公开(公告)号：US09764464B2

公开(公告)日：2017-09-19

申请号：US13197757

申请日：2011-08-03

申请人： Branko Sarh ,  Angelica Davancens

发明人： Branko Sarh ,  Angelica Davancens

IPC分类号： B25J17/00 ,  B25J17/02 ,  B25J18/00 ,  B25J9/10

CPC分类号： B25J9/106 ,  Y10T29/49826 ,  Y10T29/5191 ,  Y10T74/20329

摘要： A robot includes an actuator assembly, first and second parallel telescoping lead screw assemblies cantilevered from the actuator assembly, and an end effector supported by ends of the lead screw assemblies. The actuator assembly causes each lead screw assembly to independently deploy and retract.

公开(公告)号：US08912872B2

公开(公告)日：2014-12-16

申请号：US13460741

申请日：2012-04-30

申请人： Branko Sarh ,  Daniela Lucia Rus ,  Andrew Dominic Marchese

发明人： Branko Sarh ,  Daniela Lucia Rus ,  Andrew Dominic Marchese

IPC分类号： H01F7/20 ,  B25B11/00

CPC分类号： H01F7/0226 ,  B21J15/142 ,  B21J15/30 ,  B21J15/42 ,  B23Q3/1543 ,  B23Q3/1546 ,  B25B5/145 ,  B25B11/002 ,  B25B31/005 ,  B25J15/0608 ,  H01F7/04 ,  H01F7/18 ,  H01F7/1805

摘要： A clamp assembly comprises a first clamp including a plurality of magnet devices. Each magnet device includes a permanent magnet and a coil surrounding the permanent magnet. The clamp assembly further comprises a controller for pulsing the coils to selectively magnetize and demagnetize the permanent magnets.

摘要翻译： 夹具组件包括包括多个磁体装置的第一夹具。 每个磁体装置包括永磁体和围绕永磁体的线圈。 夹具组件还包括用于使线圈脉动以选择性地使永磁体磁化和消磁的控制器。

公开(公告)号：US20120030926A1

公开(公告)日：2012-02-09

申请号：US13272379

申请日：2011-10-13

申请人： Chin H. Toh ,  Edward Bruce Harman ,  Branko Sarh

发明人： Chin H. Toh ,  Edward Bruce Harman ,  Branko Sarh

IPC分类号： B23P17/00 ,  B23P11/00

CPC分类号： B23P19/04 ,  B21J15/14 ,  B21J15/142 ,  B23P2700/01 ,  Y10T29/49616 ,  Y10T29/49895 ,  Y10T29/49947 ,  Y10T29/4995 ,  Y10T29/53 ,  Y10T29/53039 ,  Y10T29/53087 ,  Y10T29/5343

摘要： An assembly system and method for assembling an aircraft wing box or other structure that may define an interior area accessible through at least one access opening are provided. The method includes inserting a robot having an assembly tool mounted thereto into the interior area through the at least one access opening. The assembly tool may be positioned at a fastener location, and may be clamped to the structure. A hole may be made through the structure, and a fastener may be installed in the hole.

摘要翻译： 提供了组装系统和方法，用于组装可以限定通过至少一个进入开口可接近的内部区域的飞行器机翼箱或其他结构。 该方法包括通过至少一个进入开口插入具有安装到其内部的组装工具的机器人。 组装工具可以定位在紧固件位置处，并且可以被夹紧到结构上。 可以通过该结构制造孔，并且紧固件可以安装在孔中。

公开(公告)号：US20110239448A1

公开(公告)日：2011-10-06

申请号：US13160069

申请日：2011-06-14

申请人： Branko Sarh

发明人： Branko Sarh

IPC分类号： B23P19/04 ,  B23P21/00

CPC分类号： B23P19/003 ,  B21J15/14 ,  B21J15/142 ,  B21J15/32 ,  B21J15/323 ,  B23P19/001 ,  B23P19/007 ,  B23P2700/01 ,  Y10T29/49718 ,  Y10T29/49947 ,  Y10T29/53 ,  Y10T29/53004 ,  Y10T29/53478

摘要： Apparatus for installing fasteners in a workpiece is mounted for computer controlled movement over the workpiece surface. The apparatus includes all of the tools, fasteners, drives and controls on-board that are needed to operate autonomously, without external connections. The apparatus may also include an on-board power supply for powering the tools, drives and controls. A supply of fasteners is held in an on-board replaceable cassette. An on-board fastener transferring device transfers individual fasteners from the cassette to the tools.

