The Boeing Company

David Michael Bain

Martin Alexander Szarski

Phillip John Crothers

Brittany P Chambers

Andrew K Glynn

Ashleigh Raoul Nesbit

Benjamin Stanislaw Zielinski

Peter N Steele

Phillip Haeusler

Richard James Bain

Shaun A McFetridge

Craig J Turner

Peter W Chew

Conrad Sevenster

There is provided an automated bi-stable valve system. The system includes a bi-stable valve mechanism with bi-stable valves. Each of the bi-stable valves is configured to switch between a valve closed state and a valve open state. The system includes a control system coupled to the bi-stable valve mechanism and configured to operably control the bi-stable valve mechanism. The control system includes, (i) at least one traversable bridge apparatus, and (ii) a valve switch mechanism attached to the traversable bridge apparatus, and movable, via the traversable bridge apparatus, over the bi-stable valves. The valve switch mechanism is configured to switch the bi-stable valve(s) between the valve closed state and the valve open state, to allow for selective control of one or more adhesion zones on the bi-stable valve mechanism. The adhesion zone(s) correspond to adhesion area(s) on a surface of a material to be selectively picked up and placed.

Automated bi-stable valve system and method of using the same for composite manufacturing

A method, apparatus, and system for manufacturing a composite part. A set of reference locations is identified for a set of fiducial markers on a composite ply from a ply shape model for the composite part. The set of fiducial markers is created at the set of reference locations on the composite ply. The composite ply is cut to have a shape defined by the ply shape model.

Printed fiducial system for accurate pick and place

Certain aspects of the present disclosure provide an apparatus for grasping an object. The apparatus includes a substrate comprising a plurality of electrode pixels; and a controller configured to energize each electrode pixel of the plurality of electrode pixels individually, wherein the apparatus is configured to grasp an object electrostatically using the substrate.

Pixelated electrostatic adhesion

Control for pixelated electrostatic adhesion can be provided by a voltage converter configured to increase an input voltage to an output voltage; a first gripping circuit, configured to selectively provide the output voltage at a first polarity to a first subset of electrodes of a plurality of electrodes; a second gripping circuit, configured to selectively provide the output voltage at a second polarity opposite to the first polarity to a second subset of electrodes of a plurality of electrodes that are associated with and different from the first subset of electrodes; a first release circuit, configured to selectively reverse the output voltage provided to the first subset of electrodes to the second polarity; and a second release circuit, configured to selectively reverse the output voltage provided to the second subset of electrodes to the first polarity.

Robots for moving relative to a surface, robotic systems including the same, and associated methods are disclosed. A robot includes a body, at least two legs, and at least two feet. Each leg has a proximal end region operatively coupled to the body at a respective body joint with one rotational degree of freedom and a distal end region operatively coupled to a respective foot at a respective foot joint comprising two rotational degrees of freedom. Each foot is configured to be translated relative to the surface with two degrees of translational freedom. Robotic systems include one or more robots and a surface along which the one or more robots are positioned to move. Methods of operating robots and of operating robotic systems include translating at least one foot of a robot to operatively move the body of the robot with six degrees of freedom.

Robots, robotic systems, and related methods

Systems and methods for retuning a surface to a nominal geometry using local reference points are disclosed. The system can include an imaging device for detecting the location of local features on an object. The system can use the location of local features, as opposed to an absolute reference frame, to determine one or more reference areas and one or more surface defects on an object. The system can then determine a nominal geometry for the surface (i.e., a surface that is substantially free of surface defects) and calculate the tool path necessary to create a nominal geometry. The system can machine the surface and, in some cases, rescan the surface to ensure the operation has machined the part to the nominal geometry.

Systems and methods for machining to nominal geometry using local features

A guide assembly for supporting a tool employs an arcuate guide configured to have a tether coupled thereto. The arcuate guide is configured to apply a reaction force to the tether to oppose gravitational force applied to the tool. The assembly further includes a mount assembly is configured to couple the arcuate guide to the tool. At least one support bar is coupled to the arcuate guide and the mount assembly. The arcuate guide, the mount assembly, and the at least one support bar are configured to maintain the reaction force in alignment with a center of gravity of the tool as the tool is rotated with respect to the center of gravity.

Guide assembly and tool system for rotatably balancing a tool and a method for operating the same

A method and apparatus for performing an automated validation of a condition of assembly for a structure. A plurality of images of the structure are registered to a computer model of the structure in which an image in the plurality of images captures a portion of the structure. Each image in the plurality of images is segmented based on registration of the plurality of images to the computer model to form a plurality of image sections. A final score is generated for the condition of assembly of the structure based on whether each image section in the plurality of image sections meets a corresponding condition in which the final score indicates whether the condition of assembly is valid.

Automated validation of condition of assembly

A system includes a robotic device for moving an inspection tool, a scanner coupleable to the robotic device such that the robotic device is configured to automatically move the scanner to collect data associated with a surface of the object, and a computer system configured to determine a surface profile associated with the surface of the object based on the data, and generate a tool path for inspecting the object using the inspection tool based on the surface profile.

Methods and systems for automatically inspecting an object

A method and apparatus for laying composite tape. The method may comprise driving a plurality of robots, each having a respective movement system across a movement surface, in which the movement surface faces a workpiece, and laying composite tape from the plurality of robots in a coordinated manner on the workpiece.

Coordinated composite tape laying

Systems and methods for generating a coordinate transformation are disclosed. The system can include a non-destructive imaging (NDI) device for detecting the location of local surface and subsurface features in an object (e.g., an aircraft). The system can compare the location of these local features to the location of features from engineering drawings (e.g., CAD files) to generate a coordinate transformation from a machine coordinate system, for example, to an absolute coordinate system. The system can then accurately locate a work piece to perform repairs or replacements, as necessary. The system can also include a robotic arm to enable repairs to be performed at reduced cost and with increased accuracy. The system can also compare two or more NDI scans to locate or relocate a machine that has been moved. This can enable the machine to be repositioned for repairs, maintenance, or to perform a two part repair.

Systems and methods for coordinate transformation using non-destructive imaging

A method of repairing a structure is provided. The method includes inspecting the structure with a robotic device to identify a structural defect in the structure, generating a tool path for repairing the structural defect, and transmitting the tool path to the robotic device from a location remote from the robotic device.

Methods and systems of repairing a structure

A base assembly for coupling an end effector to a structure includes a first side and an opposite second side. The first side configured to couple to the end effector. The base assembly also includes at least one cavity disposed on the second side, and at least one pneumatic generator coupled in flow communication with the at least one cavity. The at least one pneumatic generator is operable in a suction mode and a blower mode. The second side having the at least one cavity is securely coupleable to a surface of the structure via a vacuum force induced by the at least one pneumatic generator in the suction mode, and the second side having the at least one cavity is movable substantially frictionlessly across the surface via an air cushion induced by the at least one pneumatic generator in the blower mode.

Apparatus and method for coupling an end effector to a structure

A method and apparatus for a robot self-locating on a movement surface. The method may comprise moving a first robot across the movement surface and relative to a workpiece, in which the movement surface faces the workpiece. The method may also form sensor data using a first number of sensors on the first robot as the first robot moves across the movement surface, in which the sensor data represents identifying characteristics of a portion of the movement surface. The method may also determine a location of the first robot on the movement surface using the sensor data. The method may further determine a location of a functional component of the first robot relative to the workpiece using the location of the first robot on the movement surface.

Growing community of inventors

Ashburton, Australia

David Michael Bain