Magnetic Nosepiece Assembly for Robotic Contour Normalization

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Solution Overview

Problem

Conventional normalizing assemblies for robotic end effectors are limited in their ability to normalize to complex or compound contoured surfaces, relying on unreliable spherical joint hardware and mechanical springs that require extensive maintenance, and can damage workpieces due to stiff robot movement, restricting the types of operations that can be automated.

Innovation Solution

A normalizing nosepiece assembly with a magnetic bearing and compressible contact structure, utilizing proximity sensors and distance sensors to adjust the air gap and align the end effector with compound contours, allowing for secure and reliable normalization on complex surfaces without the need for complex spherical joints or mechanical springs.

Engineering Contradictions & Design Principles

VSEngineering Contradiction Analysis

1Reliability

If conventional spherical joint hardware and mechanical springs are used for normalizing, then the end effector can be normalized relative to the workpiece, but the assembly becomes unreliable and requires extensive maintenance

Engineering Contradiction:

Improvenormalizing assembly reliabilityVSAvoidnormalizing assembly complexity

Core Design Contradiction:

ReliabilityVSDevice complexity

Solution Approach 1:

The patent replaces conventional mechanical springs and spherical joint hardware with a magnetic bearing system. The magnetic bearing uses magnetic fields to provide the necessary support and positioning functions, eliminating the need for mechanical contact components that wear and require maintenance. This substitution directly resolves the contradiction by improving reliability while reducing mechanical complexity.

Inventive Principle:

Principle #28Mechanics substitution (Replace mechanical system)

Solution Approach 2:

The patent introduces an air gap as an intermediary medium between the magnetic bearing components. This air gap allows the magnetic field to interact with the workpiece surface without direct mechanical contact, enabling the normalizing function while eliminating wear and maintenance requirements associated with conventional mechanical springs and spherical joints.

Inventive Principle:

Principle #24Intermediary (Mediator)

2Measurement precision

If stiff robot movement is used during normalization, then the end effector can be positioned accurately, but the workpiece may be damaged

Engineering Contradiction:

Improvenormalization alignment precisionVSAvoidworkpiece damage

Core Design Contradiction:

Measurement precisionVSObject-affected harmful factors

Solution Approach 1:

The patent changes the physical state of the contact interface by using a magnetic field-based air gap instead of direct mechanical contact. This parameter change allows the system to maintain precise positioning through magnetic field control while eliminating the harmful stiff contact forces that could damage the workpiece surface.

Inventive Principle:

Principle #35Parameter changes

3Adaptability or versatility

If conventional normalizing assemblies are used, then simple surface normalization is achieved, but complex or compound contoured surfaces cannot be normalized

Engineering Contradiction:

Improvesurface contour adaptabilityVSAvoidnormalization reliability

Core Design Contradiction:

Adaptability or versatilityVSReliability

Solution Approach 1:

The magnetic bearing-based normalizing assembly is designed to be universally applicable to various surface geometries including simple surfaces, compound contours, and complex three-dimensional shapes. The magnetic field can adapt to different contours without requiring mechanical reconfiguration, thereby improving versatility while maintaining reliability through the contactless magnetic interaction.

Inventive Principle:

Principle #6Universality (Multi-functionality)

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

Enables robotic end effectors to normalize and perform operations on compound contoured surfaces with increased reliability and reduced maintenance, ensuring precise alignment and preventing workpiece damage, thus expanding the range of automated operations possible.

Implementation Method 1

a magnetic bearing within an air gap between the nosepiece bushing and a bearing housing

Methodology Applied

Scientific EffectMagnetic bearing: Magnetic Field

Implementation Method 2

a compressible contact structure connected to the nosepiece bushing

Methodology Applied

Scientific EffectCompressible contact structure: Elasticity

Data Source

PatentUS20240066709A1Normalizing Nosepiece Assembly for an End Effector

Publication Date: 2024.02.29 THE BOEING CO

AI summary

An end effector is presented. The end effector comprises a housing, an actuated mechanical retainer, and a normalizing nosepiece assembly. The actuated mechanical retainer is connected to the housing and configured to selectively constrain and release the normalizing nosepiece assembly from the housing. The normalizing nosepiece assembly is moveable relative to the housing and having a nosepiece bushing configured to contact a workpiece.