The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Jan. 09, 1996
Filed:
Jan. 06, 1993
Zenna J Dunning, Spanaway, WA (US);
Paul E Nelson, Tacoma, WA (US);
Hinrich C Patjens, Tacoma, WA (US);
James A Shofner, Auburn, WA (US);
David A Yousko, Renton, WA (US);
The Boeing Company, Seattle, WA (US);
Abstract
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.