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公开(公告)号：US20170072557A1
公开(公告)日：2017-03-16
申请号：US15358541
申请日：2016-11-22
申请人： The Boeing Company
CPC分类号： B25J1/02 , B23Q17/2233 , B25J1/08 , B25J15/00 , G01N21/954 , G06T19/003 , G06T19/006 , G06T19/20 , G06T2219/2004
摘要： An extended-reach tool system may include a gimbal positioned adjacent a surface opening; an extended-reach arm having a tool and engaging the gimbal; a sensor system for measuring a position of the arm relative to the gimbal and a position and spatial orientation of the tool relative to the opening; a computer control that converts one or both of the rotational and linear measurements from the sensor system into spatial location representations for virtual representations of 3-D models of the workpiece and tool, determines a position and orientation of the tool relative to the opening and workpiece, and adjusts the virtual representations of the 3-D models of the workpiece and tool as the arm and tool move relative to the workpiece, representing a real-time orientation of the tool relative to the workpiece; and a display for displaying the virtual representations of the 3-D models of the workpiece and tool.
摘要翻译： 延伸工具系统可以包括邻近表面开口定位的万向架; 具有工具并与万向节接合的延伸臂; 传感器系统，用于测量臂相对于万向架的位置以及工具相对于开口的位置和空间取向; 将来自传感器系统的一个或两个旋转和线性测量值转换成用于工件和工具的3-D模型的虚拟表示的空间位置表示的计算机控制器确定工具相对于开口和工件的位置和取向 并且当手臂和工具相对于工件移动时，调整工件和工具的三维模型的虚拟表示，表示工具相对于工件的实时取向; 以及用于显示工件和工具的3D模型的虚拟表示的显示器。
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公开(公告)号：US20190293552A1
公开(公告)日：2019-09-26
申请号：US15927591
申请日：2018-03-21
申请人： The Boeing Company
IPC分类号： G01N21/3581 , G01N21/3563 , G01N21/88
摘要： An apparatus for surface inspection comprises a terahertz emitter, a detector, and a computing device. The terahertz emitter is oriented to emit energy toward a surface having a surface layer disposed on the surface in a proximity of a surface feature. The detector is positioned to receive the energy from the terahertz emitter that is reflected by the surface. The computing device is in signal communication with the detector and is configured to detect the surface feature using a signal from the detector.
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公开(公告)号：US09513231B2
公开(公告)日：2016-12-06
申请号：US13750565
申请日：2013-01-25
申请人： The Boeing Company
发明人： Nathan R. Smith , James J. Troy , Jeffrey R. Kollgaard , Gary E. Georgeson , Paul S. Rutherford
IPC分类号： H04N7/18 , G01N21/954
CPC分类号： H04N7/18 , G01N21/954
摘要： A multi-axis tool may include, in some embodiments, a gimbal adapted to be positioned adjacent an opening in a wall; an extended-reach device having first and second ends and an end effector adjacent the first end, the extended-reach device engaging the gimbal for relative rotational movement and relative slidable movement through the opening such that the end effector is positioned on a side of the wall opposite the second end; a sensor system configured to measure a linear position of the extended-reach device relative to the gimbal, and a position and spatial orientation of the end effector relative to the opening; and a computer control connected to receive signals from the sensor system to determine at least one of a position and an orientation of the end effector relative to the opening.
摘要翻译： 在一些实施例中，多轴工具可以包括适于邻近墙壁中的开口定位的万向架; 具有第一端和第二端的延伸到达装置和与第一端相邻的端部执行器，延伸到达装置接合万向架以进行相对旋转运动，并通过开口相对可滑动地移动，使得末端执行器位于 第二端对面的墙; 传感器系统，被配置为测量延伸到达装置相对于万向架的线性位置，以及端部执行器相对于开口的位置和空间取向; 以及计算机控制器，其被连接以从所述传感器系统接收信号以确定所述端部执行器相对于所述开口的位置和取向中的至少一个。
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公开(公告)号：US10976244B2
公开(公告)日：2021-04-13
申请号：US15927591
申请日：2018-03-21
申请人： The Boeing Company
IPC分类号： G01N21/3581 , G01N21/3563 , G01N21/88 , G01N21/95
摘要： An apparatus for surface inspection comprises a terahertz emitter, a detector, and a computing device. The terahertz emitter is oriented to emit energy toward a surface having a surface layer disposed on the surface in a proximity of a surface feature. The detector is positioned to receive the energy from the terahertz emitter that is reflected by the surface. The computing device is in signal communication with the detector and is configured to detect the surface feature using a signal from the detector.
