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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.
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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.
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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.
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公开(公告)号：US11340575B2
公开(公告)日：2022-05-24
申请号：US15460141
申请日：2017-03-15
Applicant: The Boeing Company
Inventor： Eerik J. Helmick , Bradley J. Mitchell
Abstract: Systems and methods are provided for wire processing. In certain examples, a wire processing system is disclosed. The wire processing system includes an electrical wire and solder sleeve joining system. The electrical wire and solder sleeve joining system includes an end effector configured to hold a solder sleeve and a split funnel configured to guide insertion of wire into the solder sleeve, allow movement of the solder sleeve through the split funnel in a second position, and prevent movement of the solder sleeve through the split funnel in a first position. The end effector can additionally be configured to remove a slug from the wire.
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公开(公告)号：US20220063815A1
公开(公告)日：2022-03-03
申请号：US17363071
申请日：2021-06-30
Applicant: THE BOEING COMPANY
Inventor： Bradley J. Mitchell , Ty Larsen , Bryce Avery Vandyke , Raymond Roeder , Trevor Milton Laib
IPC: B64D13/00
Abstract: A system includes one or more distribution nozzles associated with a seat within an internal space, and a return air grill associated with the seat. Airflow is directed from the one or more distribution nozzles toward and into the return air grill. A method includes associating one or more distribution nozzles with a seat within an internal space, associating a return air grill with the seat, and directing airflow from the one or more distribution nozzles toward and into the return air grill.
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Patent Agency Ranking
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.
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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
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.
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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.
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公开(公告)号：US20210125751A1
公开(公告)日：2021-04-29
申请号：US16666248
申请日：2019-10-28
Applicant: The Boeing Company
Inventor： Bradley J. Mitchell , Lars E. Blacken , Damien O. Martin
IPC: H01B13/012 , H01B13/02
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.
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公开(公告)号：US20210125749A1
公开(公告)日：2021-04-29
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 , G05B19/418 , G05B19/4097
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.
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