• 专利附录
  • 专利说明
  • 权利要求
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    • 专利摘要:
    DRILL END EFFECTOR, E, METHOD OF PERFORMING A DRILLING OPERATION ON A MANUFACTURED ITEM A drill end effector (120) may include a motor (126) operative to drive a drill member (128), a housing (130 ) around the motor (126) and a vacuum shield (132) coupled to the housing (130) and around the piercing member (128), wherein the vacuum shield (132) is of variable length.
    公开号:BR102016011706B1
    申请号:R102016011706-2
    申请日:2016-05-23
    公开日:2021-05-25
    发明作者:Tuong Q. Nguyen；John W. Pringle, Iv
    申请人:The Boeing Company；
    IPC主号:
    专利说明:

    FIELD
    [001] The present description is generally related to robotic systems and, more particularly, to a robotic system and a drilling end effector for a robotic system, capable of capturing debris created during a drilling operation. FUNDAMENTALS
    [002] Many repetitive manufacturing operations are currently performed automatically by robotic systems. For example, a programmable mechanical arm can handle various types of arm example tools to drill holes, install fasteners, or perform other types of manufacturing operation. In areas where space is limited or access is restricted, those same manufacturing operations may need to be performed by hand. Certain manufacturing operations, whether performed manually (eg by hand) or automatically (eg by a robot) create debris. In certain manufacturing environments such as the aerospace industry, debris created from a drilling operation can potentially cause damage to the manufactured article if it is allowed to remain. In order to ensure that all debris created by the drilling operation is removed, the debris removal process is often performed manually. Thus considerable time and labor needs to be devoted to clearing any debris following the drilling operation.
    [003] Consequently, those versed in the art continue with research and development efforts in the field of robotic systems configured to perform drilling operations. SUMMARY
    [004] In one embodiment, the described drilling end effector may include a motor to drive a drilling member, a housing around the motor, and a vacuum shield coupled to the housing and around the drilling member, wherein the Vacuum shielding features a variable length.
    [005] In another embodiment, the robotic system described may include a robotic arm and a piercing end effector coupled to the robotic arm, wherein the piercing end effector includes an operating motor to drive a piercing member, a housing around the motor and a vacuum shield coupled to the housing and around the piercing member, wherein the vacuum shield is of variable length.
    [006] In yet another embodiment, the method described for performing a piercing operation on a manufactured article may include the steps of: (1) manipulating a piercing end effector adjacent to a work surface of the manufactured article, where the effector The piercing end cap includes an operating motor to drive a piercing member, a housing around the motor, and a vacuum shield coupled to the housing and around the piercing member, where the vacuum shield is of variable length, (2) extend the piercing member in the piercing engagement with the work surface, (3) contact the vacuum shield with the work surface around a location of the piercing and the piercing member, (4) collect debris created by the piercing member. drilling inside the vacuum shield, (5) generating a vacuum inside the vacuum shield, (6) removing debris from inside the vacuum shield, and (7) telescopically disassembling the shield act in a vacuum, in response to the piercing member passing through the work surface.
    [007] Other embodiments of the systems and method described will be apparent from the following detailed description, the accompanying drawings, and the appended claims. BRIEF DESCRIPTION OF THE DRAWINGS
    [008] Figure 1 is a schematic block diagram of an embodiment of a manufacturing environment; Figure 2 is a schematic perspective view of an embodiment of the manufacturing environment of Figure 1; Figure 3 is a schematic perspective view of one embodiment of the robotic system of Figure 1; Figure 4 is a schematic perspective view of one embodiment of a perforation end effector of Figure 1; Figure 5 is a schematic, cross-sectional side elevation view of the piercing end effector of Figure 4; Figure 6 is a schematic sectional perspective view of the perforation end effector of Figure 4; Figure 7 is a schematic side elevation view of one embodiment of the robotic system of Figure 1 illustrating a vacuum shield of the drill end effector in a fully telescopically extended position; Figure 8 is a schematic side elevation view of one embodiment of the robotic system of Figure 1 illustrating a drill end effector vacuum shield in a telescopically partially disassembled position; Figure 9 is a schematic side elevation view of one embodiment of the robotic system of Figure 1 illustrating a drill end effector vacuum shield in a fully telescopically disassembled position; Figure 10 is a schematic perspective view of one embodiment of the robotic system of Figure 1; Figure 11 is a flow diagram of an embodiment of a method for performing a piercing operation on a manufactured article; Figure 12 is a block diagram of an aircraft production and service methodology; and Figure 13 is a schematic illustration of an aircraft. DETAILED DESCRIPTION
    [009] The following detailed description refers to the attached drawings, which illustrate specific embodiments of the description. Other modalities with different structures and operations do not depart from the scope of this description. Same reference numerals may refer to the same element or component in different drawings.
    [0010] In Figures 1 and 13, referred to above, solid lines, if any, connecting various elements and/or components may represent mechanical, electrical, fluid, optical, electromagnetic couplings and other couplings and/or combinations thereof. As used here, “coupled” means associated directly as well as indirectly. For example, an A member may be directly associated with a B member, or may be indirectly associated with it, for example, via another C member. It will be understood that not all relationships between the various elements described are necessarily represented. Consequently, couplings other than those shown in block diagrams may also exist. Dashed lines, if any, connecting blocks designating various elements and/or components represent similar couplings and function and purpose to those represented by solid lines; however, couplings represented by dashed lines may be selectively provided or may refer to alternative examples of the present description. Likewise, elements and/or components, if any, represented by dashed lines represent alternative examples of the present description. One or more elements shown in solid and/or broken lines may be omitted from a particular example without departing from the scope of the present description. Environmental elements, if any, are represented by dotted lines. Virtual (imaginary) elements can also be shown for clarity. Those skilled in the art will find that some of the features illustrated in Figures 1 and 13 can be combined in various ways, without the need to include other features described in Figures 1 and 13, other drawing figures and/or the accompanying description, although such combination or combinations are not explicitly illustrated here. Similarly, additional features not limited to the examples presented, may be combined with some or all of the features shown and described here.