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公开(公告)号：US20150323501A1
公开(公告)日：2015-11-12
申请号：US14803758
申请日：2015-07-20
申请人： The Boeing Company
CPC分类号： G01N27/902 , B25J9/0027 , B25J9/0096 , B25J9/1697 , B25J13/02 , B25J18/025 , G01N21/954 , G01N29/225 , G01N29/265 , G01N2291/0289 , G01N2291/2694
摘要： An extended reach inspection apparatus may include a scanner device and a robotic manipulator arm. The robotic manipulator arm may include a plurality of arm segments including a distal end arm segment and a proximal end arm segment. A movable joint may couple the distal end arm segment to the robotic manipulator arm. A telescoping extension mechanism may be coupled to the distal end arm segment. The scanner device is mounted to the telescoping extension mechanism for moving the scanner device between a retracted position proximate the robotic manipulator arm and an extended position at a distance from the robotic manipulator arm. A control handle may be coupled to the proximal end arm segment of the plurality of arm segments for manipulating the robotic manipulator arm.
摘要翻译： 延伸到达检测装置可以包括扫描仪装置和机器人操纵臂。 机器人操纵臂可以包括多个臂段，其包括远端臂段和近端臂段。 可动接头可以将远端臂段联接到机器人操纵臂。 伸缩式延伸机构可以联接到远端臂段。 扫描仪装置安装到伸缩式延伸机构，用于在靠近机器人操纵臂的缩回位置与离机器人操纵臂相距一定距离的延伸位置移动扫描仪装置。 控制手柄可以联接到多个臂段的近端臂段，用于操纵机器人操纵臂。
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公开(公告)号：US10537986B2
公开(公告)日：2020-01-21
申请号：US16134446
申请日：2018-09-18
申请人： The Boeing Company
IPC分类号： H04N7/18 , B25J1/02 , B25J1/08 , B25J15/00 , B23Q17/22 , G06T19/20 , G06T19/00 , G01N21/954 , B64F5/40
摘要： A tracking-enabled extended-reach tool system acting upon a workpiece. The tool system includes a gimbal positioned adjacent an opening in a surface, a sensor system, a computer control, and a display. The extended-reach arm has a first end, a second end, an end effector including a tool adjacent the first end. The extended-reach arm engages the gimbal for relative rotational movement and relative slidable movement through the opening positioning the end effector and the tool on a side of the surface opposite the second end. The sensor system is configured to measure a linear position of the extended-reach arm relative to the gimbal. The computer control receives signals from the sensor system indicative of the linear position of the extended-reach arm relative to the gimbal. The display is connected to the computer control and displays a representation of the workpiece and the tool relative to each other in real time.
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公开(公告)号：US20180202974A1
公开(公告)日：2018-07-19
申请号：US15922509
申请日：2018-03-15
申请人： The Boeing Company
IPC分类号： G01N27/90 , G01N21/954 , B25J9/16 , B25J18/02 , B25J9/00 , G01N29/265 , G01N29/22 , B25J13/02
CPC分类号： G01N27/902 , B25J9/0027 , B25J9/0096 , B25J9/1697 , B25J13/02 , B25J18/025 , G01N21/954 , G01N29/225 , G01N29/265 , G01N2291/0289 , G01N2291/2694
摘要： An extended reach inspection apparatus may include a scanner device and a robotic manipulator arm. The robotic manipulator arm may include a plurality of arm segments including a distal end arm segment and a proximal end arm segment. A movable joint may couple the distal end arm segment to the robotic manipulator arm. A telescoping extension mechanism may be coupled to the distal end arm segment. The scanner device is mounted to the telescoping extension mechanism for moving the scanner device between a retracted position proximate the robotic manipulator arm and an extended position at a distance from the robotic manipulator arm. A control handle may be coupled to the proximal end arm segment of the plurality of arm segments for manipulating the robotic manipulator arm.
