Patent ID: 9043011
Filing Date: 2015-05-26
Classification: B23C,B25J,F01D,F05D,G05B

Abstract:
1. it robotic apparatus for machining fastener on a machine element, the apparatus comprising: a machining device having a spindle head; a robotic apparatus including: a robotic arm coupled to the machining device; and a base member coupled to the robotic arm, the base member mounted independently of the machine element; a vision system for locating the fastener on the machine element; a touch probe on the robotic arm configured to set the perpendicularity of the spindle head to the machine element; and a control system coupled to the vision system, the machining device and the robotic apparatus, the control system configured to control movement of the robotic apparatus and the machining device based upon vision system data and spatial information about the fastener and the machine element; wherein the vision system and the touch probe are further configured for determining distance and location; and wherein after machining the first fastener on the first element the control system is further configured to identify at least one other fastener, store location coordinates of each of the at least one other fasteners, and repeat a cut path of a first fastener for each of the at least one other fasteners.