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US 6,644,897 B2Granted
Pneumatic drilling end effector
AssigneeThe Boeing Company
InventorsAntonio B. Martinez, Eric Whinnem, Angelica Davancens, William Paul Zanteson
Life of this patent
Estimating the term…
Abstract
A method of using a drilling end effector includes providing a drilling end effector having a plurality of photogrammetry targets secured thereto. The positional orientation of the drilling end effector along six degrees of freedom is detected using a photogrammetry sensor to determine the orientation of the plurality of photogrammetry targets and outputting a position signal to a controller. The drilling end effector is robotically manipulated adjacent to a part to be drilled in response to the position signal to accurately position a drill bit relative to the part to be drilled. The part is then drilled.
Claims19
A method of using a drilling end effector comprising:
- providing a drilling end effector having a plurality of photogrammetry targets secured thereto;
- detecting the positional orientation of said drilling end effector using a photogrammetry sensor to determine the orientation of said plurality of photogrammetry targets along three linear degrees of freedom and three rotational degrees of freedom and outputting a position signal to a controller;
- manipulating said drilling end effector adjacent to a part to be drilled in response to said position signal;
- and
- extending a drill bit into drilling engagement with said part to be drilled to provide a drilling operation.
2 more elements
A method of using a drilling end effector comprising:
- providing a drilling end effector having a plurality of photogrammetry targets secured thereto;
- detecting the positional orientation of said drilling end effector using a photogrammetry sensor to determine the orientation of said plurality of photogrammetry targets and outputting a position signal to a controller;
- manipulating said drilling end effector adjacent to a part to be drilled in response to said position signal;
- extending a drill bit into drilling engagement with said part to be drilled to provide a drilling operation;
- and
- lubricating said drill bit during said drilling operation.
3 more elements
A method of using a drilling end effector comprising:
- providing a drilling end effector having a plurality of photogrammetry targets secured thereto;
- detecting the positional orientation of said drilling end effector using a photogrammetry sensor to determine the orientation of said plurality of photogrammetry targets and outputting a position signal to a controller;
- manipulating said drilling end effector adjacent to a part to be drilled in response to said position signal;
- extending a drill bit into drilling engagement with said part to be drilled to provide a drilling operation;
- monitoring a drilling cycle time;
- and
- comparing said drilling cycle time to a predetermined cycle time to detect drilling complications.
4 more elements
A method of using a drilling end effector comprising:
- providing a drilling end effector having a plurality of photogrammetry targets secured thereto;
- mounting said plurality of photogrammetry targets upon generally angular brackets disposed on side panels of a housing of said drilling end effector;
- detecting the positional orientation of said drilling end effector using a photogrammetry sensor to determine the orientation of said plurality of photogrammetry targets and outputting a position signal to a controller;
- manipulating said drilling end effector adjacent to a part to be drilled in response to said position signal;
- and
- extending a drill bit into drilling engagement with said part to be drilled to provide a drilling operation.
3 more elements
A method of using a drilling end effector comprising:
- providing a drilling end effector having a plurality of photogrammetry targets secured thereto;
- detecting the positional orientation of said drilling end effector using a photogrammetry sensor to determine the orientation of said plurality of photogrammetry targets and outputting a position signal to a controller;
- robotically manipulating said drilling end effector adjacent to a part to be drilled in response to said position signal;
- actuating at least one actuator to providing a clamping force between said drilling end effector and said part to be drilled;
- extending a drill bit into drilling engagement with said part to be drilled to provide a drilling operation;
- lubricating said drill bit during said drilling operation;
- and
- vacuuming at least a portion of debris produced during said drilling operation.
5 more elements
A method of using a drilling end effector comprising:
- providing a drilling end effector having a plurality of photogrammetry targets secured thereto;
- detecting the positional orientation of said drilling end effector along three linear degrees of freedom and three rotational degrees of freedom using a photogrammetry sensor to determine the orientation of said plurality of photogrammetry targets and outputting a position signal to a controller;
- robotically manipulating said drilling end effector adjacent to a part to be drilled in response to said position signal;
- actuating at least one actuator to providing a clamping force between said drilling end effector and said part to be drilled;
- extending a drill bit into drilling engagement with said part to be drilled to provide a drilling operation;
- lubricating said drill bit during said drilling operation by combining a lubricant and pressurized air to form a lubricating mist sufficient to cool, lubricate, and clean said drill bit;
- vacuuming at least a portion of debris produced during said drilling operation;
- monitoring a drilling cycle time;
- and
- comparing said drilling cycle time to a predetermined cycle time to detect drilling complications.
7 more elements
Dependencies are inferred from the claim text.