The Boeing Company

David M Foisy

Stephen John Bennison

Tristan E Lee

A system, method, and apparatus for changing a set of old tools for a set of new tools may be presented. The system may comprise a crawler robot, a robotic arm, a tool changer, a vision system, and at least one of a tool rack or a storage area. The tool changer may be an end effector of the robotic arm. The tool changer may comprise a number of grippers and a number of movement assemblies. The number of grippers may perform at least one of moving a set of new tools to the crawler robot or removing the set of old tools from the crawler robot. The number of movement assemblies may be associated with the number of grippers. The vision system may be associated with at least one of the robotic arm and the tool changer.

Tool changer

The invention relates to systems and methods for measuring workpieces. In one embodiment of the invention, a system for measuring a workpiece includes a plurality of measurement modules, an electronic control module, and a moveable frame to which the measurement modules are attached. Each of the measurement modules comprises at least one galvanometer, at least one mirror, and at least one optical displacement sensor. The plurality of measurement modules are collectively adapted to measure a circumference of the workpiece. In other embodiments, methods of calibration and use are provided.

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Bellevue, WA, United States of America

David M Foisy