Robotic end effector including multiple abrasion tools
AssigneeThe Boeing Company
InventorsReynold R. Panergo, James C. Vanavery
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Abstract
A robot system comprises a robotic end effector including first, second and third abrasion tools having backing pads in a triangular arrangement.
Claims20
A method comprising using a robotic end effector to perform surface preparation on a surface of an aircraft fuselage, the end effector including first, second and third abrasion tools having their backing pads in a triangular arrangement, the surface preparation including selectively extending, retracting and operating the abrasion tools and rotating the abrasion tools as a group as the end effector is moved in a relatively straight path along the fuselage from tail to nose without having to change the abrasion tools.
A robot system comprising a robotic end effector including first, second and third abrasion tools having backing pads arranged in a triangular arrangement about an axis of rotation, wherein the abrasion tools are rotatable as a group about the axis, and each abrasion tool is selectively operable, retractable and extendable.
A system comprising:
- a multi-axis robot;
- and
- an end effector including first, second and third random orbital abrasion tools in a triangular arrangement, the abrasion tools selectively retractable, extendable and operable;
- ball joint assemblies coupled to the abrasion tools;
- linear actuators connected to the ball joint assemblies;
- and pressure transducers for regulating the linear actuators to apply constant pressure to the abrasion tools regardless of orientation of the end effector.
Dependencies are inferred from the claim text.