# US 10,369,679 B2 · Apparatus, system and method for performing automated finishing operations on a workpiece > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,369,679 B2 - Document ID: US10369679B2 - Status: Granted - Kind: B2 - Application number: 15/347,485 - Filed: 2016-11-09 - Published: 2018-05-10 - Granted: 2019-08-06 - Earliest claimed: 2016-11-09 - Assignees: The Boeing Company - Applicants: The Boeing Company - Inventors: Bennett M. Moriarty; Phillip J. Crothers; Shane E. Arthur; Brian W. Smith - Web page: https://patentgrep.com/patent/US10369679B2 ## CPC - B24B 51/00: Arrangements for automatic control of a series of individual steps in grinding a workpiece (if applicable to other machine tools, G05B takes precedence) - B05B 13/005: {mounted on vehicles or designed to apply a liquid on a very large surface, e.g. on the road, on the surface of large containers} - B05B 13/0436: {Installations or apparatus for applying liquid or other fluent material to elongated bodies, e.g. light poles, pipes (B05B13/0442, B05B13/0463 take precedence)} - B24B 19/26: for grinding workpieces with arcuate surfaces, e.g. parts of car bodies, bumpers or magnetic recording heads (grinding of spherical surfaces in general B24B11/00, of optical surfaces on lenses or surfaces of similar shape on other work B24B13/00) - B25J 5/00: Manipulators mounted on wheels or on carriages (B25J1/00 takes precedence; program-controlled manipulators B25J9/00) - B64F 5/10: Manufacturing or assembling aircraft, e.g. jigs therefor - B05B 13/0431: {with spray heads moved by robots or articulated arms, e.g. for applying liquid or other fluent material to three-dimensional [3D] surfaces} - B24B: MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING (grinding of gear teeth B23F, of screw-threads B23G1/36; by electro-erosion B23H; abrasive or related blasting B24C; tools for grinding, buffing or sharpening B24D; polishing compositions C09G1/00; abrasives C09K3/14; electrolytic etching or polishing C25F3/00; grinding arrangements for use on assembled railway tracks E01B31/17); DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS - B05B: SPRAYING APPARATUS; ATOMISING APPARATUS; NOZZLES (spray-mixers with nozzles B01F25/72; processes for applying liquids or other fluent materials to surfaces by spraying B05D) - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B64F: GROUND OR AIRCRAFT-CARRIER-DECK INSTALLATIONS SPECIALLY ADAPTED FOR USE IN CONNECTION WITH AIRCRAFT; DESIGNING, MANUFACTURING, ASSEMBLING, CLEANING, MAINTAINING OR REPAIRING AIRCRAFT, NOT OTHERWISE PROVIDED FOR; HANDLING, TRANSPORTING, TESTING OR INSPECTING AIRCRAFT COMPONENTS, NOT OTHERWISE PROVIDED FOR ## Abstract A finishing apparatus for performing an automated finishing operation on a surface of a workpiece is disclosed. The finishing apparatus may include a platen fabricated from a magnetic material and having a platen surface, and a finishing module disposed on the platen surface and having a finishing operation end effector. The finishing module may generate a magnetic field that biases the finishing module toward the platen, and may be operable to generate a magnetic flux to control movement of the finishing module over the platen surface to perform the automated finishing operation on the surface of the workpiece. ## Claims ### Claim 1 A finishing apparatus for performing an automated finishing operation on a surface of a workpiece, the finishing apparatus comprising: a platen fabricated from a magnetic material and having a platen surface; and a finishing module disposed on the platen surface and having a finishing operation end effector, wherein the finishing module generates a magnetic field that biases the finishing module toward the platen, and is operable to generate a magnetic flux to control movement of the finishing module over the platen surface to perform the automated finishing operation on the surface of the workpiece. ### Claim 2 (depends on 1) The finishing apparatus in accordance with claim 1, wherein the platen is one of a flat platen and a curved platen. ### Claim 3 (depends on 1) The finishing apparatus in accordance with claim 1, comprising a mounting bracket to which the platen is coupled, wherein the mounting bracket couples the platen to a positioning apparatus that positions the finishing apparatus proximate the surface of the workpiece. ### Claim 4 (depends on 1) The finishing apparatus in accordance with claim 1, wherein the finishing module comprises a base and an end effector positioning device connecting the finishing operation end effector to the base, wherein the end effector positioning device is operable to change a position and an orientation of the finishing operation end effector relative to the surface of the workpiece. ### Claim 5 (depends on 1) The finishing apparatus in accordance with claim 1, wherein the finishing operation end effector applies one of paint and printer ink to the surface of the workpiece. ### Claim 6 (depends on 1) The finishing apparatus in accordance with claim 1, comprising a pressurized air source in fluid communication with the platen, wherein pressurized air from the pressurized air source is discharged through a plurality of orifices through the platen