    [0011] In Figures 11 and 12 referred to above, the blocks can represent operations or portions of these and lines connecting the various blocks do not imply any particular order or dependence of the operations or portions thereof. Blocks represented by dashed lines indicate alternative operations and/or portions thereof. Dashed lines, if any, connecting the various blocks represent alternative dependencies of the operations or portions thereof. It will be understood that not all dependencies between the various operations described are necessarily represented. Figures 11 and 12 and the accompanying description describing the operations of the method(s) reported here should not be interpreted as necessarily determining a sequence in which the operations are to be performed. Rather, although an illustrative order is indicated, it should be understood that the sequence of operations can be modified where appropriate. Consequently, certain operations can be performed in a different order or simultaneously. Additionally, those skilled in the art will find that not all the operations described need to be performed.
    [0012] Reference herein to “example” means that one or more feature, structure or feature described in connection with the example is included in at least one embodiment or implementation. The phrase “one example” or “another example” in various places in the specification may or may not refer to the same drawing.
    [0013] Unless otherwise indicated, the terms "first", "second", etc., are used herein merely as labels and are not intended to impose requirements of order, rank or hierarchy on other items to which these terms refer. Furthermore, reference to a "second" item does not require or prevent the existence of a lower-numbered item (eg a "first" item) and/or a higher-numbered item (eg a "third" item) .
    [0014] Referring generally to Figure 1, a modality of the manufacturing environment is described, generally designated as 100. The manufacturing environment 100 can be any suitable workspace or facility where one or more operations are performed on the manufactured article 102. The fabricated article 102 may include any workpiece on which the fabrication operation will be performed. The manufactured article 102 may include one or more components 104. The component 104 may include any structure, surface or portion of the manufactured article 102. The manufacturing operation may include any operation or process performed during making, assembly, finishing and/or inspection of manufactured article 102 or component 104 of manufactured article 102.
    [0015] Referring to Figure 2, and with reference to Figure 1, as a non-limiting example, the article of manufacture 102 is the aircraft 106 (Figure 1) and the component 104 is the fuselage 108 of the aircraft 106. As another non-limiting example, the article of manufacture 102 is the fuselage 108 and the component 104 is a portion of the fuselage 108, e.g., frame 110 (e.g., an internal support frame) of the fuselage 108.
    [0016] Referring to Figure 3, and with reference to Figures 1 and 2, an embodiment of the robotic system, generally designated 112, is described. The robotic system 112 operates within the manufacturing environment 100 to perform various manufacturing operations in the article of manufacture 102. As an example, robotic system 112 includes robotic arm 114. One or more end effectors 118 (Figure 1) may be coupled to robotic arm 114.
    [0017] As an example, each of the end effectors 118 may be interchangeably coupled to one end of the robotic arm 114. The end effectors 118 may include any end of a tooling arm or other device capable of performing one or more operations of manufacturing. As non-limiting examples, the end effectors 118 can include the piercing end effector 120, a riveting end effector 122, inspection end effector 124, and the like.
    [0018] Referring to Figures 4-6 and with reference to Figure 1, as an example, the piercing end effector 120 includes the motor 126 (Figures 5 and 6) operative to drive the piercing member 128 (Figures 5 and 6), housing 130 around motor 126 and vacuum shroud 132 coupled to housing 130 and around piercing member 128. Vacuum shroud 132 is of variable length.
    [0019] The motor 126 (Figures 5 and 6) can be any suitable device capable of generating rotational movement to rotate the piercing member 128, for example, when performing a piercing operation on a fabricated article 102 (Figure 1). Robotic system 112 may include any suitable power supply 138 (Figure 3) coupled to motor 126 via power line 136 (Figures 3 and 4) to provide operable power to drive motor 126.
    [0020] As an example, motor 126 is a pneumatic motor (also known as an air drill) and power supply 138 is compressed air source 134 (Figure 3). In such an example, the perforation end effector 120 is pneumatically coupled to the compressed air source 134. The compressed air source 134 is configured to provide operable compressed air to drive the motor 126. Consequently, the supply line 136 (Figures 3 and 4) is a compressed air supply line for fluidly coupling compressed air source 134 to motor 126 of drill end effector 120.
    [0021] As an example, motor 126 is an electric motor (also known as an electric drill) and power supply 138 is a source of electricity 140 (Figure 3). Electricity source 140 provides operable electricity to drive motor 126. Accordingly, power line 136 (Figures 3 and 4) is an electrical supply line configured to electrically couple electricity source 140 to motor 126 of the end effector of drilling 120.
    [0022] Other types of engines and associated power sources and supply lines are also contemplated without limitation.
    [0023] Drilling member 128 (Figures 4-6) can be any cutting tool suitable for performing drilling, countersinking, countersinking, routing, and other operations. As an example, a drill member 128 is a drill bit. Drill member 128 is removably coupled to motor 126. Those skilled in the art will readily appreciate that motor 126 can include additional components configured to connect drill member 128 to motor 126 and to transfer rotational motion from motor 126 to the piercing member 128. Although not explicitly illustrated, as an example, the motor 126 includes a spindle (e.g., an axis defining an axis of rotation of the piercing member 128) operatively coupled to the motor 126 and a coupling disposed in a end of the spindle. The coupling is configured to connect the piercing member 128. As examples, the coupling can be a mandrel, crimp or other clamping device.
    [0024] Referring to Figures 4-6, housing 130 includes a suitably sized and shaped body to enclose and protect motor 126. Housing 130 includes first end 144 and second end 146 opposite first end 144 (Figure 6 ). In the examples illustrated in Figures 4-6 the housing 130 has a cylindrical shape, (housing has a tubular body) leading to a motor 126 having a cylindrical shape (e.g. an air drill). However, housing 130 may have any shape conducive to the particular type of motor 126 or particular application in which the drill end effector 120 will be used.
    [0025] Referring to Figure 4-6, with reference to Figures 7-9, as an example, the vacuum shield 132 extends from the housing 130 approximately the length of the piercing member 128. The vacuum shield 132 is configured to surround the piercing member 128 and the location of the piercing 168 (Figures 7-9) in the article of manufacture 102 (Figures 7-9) during a piercing operation. The length of the vacuum shield 132 varies corresponding to the depth of the piercing member 128 through the article of manufacture 102 (e.g., piercing depth) during the piercing operation.
    [0026] As illustrated in Figures 7-9, the vacuum shroud 132 is dismountable during the piercing operation as the piercing member 128 penetrates and/or passes through the article of manufacture 102 at the location of the piercing 168. The shroud vacuum 132 is configured to collect debris (not explicitly shown) created by drill member 128 near (e.g., at or near) the location of drill 168 during the drilling operation. A vacuum is created within vacuum shield 132 to remove any debris collected within vacuum shield 132.
