Vacuum Torque Wrench End Effector for Inside-Structure Collar Installation
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Solution Overview
Problem
Current multi-function end effectors (MFEEs) used in robotics for assembling large structures like aircraft and automobiles face limitations due to their size, weight, and complexity, which restrict their ability to perform single-sided clamp-up and efficiently install collars or nuts on fasteners from the inside of structures, leading to reduced throughput and increased maintenance complexity.
Innovation Solution
An end effector system comprising a torque wrench with a vacuum source for single-sided clamp-up, a collar gripper, and a rotating collar plate with adjustable collar supply tubes, enabling the installation of collars or nuts of varying sizes and shapes on fasteners from the inside of structures, while allowing the end effector to move away from the surface during drilling and fastening processes.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Adaptability or versatility
If multi-function end effectors (MFEEs) are used for drilling and fastening from two sides of a structure, then fastening operations can be performed, but the size, weight, and complexity of the end effectors increase, restricting their ability to perform single-sided clamp-up and efficiently install collars
Solution Approach 1:
The patent divides the fastening system into separate functional components: a simplified end effector for single-sided clamp-up and collar installation, and separate drilling equipment. This segmentation allows each component to be optimized for its specific function, reducing the complexity of individual end effectors while maintaining overall system versatility.
Solution Approach 2:
The patent extracts the drilling function from the end effector, allowing the end effector to focus solely on clamp-up and collar installation tasks. This extraction reduces the end effector's complexity and size, enabling it to perform single-sided operations more effectively.
2Productivity
If multi-function end effectors (MFEEs) are used for drilling and fastening, then fastening operations can be accomplished, but the size and weight requirements increase, reducing the number of robots that can work simultaneously
Solution Approach 1:
By segmenting the fastening system into separate drilling and fastening components, each robot can be equipped with lighter, more specialized end effectors. This reduces the weight of individual robots, allowing more robots to work simultaneously on the same structure, thereby increasing overall productivity.
3Ease of repair
If multi-function end effectors (MFEEs) are used for fastening operations, then collars can be installed on fasteners, but maintenance complexity increases
Solution Approach 1:
The patent segments the end effector into modular components, including the collar gripper, collar positioning assembly, and torque wrench. This modularity simplifies maintenance by allowing individual components to be easily replaced or serviced without affecting the entire system, thereby reducing maintenance complexity.
4Ease of operation
If conventional dual-sided clamp-up with robots is used, then drilling and fastening can be accomplished, but interference within tight structural spaces increases
Solution Approach 1:
The patent extracts the clamp-up function from complex dual-sided robotic systems and implements it through a simplified end effector with integrated vacuum clamps. This allows single-sided operation that is easier to maneuver in tight spaces, reducing interference while maintaining operational effectiveness.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This solution enables efficient single-sided clamp-up and fastening operations, reducing the size and weight requirements of end effectors, increasing the number of robots that can work simultaneously, and simplifying maintenance by allowing separate robots for drilling, inspection, and fastening, thereby enhancing productivity and reducing interference within tight structural spaces.
Implementation Method 1
a first vacuum source pneumatically connected to the torque wrench and configured to supply a vacuum for the single-sided clamp-up
Data Source
AI summary
An end effector is presented. The end effector comprises a torque wrench and a first vacuum source. The torque wrench is configured to hold a collar and apply a single-sided clamp-up to a structure. The first vacuum source is pneumatically connected to the torque wrench and configured to supply a vacuum for the single-sided clamp-up.