End-effector apparatus
AssigneeMcDonnell Douglas Corporation
InventorsChristopher A. Ross, David K. Lewison
Life of this patent
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Abstract
An end-effector apparatus, used in combination with a machining device and robotic arm, for use in template-guided robotic machining a workpiece. The end-effector apparatus includes a holding means which holds a guide bushing against the machining template in a consistent orientation with a constant force independent of the orientation of the end-effector apparatus. The end-effector apparatus further includes two separate means for translational travel of the machining device. This translational travel allows the machining device cutting element to controllably follow substantial contour changes along the periphery of the template with a minimal number of spatial coordinates required to be programmed within an interfacing computer.
Claims12
In combination with both a machining device, having a cutting element, and a robotic arm, an end-effector apparatus for use in template-guided machining of a workpiece, comprising:
- (a) means, when said end-effector apparatus is in any orientation, for holding a guide bushing of said machining device against said template with constant force;
- (b) first means for translational movement of said machining device substantially along an axis perpendicular to the longitudinal axis of said cutting element, such that said cutting element follows the contour changes along the periphery of said workpiece;
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- (c) second means for translational movement of said machining device substantially along an axis parallel to the longitudinal axis of said cutting element, such that said cutting element follows the contour changes along the periphery of said workpiece.
In combination with both a machining device, having a cutting element, and a robotic arm, an end-effector apparatus for use in template-guided machining of a workpiece, comprising:
- (a) a first pair of single acting air cylinders for providing a force against the edge of said template along an axis perpendicular to the longitudinal axis of said cutting element;
- (b) a first control means, comprising:
- (1) a fluid damped pendulum potentiometer for producing a first signal, wherein said first signal is responsive to angular deviation, relative to gravity, of said machining device;
- (2) a signal conditioning circuit for receiving said first signal from said angular measurement means and converting said first signal into a second signal;
- (3) an electronic pressure regulator, responsive to said second signal of said signal conditioning circuit, for controlling the amount of pressure supplied by said first pair of single acting air cylinders such that in combination with gravitational forces the pressure applied along an axis perpendicular to the longitudinal axis of said cutting element is constant irrespective of the orientation of said machining device with respect to gravity;
- (c) a second pair of single acting air cylinders for providing a force against the edge of said template along an axis parallel to the longitudinal axis of said cutting element;
- (d) a second control means, comprising:
- (1) a fluid damped pendulum potentiometer for producing a first signal, wherein said first signal is responsive to angular deviation, relative to gravity, of said machining device;
- (2) a signal conditioning circuit for receiving said first signal from said angular measurement means and converting said first signal into a second signal;
- (3) an electronic pressure regulator, responsive to said second signal of said signal conditioning circuit, for controlling the amount of pressure supplied by said second pair of single acting air cylinders such that in combination with gravitational forces the pressure applied along an axis parallel to the longitudinal axis of said cutting element is constant irrespective of the orientation of said machining device with respect to gravity;
- (e) a first means for translational movement, comprising:
- (1) a track for travel which allows said machining device substantial movement along said axis perpendicular to the longitudinal axis of said cutting such that said cutting element follows contour changes along the periphery of said template;
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- (2) a plurality of ball bearings enclosed by said track;
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- (f) a second travel means, comprising:
- (1) a track for travel which allows said machining device substantial movement along said axis parallel to the longitudinal axis of said cutting element such that said cutting element follows contour changes along the periphery of said template;
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- (2) a plurality of ball bearings enclosed by said track.
Dependencies are inferred from the claim text.