Cutting by use of rotating axially moving tool – Processes – Bit detachable
Patent
1993-01-06
1996-01-09
Howell, Daniel W.
Cutting by use of rotating axially moving tool
Processes
Bit detachable
408 46, 408 52, 408 53, 408103, B23B 3500, B23B 4100
Patent
active
054824095
ABSTRACT:
An end effector adapted for attachment to and accurate positioning by a robot is provided for positioning a right angle shaped workpiece at a desired position against a panel and drilling a pair of accurately located positioning holes through the workpiece and the panel. The end effector includes a rear plate having a conventional tool connector and adapter that can be grasped and manipulated by the robot. A frame is cantilevered on the rear plate and supports a shuttle mounted on horizontal linear bearings for lateral motion of the shuttle. A pair of vertical bearings on the shuttle supports two horizontal support plates for vertical motion on the shuttle. A drill and an inserter are mounted on the support plates for lateral motion with the shuttle, and for vertical motion on the shuttle. Two servomotors under control of a system controller control the lateral motion of the shuttle and the vertical motion of the support plates, and a linear motion encoder provides feedback to the controller to attain accurate positioning of the support plates and the drills mounted thereon.
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Dunning Zenna J.
Nelson Paul E.
Patjens Hinrich C.
Shofner James A.
Yousko David A.
Howell Daniel W.
Neary J. Michael
The Boeing Company
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