    [0027] Depending on the particular manufacturing environment 100 (eg, aircraft manufacturing) the debris created during the drilling operation may be foreign object debris (also known as FOD) or debris that can potentially cause damage to the manufacturing environment 100 if allowed to remain. The type and/or size of foreign object debris created during the drilling operation may vary depending on, for example, the material composition of the manufactured article 102 (Figure 1), the type and/or size of the drilling member 128, and the like .
    [0028] Referring to Figures 4-6 and with reference to Figures 7-9 as an example, the vacuum shield 132 includes the first end 154 and the second end 156 opposite the first end 154. The first end 154 of the shield vacuum 132 is coupled to second end 146 (Figure 6) of housing 130. Second end 156 of vacuum shield 132 is initially positioned proximate (e.g., at or near) an end of piercing member 128 opposite motor 126 As an example, and as illustrated in Figures 7-9, the vacuum shield 132 is dismountable in response to the second end 156 of the vacuum shield 132 contacting the working surface 158 (e.g., perforated surface of the article of manufacture. 102) and the piercing member 128 being driven into and/or through the pierced surface 158.
    [0029] Referring to Figures 5 and 6, and with reference to Figure 1, as an example, the piercing end effector 120 includes a vacuum passage 142 extending through the housing 130. The vacuum passage 142 is in fluid communication with the interior 152 (an area defined by the interior 152) of the vacuum shield 132. A vacuum air flow (not explicitly shown) may be applied within the interior 152 (the area defined by the interior 152) of the shield a vacuum 132, via vacuum passage 142 during the drilling operation, to remove any debris created during the drilling operation and collected within the interior 152 of the vacuum shield 132.
    [0030] Referring to Figures 3-6, and with reference to Figure 1, as an example, the drill end effector 120 includes a vacuum source 150 (Figure 3). Vacuum source 150 is fluidly coupled to vacuum passage 142. Vacuum source 150 is configured to generate vacuum flow within interior 152 (the area defined by interior 152) of vacuum shield 132 suitable for removing any collected debris. inside the vacuum shield 132, through the vacuum passage 142.
    [0031] As an example, and as illustrated in Figures 3-5, the robotic system 112 includes the vacuum supply line 162 configured to fluidly couple the vacuum source 150 to the vacuum passage 142 of the housing 130 of the end effector of perforation 120. As an example, vacuum supply line 162 can be directly coupled to perforation end effector 120 and in fluid communication with vacuum passage 142.
    [0032] Referring to Figure 6 and with reference to Figures 1, 4 and 5, as an example, the vacuum passage 142 includes the first vacuum opening 164 and the second vacuum opening 166 opposite the first vacuum opening 164 The vacuum passage 142 extends between the first vacuum opening 164 and the second vacuum opening 166. As an example, the first vacuum opening 164 is disposed at the first end 144 of the housing 130 and is accessible by the supply line. vacuum 162. The second vacuum opening 166 is disposed at the second end 146 of the housing 130.
    [0033] The second vacuum opening 166 is disposed (e.g. located) within the interior 152 of the vacuum shield 132, such that the vacuum flow generated by the vacuum source 150 (Figure 1) creates the vacuum within the area defined by interior 152 of vacuum shield 132. As piercing member 128 creates debris during the piercing operation, any debris collected within vacuum shield 132 is removed from interior 152 of vacuum shield 132 through the passage. vacuum 142. Consequently, any debris created during the drilling operation is continuously extracted during the drilling operation.
    [0034] In an exemplary implementation of the perforation operation, the second end 156 of the vacuum shield 132 is placed (e.g., positioned by the robotic arm 114) in contact with the perforated surface 158 of the fabricated article 102 and surrounds (i.e., circles) the location of perforation 168, as illustrated in Figure 7. As perforation member 128 creates debris during the drilling operation, debris collects at the second end 156 of a vacuum shield 132. the debris through the interior 152 of the vacuum shield 132 towards the first end 154 of the vacuum shield 132. The debris enters the second vacuum opening 166, travels through the vacuum passage 142, exits the first vacuum opening 164 and is carried away. to the debris collection tray 172 (Figure 1) via vacuum supply line 162 (Figures 4 and 5).
    [0035] As the piercing depth of the piercing member 128 increases, the length of the vacuum shield 132 decreases, the vacuum shield 132 disassembling within the housing 130, as illustrated in Figures 8 and 9. Any debris collected within the vacuum shield 132 are continuously removed from within vacuum shield 132 (as described above) as the length of vacuum shield 132 decreases.
    [0036] Referring to Figures 4-6, as an example, the perforation end effector 120 includes the seal 160 disposed on (e.g., coupled to) the second end 156 of the vacuum shield 132. The seal 160 is configured to make contact with the perforated surface 158 to hermetically enclose the location of the perforation 168 within the second end 156 of the vacuum shield 132 and maintain the vacuum created within the interior 152 (the area defined by the interior 152) of the vacuum shield 132. As a non-limiting example, seal 160 may be a rubber ring coupled to one end of the perimeter of a second end 156 of vacuum shield 132.
    [0037] Referring to Figure 4, and with reference to Figures 1 and 7-9, as an example, the vacuum shield 132 includes shield segments 174 coupled together. Shield segments 174 are dismountable between a telescopically extended position, as shown in Figure 7 and a telescopically disassembled position, as shown in Figures 8 and 9. Shield segments 174 of the vacuum shield 132 are ordered to the telescopically extended position ( Figures 4-7).
    [0038] Referring to Figure 5 and 6, as an example, housing 130 includes housing receptacle 176. Vacuum shield 132 includes first shield segment 174a and second shield segment 174b. First shield segment 174a is telescopically dismountable within housing receptacle 176. First shield segment 174a includes shield segment receptacle 178. Second shield segment 174b is telescopically dismountable from shield segment receptacle 178.
    [0039] As an example, housing 130 includes a first spring 180 disposed within housing receptacle 176. First spring 180 urges first shield segment 174a out of housing 130. First shield segment 174a includes second spring 182 disposed within the housing of the shield segment 178. The second spring 182 urges the second shield segment 174b out of the first shield segment 174a. Consequently, the first spring 180 and the second spring 182 urge the vacuum shield 132 in the telescopically extended position (Figures 4-7).
