Pneumatically actuated flexible coupling end effectors for lapping/polishing
AssigneeThe Boeing Company
InventorJeffrey H. Wood
Life of this patent
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Abstract
Methods and apparatus for end effectors for performing surface lapping using a robotic system are provided. In one embodiment, a lapping system includes a robotic arm and a pneumatic end effector unit. The pneumatic end effector unit includes a first base attached to the robotic arm, a second base, a lapping pad attachable to the second base, and a pneumatic piston system coupled between the first and second bases. An abrasive pad is attached to the lapping pad with a layer of pitch. The pneumatic piston system includes a piston chamber, a piston being slideably received within the piston chamber, and a component for controlling air pressure within the piston chamber. A slurry system introduces a slurry compound into one of the second base or the lapping pad.
Claims17
A system for lapping a surface, the system comprising:
- a robotic arm;
- and
- a pneumatic end effector unit, wherein the pneumatic end effector unit comprises:
- a first base attached to the robotic arm;
- a second base;
- a lapping medium attachable to the second base;
- a bumper coupled to the lapping medium;
- and
- a pneumatic piston system coupled between the first and second bases.
A lapping end effector, comprising:
- a first base attachable to a robotic arm;
- a second base;
- a flexible coupling member attachable to the second base;
- a bumper coupled to the flexible coupling member;
- and
- a pneumatic piston system coupled between the first and second bases.
A lapping end effector for performing an operation on a surface of a workpiece, comprising:
- a first base attachable to a robotic arm;
- a second base attached to the first base;
- a lapping medium attached to the second base;
- and
- a flexible coupling system coupled between the lapping medium and the second bases, the flexible coupling system configured to flex to allow the lapping medium to at least partially conform to the surface of the workpiece such that an axis of rotation of the lapping medium is non-normal to the surface during performance of the operation.
Dependencies are inferred from the claim text.