The Boeing Company

James A Shofner

Zenna J Dunning

Paul Elfes Nelson

Mark Frederick Gabriel

David A Yousko

Hinrich C Patjens

An end effector storage station that stores end effectors in a horizontal and cantilevered position, each end effector being stored in a known location in space relative to a robotic manufacturing tool. The storage station comprises a plurality of storage cells, wherein an end effector holder is installed within each of the said storage cells. The storage station further including and end effector transport cell that includes an end effector transport cart and transport cart lift to accurately position the transport cart and attached end effector holder to a known and predetermined location in space.

End effector storage station

An end effector adapted for attachment to and accurate positioning by a robot is provided for positioning a right angle shaped workpiece at a desired position against a panel and drilling a pair of accurately located positioning holes through the workpiece and the panel. The end effector includes a rear plate having a conventional tool connector and adapter that can be grasped and manipulated by the robot. A frame is cantilevered on the rear plate and supports a shuttle mounted on horizontal linear bearings for lateral motion of the shuttle. A pair of vertical bearings on the shuttle supports two horizontal support plates for vertical motion on the shuttle. A drill and an inserter are mounted on the support plates for lateral motion with the shuttle, and for vertical motion on the shuttle. Two servomotors under control of a system controller control the lateral motion of the shuttle and the vertical motion of the support plates, and a linear motion encoder provides feedback to the controller to attain accurate positioning of the support plates and the drills mounted thereon.

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Auburn, WA, United States of America

James A Shofner