    [0040] Although the examples of the vacuum shield 132 illustrated in Figures 4-6 show two shield segments 174 (e.g., first shield segment 174a and second shield segment 174b), different numbers of shield segments 174 are contemplated. For example, vacuum shield 132 may include a shield segment 174 out of three or more shield segments 174. The total number of shield segments 174 may depend, for example, on the length of piercing member 128, length of each segment of individual shielding 174 and/or of the particular application in which the piercing end effector 120 will be used.
    [0041] In examples where vacuum shield 132 includes more than two shield segments 174, each shield segment 174 is a detachable member telescopically received within a receptacle and prompted outwardly from a preceding adjacent shield segment 174. As an example, an earlier shield segment 174 is coupled to housing 130 and is received within housing receptacle 176 and urged out of housing. An intermediate shield segment 174 is coupled to the preceding shield segment 174 and is received with a receptacle and biased away from the preceding shield segment 174. Additional successive intermediate shield segments 174 are each coupled to an immediately preceding adjacent intermediate shield segment 174 and received with a receptacle and prompted out of the immediately preceding adjacent intermediate shield segment 174. The trailing shield segment 174 is coupled to an adjacent immediately preceding intermediate shield segment 174 and received with a receptacle and prompted outwardly from the immediately preceding adjacent intermediate shield segment 174.
    [0042] Then, the previous shield segment 174 is dismountable in the housing, a first intermediate shield segment 174 is dismountable in the previous shield segment 174, additional intermediate shield segments 174 are each dismountable in the next shield segment 174 adjacent intermediate, and the rear shield segment 174 is collapsible into the next adjacent intermediate shield segment 174.
    [0043] Referring to Figures 4-6, as an example, each shield segment 174 (eg, first shield segment 174a and second shield segment 174b) includes a tubular body. The tubular body of each shield segment 174 can surround the piercing member 128. The first shield segment 174a has a diameter smaller than a diameter of the housing 130. The second shield segment 174b has a diameter smaller than the diameter of the first shield segment 174a. Housing receptacle 176 has a cylindrical shape suitably sized to receive the tubular body of first shield segment 174a. Housing receptacle 176 may surround motor 126. Shield segment receptacle 178 has a cylindrical shape suitably sized to receive the tubular body of second shield segment 174b. Shield segment receptacle 178 may encircle piercing member 128. Similarly, first spring 180 has a cylindrical shape (e.g., a coil spring) suitable to fit within housing receptacle 176 and second spring 182 has a cylindrical shape (e.g., a helical spring) suitable to fit within the housing of the shroud segment 178. The first spring 180 may surround the motor 126 and the second spring 182 may surround the piercing member 128.
    [0044] Although the examples of the vacuum shield 132 illustrated in Figures 4-6 show the housing 130 and shield segments 174 having tubular shapes and the housing receptacle 176 and the shield segment receptacle 178 showing cylindrical shapes, other shapes are also covered.
    [0045] Referring to Figure 6, as an example, the first shield segment 174a (eg the previous shield segment 174) is coupled at one end to the housing 130 (eg the second end 146). Each additional shield segment 174 is also coupled to the next preceding shield segment 174. As an example, second shield segment 174b (e.g., rear shield segment 174) is coupled to first shield segment 174a. Coupling mechanism 184 can be used to couple shield segment 174 to housing 130 and another shield segment 174.
    [0046] Various types of coupling mechanisms 184 can be used to couple the shield segment 174 to the housing 130 and/or to another shield segment 174. As an example, each shield segment 174 (e.g., first segment of shield 174a and second shield segment 174b) includes first end 186 and second end 188 opposite first end 186. Coupling mechanism 184 is configured to hold first end 186 of shield segment 174 within its respective receptacle (by example, housing receptacle 176 or shield segment receptacle 178) and limit the telescopic extent of the shield segment 174 from its respective receptacle, while allowing the telescopic reduction of the shield segment 174 within its respective receptacle.
    [0047] As an example, each shield segment 174 may include a flange 190 protruding outwardly from the first end 186. An annular collar 192 may engage the flange 190 to prevent the shield segment 174 from completely coming out of its respective receptacle (e.g. housing receptacle 176 or shield segment receptacle 178). As an example and as illustrated in Figure 6, first shield segment 174a includes flange 190 at first end 186. Collar 192 is coupled to second end 146 of housing 130 surrounding first shield segment 174a. Collar 192 coupling first shield segment 174a to housing 130 engages flange 190 of first shield segment 174a when first shield segment 174a is in a fully extended telescopic position and retains first shield segment 174a within housing receptacle 176. The collar 192 coupling the first shield segment 174a to the housing 130 allows the first shield segment 174a to move to a telescopically disassembled position within the housing receptacle 176 during the piercing operation.
    [0048] Similarly, second shield segment 174b includes flange 190 at first end 186. Collar 192 is coupled to second end 188 of first shield segment 174a surrounding second shield segment 174b. The collar 192 coupling the second shield segment 174b to the first shield segment 174a engages the flange 190 of the f174b when the second shield segment 174b is in a fully telescopically extended position and retains the second shield segment 174b within the segment receptacle. of shield 178. The collar 192 coupling the second shield segment 174b to the first shield segment 174a allows the second shield segment 174b to move to a telescopically reduced position within the receptacle of shield segment 178 during the piercing operation.
    [0049] Each collar 192 can be coupled to housing 130 of first shield segment 174a in a variety of ways. As an example, the collar 192 may be threadedly coupled to the tubular body of the housing 130 of the first shield segment 174a, for example, the collar 192 by coupling the second shield segment 174b to the first shield segment 174a illustrated in Figure 6. As an example, collar 192 may be secured to the tubular body of housing 130 or first shield segment 174a, for example collar 192 by coupling first shield segment 174a to housing 130 illustrated in Figure 6.
    [0050] Referring to Figures 4-6, as an example, drill end effector 120 includes platform 148. Motor 126 can be coupled to platform 148. Housing 130 can be coupled to platform 148. 148 is coupled to handle 170 of robotic arm 114. As an example, platform 148 may be a quick-change mechanism configured to quickly interchange drill end effector 120 with one of end effectors 118 (Figure 1).
    [0051] In such an example, the vacuum passage 142 also extends through the platform 148. As illustrated in Figure 5, the vacuum supply line 162 is coupled to the handle 170 of the robotic arm 114 and is in fluid communication with the passage. of vacuum 142. As an example, handle 170 of robotic arm 114 includes vacuum conduit 194. Vacuum conduit 194 is in fluid communication with vacuum passage 142 of piercing end effector 120. vacuum 162 is coupled to vacuum conduit 194.
