CA2804839C - Collar installation end effector - Google Patents

Collar installation end effector Download PDF

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Publication number
CA2804839C
CA2804839C CA2804839A CA2804839A CA2804839C CA 2804839 C CA2804839 C CA 2804839C CA 2804839 A CA2804839 A CA 2804839A CA 2804839 A CA2804839 A CA 2804839A CA 2804839 C CA2804839 C CA 2804839C
Authority
CA
Canada
Prior art keywords
collar
axis
head
accordance
fastener
Prior art date
Legal status (The legal status 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 status listed.)
Active
Application number
CA2804839A
Other languages
English (en)
French (fr)
Other versions
CA2804839A1 (en
Inventor
Chris J. Erickson
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Boeing Co
Original Assignee
Boeing Co
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 Boeing Co filed Critical Boeing Co
Publication of CA2804839A1 publication Critical patent/CA2804839A1/en
Application granted granted Critical
Publication of CA2804839C publication Critical patent/CA2804839C/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

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)
CA2804839A 2012-04-02 2013-02-05 Collar installation end effector Active CA2804839C (en)

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
CA2804839A1 CA2804839A1 (en) 2013-10-02
CA2804839C true CA2804839C (en) 2020-01-14

Family

ID=48288758

Family Applications (1)

Application Number Title Priority Date Filing Date
CA2804839A Active CA2804839C (en) 2012-04-02 2013-02-05 Collar installation end effector

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
EP2647450B1 (en) 2017-05-03
CN103357812B (zh) 2016-07-06
BR102013007813B1 (pt) 2022-06-21
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

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