An automated clamp for clamping a rib web to a rib post or rib foot of an aircraft wing box comprising a clamp frame having first and second arms 72, 73 where the second arm is movable towards and from the first arm, a robot end effector connector coupled to the frame, first and second jaws 76, 77 fixed at the ends of the arms are configured to clamp a rib web to a post or foot, the first and/or second jaws comprising a contact normalisation system made of a jaw body fixed relative to the arm and a nose-piece 102 rotatably coupled to the body and configured to contact the rib element’s surface and passively rotate relative to the body upon contact with the surface. A spherical end surface of the nose-piece may form a spherical bearing surface with the jaw body. One or more contact sensors 106 may send a signal indicative of angular rotation of the nose-piece relative to the jaw body to a processing unit. There may be a vision system 93 to detect a datum of the web, post, or foot. The jaws may comprise a tool module docking aperture providing access to the clamped rib element.
Automated clamp
2024-08-28
Patent
Electronic Resource
English
IPC: | B64F GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT , Boden- oder Flugzeugträgerdeckeinrichtungen besonders ausgebildet für die Verwendung in Verbindung mit Luftfahrzeugen / B25B TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING, OR HOLDING , Werkzeuge oder Werkbankvorrichtungen zum Befestigen, Verbinden, Lösen oder Halten, soweit nicht anderweitig vorgesehen / B25J Manipulatoren , MANIPULATORS |