    [0052] Also, in such an example, the power supply 138 (e.g., compressed air source 134) is coupled to the handle 170 via the supply line 136 (e.g., compressed air supply line). Platform 148 can interconnect power supply 138 and motor 126. As an example, platform 148 serves as a bridge between the appropriate power supply, for example, supplied from power supply 138 via power line 136, supplies the handle 170 and motor 126.
    [0053] Referring to Figure 3, and with reference to Figure 1, as an example, the robotic system 112 can be configured to automatically disconnect one of the end effectors 118 (for example, end effector perforation 120) and automatically connect another (eg different) of the end effectors 118 (eg riveting end effector 122, inspection end effector 124, etc.) depending on the particular manufacturing operation being performed on the manufactured article 102. Although explicitly illustrated As an example, each of the end effectors 118 may include the quick-disconnect mechanism (e.g., platform 148).
    [0054] As an example, the robotic system 112 includes the tool holder 196. The tool holder 196 may be within reach of the robotic arm 114. The tool holder 196 may be suitably configured to hold and store different end effectors 118 (Figure 1) during periods of non-use. In an exemplary implementation, upon completion of a particular manufacturing operation (e.g., a piercing operation) the robotic arm 114 may position one of the end effectors 118 (e.g., piercing end effector 120) within the tool holder 196 and automatically disconnect one of the end effectors 118 from the end of the robotic arm 114. The robotic arm 114 can then automatically connect another of the end effectors 118 (e.g., riveting end effector 122 or inspection end effector 124 ) to the end of the robotic arm 114 and removing the other of the end effectors 118 from the tool holder 196, in order to carry out a different manufacturing operation (e.g., a tightening operation or a visual inspection operation).
    [0055] As an example, the riveting end effector 122 may be any suitable mechanism capable of installing a fastener (not explicitly shown) to the article of manufacture 102. The riveting end effector 122 may be coupled to the power supply 138. As a non-limiting example, riveting end effector 122 is a pneumatic riveter configured to install a rivet (not explicitly shown), for example, into a hole drilled in article of manufacture 102 by drill member 128. As an example ( not explicitly shown) the riveting end effector 122 (e.g. pneumatic riveter) includes a main body having an inner piston chamber, a piston movable within the piston chamber, and a set of rivets disposed at the end of the main body. Rivet end effector 122 is fluidly coupled to compressed air source 134. Application of compressed air into the piston chamber triggers the piston to impact the rivet assembly, which installs the rivet.
    [0056] As an example, the inspection end effector 124 may be any suitable mechanism capable of non-destructive testing of the article of manufacture 102. The inspection end effector 124 may be coupled to the power supply 138. As a non-limiting example , inspection end effector 124 is a non-destructive X-ray generator or scanner configured for remote visual inspection of, for example, the hole drilled in fabricated article 102 or fastener (e.g., the rivet) installed in fabricated article 102. The inspection end effector 124 (eg X-ray scanner) is electrically coupled to the electricity source 140.
    [0057] Referring to Figure 3 and with reference to Figure 1, as an example, robotic system 112 includes controller 198. Controller 198 may include any combination of electronic processing devices, memory devices, communication devices, input/output (“I/O”) devices, and/or other known components and can perform various processing and/or communication related functions. As an example, controller 198 includes one or more microcontrollers, microprocessors, central processing units ("CPUs"), application-specific integrated circuits ("ASICs") or any other suitable processing device known in the art.
    [0058] As an example, the controller 198 (for example, via a processing device) processes information from a number of different sources, for example, to direct the movement of the robotic arm 114 and/or the position of the effector of end 118 during the manufacturing operation. As an example, controller 198 may be pre-programmed with instructions configured to direct robotic arm 114 and position end effector 118 in an appropriate location to perform the particular manufacturing operation. As another example, robotic system 112 includes vision system 200. Vision system 200 (Figure 3) may include any suitable machine vision system configured to provide automatic image-based analysis for robotic arm 114 orientation. in an example, vision system 200 includes camera 202 (Figure 4) coupled to robotic arm 114, for example, near end effector 118 and other appropriate processing hardware and software. Vision system 200 can send information to controller 198 to direct robotic arm 114 and position end effector 118 at an appropriate location to perform the particular manufacturing operation.
    [0059] Referring to Figure 10, and with reference to Figures 1 and 3, as an example, the robotic system 112 may be a mobile robotic system. As an example, the robotic system 112 includes the automated guided vehicle (“AGV”) 204. The robotic arm 114 is coupled and loaded by the AGV 204. The AGV 204 can be any size, shape, style, type or configuration of a vehicle which is capable of traversing a 206 travel path or route (Figure 2) without a human operator. The AGV 204 may be capable of supporting robotic arm 114, tool holder 196, and one or more additional 118 end effectors. The AGV 204 can range from a small automatic cart to a large vehicle.
    [0060] As an example, the AGV 204 generally includes a frame assembly 208 (eg a body) and powertrain 210 (eg a turbine or engine and a transmission system) (Figure 1) to which they are attached wheels 212. As an example, the AGV 204 includes a guidance system 216 (Figure 1) having the ability, through any known technique, to provide steering and directional control to or through wheels 212.
    [0061] The AGV 204 may include at least three wheels 212 (four wheels 212 are illustrated as an example). With an example, at least one wheel 212 is a directional wheel for receiving driving input from a controller (eg controller 198) to provide directional control of the AGV 204. As an example, two or more wheels 212 are omnidirectional wheels ( also referred to as omni wheels or poly wheels) to provide directional control. The particular configuration of the wheels 212 may vary depending on, for example, the type of the AGV 204, the type of support interface 218 and/or the floor 220 (Figure 2) on which the AGV 204 travels and/or operates and the like.
    [0062] As an example, the path path 206 of the AGV 204 is routed through manufacturing environment 100 (Figure 2). For example, the travel path 206 may be routed around equipment or machinery, close to the manufactured article 102 in which a manufacturing operation is to be performed through the manufactured article 102 (e.g., fuselage 108) in which a manufacturing operation must be carried out and the like. Thus, the operating environment (e.g., manufacturing environment 100) of robotic system 112 is any environment in which the AGV 204 navigates along path path 206 to position robotic arm 114 in an appropriate location for the end effector 118 perform the manufacturing operation.
