US 12,297,856 B2
Nut plate grippers, end effectors that include nut plate grippers, robots that include end effectors, installation systems that include robots, and related methods
Benjamin S. Zielinski, Melbourne (AU); Jason Cochrane, Melbourne (AU); Ashkan Amirsadri, Melbourne (AU); and Andre D. Swart, Al Ain (AE)
Assigned to The Boeing Company, Arlington, VA (US); and Strata Manufacturing PJSC, (AE)
Filed by The Boeing Company, Arlington, VA (US); and Strata Manufacturing PJSC, Al Ain (AE)
Filed on Mar. 13, 2023, as Appl. No. 18/182,999.
Prior Publication US 2024/0309905 A1, Sep. 19, 2024
Int. Cl. F16B 37/04 (2006.01)
CPC F16B 37/044 (2013.01) 22 Claims
OG exemplary drawing
 
1. A nut plate gripper configured to grip a nut plate, the nut plate gripper comprising:
an attachment region, configured to facilitate attachment of the nut plate gripper to an end effector;
a first resilient projecting region that extends from the attachment region and defines a first nut plate-contacting end; and
a second resilient projecting region that extends from the attachment region and defines a second nut plate-contacting end;
wherein the first resilient projecting region and the second resilient projecting region are configured to resiliently deflect toward one another to facilitate insertion of the first nut plate-contacting end and the second nut plate-contacting end between a pair of opposed plate flanges of a base plate of the nut plate; and
further wherein the nut plate gripper further includes a vibration structure configured to vibrate the first resilient projecting region and the second resilient projecting region to at least one of:
(i) facilitate insertion of the first nut plate-contacting end and the second nut plate-contacting end between the pair of opposed plate flanges; and
(ii) facilitate positioning of base plate rivet openings of the nut plate onto corresponding rivets.