公开(公告)号：US20250079749A1

公开(公告)日：2025-03-06

申请号：US18460923

申请日：2023-09-05

Applicant: The Boeing Company

Inventor： Shawn David Mohlman ,  Matthew B. Knuth ,  Robert Arthur Nye ,  Paula Mascagni Gatti ,  Eduardo Montero-Valdez ,  Lawrence Britten Adamski ,  Lars Eric Blacken ,  Bradley J. Mitchell ,  Jeffrey Alan McCaskey ,  Ty Aaby Larsen ,  Ryan Patrick Rogers ,  Joel Douglas Johnson ,  Darren Chan ,  Grace L. Duncan ,  Damien O. Martin

IPC: H01R13/508 ,  H01R13/11 ,  H01R13/58

Abstract: A cable connector assembly includes a module retainer and a set of two or more cable insert modules sized and shaped for removable retention within two or more module slots of the module retainer. A cable insert module of the set of two or more cable insert modules includes a cable insertion recess sized and shaped for insertion of a cable wire of a cable, a connectivity interface on an opposing face of the cable insert module, and a transmission path between the cable insertion recess and the connectivity interface.

公开(公告)号：US20250033216A1

公开(公告)日：2025-01-30

申请号：US18915333

申请日：2024-10-14

Applicant: The Boeing Company

Inventor： Heiko Hoffman ,  Jeffrey A. McCaskey ,  Lars E. Blacken ,  Bradley J. Mitchell ,  Damien O. Martin

IPC: B25J9/16 ,  B25J13/08 ,  H01R43/052

Abstract: Systems and methods for automated wire pickup using image-based robot guidance. The machine vision-based system includes: a robot arm; a tool head coupled to the distal end of the robot arm and including a wire gripper motor; a wire gripper movably coupled to the tool head and operatively coupled to the wire gripper motor; a wire holder configured for clamping a wire; camera means mounted to the distal end of the robot arm and having first and second fields of view which intersect in a volume of space that includes the tip of the wire gripper and the wire holder; and a computer system configured to control operation of the robot arm motors and wire gripper motor. More specifically, the computer system is configured for visually estimating the position and orientation of a contact-equipped wire being held by the wire holder and then generating robot guidance to enable automated pickup of the end section of the wire by the wire gripper.

公开(公告)号：US20240291249A1

公开(公告)日：2024-08-29

申请号：US18115514

申请日：2023-02-28

Applicant: The Boeing Company

Inventor： Ty A. Larsen ,  Bradley J. Mitchell ,  Damien O. Martin ,  Cindy X. Li ,  Jeffrey A. McCaskey ,  Grace L. Duncan ,  Lars E. Blacken

IPC: H02G1/06 ,  B25J9/00 ,  B25J15/00

CPC classification number: H02G1/06 ,  B25J9/0084 ,  B25J15/0028

Abstract: Methods and apparatus for automated routing of wires of a wire harness on a form board. A wire harness comprising a wire end connector and a multiplicity of groups of wires is supported and carried by a carrier end effector mounted to an end of a first robotic arm. The wire groups are accessed and then routed on the form board by a routing end effector mounted to an end of a second robotic arm. Initially a wire gripper of the routing end effector is opened. The second robotic arm is then controlled to move the routing end effector so that respective first portions of all wire groups are accessible for gripping by the wire gripper. Then the wire gripper is closed to grip the first portions of wires. Then the second robotic arm is controlled to move the routing end effector to place second portions of the wires of all wire groups in a first elastic retainer wire routing device attached to the form board. Thereafter, the routing end effector routes the first group of wires through a second elastic retainer wire routing device and then routes the second group of wires through a third elastic retainer wire routing device.

公开(公告)号：US11742113B2

公开(公告)日：2023-08-29

申请号：US16666261

申请日：2019-10-28

Applicant: The Boeing Company

Inventor： Damien O. Martin ,  Lars E. Blacken ,  Bradley J. Mitchell ,  Grace L. Duncan ,  Eerik J. Helmick

IPC: H01B13/012 ,  G05B19/4097 ,  G05B19/418

CPC classification number: H01B13/01209 ,  G05B19/4097 ,  G05B19/41805 ,  G05B2219/35134

Abstract: Systems and methods for designing and assembling form boards with attached wire routing devices for use in wire bundle assembly. The assembly method comprises: (a) establishing a coordinate system of a form board having a multiplicity of holes; (b) using a computer system to determine locations of form board devices of different types with reference to the coordinate system of the form board based on engineering data specifying a wire bundle configuration; and (c) fastening the form board devices of different types to respective holes of the form board having centers closest to respective locations determined in step (b). The form board devices may be inserted robotically or manually.

公开(公告)号：US11610702B2

公开(公告)日：2023-03-21

申请号：US16711227

申请日：2019-12-11

Applicant: The Boeing Company

Inventor： Bradley J. Mitchell ,  Damien O. Martin ,  Lars E. Blacken ,  Jeffrey A. McCaskey

IPC: H01B13/012 ,  B25J9/00 ,  B25J11/00 ,  B25J15/00 ,  H01R43/05

Abstract: Methods and apparatus for temporarily holding one end of a wire on a harness form board during automated transfer from one robot to another robot. The apparatus includes a wire holding device which is designed to facilitate the transfer of a wire end from a first end effector of a first robot to a second end effector of a second robot. The wire holding devices have different structures, but share the common feature that opening of the wire holding device (to enable wire insertion) involves applying a contact force which overcomes a spring force that urges the wire holding device to be closed. The end effectors are designed and their movements are controlled in a manner such that the moving end effector applies the contact force necessary to overcome the closure-inducing spring force being exerted.