    [0063] As an example (not explicitly illustrated), path path 206 may include (or be defined by) a magnetic marker producing a magnetic field and extending along a predetermined route within manufacturing environment 100. an example (not explicitly illustrated) the path path 206 may include (or be defined by) an electrified wire providing the magnetic field. As another example (not explicitly illustrated) the path path 206 may include (or be defined by) a wire providing a radio frequency ("RF") signal. As an example (not explicitly illustrated), the path path 206 may include (or be defined by) a guide rail.
    [0064] As an example, the path path 206 can be coupled to the support surface 218, fitted to the floor 220 (eg, near or just below the support surface 218). Guidance system 216 can be configured to automatically navigate along travel path 206. As an example, guidance system 216 of the AGV 204 can include any combination of hardware and/or software that provides sensor readings pertaining to the type of route path 206.
    [0065] As an example, and as best illustrated in Figure 10, the vacuum source 150 and debris collection tray 172 are coupled to the AGV 204. As an example (not explicitly illustrated) the vacuum source 150 (for example , a vacuum pump) is fluidly coupled to the debris collection tray 172. The vacuum supply line 162 is fluidly coupled to the debris collection tray 172. Any debris collected within the vacuum shield 132 (Figure 4) is loaded via vacuum supply line 162 to debris collection tray 172. Debris collection tray 172 is removable from the AGV 204, for example, to dispose of collected debris.
    [0066] Referring to Figure 2, and with reference to Figure 1 and 3 as an example, the robotic system 112 includes a tie rod assembly 222. As an example, the tie rod assembly 222 couples the robotic arm 114 and effectors of end 118 (e.g., drill end effector 120, riveting end effector 122, inspection end effector 124) and/or the AGV 204 to the power supply 138 and/or controller 198. As an example, the tie rod assembly 222 includes a supply line extension 136 (eg, a compressed air supply line, an electrical supply line). The length of supply line 136 can be wound around a retractable (eg, spring loaded) spool (illustrated but not explicitly identified in Figure 2). In addition to supply line 136, tie rod assembly 222 may include control line 224. Control line 224 couples controller 198 to robotic system 112 (e.g., robotic arm 114, end effector 118 and/or AGV 204).
    [0067] Although the examples of robotic system 112 illustrated in Figures 1-3 show a single controller (eg controller 198) operable to provide instructions for the control operation of robotic arm 114, end effectors 118 and AGV 204, controllers Additional or other controller settings can also be used. As an example, each component of robotic system 112 (e.g., robotic arm 114, end effector 118 and/or AGV 204) may have an individual controller.
    [0068] Similarly, although the examples of robotic system 112 illustrated in Figures 1 and 2 illustrate a single power supply (e.g., power supply 138) operable to provide power to operate robotic arm 114, end effectors 118 and AGV 204, additional power supplies or other power supplies can also be used. As an example, each component of robotic system 112 may feature an independent power supply. As an example, the piercing end effector 120 can use the compressed air source 134 and the robotic arm 114 and AGV 204 can use the electricity source 140.
    [0069] Consequently, the robotic system 112 can be particularly beneficial when performing manufacturing operations on the article of manufacture 102 in areas where space is limited or access is limited, for example, when mounting the support frame 110 within the interior of a lower lobe 226 of the fuselage 108. As an example, and as illustrated in Figure 2, during fabrication of the fuselage 108, the floor of the passenger compartment 228 can divide the fuselage 108 into the upper lobe 230 and the lower lobe 226. access to support frame 110 may be limited due to the closed nature of fuselage 108 and passenger compartment floor 228.
    [0070] In Figure 2, a portion of the fuselage 108 is shown broken in order to more clearly illustrate the robotic system 112.
    [0071] Additionally, proper removal of debris (eg, FOD) from within areas where space is limited (eg, lower lobe 226 of fuselage 108) or access can be difficult and cumbersome. Consequently, the robotic system 112 including the piercing end effector 120 can be particularly beneficial to continuously capture and remove debris created by the piercing member 128 during the piercing operation.
    [0072] Referring to Figure 11, and with reference to Figures 1-10, an embodiment of the method, generally designated 300, for performing a drilling operation on the manufactured article 102 is described. Modifications, additions or omissions may be made to method 300 without departing from the scope of the present description. Method 300 can include more, less or other steps. Additionally, steps can be performed in any suitable order.
    [0073] Referring to Figure 11 and with reference to Figures 1-6, in an exemplary implementation, method 300 includes the step of providing the piercing end effector 120, as shown in block 302. perforation 120 including motor 126 operative to drive piercing member 128, housing 130 around motor 126 and vacuum shroud 132 coupled to housing 130 and around piercing member 128. Vacuum shroud 132 is of variable length.
    [0074] Referring to Figure 11 and with reference to Figures 1-7, in an exemplary implementation, method 300 includes the step of manipulating the perforation end effector 120 adjacent to the work surface 158 of the fabricated article 102, as per shown in block 304. As an example, the step of manipulating perforation end effector 120 is performed using robotic arm 114. AGV 204 carries robotic arm 114 adjacent to article of manufacture 102, for example, automatically navigating along the predetermined path path 206.
    [0075] Referring to Figure 11 and with reference to Figures 1-7, in an exemplary implementation, method 300 includes the step of extending piercing member 128 into piercing engagement with work surface 158, as shown in block 306. As an example, the step of extending the piercing member 128 is performed using the robotic arm 114.
    [0076] Referring to Figure 11 and with reference to Figures 1-7, in an exemplary implementation, method 300 includes the step of contacting vacuum shield 132 with work surface 158 around the location of perforation 168, as shown in block 308. As an example, the step of contacting the vacuum shield 132 with the work surface 158 is performed using the robotic arm 114 when the piercing member 128 is extended into piercing engagement with the work surface 158 .
    [0077] Referring to Figure 11 and with reference to Figures 1-7, in an exemplary implementation, method 300 includes the step of collecting debris created by piercing member 128 within interior 152 of vacuum shield 132, as per shown in block 310.
    [0078] Referring to Figure 11 and with reference to Figures 1-7, in an exemplary implementation, method 300 includes the step of generating a vacuum within vacuum shield 132 as shown in block 312. As an example, The step of generating a vacuum within the area defined by the interior 152 of the vacuum shield 132, is achieved by applying a vacuum flow from the vacuum source 150, through the vacuum passage 142 and into the interior 152 of the vacuum shield 132.
