IPC분류정보
| 국가/구분 |
United States(US) Patent
등록
|
| 국제특허분류(IPC7판) |
|
| 출원번호 |
US-0962594
(2010-12-07)
|
| 등록번호 |
US-8517799
(2013-08-27)
|
|
발명자
/ 주소 |
- Panergo, Reynold Rullan
- Vanavery, James C.
|
| 출원인 / 주소 |
|
| 대리인 / 주소 |
|
| 인용정보 |
피인용 횟수 :
2 인용 특허 :
28 |
초록
▼
An apparatus includes a surface preparation device for moving a backing pad in a random orbital motion, a first ball joint connected to the device, a second ball joint connected to the first ball joint; and a robotic end effector, connected to the second ball joint, for pressing the device against a
An apparatus includes a surface preparation device for moving a backing pad in a random orbital motion, a first ball joint connected to the device, a second ball joint connected to the first ball joint; and a robotic end effector, connected to the second ball joint, for pressing the device against a surface.
대표청구항
▼
1. An apparatus for performing surface preparation, the apparatus comprising: a surface preparation device for moving a backing pad in a random orbital motion;a first ball joint connected to the device;a second ball joint connected to the first ball joint; anda robotic end effector, connected to the
1. An apparatus for performing surface preparation, the apparatus comprising: a surface preparation device for moving a backing pad in a random orbital motion;a first ball joint connected to the device;a second ball joint connected to the first ball joint; anda robotic end effector, connected to the second ball joint, for pressing the device against a surface. 2. The apparatus of claim 1, wherein the device is a random orbital sander. 3. The apparatus of claim 1, wherein the end effector includes a linear actuator, connected to the second ball joint, for applying constant pressure to the device. 4. The apparatus of claim 3, wherein the end effector and the linear actuator are rigid in a direction of pad motion. 5. The apparatus of claim 3, wherein the linear actuator includes a pneumatic double compression cylinder and a pressure regulator for regulating pressure in the cylinder so a constant force is applied to the device. 6. The apparatus of claim 1, wherein each ball joint has a rotation of no more than 15 degrees. 7. An apparatus for performing surface preparation, the apparatus comprising: a surface preparation device for moving a backing pad;a robotic end effector for pressing the device against a surface; anda platform and a wedge on a surface of the platform, the wedge having a shovel-nose tip for separating a medium from the backing pad. 8. The apparatus of claim 7, wherein the tip has a size and shape to separate middle portion of the medium from the backing pad disc before separating edges of the medium from the backing pad. 9. The apparatus of claim 7, further comprising surface rollers adjacent the wedge for moving the device towards the wedge tip. 10. The apparatus of claim 7, further comprising hook and loop material for securing the medium to the backing pad. 11. The apparatus of claim 7, further comprising a first ball joint connected to the device and a second ball joint connected between the first ball joint and the robotic end effector; wherein the device is configured to move the backing pad in a random orbital motion; and wherein the ball joints move the pad to a known location when the device is stopped by the wedge. 12. The apparatus of claim 11, further comprising means for automatically attaching media to the backing pad, including a holder for stacking media, and metal discs for separating the media; and wherein the backing pad has a magnetic portion for magnetically attracting one of the metal discs. 13. The apparatus of claim 12, the means further comprising at least one optical sensor positioned to determine whether a metal disc is attached to the backing pad. 14. A method comprising using the robotic end effector of claim 1 to prepare a surface of an aircraft for painting; and using another robotic end effector for painting the prepared surface. 15. An apparatus comprising: a robotic end effector;first and second ball joints connected serially; anda random orbital sander connected to the robotic end effector by the serially connected ball joints;the end effector including a pneumatic cylinder connected to one of the ball joints, and a pressure regulator for applying constant pressure to the sander. 16. The apparatus of claim 15, wherein the ball joints have a rotation of no more than 15 degrees. 17. The apparatus of claim 15, wherein the pneumatic cylinder is a pneumatic double compression cylinder. 18. The apparatus of claim 15, wherein the medium is held to the pad via hook and loop material. 19. A method comprising using a robotic end effector coupled to a random orbital sander to attach and remove sanding media from a backing pad of the sander, wherein attaching a sanding medium includes: stacking a plurality of sanding discs interleaved with thin metal discs, with each sanding disc being above its corresponding metal disc; andusing the robotic end effector to move the sander, which has a magnetized backing pad, over the stack so that the metal disc is magnetically clamped to the backing pad, whereby a sanding disc is clamped between its corresponding plate and the backing pad and thereby fastened to the backing pad. 20. The method of claim 19, wherein removing the sanding medium includes using the robotic end effector to move the sander along a roller platform until the backing pad abuts against a shovel-nosed portion of a wedge and thereafter separates a sanding disc from the backing pad.
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