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US 12,208,481 B2Granted
Multiple degree of freedom compliant actuator force control systems and methods used in robotic paint repair
Assignee3M Innovative Properties Company
InventorsErich A. Mielke, Brett R. Hemes
Life of this patent
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Abstract
A robotic device that can include an end effector configured to manipulate one or more tools that drives one or more consumable abrasive products to abrade a substrate along several different surface dimensions, wherein the end effector comprises: three linear actuators each configured to move orthogonal relative to one another and at least one tool mount coupled to one of the three linear actuators and coupled to the tool.
Claims9
A robotic device, comprising:
- an end effector configured to manipulate one or more tools that drives one or more consumable abrasive products to abrade a substrate along several different surface dimensions, wherein the end effector comprises:
- three linear actuators each configured to move orthogonal relative to one another;
- and
- at least one tool mount coupled to one of the three linear actuators and coupled to the tool,
- wherein the at least one tool mount comprises three tool mounts each coupled to a respective one of the three linear actuators, wherein the one or more tools comprise three tools each coupled to a respective one of the tool mounts, wherein the one or more consumable abrasive products comprise three abrasive products each coupled to a respective one of the tools, and wherein the robotic device is configured to abrade the substrate in multiple dimensions simultaneously.
2 more elements
A robotic paint repair system, comprising:
- three consumable abrasive products each configured to abrade a substrate;
- three tools each configured to drive a respective one of the three consumable abrasive products;
- a robotically controlled end effector configured to manipulate the three tools and three consumable abrasive products to abrade the substrate in multiple directions simultaneously, wherein the end effector comprises:
- three linear actuators each configured to move orthogonal relative to one another;
- and
- three tool mounts each coupled to a respective one of the three linear actuators and coupled to a respective one of the three tools.
3 more elements
A method of removing paint on a substrate, comprising:
- providing a robotically controllable end effector having three linear actuators and at least one of the three linear actuators coupled with at least one tool mount;
- coupling at least one tool stack including a consumable abrasive product and tool to the at least one tool mount;
- actuating each of the three linear actuators independently to move orthogonally relative to one another thereby positioning the tool stack within a three-dimensional space as desired, wherein the positioning of the tool stack orients the consumable abrasive product as desired within the three-dimensional space;
- and
- abrading multiple separate portions of a surface of the substrate simultaneously using three separate tool stacks with the consumable abrasive product oriented as desired, wherein the three separate tool stacks comprise the at least one tool stack.
2 more elements
A method of repairing paint on a substrate, comprising:
- providing a robotically controllable end effector having three linear actuators each coupled with a respective tool mount;
- coupling three respective tool stacks each including a consumable abrasive product and tool to each respective tool mount;
- actuating each of the three linear actuators independently to move orthogonally relative to one another thereby positioning each of the three tool stacks separately of one another within a three-dimensional space as desired, wherein the positioning each of the three tool stacks orients each consumable abrasive product as desired within the three-dimensional space;
- and
- abrading multiple separate portions of a surface of the substrate simultaneously using each of the three tool stacks with each consumable abrasive product oriented as desired.
2 more elements
Dependencies are inferred from the claim text.