    [0079] Referring to Figure 11 and with reference to Figures 1-7, in an exemplary implementation, method 300 includes the step of removing debris from within vacuum shield 132 as shown in block 314. can be collected inside the debris collection tray 172.
    [0080] Referring to Figure 11 and with reference to Figures 1-9, in an exemplary implementation, method 300 includes the step of telescopically reducing vacuum shield 132 in response to piercing member 128 passing through the work surface 158, as shown in block 316. As an example, the step of telescopically reducing vacuum shield 132 is achieved by telescopically reducing second shield segment 174b in first shield segment 174a and telescopically reducing first shield segment 174a in housing 130 .
    [0081] Examples of the present description can be described in the context of aircraft manufacturing and service method 1100 as shown in Figure 12 and aircraft 1200 as shown in Figure 13. The aircraft 1200 can be an example of the aircraft 106 illustrated in Figure 1 .
    [0082] During pre-production, illustrative method 1100 may include specification and design as shown in block 1102 of aircraft 1200 and material acquisition as shown in block 1104. During production, component fabrication may take place and subassembly as shown in block 1106, and system integration as shown in block 1108 of the 1200 aircraft. Next, the 1200 aircraft can enter certification and delivery as shown in block 1110 to be put into service as shown in block 1112. When in service, the 1200 aircraft may be scheduled for routine maintenance and service as shown in block 1114. Routine maintenance and service may include modification, reconfiguration, refurbishment, etc., of one or more systems of the 1200 aircraft.
    [0083] Each of the processes of illustrative method 1100 can be performed or performed by a system integrator, a third party and/or an operator (e.g., a user). For purposes of this description, a system integrator may include, without limitation, any number of aircraft manufacturers and main system subcontractors, a third party may include, without limitation, any number of vendors, subcontractors and suppliers; and an operator can be an airline, leasing company, military entity, service organization, and so on.
    [0084] As shown in Figure 13, aircraft 1200 produced by illustrative method 1100 may include aircraft frame 1202 with a plurality of high level 1204 systems and 1206 interior. Examples of high level 1204 systems include one or more of systems propulsion system 1208, electrical system 1210, hydraulic system 1212 and environmental system 1214. Any number of other systems can be included. Although an aerospace example is shown, the principles described here can be applied to other industries, such as the automotive industry, the marine industry, the construction industry or the like.
    [0085] The systems, apparatus and methods shown or described here may be employed during any one or more of the stages of manufacturing and service method 1100. For example, components or subassemblies corresponding to component and subassembly manufacturing (block 1106) may be made or manufactured in a manner similar to components or subassemblies produced while the aircraft 1200 is in service (block 1112). Also, one or more examples of apparatus, systems and methods or combinations thereof can be used during production stages (blocks 1108 and 1110), for example, removing FOD created during a drilling operation simultaneously with the performance of the drilling operation. Similarly, one or more examples of apparatus and methods, or a combination thereof, may be used, for example, and without limitation, while the aircraft 1200 is in service (block 1112) and during the maintenance and service stage (block 1114) .
    [0086] Additionally, the description comprises modalities in accordance with the following clauses: Clause 1. A drilling end effector comprising: an operating motor for driving a drilling member; a housing around said engine; and a vacuum shield coupled to said housing and around said piercing member, wherein said vacuum shield is of variable length. Clause 2. The end effector of Clause 1 further comprising a vacuum passageway extending through said housing, wherein said vacuum passageway is in fluid communication with an area defined by an interior of said vacuum shield. Clause 3. The end effector of Clause 2 further comprising a vacuum source fluidly coupled to said vacuum passage, wherein said vacuum source is configured to generate vacuum flow within said area defined by said interior of said shield to vacuum. Clause 4. The end effector of Clause 2 further comprising a platform removably coupled to a robotic arm, wherein: said motor is coupled to said platform, said housing is coupled to said platform, and said vacuum passage extends through of said platform. Clause 5. The end effector of Clause 1 wherein: said vacuum shield comprises a first end coupled to said housing and a second end opposite said first end, said second end of said vacuum shield is initially positioned near one end of said piercing member, and said vacuum shield is reducible in response to said second end of said vacuum shield being in contact with a pierced surface and said piercing member is driven through said pierced surface. Clause 6. The end effector of Clause 5 further comprising a seal coupled to said second end of said vacuum shield. Clause 7. The end effector of Clause 1 wherein said vacuum shield comprises shield segments coupled together, and wherein said shield segments are reducible between a telescopically extended position and a telescopically reduced position. Clause 8. The end effector of Clause 7 wherein said shield segments are urged to said telescopically extended position. Clause 9. The end effector of Clause 1 wherein: said housing comprises a housing receptacle, and said vacuum shield comprises: a telescopically dismountable first shield segment within said housing receptacle, wherein said first shield segment comprises a shield receptacle; and a second telescopically dismountable shield segment within said shield receptacle. Clause 10. The end effector of Clause 9 wherein: said housing further comprises a first spring disposed within said housing receptacle, said first spring urges said first shield segment outwardly from said housing, said first shield segment further comprises a second spring disposed within said shield receptacle, and said second spring urges said second shield segment away from said first shield segment. Clause 11. A robotic system comprising: a robotic arm; and a piercing end effector coupled to said robotic arm, wherein said piercing end effector comprises: an operating motor for driving a piercing member; a housing around said engine; and a vacuum shield coupled to said housing and around said piercing member, wherein said vacuum shield is of variable length. Clause 12. The system of Clause 11 further comprising an automated guided vehicle configured to travel along a predetermined path path, wherein said robotic arm is coupled to said automated guided vehicle. Clause 13. The system of Clause 11 wherein said piercing end effector further comprises a vacuum passageway extending through said housing, and wherein said vacuum passageway is in fluid communication with an interior of said vacuum shield. Clause 14. The system of Clause 13 further comprising a vacuum source fluidly coupled to said vacuum passage, wherein said vacuum source is configured to generate a vacuum flow within said interior of said vacuum shield. Clause 15. The system of Clause 11 wherein: said vacuum shield comprises a first end coupled to said housing and a second end opposite said vacuum shield comprises a first end coupled to said housing and a second end opposite said first end , said second end of said vacuum shield is initially positioned proximate one end of said piercing member, and said vacuum shield is reducible in response to said second end of said vacuum shield being in contact with a pierced surface and said member. of perforation being driven through said perforated surface, said second end of said vacuum shield is initially positioned proximate to one end of said perforation member, and said vacuum shield is reducible in response to said second end of said vacuum shield being in contact