BR102013007813B1 - Método e ferramenta de montagem para acoplar um colar em um objeto-alvo em um espaço confinado - Google Patents

Método e ferramenta de montagem para acoplar um colar em um objeto-alvo em um espaço confinado Download PDF

Info

Publication number
BR102013007813B1
BR102013007813B1 BR102013007813-1A BR102013007813A BR102013007813B1 BR 102013007813 B1 BR102013007813 B1 BR 102013007813B1 BR 102013007813 A BR102013007813 A BR 102013007813A BR 102013007813 B1 BR102013007813 B1 BR 102013007813B1
Authority
BR
Brazil
Prior art keywords
axis
head
collar
target object
forging
Prior art date
Application number
BR102013007813-1A
Other languages
English (en)
Portuguese (pt)
Other versions
BR102013007813A2 (pt
Inventor
Chris J. Erickson
Original Assignee
The Boeing Company
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by The Boeing Company filed Critical The Boeing Company
Publication of BR102013007813A2 publication Critical patent/BR102013007813A2/pt
Publication of BR102013007813B1 publication Critical patent/BR102013007813B1/pt

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/02—Riveting procedures
    • B21J15/022—Setting rivets by means of swaged-on locking collars, e.g. lockbolts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/28—Control devices specially adapted to riveting machines not restricted to one of the preceding subgroups
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
    • B21J15/00—Riveting
    • B21J15/10—Riveting machines
    • B21J15/30—Particular elements, e.g. supports; Suspension equipment specially adapted for portable riveters
    • B21J15/32—Devices for inserting or holding rivets in position with or without feeding arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1694—Program controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
    • B25J9/1697—Vision controlled systems
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/37—Measurements
    • G05B2219/37555—Camera detects orientation, position workpiece, points of workpiece
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40583—Detect relative position or orientation between gripper and currently handled object
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40607—Fixed camera to observe workspace, object, workpiece, global
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49764—Method of mechanical manufacture with testing or indicating
    • Y10T29/49778—Method of mechanical manufacture with testing or indicating with aligning, guiding, or instruction
    • Y10T29/4978—Assisting assembly or disassembly
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53022—Means to assemble or disassemble with means to test work or product

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Automatic Assembly (AREA)
  • Length Measuring Devices By Optical Means (AREA)
BR102013007813-1A 2012-04-02 2013-04-01 Método e ferramenta de montagem para acoplar um colar em um objeto-alvo em um espaço confinado BR102013007813B1 (pt)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US13/437,532 US9370819B2 (en) 2012-04-02 2012-04-02 Collar installation end effector
US13/437,532 2012-04-02

Publications (2)

Publication Number Publication Date
BR102013007813A2 BR102013007813A2 (pt) 2015-06-16
BR102013007813B1 true BR102013007813B1 (pt) 2022-06-21

Family

ID=48288758

Family Applications (1)

Application Number Title Priority Date Filing Date
BR102013007813-1A BR102013007813B1 (pt) 2012-04-02 2013-04-01 Método e ferramenta de montagem para acoplar um colar em um objeto-alvo em um espaço confinado

Country Status (6)

Country Link
US (1) US9370819B2 (https=)
EP (1) EP2647450B1 (https=)
JP (1) JP6085511B2 (https=)
CN (1) CN103357812B (https=)
BR (1) BR102013007813B1 (https=)
CA (1) CA2804839C (https=)

Families Citing this family (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9808857B2 (en) 2013-02-05 2017-11-07 Comau Llc Continuous fastener feeding apparatus and method
US9751166B2 (en) 2014-07-09 2017-09-05 The Boeing Company Apparatus and methods for manipulating a fastener
WO2016018908A1 (en) * 2014-07-29 2016-02-04 Robotic Arts, Inc. Robotically controlled architectural elements
ES2753441T3 (es) * 2015-01-16 2020-04-08 Comau Spa Aparato para el remachado
US10052770B2 (en) 2015-08-06 2018-08-21 The Boeing Company Fastening system with vacuum alignment tool and methods of operating same
US9914165B2 (en) 2015-08-28 2018-03-13 The Boeing Company Collar delivery systems for swage guns
CN105329463B (zh) * 2015-11-27 2017-09-22 沈阳飞机工业（集团）有限公司 一种用于飞机工装骨架电动定位锁紧装置
US10926316B2 (en) * 2018-03-16 2021-02-23 The Boeing Company Collar positioning system
US10744555B2 (en) * 2018-09-24 2020-08-18 The Boeing Company Stackable collar cartridges for swage tools
US11033952B2 (en) * 2018-09-24 2021-06-15 The Boeing Company Offset collar delivery for swage tools
US11434024B2 (en) * 2019-01-10 2022-09-06 The Boeing Company Automated engagement of and disengagement from a fitting
US11117183B1 (en) * 2020-04-10 2021-09-14 The Boeing Company End effectors and feeders for swaging operations