摘要翻译： 用于在工件中安装紧固件的装置被安装用于在工件表面上的计算机控制的移动。 该装置包括在没有外部连接的情况下自主操作所需的所有工具，紧固件，驱动器和板上控制。 该装置还可以包括用于为工具，驱动器和控制器供电的车载电源。 紧固件供应装在板上可更换盒中。 板上紧固件传送装置将各个紧固件从盒子传送到工具。

公开(公告)号：US06772508B2

公开(公告)日：2004-08-10

申请号：US10202258

申请日：2002-07-24

申请人： Daniel D. Bloch ,  Branko Sarh ,  Bruce Harman

发明人： Daniel D. Bloch ,  Branko Sarh ,  Bruce Harman

IPC分类号： B23P2100

CPC分类号： B21J15/32 ,  B21J15/142 ,  B21J15/24 ,  B23Q17/22 ,  Y10T29/49778 ,  Y10T29/4978 ,  Y10T29/49895 ,  Y10T29/49943 ,  Y10T29/49956 ,  Y10T29/53039 ,  Y10T29/53061 ,  Y10T29/53065 ,  Y10T29/53087 ,  Y10T29/53478 ,  Y10T29/53483 ,  Y10T29/53513 ,  Y10T29/53522 ,  Y10T29/5377

摘要： A fastener delivery and installation system is provided that comprises an end effector mounted on an automated machine and operable to drill a hole through a workpiece and insert a fastener through the hole, and a fastener feed unit operable with the automated machine to deliver the fasteners through the end effector and into the workpiece. Further, a hand-held tool is operable against a second surface of the workpiece and is aligned with the end effector. Once the hand-held tool is positioned properly, a magnetic field is generated and the workpiece is clamped to enable the end effector to drill a hole through the workpiece and insert a fastener therethrough. Additionally, a detector is located on the hand-held tool for generating guidance information to inform an operator where to move the hand-held tool so as to align the hand-held tool with the end effector.

公开(公告)号：US06729809B2

公开(公告)日：2004-05-04

申请号：US09973515

申请日：2001-10-09

申请人： Branko Sarh ,  Chin Hoi Toh ,  Chris Erickson ,  Scott W. Hall

发明人： Branko Sarh ,  Chin Hoi Toh ,  Chris Erickson ,  Scott W. Hall

IPC分类号： B23B4514

CPC分类号： B25B5/067 ,  B23B47/28 ,  B23B47/287 ,  B23B2247/12 ,  B25B5/061 ,  Y10T408/03 ,  Y10T408/56245 ,  Y10T408/563 ,  Y10T408/567

摘要： A pressure clamp assembly for clamping a plurality of overlapping members together. The pressure clamp includes a pair of compression members attached to a clamp body and driven together by a power source. The power source includes a fluid pressure cylinder that repeatably produces high clamping forces so as to inhibit the production of inter-laminate burrs during drilling. The compression members each include an elongated compression foot that distributes the clamping pressure over a wide area to allow drilling in a relatively wide range of locations. In addition, each compression foot defines a drill bit assembly guide that facilitates accurate hole drilling through multiple overlapping parts.

摘要翻译： 一种用于将多个重叠构件夹紧在一起的压力夹组件。 压力夹包括一对压缩构件，其连接到夹具体并由动力源一起驱动。 电源包括可重复地产生高夹紧力的流体压力缸，以便在钻孔期间抑制层压板间毛刺的产生。 压缩构件各自包括细长的压缩脚，其将夹紧压力分布在宽的区域上，以允许在相对宽的位置范围内进行钻孔。 此外，每个压缩脚限定了钻头组件引导件，其有助于通过多个重叠部分进行精确的钻孔。

公开(公告)号：US06357101B1

公开(公告)日：2002-03-19

申请号：US09522222

申请日：2000-03-09

申请人： Branko Sarh ,  Trent Logan ,  David Stanley

发明人： Branko Sarh ,  Trent Logan ,  David Stanley

IPC分类号： B23Q1700

CPC分类号： G01D5/145 ,  B21J15/10 ,  B21J15/142 ,  B21J15/28 ,  B21J15/42 ,  B23B49/00 ,  B23B2215/04 ,  B64F5/10 ,  Y10T29/49764 ,  Y10T29/49778 ,  Y10T29/4978 ,  Y10T29/49943 ,  Y10T29/5118 ,  Y10T29/53039 ,  Y10T29/53065 ,  Y10T29/53083 ,  Y10T29/53087 ,  Y10T403/1616 ,  Y10T403/1641 ,  Y10T403/32196 ,  Y10T408/175 ,  Y10T408/21