公开(公告)号：US11489309B2

公开(公告)日：2022-11-01

申请号：US16666274

申请日：2019-10-28

Applicant: The Boeing Company

Inventor： Damien O. Martin ,  Lars E. Blacken ,  Bradley J. Mitchell ,  Grace L. Duncan ,  Eerik J. Helmick ,  Keith M. Cutler ,  Randall V. Fraker ,  Alexey S. Meerov ,  John R. Porter

IPC: B23P19/00 ,  H01R43/28 ,  H02G1/14 ,  H01B13/012 ,  H01R43/20 ,  F16B19/10 ,  G06F30/15 ,  G06F30/18 ,  G06F113/16

Abstract: Systems and methods for designing and assembling form boards with attached wire routing devices for use in wire bundle assembly. The assembly method comprises: (a) establishing a coordinate system of a form board having a multiplicity of holes; (b) using a computer system to determine locations of form board devices of different types with reference to the coordinate system of the form board based on engineering data specifying a wire bundle configuration; and (c) fastening the form board devices of different types to respective holes of the form board having centers closest to respective locations determined in step (b). The form board devices may be inserted robotically or manually.

公开(公告)号：US20220234208A1

公开(公告)日：2022-07-28

申请号：US17492562

申请日：2021-10-02

Applicant: The Boeing Company

Inventor： Heiko Hoffman ,  Jeffrey A. McCaskey ,  Lars E. Blacken ,  Bradley J. Mitchell ,  Damien O. Martin

IPC: B25J9/16 ,  B25J13/08 ,  H01R43/052

Abstract: Systems and methods for automated wire pickup using image-based robot guidance. The machine vision-based system includes: a robot arm; a tool head coupled to the distal end of the robot arm and including a wire gripper motor; a wire gripper movably coupled to the tool head and operatively coupled to the wire gripper motor; a wire holder configured for clamping a wire; camera means mounted to the distal end of the robot arm and having first and second fields of view which intersect in a volume of space that includes the tip of the wire gripper and the wire holder; and a computer system configured to control operation of the robot arm motors and wire gripper motor. More specifically, the computer system is configured for visually estimating the position and orientation of a contact-equipped wire being held by the wire holder and then generating robot guidance to enable automated pickup of the end section of the wire by the wire gripper.

公开(公告)号：US20210183541A1

公开(公告)日：2021-06-17

申请号：US16711227

申请日：2019-12-11

Applicant: The Boeing Company

Inventor： Bradley J. Mitchell ,  Damien O. Martin ,  Lars E. Blacken ,  Jeffrey A. McCaskey

IPC: H01B13/012 ,  B25J9/00 ,  B25J15/00 ,  B25J11/00

Abstract: Methods and apparatus for temporarily holding one end of a wire on a harness form board during automated transfer from one robot to another robot. The apparatus includes a wire holding device which is designed to facilitate the transfer of a wire end from a first end effector of a first robot to a second end effector of a second robot. The wire holding devices have different structures, but share the common feature that opening of the wire holding device (to enable wire insertion) involves applying a contact force which overcomes a spring force that urges the wire holding device to be closed. The end effectors are designed and their movements are controlled in a manner such that the moving end effector applies the contact force necessary to overcome the closure-inducing spring force being exerted.

公开(公告)号：US20210126418A1

公开(公告)日：2021-04-29

申请号：US16666274

申请日：2019-10-28

Applicant: The Boeing Company

Inventor： Damien O. Martin ,  Lars E. Blacken ,  Bradley J. Mitchell ,  Grace L. Duncan ,  Eerik J. Helmick ,  Keith M. Cutler ,  Randall V. Fraker ,  Alexey S. Meerov ,  John R. Porter

IPC: H01R43/28 ,  H02G1/14 ,  H01B13/012 ,  H01R43/20 ,  G06F17/50 ,  F16B19/10

Abstract: Systems and methods for designing and assembling form boards with attached wire routing devices for use in wire bundle assembly. The assembly method comprises: (a) establishing a coordinate system of a form board having a multiplicity of holes; (b) using a computer system to determine locations of form board devices of different types with reference to the coordinate system of the form board based on engineering data specifying a wire bundle configuration; and (c) fastening the form board devices of different types to respective holes of the form board having centers closest to respective locations determined in step (b). The form board devices may be inserted robotically or manually.

公开(公告)号：US20210125752A1

公开(公告)日：2021-04-29

申请号：US16666254

申请日：2019-10-28

Applicant: The Boeing Company

Inventor： Bradley J. Mitchell ,  Lars E. Blacken ,  Damien O. Martin

IPC: H01B13/012

Abstract: Methods and apparatus for robot motion control and wire dispensing during automated routing of wires onto harness form boards. The robot includes a manipulator arm and a wire-routing end effector mounted to a distal end of the manipulator arm. The wire-routing end effector is configured for dispensing and routing a wire along a path through form board devices mounted to a harness form board. The wire-routing end effector is moved along a planned path under the control of a robot controller. An end effector path is provided with a set of processes that enable rapid, even fully automatic, development of robot motion controls for routing wires on harness form boards. The system uses a measurement encoder on the end effector that is routing individual wires on a wire harness form board to learn the length of each wire and its length variation.