Walking robot

• US 10,232,897 B2
• Filed: 10/16/2015
• Issued: 03/19/2019
• Est. Priority Date: 10/16/2015
• Status: Active Grant

• Current Assignee: The Boeing Co.
• Original Assignee: The Boeing Co.
• Inventors: Hafenrichter, Joseph Lawrence, Georgeson, Gary Ernest
• Primary Examiner(s): Holwerda, Stephen
• Application Number:
  US14/885,360
• Publication Number:
  US 20170106924A1
• Time in Patent Office: 1,250 Days
• CPC Class Codes: B25J 11/005 Manipulators for mechanical processing tasks
• CPC Class Codes: B25J 11/0055 Cutting
• CPC Class Codes: B25J 11/0065 Polishing or grinding
• CPC Class Codes: B25J 11/0075 Manipulators for painting or coating
• CPC Class Codes: B25J 11/0085 Cleaning
• CPC Class Codes: B25J 15/0019 End effectors other than grippers
• CPC Class Codes: B62D 57/032 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid B62D57/024 takes precedence
• CPC Class Codes: B64F 5/10 Manufacturing or assembling aircraft, e.g. jigs therefor
• CPC Class Codes: B64F 5/40 Maintaining or repairing aircraft
• CPC Class Codes: Y10S 901/01 Mobile robot

Abstract

A method and apparatus for a walking robot. A first end effector connected to a first end of a robotic arm is moved relative to a surface of a structure and away from a second end effector connected to a second end of the robotic arm. The first end effector is secured relative to the surface of the structure after moving the first end effector relative to the surface. The second end effector connected to the second end of the robotic arm is moved relative to the surface of the structure and toward the first end effector.

Claims

1. A robotic arm comprising:

a first end connected to a first end effector;

a second end connected to a second end effector; and

at least one joint moveably connecting the first end and the second end for movement in a plurality of axes on a surface;

wherein the first end effector comprises a foot;

wherein the second end effector further comprises a functional component;

wherein the foot comprises a conformal suction element that includes a semi-rigid seal plate; and

wherein the semi-rigid seal plate is conformal to a hat shaped stringer of an aircraft.

2. The robotic arm of claim 1, wherein the functional component is selected from at least one of a drill, a brush, a sander, a cleaning tool, a paint gun, a buffer, a cutting tool, a welding tool, a camera, a probe, or a non-destructive sensor.

3. The robotic arm of claim 1, wherein the second end effector further comprises a holster for the functional component.

4. The robotic arm of claim 1, wherein the conformal suction element further comprises a slider attach point, a pivot attach point, and a vacuum seal, wherein the slider attach point and the pivot attach point allow the semi-rigid seal plate to move relative to a base of the conformal suction element and wherein the slider attach point and the pivot attach point provide a tolerance between the second end and the hat shaped stringer.

5. An apparatus comprising:

a walking robot having a first end and a second end, wherein the first end and the second end are movably connected by at least one joint for movement in a number of axes;

a first end effector connected to the first end of the walking robot in which the first end effector comprises a first foot; and

a second end effector connected to the second end of the walking robot comprising a second foot;

wherein the second end effector includes a functional component that operates to perform an operation on a surface after the second foot is released from the second end and while the second foot remains attached to the surface; and

wherein the walking robot is configured to communicate and coordinate with at least one other walking robot for performing a task on the surface.

6. The apparatus of claim 5, wherein the functional component is selected from at least one of a drill, a brush, a sander, a cleaning tool, a paint gun, a buffer, a cutting tool, a welding tool, a camera, a probe, or a non-destructive sensor.

7. The apparatus of claim 5, wherein the second end effector is the functional component;

and

wherein the walking robot uses a swarm intelligence to communicate with the at least one other walking robot.

8. A method comprising:

moving a first end effector connected to a first end of a robotic arm relative to a surface of a structure and away from a second end effector connected to a second end of the robotic arm; and

moving the second end effector connected to the second end of the robotic arm relative to the surface of the structure and toward the first end effector, wherein the first end effector comprises a first foot and the second end effector comprises a second foot;

securing the first foot to a hat shaped stringer by a conformal suction element and the second foot to the surface of the structure, wherein the conformal suction element comprises a semi-rigid seal plate conformal to the hat shaped stringer;

removing the second end from the second foot while the second foot remains attached to the surface;

connecting a third end effector to the second end of the robotic arm, wherein the third end effector is a functional component;

performing a manufacturing function on the surface with the third end effector;

removing the third end effector from the second end of the robotic arm after performing the manufacturing function on the surface; and

connecting the second end of the robotic arm to the second foot while the second foot is still attached to the surface and after removing the third end effector from the second end of the robotic arm.

9. The method of claim 8, wherein the conformal suction element further comprises a slider attach point, a pivot attach point, and a vacuum seal, wherein the slider attach point and the pivot attach point allow the semi-rigid seal plate to move relative to a base of the conformal suction element and wherein the slider attach point and the pivot attach point provide a tolerance between the second end and the hat shaped stringer.

10. A method comprising:

walking a robot across a surface of a structure using a first foot connected to a first end of the robot and a second foot connected to a second end of the robot;

responsive to attaching the second foot to the surface of the structure, performing a function on the surface by a functional component that operates through a bottom of the second foot to perform an operation on the surface; and

wherein the function is at least one of a manufacturing function, a maintenance function, or an inspection function, and wherein the function is performed on the surface using the functional component.

11. The method of claim 10 further comprising:

walking the robot across the surface of the structure using the first foot and the second foot after performing the function.

12. The method of claim 10, wherein the functional component is a drill.

13. The method of claim 10, wherein the functional component is a brush.

14. The method of claim 10, wherein the functional component is a sander.

15. The method of claim 10, wherein the functional component is a cleaning tool.

16. The method of claim 10, wherein the functional component is a paint gun.

17. The method of claim 10, wherein the functional component is a buffer.

18. The method of claim 10, wherein the functional component is a cutting tool.

19. The method of claim 10, wherein the functional component is a welding tool.

20. The method of claim 10, wherein the functional component is a camera, a probe, or a non-destructive sensor.