Walking robot

{
  "publication_number": "US10773761B2",
  "country": "US",
  "kind": "B2",
  "title": "Walking 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 foot; and a second end connected to a functional component and to a second foot, wherein the functional component is housed within the second foot and the functional component is extractable from the second foot by the robotic arm.",
    "2. The robotic arm of claim 1, wherein the functional component is extractable from the second foot after the second foot is secured to a surface.",
    "3. The robotic arm of claim 2, 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.",
    "4. The robotic arm of claim 1, wherein the functional component is configured to operate on a surface to which the second foot is attached.",
    "5. The robotic arm of claim 4, wherein the functional component is a drill or a sensor.",
    "6. The robotic arm of claim 1, wherein the second foot comprises at least one of a number of suction cups, a number of locking pins, a conformal suction element, or a component gripper.",
    "7. An apparatus comprising: a robot having a first end and a second end; a first end effector connected to the first end of the robot in which the first end effector comprises a first foot; a second end effector comprising a functional component connected to the second end of the robot; and a second foot removably engaged to the second end of the robot, wherein the second end effector is contained within the second foot.",
    "8. The apparatus of claim 7, wherein the second foot comprises at least one of a number of suction cups, a number of locking pins, a conformal suction element, or a component gripper.",
    "9. The apparatus of claim 8, wherein the second end effector is releasably engaged to the second foot.",
    "10. The apparatus of claim 9, wherein the second end effector is extractable from the second foot after the second foot is secured to a surface.",
    "11. The apparatus of claim 7, 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.",
    "12. The apparatus of claim 7, wherein the second end effector is housed within the second foot and configured to operate on a surface to which the second foot is attached.",
    "13. A method comprising: moving a first foot connected to a first end of a robotic arm relative to a surface of a structure and away from a second foot connected to a second end of the robotic arm; securing the first foot relative to the surface of the structure; securing the second foot relative to the surface of the structure; and moving the second end of the robotic arm to extract a functional component from within the second foot.",
    "14. The method of claim 13 further comprising: performing a function on the surface with the functional component.",
    "15. The method of claim 14, wherein the function is at least one of a manufacturing function, a maintenance function, or an inspection function.",
    "16. The method of claim 14, further comprising: securing the functional component inside the second foot upon completion of the function.",
    "17. The method of claim 13, 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.",
    "18. 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; securing the first foot and the second foot to the surface; using the second end of the robot, extracting a functional component from the second foot; performing a function on the surface using the functional component; removing the functional component from the surface after performing the function on the surface; using the second end of the robot, placing the functional component inside the second foot; and securing the second end of the robot to the second foot.",
    "19. The method of claim 18, 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.",
    "20. The method of claim 18, wherein the function is at least one of a manufacturing function, a maintenance function, or an inspection function."
  ],
  "description_excerpt": "1. Field The present disclosure relates generally to robotics and, in particular, to performing functions on a structure using a robot. More particularly, the present disclosure relates to a method and apparatus for performing functions on a structure using a walking robot. 2. Background During manufacturing or maintenance, functions such as drilling, inspection, or fastening may be performed on structures using robots. Conventional robots, such as robotic arms, may be larger, heavier, less agile, or more costly than desired. For example, conventional robotic arms may be anchored to a manufacturing floor. Conventional robotic arms may use floor supports or other fixtures to support the weight of the robots. Due to at least one of the size or weight of conventional robotic arms, a limited quantity of conventional robots may be used at a workstation. By limiting the quantity of conventional robots that can be used at a workstation, the speed at which a structure is completed may be limited. The speed at which a structure is completed may be directly related to the quantity of robots being used.\n\nFurther, conventional robots may be positioned based on a known shape or configuration of a structure. For tall structures, conventional robots may be anchored to platforms. To perform functions on a structure having a different shape, the position of conventional robots may be changed. Changing the position of a conventional robot may be more time-consuming, more labor intensive, or more expensive than desired. For example, utilities, fixturing, and supports for conventional robots may be set-up before moving a conventional robot.",
  "cpc": [
    "B62D 57/032",
    "B25J 11/005",
    "B25J 11/0055",
    "B25J 11/0065",
    "B25J 11/0075",
    "B25J 11/0085",
    "B25J 15/0019",
    "B64F 5/10",
    "B64F 5/40",
    "Y10S 901/01"
  ],
  "ipc": [
    "B25J 11/00",
    "B25J 15/00",
    "B62D 57/032",
    "B64F 5/10",
    "B64F 5/40"
  ],
  "assignees": [
    "BOEING CO"
  ],
  "inventors": [
    "HAFENRICHTER JOSEPH LAWRENCE",
    "GEORGESON GARY ERNEST"
  ],
  "filing_date": "2017-12-06",
  "publication_date": "2020-09-15",
  "grant_date": "2020-09-15",
  "priority_date": "2015-10-16",
  "application_number": "US-201715833035-A",
  "family_id": "58530239",
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}