Surface preparation end effector for industrial robot system and inspection and repair processes

Patent metadata

Field	Value
Publication number	US-12318916-B2
Application number	US-202218049448-A
Country	US
Kind code	B2
Filing date	Oct 25, 2022
Priority date	Oct 25, 2021
Publication date	Jun 3, 2025
Grant date	Jun 3, 2025

Abstract

A robot end effector for surface preparation in an automated inspection and repair system for composite parts has an end effector body and a plasma control unit and a plasma jet nozzle supported on the end effector body. The plasma control unit directs a jet of atmospheric plasma through the plasma jet nozzle. A slave tool changer is secured to the end effector body. The slave tool changer releasably and operatively connects the robot end effector to an industrial robot such that the industrial robot can move the robot end effector along a composite part as the plasma control unit directs a jet of atmospheric plasma through the plasma jet nozzle toward the composite part to clean the composite part and increase a surface free energy of the composite part.

First claim

What is claimed is:

1. A robot end effector for surface preparation in an automated inspection and repair system for composite parts, the robot end effector comprising:
an end effector body;
a plasma control unit and a plasma jet nozzle supported on the end effector body, the plasma control unit configured for directing a jet of atmospheric plasma through the plasma jet nozzle; and
a slave tool changer secured to the end effector body, the slave tool changer configured to releasably and operatively connect the robot end effector to an industrial robot such that the industrial robot is configured to move the robot end effector along a composite part as the plasma control unit directs a jet of atmospheric plasma through the plasma jet nozzle toward the composite part to clean the composite part and increase a surface free energy of the composite part;
wherein the slave tool changer is configured to connect the plasma control unit to a plasma generator remote from the robot end effector;
wherein the slave tool changer comprises a plasma coupling configured to operatively connect the robot end effector to a plasma coupling of a master tool changer on the industrial robot;
the robot end effector further comprising a first plasma line extending from the plasma coupling to the plasma control unit and second plasma line extending from the plasma control unit to the plasma jet nozzle.

2. The robot end effector of claim 1 , further comprising a docking hook secured to the end effector body for suspending the robot end effector in a ready position when disconnected from the industrial robot.

3. The robot end effector of claim 2 , wherein the end effector body has a proximal end portion and a distal end portion spaced apart along a longitudinal axis, wherein the plasma jet nozzle is located adjacent the distal end portion and the docking hook is located adjacent the proximal end portion.

4. The robot end effector of claim 2 , wherein the docking hook and the tool changer are on opposite sides of the end effector body.

5. A method of repairing a composite part, the method comprising:
connecting an industrial robot to an inspection end effector and inspecting the composite part;
subsequently disconnecting the inspection end effector from the industrial robot and connecting the robot end effector of claim 1 to the industrial robot via the slave tool changer;
subsequently using the robot end effector of claim 1 to treat a surface the composite part; and
subsequently adhering a repair patch to the treated surface.

6. The method of claim 5 , further comprising, before inspecting the composite part, scanning the composite part to obtain a three dimensional model of the composite part.

7. The method of claim 6 , further comprising, mapping the three dimensional model to robot positioning coordinates to coordinate movement of the robot to the composite part.

8. The method of claim 7 , further comprising, after inspecting the composite part and before treating the composite part, determining based on said inspecting, a damage location on the composite part.

9. The method of claim 8 , further comprising, after determining the damage location of the composite part, determining a scarf path in terms of the robot positioning coordinates and operating the industrial robot along the scarf path to scarf damage from the damage location.

10. The method of claim 9 , further comprising, wherein said using the robot end effector of claim 1 to treat the surface of the composite part comprises determining a treatment path in terms of the robot positioning coordinates and operating the industrial robot to along the determined treatment path to treat a scarfed area of the composite part with atmospheric plasma.

11. The method of claim 9 , wherein said connecting the industrial robot to the inspection end effector comprises removing the inspection end effector from a first modular tool cartridge of an autonomous inspection and repair cell, said disconnecting the inspection end effector comprises placing the inspection end effector in the first modular tool cartridge, and said connecting the robot end effector of claim 1 to the industrial robot comprises removing the robot end effector from a second modular tool cartridge of the autonomous inspection and repair cell.

12. An industrial robot system comprising:
an industrial robot;
the robot end effector of claim 1 ; and
a control system configured to control both the industrial robot and the end effector to coordinate movement of the industrial robot and the plasma control unit to treat a predefined surface region of the composite part with atmospheric plasma to increase a surface free energy of the predefined region surface region.

13. The industrial robot system as set forth in claim 12 , further comprising another robot end effector for performing a composite part inspection and repair process selected from a list of composite part inspection and repair processes consisting of: non-destructive testing, scarfing, and patch making.

14. The industrial robot system as set forth in claim 13 , wherein the industrial robot comprises a master tool changer configured to interchangeably connect to the robot end effector of claim 1 and said another robot end effector and wherein the control system is further configured to control the industrial robot and said another end effector to coordinate movement of the industrial robot with use of said another robot end effector for performing said composite part inspection and repair task on the composite part.

Assignees

• Univ Wichita State

Inventors

• Tomblin John
• Saathoff Caleb
• Palliyaguru Upul

Classifications

• B25J15/0491

  comprising end-effector racks · CPC title

• B25J9/023

  Cartesian coordinate type · CPC title

• B25J9/1684

  Tracking a line or surface by means of sensors · CPC title

• B25J15/0408

  Connections means · CPC title

• B25J9/1679

  characterised by the tasks executed · CPC title