with a pierced surface and said piercing member being ac ioned through said perforated surface. Clause 16. The system of Clause 15 wherein said piercing end effector further comprises a seal coupled to said second end of said vacuum shield. Clause 17. The system of Clause 11 wherein: said vacuum shield comprises shield segments coupled together, said shield segments are reducible between a telescopically extended position and a telescopically reduced position, and said shield segments are required for the said telescopically extended position. Clause 18. The system of Clause 11 wherein: said housing comprises a housing receptacle, and said vacuum shield comprises: a telescopically dismountable first shield segment within said housing receptacle, wherein said first shield segment comprises a housing shielding; a second telescopically dismountable shield segment within said shield receptacle; and a seal coupled to an end of said second shield segment opposite said first shield segment. Clause 19. The system of Clause 18 wherein: said housing further comprises a first spring disposed within said housing receptacle, said first spring prompts said first shield segment outwardly from said housing, said first shield segment further comprises a second spring disposed within said shield receptacle, and said second spring urges said second shield segment away from said first shield segment. Clause 20. A method of performing a piercing operation on a fabricated article, said method comprising: manipulating a piercing end effector adjacent to the work surface of said fabricated article, wherein said piercing end effector comprises: an operating motor to drive a piercing member; a housing around said engine; and a vacuum shield coupled to said housing and around said piercing member, wherein said vacuum shield is of variable length; extending said piercing member into piercing engagement with said work surface; contacting said vacuum shield with said work surface around a piercing location and said piercing member; collecting debris created by said piercing member within an interior of said vacuum shield; generating a vacuum within said vacuum shield; removing said debris from within said vacuum shield; and telescopically reducing said vacuum shield in response to said piercing member passing through said work surface. [0087] Although several modalities of the systems, apparatus and methods described, have been shown and described, modifications may occur to those skilled in the art by reading the specification. The present application includes such modifications and is limited only by the scope of the claims.
    权利要求:
    Claims (10)
    [0001]
    1. Piercing end effector (120), characterized in that it comprises: a motor (126) operative to drive a piercing member (128); a housing (130) around said motor (126); and a vacuum shield (132) coupled to said housing (130) and around said piercing member (128), wherein said vacuum shield (132) is of variable length; and a platform removably coupling the drill end effector (120) to a robotic arm (114), the platform including a vacuum passage (142) removably coupling to a vacuum conduit (194) of the robotic arm, wherein the vacuum passage is in fluid communication with an area defined by an interior (152) of the vacuum shield (132).
    [0002]
    2. Piercing end effector (120) according to claim 1, characterized in that the vacuum passage (142) extends through the housing (130).
    [0003]
    3. Drilling end effector (120) according to claim 2, characterized in that: said motor (126) is coupled to said platform, said housing (130) is coupled to said platform, and said vacuum passage (142 ) extends across said platform.
    [0004]
    4. Piercing end effector (120) according to claim 1, characterized in that: said vacuum shield (132) comprises a first end (154) coupled to said housing (130) and a second end (156) opposite said first end (154), said second end (156) of said vacuum shield (132) is initially positioned near one end of said piercing member (128), and said vacuum shield (132) is reducible to responsively that said second end (156) of said vacuum shield (132) is in contact with a perforated surface (102) and said perforation member (128) is driven through said perforated surface (158).
    [0005]
    A perforation end effector (120) according to claim 4, further comprising a seal (160) coupled to said second end of said vacuum shield (132).
    [0006]
    6. End perforation effector (120) according to claim 1, characterized in that said vacuum shield (132) comprises shield segments (174) coupled together, and where said shield segments (174) are reducible between a telescopically extended position and a telescopically reduced position.
    [0007]
    7. End perforation effector (120) according to claim 6, characterized in that said shield segments (174) are prompted for said telescopically extended position.
    [0008]
    8. End perforation effector (120) according to claim 1, characterized in that: said housing (130) comprises a housing receptacle (176), and said vacuum shield (132) comprises: a first segment of shield (174a) telescopically collapsible within said housing receptacle (176), wherein said first shield segment (174a) comprises a shield receptacle (178); and a second shield segment (174b) telescopically dismountable within said shield receptacle (178).
    [0009]
    A piercing end effector (120) according to claim 8, characterized in that: said housing (130) further comprises a first spring (180) disposed within said housing receptacle (176), said first spring ( 180) prompts said first shield segment (174a) outwardly from said housing (130), said first shield segment (174a) further comprises a second spring (182) disposed within said shield receptacle (178), and said second spring (182) urges said second shield segment (174b) away from said first shield segment (174a).
    [0010]
    10. Method for performing a piercing operation on a manufactured article (102), said method characterized in that it comprises: coupling a piercing end effector (120) to a robotic arm (114); manipulating the piercing end effector (120) adjacent to a work surface (158) of said manufactured article (102), wherein said piercing end effector (120) comprises: a motor (126) operative to drive a member perforation (128); a housing (130) around said motor (126); and a vacuum shield (132) coupled to said housing (130) and around said piercing member (128), wherein said vacuum shield (132) is of variable length; and a platform removably coupling the drill end effector (120) to a robotic arm (114), the platform including a vacuum passage (142) removably coupling to a vacuum conduit (194) of the robotic arm, wherein the vacuum passage is in fluid communication with an area defined by an interior (152) of the vacuum shield (132); extending said piercing member (128) into piercing engagement with said work surface (158); contacting said vacuum shield (132) with said working surface (158) around a piercing location (168) and said piercing member (128); collecting debris created by said piercing member (128) within an interior (152) of said vacuum shield (132); generating a vacuum within said vacuum shield (132); removing said debris from within said vacuum shield (132); and telescopically reducing said vacuum shield (132) in response to said piercing member (128) passing through said work surface (158); uncouple the piercing end effector (120) from the robotic arm (114); and attaching another piercing end effector to the robotic arm (114).
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    同族专利:
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    JP2017019098A|2017-01-26|
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    法律状态:
    2017-01-24| B03A| Publication of a patent application or of a certificate of addition of invention [chapter 3.1 patent gazette]|
    2020-03-24| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-05-04| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-05-25| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 23/05/2016, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    US14/793,148|2015-07-07|
    US14/793,148|US9789549B2|2015-07-07|2015-07-07|Robotic system and drilling end effector for robotic system|
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