Patent ID: 11926040
Assignee: THE BOEING COMPANY
Field: Handling (Mechanical engineering)
Classification: CPC B  F | IPC B  F

Claim 7:
8. A lockbolt swage end effector for use with a robotic manipulator to engage a collar, the end effector comprising:
swage tool having a swage puller and die, the swage tool engaged by a connector assembly to a frame, the frame configured to be attached to the robotic manipulator;
a mounting assembly attached to the swage tool, the mounting assembly comprising:
a carriage; and
an actuation rail on which the carriage is mounted for reciprocal longitudinal motion; and

a jaw assembly supported on the mounting assembly the jaw assembly having opposing articulating jaws forming a recess to engage the collar in a closed position in alignment with the swage puller and die in the swage tool, the opposing articulating jaws releasing the collar in an open position for operation of the swage tool the opposing articulating jaws comprising a left jaw and right jaw, wherein the left jaw is mounted to the carriage on a left hinge column and the right jaw is mounted to the carriage on a right hinge column, the left and right jaws articulating to the closed position upon translation of the carriage forward and to the open position upon translation of the carriage rearward and wherein the left and right jaws each incorporate a tapered decent received in a mating relief in a locking yoke in the closed position of the jaws, the locking yoke extending as a fixed structure from the connector assembly.