Family Cites Families (16)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4402053A (en) * 1980-09-25 1983-08-30 Board Of Regents For Education For The State Of Rhode Island Estimating workpiece pose using the feature points method
US4819522A (en) 1987-09-10 1989-04-11 Hi-Shear Corporation Torque-off collar for installation by universal equipment
JP2617014B2 (ja) * 1990-04-26 1997-06-04 日本リライアンス 株式会社 シート測長システム
JPH0639762A (ja) * 1992-07-24 1994-02-15 Omron Corp 部品供給装置
US5697521A (en) * 1995-06-01 1997-12-16 Huck International Hand-held collar dispenser
US5915915A (en) * 1996-03-07 1999-06-29 Komag, Incorporated End effector and method for loading and unloading disks at a processing station
JP3301530B2 (ja) * 1997-02-26 2002-07-15 住友電装株式会社 コネクタ
US6058598A (en) 1997-04-18 2000-05-09 Huck International, Inc. Control system for an assembly tool
DE60018946T2 (de) * 1999-09-22 2006-03-23 Swagelok Co., Solon Vorrichtung zur vormontage von keilringen
US20040012217A1 (en) 2002-07-18 2004-01-22 Shafer Richard E. End effector
JP2007185723A (ja) * 2006-01-11 2007-07-26 Fujifilm Corp 自動調芯装置及び方法
US8051547B2 (en) * 2006-12-29 2011-11-08 The Boeing Company Robot-deployed assembly tool
FR2914208B1 (fr) 2007-03-30 2009-05-08 Eads Europ Aeronautic Defence Dispositif d'insertion et de sertissage de bague pour fixation a bague sertie sur une tige.
US7611314B2 (en) * 2007-08-01 2009-11-03 The Boeing Company Aligning a machine tool with a target location on a structure
US8468671B2 (en) 2007-11-02 2013-06-25 Electroimpact, Inc. System for loading collars onto bolts in large-scale manufacturing operations
US20100295935A1 (en) * 2009-05-06 2010-11-25 Case Steven K On-head component alignment using multiple area array image detectors

Also Published As

Publication number Publication date
CN103357812A (zh) 2013-10-23
JP6085511B2 (ja) 2017-02-22
CA2804839C (en) 2020-01-14
EP2647450B1 (en) 2017-05-03
CN103357812B (zh) 2016-07-06
US20130255053A1 (en) 2013-10-03
EP2647450A1 (en) 2013-10-09
JP2013212578A (ja) 2013-10-17
CA2804839A1 (en) 2013-10-02
US9370819B2 (en) 2016-06-21
BR102013007813A2 (pt) 2015-06-16

Similar Documents

Publication Publication Date Title
BR102013007813B1 (pt) Método e ferramenta de montagem para acoplar um colar em um objeto-alvo em um espaço confinado
US10668616B2 (en) Robot including telescopic assemblies for positioning an end effector
CN101646512B (zh) 配置有机器人的装配工具和用于在飞行器结构内安装紧固件的方法
JP2012171093A5 (https=)
EP3318372A2 (en) Method and apparatus for compliant robotic end-effector
JP2019141988A (ja) 携帯用プログラマブルマシン、ロボットエンドエフェクタ、及び関連する方法
CN106041955B (zh) 一种机器人自动制孔装置及加工方法
BR102015008446A2 (pt) sistema de montagem para uma estrutura, e, método para operar um sistema de montagem
US20070276539A1 (en) System and method of robotically engaging an object
BR102016011706A2 (pt) efetor de extremidade de perfuração, e, método para realizar uma operação de perfuração sobre um artigo fabricado
CN104440746B (zh) 盘匣式螺丝取放装置
KR20090117622A (ko) 제한된 공간을 갖는 구조 상에서의 동기 로봇 조작
US20200180116A1 (en) Gripping system with clamp device and method of using the same
KR20200035207A (ko) 스웨이지 공구들을 위한 오프셋 칼라 전달
JP2019188600A5 (https=)
BR112017013244B1 (pt) Efetuador de robô para instalação de fixadores mecânicos e robô
CN111618845B (zh) 机器人系统
CN105217492A (zh) 连接装置、起重臂和起重机
JP2023086126A (ja) 非コンプライアントと識別されたリベット又は仮締結具を廃棄ゾーンに排出する手段を備えるマルチタスク装置
US10377041B2 (en) Apparatus for and method of setting boundary plane
US20140115869A1 (en) Apparatus and Method for Remote Fastener Installation
US20250178211A1 (en) Robotic end effectors for templating fasteners and related systems and methods
US11203089B2 (en) Fastening system
BR102017024389A2 (pt) dispositivo e método para fixar uma estrutura
BR102017022393B1 (pt) Dispositivo e, método para fixar estruturas

Legal Events

Date Code Title Description
B03A Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]
B06F Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]
B06U Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]
B06A Patent application procedure suspended [chapter 6.1 patent gazette]
B09A Decision: intention to grant [chapter 9.1 patent gazette]
B16A Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]

Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 01/04/2013, OBSERVADAS AS CONDICOES LEGAIS