摘要： An apparatus for installing rivets or other fasteners through a workpiece includes an automated machine disposed on one side of the workpiece and a hand-held tool that is manipulated by a single worker located on the opposite side of the workpiece. The automated machine includes an end effector supporting tools such as a drill and a riveter. The automated machine also includes a guide structure adapted to be releasably affixed to the workpiece, and a carriage that travels along the guide structure and supports the end effector so that the end effector can be positioned in various locations along the surface of the workpiece where fasteners are to be installed. The end effector includes an electromagnetic clamping device, and the hand-held tool includes a magnetic clamping block that is attracted by the clamping device to clamp the workpiece therebetween. The end effector generates a positioning signal and the hand-held tool includes a detector for detecting the positioning signal. The detector is operable to generate guidance information telling the person operating the hand-held tool where to move the hand-held tool so as to align the tool with the end effector of the automated machine. Once the hand-held tool is aligned with the end effector, the electromagnetic clamping device is activated to clamp the workpiece, and then the end effector tools are operated to drill a hole and to install a rivet or other fastener into the hole.

摘要翻译： 用于通过工件安装铆钉或其他紧固件的装置包括设置在工件的一侧上的自动机器和由位于工件的相对侧上的单个工人操纵的手持工具。 自动化机器包括端部执行器支撑工具，如钻头和铆钉。 自动化机器还包括适于可释放地固定到工件上的引导结构，以及沿引导结构行进并支撑端部执行器的托架，使得端部执行器可以沿着工件表面的不同位置定位，紧固件 将被安装。 末端执行器包括电磁夹紧装置，并且手持工具包括被夹紧装置吸引以夹紧工件的磁性夹紧块。 末端执行器产生定位信号，并且手持工具包括用于检测定位信号的检测器。 检测器可操作以产生指导信息，告知操作手持工具的人在哪里移动手持工具，以使工具与自动化机器的端部执行器对准。 一旦手持工具与端部执行器对准，电磁夹紧装置被启动以夹紧工件，然后操作端部执行器工具钻一个孔并将铆钉或其他紧固件安装到孔中。

公开(公告)号：US6098260A

公开(公告)日：2000-08-08

申请号：US767231

申请日：1996-12-13

申请人： Branko Sarh

发明人： Branko Sarh

IPC分类号： B21J15/10 ,  B23P19/04 ,  B64F5/00 ,  B23P21/00

CPC分类号： B64F5/0009 ,  B21J15/10 ,  B23P19/04 ,  B23P2700/01 ,  Y10T29/49956 ,  Y10T29/5118 ,  Y10T29/5191 ,  Y10T29/53065 ,  Y10T29/5377

摘要： The present invention provides a fastening assembly system for applying fasteners along the seams of a cylindrical structure. The fastening apparatus includes a base unit which releasably attaches to a cylindrical structure, and a first fastening device coupled the base unit for applying fasteners along a seam of the cylindrical structure. The base unit may be embodied as either two crescent shaped members in parallel alignment for attaching to the upper half of the cylindrical structure. Alternatively, the base unit may include a base plate that is attachable to the floor beams on the interior of the cylindrical structure. In the preferred embodiment, the first fastening device cooperate with a second fastening device located on the opposite side of the cylindrical structure during the fastening process.

摘要翻译： 本发明提供了一种用于沿着圆柱形结构的接缝施加紧固件的紧固组件系统。 紧固装置包括可释放地附接到圆柱形结构的基部单元和联接基座单元的第一紧固装置，用于沿着圆柱形结构的接缝施加紧固件。 基座单元可以实施为平行对准的两个新月形构件，用于附接到圆柱形结构的上半部。 或者，基座单元可以包括可附接到圆柱形结构内部的地板梁的基板。 在优选实施例中，第一紧固装置在紧固过程期间与位于圆柱形结构的相对侧上的第二紧固装置配合。

