Patent Description:
One known approach to correcting undesired movement of the drilling tool along the component surface uses secondary encoders that measure the deflections of the joints of the robot arm. The measured deflections are fed from the secondary encoders to the robot control system, which uses the deflections to correct any resulting movement of the drilling tool away from the target drilling location. However, mounting the secondary encoders on the robot arm increases the complexity of the robot arm and increases the cost of manufacturing, assembling, and maintaining the articulated robot arm. Laser tracking systems are also known for correcting movement of the drilling tool away from the target drilling location by measuring the tool center point (TCP) of the articulated robot arm. However, such laser tracking systems require relatively precise calibration of the tracking system, rigid fixturing, and cameras with the ability to detect measurement targets, each of which increases the cost and complexity of the drilling system (e.g., of the articulated robot arm, of an automation cell in which the drilling operation is performed, of the control system, etc.). Other known approaches for correcting undesired movement of the drilling tool include normality sensors that measure whether the drilling tool is normal to the component surface. However, the addition of normality sensors increases the cost and complexity of the drilling system.

<CIT> mentions, in its abstract: "A robotic drilling apparatus is described which has been adapted for drilling holes in ceilings and walls on a construction site. The apparatus (<NUM>) comprises a robotic arm (<NUM>) mounted to a substructure (<NUM>), the substructure comprising a lifting mechanism arranged to lift the robotic arm to a working position, wherein the robotic arm has a base end (110a) and a movable end (110b), the base end being mounted to an upper surface (<NUM>) of the lifting mechanism and the movable end being capable of movement with respect to the base end in a three dimensional space, wherein the robotic drilling apparatus further comprises a mount (<NUM>) provided on the movable end for holding a drilling device (<NUM>) and a control unit (<NUM>) for controlling the operation of the robotic arm. The lifting mechanism preferably comprises a scissor-jack lifting platform. The robotic arm (<NUM>) and any support structure (<NUM>) for the robotic arm weighs less than <NUM>, and preferably individually weigh less than <NUM>".

<CIT> mentions, in its abstract, that a "Machine tool e.g. drill <NUM> has a first motor <NUM> for an extendable yoke <NUM> and a second motor for rotation of a tool about which is a rotatable sleeve <NUM> engaging a drive element e.g. drive belt <NUM> associated with the first motor <NUM>. Another machine tool comprises a chassis plate connected to the frame through which a tool bit driven by a tool motor protrudes, a foot plate, e.g. a suction foot (<FIG>), to attach to a workpiece and a locking mechanism e.g. an electromagnet, locking the footplate and chassis together. The frame may be attached to a robot arm and may have damping, chip extraction, lubricating means or a camera. Also claimed is a mounting structure (<FIG>) comprising an annular plate, foot plate and base plate sealed together and forming a space filled with rheological fluid, a first device being fixed to the base plate and a second device being fixed to the foot plate, sliding of the base plate when the rheological fluid is deactivated allowing relative positioning of the devices. This allows for a compact machine tool and stable machining in difficult to reach or confined spaces".

<CIT> mentions, in its abstract, that "The machining apparatus (<NUM>) is borne by the articulated arm and comprises: - a casing (<NUM>) defining at least one opening (<NUM>) and intended to be placed by the articulated arm in a machining position in which the opening is situated facing the surface that is to be machined, - at least three bearers attached to the casing and intended to rest against the surface that is to be machined in the machining position, - an attachment system (<NUM>) for fixing the casing to the surface that is to be machined, - at least one support (<NUM>) mounted with the ability to move with respect to the casing, and a machine-tool (<NUM>) designed to be mounted on the support, and - at least one position sensor (<NUM>) designed to provide position parameters indicative of a relative position of the surface that is to be machined with respect to the casing. The installation further comprises a control system designed to operate the support and to move the machine-tool with respect to the casing according to a movement instruction, the control system being designed to calculate the movement instruction using the position parameters".

In a first aspect there is disclosed a drilling end effector as defined in claim <NUM> of the appended claims. In a second aspect there is disclosed a drilling system as defined in appended claim <NUM>. Optional features of aspects are defined in the dependent claims.

The at least one suction cup is configured to be engaged in physical contact with the workpiece surface and pulled under suction by the suction system such that the at least one suction cup adheres to the workpiece surface to thereby hold the end portion of the nosepiece on the workpiece surface.

The foregoing summary, as well as the following detailed description of certain embodiments and implementations will be better understood when read in conjunction with the appended drawings. Further, references to "one embodiment" or "one implementation" are not intended to be interpreted as excluding the existence of additional embodiments or implementations that also incorporate the recited features. Moreover, unless explicitly stated to the contrary, embodiments "comprising" or "having" an element or a plurality of elements having a particular property can include additional elements not having that property.

While various spatial and directional terms, such as "top," "bottom," "upper," "lower," "vertical," and the like are used to describe embodiments and implementations of the present disclosure, it is understood that such terms are merely used with respect to the orientations shown in the drawings. The orientations can be inverted, rotated, or otherwise changed, such that a top side becomes a bottom side if the structure is flipped <NUM> degrees, becomes a left side or a right side if the structure is pivoted <NUM> degrees, and the like.