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公开(公告)号：US09939411B2
公开(公告)日：2018-04-10
申请号：US14803758
申请日：2015-07-20
申请人： The Boeing Company
IPC分类号： G01D21/00 , G01N27/90 , B25J9/16 , B25J18/02 , G01N21/954 , G01N29/22 , G01N29/265 , B25J9/00 , B25J13/02
CPC分类号： G01N27/902 , B25J9/0027 , B25J9/0096 , B25J9/1697 , B25J13/02 , B25J18/025 , G01N21/954 , G01N29/225 , G01N29/265 , G01N2291/0289 , G01N2291/2694
摘要： An extended reach inspection apparatus may include a scanner device and a robotic manipulator arm. The robotic manipulator arm may include a plurality of arm segments including a distal end arm segment and a proximal end arm segment. A movable joint may couple the distal end arm segment to the robotic manipulator arm. A telescoping extension mechanism may be coupled to the distal end arm segment. The scanner device is mounted to the telescoping extension mechanism for moving the scanner device between a retracted position proximate the robotic manipulator arm and an extended position at a distance from the robotic manipulator arm. A control handle may be coupled to the proximal end arm segment of the plurality of arm segments for manipulating the robotic manipulator arm.
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公开(公告)号：US08973441B1
公开(公告)日：2015-03-10
申请号：US14047925
申请日：2013-10-07
申请人： The Boeing Company
IPC分类号： G01N29/04
CPC分类号： G01N29/043 , G01L5/246 , G01N29/041 , G01N2291/0422 , G01N2291/0428 , G01N2291/044 , G01N2291/2691
摘要： Embodiments of techniques and technologies to verify the interference fit of fasteners are disclosed. In one embodiment, a transducer is positioned to transmit a shear ultrasonic signal through a region of a fastener which is subject to stress when the fastener experiences an interference fit. The shear ultrasonic signal is transmitted through a region of the fastener subject to the stress. As the transmitted ultrasonic signal encounters the region, it is mode converted corresponding to a degree of interference which the fastener is experiencing. A return ultrasonic signal from the fastener is received with the transducer. From the return ultrasonic signal, a processor determines the degree of interference fit which the fastener is experience and outputs an indication of the same.
摘要翻译： 公开了用于验证紧固件的过盈配合的技术和技术的实施例。 在一个实施例中，换能器被定位成通过紧固件的区域传递剪切超声波信号，紧固件的区域在紧固件经受过盈配合时经受应力。 剪切超声信号通过紧固件受到应力的区域传递。 当发射的超声波信号遇到该区域时，它被对应于紧固件正在经历的干涉程度而进行模式转换。 用换能器接收来自紧固件的返回超声波信号。 从返回的超声波信号中，处理器确定紧固件经历的过盈配合程度，并输出相同的指示。
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公开(公告)号：US10788455B2
公开(公告)日：2020-09-29
申请号：US15922509
申请日：2018-03-15
申请人： The Boeing Company
IPC分类号： G01N27/90 , B25J9/16 , B25J9/00 , B25J18/02 , G01N21/954 , G01N29/22 , G01N29/265 , B25J13/02
摘要： An extended reach inspection apparatus may include a scanner device and a robotic manipulator arm. The robotic manipulator arm may include a plurality of arm segments including a distal end arm segment and a proximal end arm segment. A movable joint may couple the distal end arm segment to the robotic manipulator arm. A telescoping extension mechanism may be coupled to the distal end arm segment. The scanner device is mounted to the telescoping extension mechanism for moving the scanner device between a retracted position proximate the robotic manipulator arm and an extended position at a distance from the robotic manipulator arm. A control handle may be coupled to the proximal end arm segment of the plurality of arm segments for manipulating the robotic manipulator arm.
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