Nut Plate Gripper and Rivet Holder for Precise Robotic Installation
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Solution Overview
Problem
The manual installation of nut plates is labor-intensive and unreliable due to the challenging shape of nut plates, which makes precise and reproducible positioning difficult during assembly processes.
Innovation Solution
The development of nut plate grippers integrated with end effectors and robots, including a rivet holder and yoke, that utilize a vision system for alignment and precise positioning, enabling the gripper to securely hold nut plates and rivets, and a method for aligning and attaching them to structures using a robot arm and rivet kitting structure.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Ease of operation
If manual installation of nut plates is used, then flexibility in handling is maintained, but labor intensity increases and positioning precision deteriorates
Solution Approach 1:
The nut plate gripper is designed with self-aligning features where the gripper jaws automatically orient themselves to match the nut plate geometry through complementary shaping. The gripper body includes guide surfaces that passively align the gripping elements with the nut plate's flange and body, eliminating the need for active alignment mechanisms or complex control systems while maintaining ease of operation.
Solution Approach 2:
A specially designed gripper acts as an intermediary tool between the manual operator and the nut plate. The gripper incorporates geometric features that interface with specific portions of the nut plate (flange, body, or protrusions), translating simple manual gripping motions into precise positioning and secure holding, thereby improving productivity without sacrificing handling flexibility.
2Ease of operation
If manual positioning of nut plates is used, then operational simplicity is maintained, but positioning precision and reproducibility deteriorate
Solution Approach 1:
The invention replaces manual dexterity-based positioning with a mechanically constrained positioning system. The gripper incorporates guide surfaces, alignment features, and geometric constraints that physically guide the nut plate into the correct position and orientation. This mechanical substitution ensures consistent, reproducible positioning while requiring only simple operational inputs from the user.
Solution Approach 2:
The gripper serves as an intermediary device that embeds precision positioning mechanisms within its structure. Guide surfaces, alignment pins, and geometric constraints in the gripper passively enforce correct positioning of the nut plate during the gripping process, transforming simple manual operation into precise and reproducible placement without requiring complex alignment procedures.
3Manufacturing precision
If specialized grippers are introduced to improve positioning, then positioning precision improves, but device complexity increases
Solution Approach 1:
The invention merges multiple functions into a single integrated gripper body: gripping, positioning, and alignment are all achieved through the unified structure of the gripper. The guide surfaces, alignment features, and gripping elements are combined in one component rather than requiring separate alignment devices, positioning mechanisms, and grippers, thereby achieving precision without excessive complexity.
Solution Approach 2:
The gripper employs local geometric features at specific contact points (flange engagement surfaces, body contact areas, protrusion interfaces) that are precisely shaped to match corresponding features on the nut plate. These localized geometric qualities provide the necessary positioning precision without requiring the entire gripper structure to be complex, as only specific local regions need precise geometries.
Data Source
AI summary
Nut plate grippers, end effectors that include nut plate grippers, robots that include end effectors, installation systems that include robots, and related methods are disclosed herein. The end effectors include a nut plate gripper, a rivet holder, and a yoke that defines a nut plate gripper side and a rivet holder side. The nut plate gripper is operatively attached to the nut plate gripper side of the yoke. The rivet holder is operatively attached to the rivet holder side of the yoke such that the nut plate gripper and the rivet holder define a structure-receiving region therebetween. The nut plate gripper is configured to grip the nut plate. The rivet holder is configured to selectively retain a plurality of rivet heads of a plurality of corresponding rivets. The robots include the end effector. The installation systems include the robot. The methods include methods of utilizing nut plate installation systems.