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US 10,279,505 B2Granted
Multi-functional end effector with integrated waterjet, milling spindle system and/or scanning sensor, and a fluid stream catcher mounting system
AssigneePaR Systems, Inc.
InventorsThomas E. Jung, Andrew McChain
Life of this patent
Estimating the term…
Abstract
A multifunctional end effector includes a support structure configured to be carried by a robotic system and at least two of a fluid stream cutting system, a spindle system and/or a scanning system, each mounted to the support structure. Also described is a fluid stream cutting system having a plurality of fluid stream catchers selectively mountable to the fluid stream system and a mounting arrangement for mounting each fluid stream catcher to the fluid stream cutting system.
Claims26
A multi-functional end effector, comprising:
- a frame member configured to be carried by a robotic system;
- a support structure rotatably mounted to the frame member to rotate about an axis;
- a cutting system fixedly mounted to the support structure and having an operating end configured to be directed toward an object in a first direction away from the support structure to cut the object;
- and
- a scanning system fixedly mounted to the support structure, the scanning system having a scanning device configured to be directed in a scanning direction away from the support structure to obtain a scan of the object,
- wherein rotation of the support structure about the axis causes simultaneous rotation of the operating end of the cutting system and the scanning device such that the first direction and the scanning direction remain extending in opposite directions for any rotation of the support structure.
3 more elements
A multi-functional end effector, comprising:
- a frame configured to be carried by a robotic system;
- a support structure rotatably mounted to the frame to rotate about an axis;
- a fluid stream cutting system fixedly mounted to the support structure, the fluid stream cutting system having a nozzle directing fluid in a first direction away from the support structure;
- and
- a laser scanning system fixedly mounted to the support structure, the laser scanning system having a laser and configured to direct the laser in a scanning direction that extends away from the support structure to obtain a scan of an object,
- wherein rotation of the support structure about the axis causes simultaneous rotation of the nozzle of the fluid stream cutting system and the laser scanning system such that the first direction and the scanning direction remain extending in opposite directions for any rotation of the support structure.
3 more elements
A multi-functional end effector, comprising:
- a frame configured to be carried by a robotic system;
- a support structure;
- a bearing assembly rotatably mounting the support structure to the frame to rotate about an axis;
- a milling spindle system fixedly mounted to the support structure and having a spindle with an axis of rotation extending away from the support structure in a first direction;
- a cutting system fixedly mounted to the support structure and having an operating end configured to be directed toward an object in a second direction away from the support structure to cut the object;
- and
- a scanning system fixedly mounted to the support structure, the scanning system having a scanning device configured to be directed in a scanning direction that extends away from the support structure to obtain a scan of the object,
- wherein rotation of the support structure about the axis causes simultaneous rotation of the operating end of the cutting system, the spindle of the milling spindle system, and the scanning device such that the second direction and the scanning direction remain extending in opposite directions for any rotation of the support structure.
5 more elements
Dependencies are inferred from the claim text.