surface to create an air gap between the platen surface and the finishing module. ### Claim 7 (depends on 1) The finishing apparatus in accordance with claim 1, wherein the finishing module comprises a finishing module controller configured to control the magnetic flux to move the finishing module over the platen surface through a predetermined path. ### Claim 8 A method of performing an automated finishing operation on a surface of a workpiece, the method implemented using a finishing apparatus having a platen fabricated from a magnetic material and having a platen surface, and a finishing module having a finishing operation end effector and disposed on the platen surface, wherein the finishing module generates a magnetic field biasing the finishing module toward the platen surface, the method comprising: deploying the finishing module over the platen surface using a magnetic flux generated by the finishing module; and performing, using the finishing operation end effector, the automated finishing operation. ### Claim 9 (depends on 8) The method in accordance with claim 8, the method further comprising: positioning the finishing apparatus proximate the surface of the workpiece; and performing the automated finishing operation on the surface of the workpiece. ### Claim 10 (depends on 9) The method in accordance with claim 9, wherein the platen is coupled to a mounting bracket that couples the platen to a positioning apparatus, the method further comprising controlling operation of the positioning apparatus while performing the automated finishing operation on the surface of the workpiece. ### Claim 11 (depends on 10) The method in accordance with claim 10, wherein the positioning apparatus comprises a movable cart, the method further comprising controlling operation of the movable cart while performing the automated finishing operation on the surface of the workpiece. ### Claim 12 (depends on 8) The method in accordance with claim 8, wherein performing the automated finishing operation further comprises applying one of paint and printer ink onto the surface of the workpiece with the finishing operation end effector. ### Claim 13 (depends on 9) The method in accordance with claim 9, wherein the finishing module comprises a base and an end effector positioning device connecting the finishing operation end effector to the base, wherein positioning the finishing apparatus comprises operating the end effector positioning device to change a position and an orientation of the finishing operation end effector relative to the surface of the workpiece. ### Claim 14 (depends on 8) The method in accordance with claim 8, wherein the platen includes a plurality of orifices, wherein the method further comprises discharging air through the plurality of orifices to create an air gap between the platen surface and the finishing module. ### Claim 15 (depends on 8) The method in accordance with claim 8, the method further implemented using a finishing module controller of the finishing module, the method further comprising controlling, using the finishing module controller, the magnetic flux to move the finishing module through a predetermined path over the platen surface. ### Claim 16 A finishing station for performing an automated finishing operation on a surface of a workpiece, the finishing station comprising: a platen fabricated from a magnetic material and having a platen surface; a finishing module disposed on the platen surface and having a finishing operation end effector, wherein the finishing module generates a magnetic field that biases the finishing module toward the platen, and is operable to generate a magnetic flux to control movement of the least one finishing module over the platen surface to perform the automated finishing operation on the surface of the workpiece; and a finishing module controller coupled in communication with the finishing module, the finishing module controller configured to control the magnetic flux generated by the finishing module to move the finishing module over the platen surface to perform the automated finishing operation. ### Claim 17 (depends on 16) The finishing station in accordance with claim 16, comprising a positioning apparatus coupled to the platen, wherein the positioning apparatus supports the platen adjacent to the surface of the workpiece while the finishing module performs the automated finishing operation on the surface of the workpiece. ### Claim 18 (depends on 17) The finishing station in accordance with claim 17, wherein the positioning apparatus comprises an omni-cart, wherein the omni-cart is configured to traverse along at least a part of the workpiece during the automated finishing operation. ### Claim 19 (depends on 16) The finishing station in accordance with claim 16, wherein the finishing module controller is further configured to control the magnetic flux generated by the finishing module to move the finishing module over the platen surface through a predetermined path. ### Claim 20 (depends on 16) The finishing station in accordance with claim 16, wherein the finishing module controller is further coupled in communication with the finishing operation end effector to perform the automated finishing operation.