-2016368144-A1
Application number	US-201514742441-A
Country	US
Kind code	A1
Filing date	Jun 17, 2015
Priority date	Jun 17, 2015
Publication date	Dec 22, 2016
Grant date	—

Abstract

Compliant end effectors, robots that include compliant end effectors, and methods of utilizing the same. The robots include a robotic arm and the compliant end effector. The compliant end effector includes a base, a jaw fixedly coupled to the base, a part-engaging surface, and a pivot structure. The pivot structure extends between the part-engaging surface and the jaw and is configured to permit limited rotation of the part-engaging surface relative to the jaw about a single pivot axis. The methods include locating an apparatus with a vision system of the robot, locating a part with the vision system, gripping the part with the compliant end effector, positioning the part relative to the apparatus, and operatively attaching the part to the apparatus. The positioning includes deliberately contacting a toe end of a flange of the part with the apparatus prior to contacting a heel end of the flange with the apparatus.

First claim

1 . A compliant end effector for selectively retaining a part, the compliant end effector comprising:
a base; a jaw fixedly coupled to the base; a part-engaging surface; and a pivot structure that extends between the part-engaging surface and the jaw, wherein the pivot structure is configured to permit limited rotation of the part-engaging surface relative to the jaw about a single pivot axis.

2 . The compliant end effector of claim 1 , wherein the jaw is a first jaw, wherein the part-engaging surface is a first part-engaging surface, wherein the pivot structure is a first pivot structure, wherein the single pivot axis is a first single pivot axis, and further wherein the compliant end effector includes a second jaw, a second part-engaging surface, a second pivot structure, and a jaw actuator.

3 . The compliant end effector of claim 2 , wherein:
(i) the second jaw is movedly coupled to the base, via the jaw actuator, such that the second part-engaging surface faces toward the first part-engaging surface; (ii) the second pivot structure is configured to permit limited rotation of the second part-engaging surface relative to the second jaw about a second single pivot axis; and (iii) the first part-engaging surface and the second part-engaging surface are arranged to operatively grip opposed sides of the part.

4 . The compliant end effector of claim 2 , wherein the second single pivot axis is at least substantially parallel to the first single pivot axis.

5 . The compliant end effector of claim 2 , wherein the jaw actuator is configured to selectively transition the compliant end effector among a range of orientations that includes at least an open orientation and a gripping orientation, wherein, when the compliant end effector is in the open orientation, the compliant end effector is configured to permit the part to be located between the first part-engaging surface and the second part-engaging surface, and further wherein, when the compliant end effector is in the gripping orientation, the compliant end effector is configured to grip the part between the first part-engaging surface and the second part-engaging surface.

6 . The compliant end effector of claim 1 , wherein the part-engaging surface is defined by a part-engaging pad that is operatively attached to the pivot structure.

7 . The compliant end effector of claim 1 , wherein the part-engaging surface is a vacuum surface configured to selectively retain the part via a vacuum force.

8 . The compliant end effector of claim 1 , wherein the pivot structure is configured to permit rotation of the part-engaging surface relative to the jaw only about the single pivot axis.

9 . The compliant end effector of claim 1 , wherein the pivot structure includes a pair of spherical bearings.

10 . The compliant end effector of claim 9 , wherein each spherical bearing of the pair of spherical bearings defines a center of rotation, and further wherein the single pivot axis passes through the center of rotation of each spherical bearing of the pair of spherical bearings.

11 . A robot for operatively attaching a part to an apparatus, the robot comprising:
a robotic arm; and the compliant end effector of claim 1 , wherein the compliant end effector is operatively attached to the robotic arm; wherein the robot is programmed to operatively contact the part with a surface of the apparatus, and further wherein the single pivot axis is parallel, or at least substantially parallel, to an initial line of contact between the part and the surface of the apparatus when the robot operatively contacts the part with the surface of the apparatus.

12 . The robot of claim 11 , wherein the robot further includes a vision system operatively coupled to the robotic arm, wherein the vision system is configured to generate a location signal that quantifies a position of the part relative to the apparatus.

13 . The robot of claim 12 , wherein the robot further includes a controller programmed to control the operation of at least one of:
(i) the robotic arm; (ii) the compliant end effector; and (iii) the vision system.

14 . The robot of claim 13 , wherein the controller is programmed to receive the location signal from the vision system, and further wherein the controller is programmed to provide a control signal to at least one of the robotic arm and the compliant end effector.

15 . The robot of claim 14 , wherein the control signal includes at least one of:
(i) a signal for transitioning the compliant end effector to an open orientation; (ii) a signal for transitioning the compliant end effector to a gripping orientation to grip the part; (iii) a signal for moving the robotic arm to a first position for gripping the part; (iv) a signal for moving the robotic arm to a second position in which the part is in operative contact with the apparatus; and (v) an overdrive signal for pressing the part against the assembly.

16 . The robot of claim 11 , wherein the apparatus includes at least a portion of an aircraft, and further wherein the part includes a rib post of the aircraft.

17 . A method of automated aircraft component assembly, the method comprising:
locating an apparatus with a vision system of a robot; locating a part with the vision system, wherein the robot is configured to operatively align the part with a surface of the apparatus for operative attachment of the part to the apparatus; gripping the part with a compliant end effector of the robot; positioning the part relative to the apparatus; and operatively attaching the part to the apparatus, wherein: (i) the positioning includes operatively contacting the part with the apparatus; (ii) the part includes a flange that is configured to extend in face-to-face contact with the apparatus subsequent to the operatively attaching; (iii) the flange includes a toe end and a heel end; and (iv) the positioning includes deliberately contacting the toe end of the flange with the apparatus prior to contacting the heel end of the flange with the apparatus.

18 . The method of claim 17 , wherein, subsequent to contacting the toe end of the flange with the apparatus, the method includes providing an overdrive to the part to contact the heel end of the flange with the apparatus.

19 . The method of claim 18 , wherein the providing the overdrive to the part includes moving the compliant end effector toward the apparatus by a distance of at least 0.1 millimeters.

20 . A robot for operatively attaching a part to an apparatus, the robot comprising:
a robotic arm; a vision system; a compliant end effector operatively attached to the robotic arm, the compliant end effector comprising: (i) a base; (ii) a jaw fixedly coupled to the base; (iii) a part-engaging surface; and (iv) a pivot structure that extends between the part-engaging surface and the jaw, wherein the pivot structure is configured to permit limited rotation of the part-engaging surface relative to the jaw about a single pivot axis; and a controller programmed to: (i) locate the apparatus with the vision system; (ii) locate the part with the vision system, wherein the robot is configured to operatively align the part with a surface of the apparatus for operative attachment of the part to the apparatus; (iii) grip the part with the compliant end effector; (iv) position the part relative to the apparatus; and (v) operatively attach the part to the apparatus.

Assignees

• Boeing Co

Inventors

• Stone Paul R
• Clark Gregory Louis
• Munk Clayton Lynn
• Mendez Mario A

Classifications

• B25J15/0616

  with vacuum · CPC title

• Y10S901/39

  Jaw structure · CPC title

• B64F5/10

  Manufacturing or assembling aircraft, e.g. jigs therefor · CPC title

• B25J15/0028 Primary

  with movable, e.g. pivoting gripping jaw surfaces · CPC title

• B25J9/1697

  Vision controlled systems · CPC title