公开(公告)号：US5225016A

公开(公告)日：1993-07-06

申请号：US739403

申请日：1991-08-02

申请人： Branko Sarh

发明人： Branko Sarh

IPC分类号： B29C53/30 ,  B29C70/46 ,  B29D99/00

CPC分类号： B29D99/0014 ,  B29C53/30 ,  B29C70/46 ,  B29C70/462 ,  B29K2105/06 ,  B29L2023/003

摘要： A method of making ducts having outwardly extending ribs formed integrally with the duct structure. Two tubes are formed from fiber reinforced resin materials, a uniform inner tube and a ribbed outer tube, then the inner tube is bonded with in the outer tube to form a high strength ribbed duct. An outer tube is formed by placing resin impregnated fibers over a cylindrical mandrel having an inflatable bladder on its surface, placing a plurality of spaced rings tightly against the outer surface, pressurizing the bladder to expand the tube into the spaces between rings to form low ribs, then gradually moving the rings toward each other to press the ribs therebetween and form thin upstanding ribs. The inner tube is formed by placing resin impregnated fibers on a slightly thinner mandrel that also has a surface bladder. When both tubes are formed, the mandrel is removed from the outer tube and the inner tube and mandrel are inserted therein and the inner tube bladder is inflated. The assembly is vacuum bagged and cured in an autoclave at a suitable temperature. The rings and mandrel are then removed and an integrally ribbed duct results. The thermosetting or thermoplastic resin impregnated fiber material may be placed on the mandrels by any suitable means such as filament winding, hand lay-up, or other deposition techniques.

摘要翻译： 一种制造具有与管道结构一体形成的向外延伸肋的管道的方法。 两根管由纤维增强树脂材料，均匀的内管和带肋的外管形成，然后将内管与外管接合，形成高强度的肋管。 通过将树脂浸渍的纤维放置在其表面上具有可膨胀囊的圆柱形心轴上而形成外管，将多个间隔开的环紧紧地放置在外表面上，对囊进行加压以将管扩展成环之间的空间，以形成低肋 然后逐渐地将环彼此移动以将肋压在其间并形成薄的直立肋。 内管通过将树脂浸渍的纤维放置在也具有表面膀胱的稍薄的心轴上而形成。 当两个管都形成时，心轴从外管中取出，内管和心轴插入其中，内管囊充气。 将组件真空包装并在适当温度下在高压釜中固化。 然后取出环和芯棒，并形成一体的带肋的导管。 热固性或热塑性树脂浸渍的纤维材料可以通过任何合适的方式放置在心轴上，例如细丝缠绕，手糊或其它沉积技术。

公开(公告)号：US4986493A

公开(公告)日：1991-01-22

申请号：US279778

申请日：1988-12-05

申请人： Branko Sarh

发明人： Branko Sarh

IPC分类号： B60F5/02 ,  B64C37/00

CPC分类号： B64C37/00 ,  B60F5/02

摘要： A fixed wing aircraft that can be converted to an automotive vehicle, comprising a generally rectangular planform fuselage having four wheels as in conventional automobile practice, and a telescopic wing which retracts into a housing in the roof of the fuselage. Telescopic horizontal and vertical stabilizers are provided at the rear end of the fuselage, as well as a retractable pusher propeller that is driven by an engine mounted on the front end of the fuselage. Both the propeller and the rear wheels are connected by a transmission box to the engine, so that either can be driven to operate the vehicle as an aircraft or as an automobile. On take-off, the rear wheels are partially retracted so as to place the aircraft at a proper angle of attack at the same time that the elevators are raised by pulling back on the control wheel. The control wheel is also connected to both the front wheels and the ailerons, and when turned 90.degree. to the left or right while in the flight configuration, causes the ailerons to move to their extreme angular positions while the front wheels are turned only a minimal amount. Further turning of the control wheel causes the front wheels to turn to their full angular position, without causing further movement of the ailerons. The wing is also movable longitudinally with respect to the fuselage so as to trim the aircraft for shifts in the center of gravity with varying load conditions.

摘要翻译： 可以转换为机动车辆的固定翼飞机，包括具有如常规汽车实践中的四个轮的大体上矩形的平面机身，以及伸缩机翼，其缩回到机身顶部的壳体中。 在机身后端设置伸缩式水平和垂直稳定器，以及由安装在机身前端的发动机驱动的可伸缩推进器。 螺旋桨和后轮都通过传动箱连接到发动机，从而可以驱动作为飞行器或汽车操作车辆。 在起飞时，后轮部分地缩回，以使飞机处于适当的迎角，同时电梯通过拉回控制轮而升高。 控制轮也连接到前轮和副翼，当在飞行配置中向左或向右转90度时，使副翼移动到其极限角度位置，而前轮仅转动最小 量。 控制轮的进一步转动会使前轮转向其全角位置，而不会引起副翼的进一步移动。 机翼也可以相对于机身纵向移动，以便在变化的负载条件下修整飞机的重心位移。