Dual mounting for automated repair systems
Assignee3M Innovative Properties Company
InventorsAaron K. Nienaber, Brett R. Hemes, Thomas J. Strey, Christie L. Vitale, Nathan J. Herbst, Jonathan B. Arthur
Life of this patent
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Abstract
A dual mounted end-effector system mounted on a motive robot arm for preparing an object surface is described. The system includes a first tool configured to contact and prepare the object surface and a second tool configured to contact and prepare the object surface. The system also includes a force control. The force control is configured to align, in a first state, with the first tool in position to contact and prepare the object surface and, in a second state, with the second tool in a position to contact and prepare the object surface.
Claims29
A dual mounted end-effector system mounted on a motive robot arm for preparing an object surface, the end effector system comprising:
- a first tool configured to contact and prepare the object surface;
- a second tool configured to contact and prepare the object surface;
- wherein the first tool and the second tool are arranged such that the tools are rotationally 180° apart from one another;
- a single force control to control force for both the first tool and the second tool;
- and
- wherein the force control is configured to align, in a first state, with the first tool in position to contact and prepare the object surface and, in a second state, with the second tool in a position to contact and prepare the object surface,
- the first and second tools are coupled to the same surface of the force control, and the force control enables interchange of the first and second states by 180° rotation of the first and second tools,
- wherein the first tool has a first motor configured to operate the first tool when the system is in a first position, and wherein the second tool has a second motor configured to operate the second tool when the system is in a second position.
A method of using a surface preparation system to prepare an object surface, the method comprising:
- detecting an end effector system in a first position, wherein the end effector system comprises a first tool, a second tool, and a single force control to control force for both the first tool and the second tool, wherein the first and second tools are coupled to the same surface of the force control, the first tool has a first motor configured to operate the first tool when the system is in a first position, and wherein the second tool has a second motor configured to operate the second tool when the system is in a second position, and wherein, in a first position, the first tool is aligned with the object surface with the force control controlling the force applied by the first tool to the object surface and the force control enables interchange of the first and second states by 180° rotation of the first and second tools;
- receiving an input that a second tool is needed to prepare the object surface;
- actuating a movement mechanism of the end effector system, wherein actuation comprises the movement mechanism causing the second tool to align with the object surface with the force control controlling the force applied by the second tool to the object surface;
- validating the position of the second tool;
- and
- wherein the steps of detecting, receiving, actuating and validating are performed by the end effector system in response to instructions generated by a processor associated with the end effector system.
Dependencies are inferred from the claim text.