Certain implementations of the present disclosure provide a drilling system for drilling a workpiece. The drilling system includes a pattern generator configured to apply a pattern on a workpiece surface of the workpiece at a reference location relative to a target drilling location. The drilling system includes a drilling end effector, which includes a chuck configured to hold a drilling tool. The drilling end effector also includes a nosepiece configured to at least partially surround the drilling tool when the drilling tool is held by the chuck. The nosepiece includes an end portion that is configured to be held on the workpiece surface of the workpiece. The drilling end effector also includes a camera configured to acquire an image of an area of the workpiece surface that includes the pattern. The image acquired by the camera indicates whether the end portion of the nosepiece is aligned with the pattern on the workpiece surface.

Certain implementations of the present disclosure facilitate aligning a drilling tool with a target drilling location on a workpiece surface. Certain implementations of the present disclosure facilitate detecting, reducing, and/or correcting for movement (e.g., sliding, skidding, skating, etc.) of the drilling tool away from the target drilling location on the workpiece surface, for example before performing a drilling operation on the workpiece.

Certain implementations of the present disclosure reduce the occurrence of openings being drilled at inaccurate locations (e.g., an opening misaligned with the target drilling location, etc.) on the workpiece surface. Certain implementations of the present disclosure reduce damage (e.g., scratches, scrapes, gashes, etc.) caused to the workpiece and/or other structures (e.g., attaching substructure, etc.) resulting from the drilling tool moving along the workpiece surface. Certain implementations of the present disclosure reduce the number of broken drilling tools resulting from repeated drilling operations. Certain implementations of the present disclosure facilitate detecting, preventing, reducing, and/or correcting for movement (e.g., sliding, skidding, skating, etc.) of a drilling tool away from the target drilling location without increasing the cost and/or complexity of one or more components (e.g., an articulated robot arm, a drilling end effector, the automation cell in which a drilling operation is performed, a control system, etc.) of the drilling system. For example, certain implementations of the present disclosure utilize the capabilities of an existing camera on a drilling end effector.

With references now to the figures, a schematic diagram of a drilling system <NUM> is provided in <FIG>. The drilling system <NUM> includes a drilling platform <NUM>, a pattern generator <NUM>, and a drilling end effector <NUM>. As will be described in more detail below, the pattern generator <NUM> is configured to apply a pattern (e.g., the pattern <NUM> shown in <FIG> and <FIG>, etc.) on a workpiece surface <NUM> of a workpiece <NUM>; and a camera <NUM> of the drilling end effector <NUM> is configured to acquire one or more images that indicate whether the drilling end effector <NUM> is aligned with the pattern on the workpiece surface <NUM>.

Referring now to <FIG> and <FIG>, the drilling end effector <NUM> includes a base <NUM> and a chuck <NUM>. The base <NUM> of the drilling end effector <NUM> is configured to be held by the drilling platform <NUM>. The chuck <NUM> is held by the base <NUM> such that the chuck <NUM> is configured to rotate relative to the base <NUM> about an axis <NUM> of rotation during operation (e.g., drilling of the workpiece <NUM>, etc.) of the drilling system <NUM>. The drilling end effector <NUM> includes any suitable driving mechanism (not shown) operatively connected to the chuck <NUM> for driving rotation of the chuck <NUM> about the axis <NUM> of rotation (i.e., for exerting a torque on the chuck <NUM> that rotates the chuck <NUM> about the axis <NUM> of rotation), such as, but not limited to, an electric motor, a hand crank, a combustion engine, and/or the like. The chuck <NUM> is not visible in <FIG>.

The chuck <NUM> is configured to hold a drilling tool <NUM> such that the axis <NUM> of rotation of the chuck <NUM> is aligned with a centerline axis <NUM> of the drilling tool <NUM>. The drilling tool <NUM> is secured to the chuck <NUM> such that the drilling tool <NUM> is configured to rotate along with the chuck <NUM> about the axis <NUM> of rotation and about the centerline axis <NUM>. Specifically, the drilling tool <NUM> can be rigidly secured to the chuck <NUM> such that the chuck <NUM> translates the torque provided by the driving mechanism to the drilling tool <NUM> to thereby rotate the drilling tool <NUM> about the axis of rotation <NUM> and the centerline axis <NUM>. In some examples, the chuck <NUM> is configured to releasably hold the drilling tool <NUM> such that the drilling tool <NUM> can be selectively secured to and removed from the drilling end effector <NUM>, for example for repair or replacement of the drilling tool <NUM>, and/or for servicing, storing, moving, maintaining and/or the like of the drilling end effector <NUM>. The drilling tool <NUM> is not visible in <FIG>.

In operation of the drilling end effector <NUM> to drill into the workpiece surface <NUM>, the drilling tool <NUM> is rotated about the axes <NUM> and <NUM> in a cutting direction (e.g., clockwise, counterclockwise, etc.) that enables the drilling tool <NUM> is cut into the workpiece surface <NUM>. As the drilling tool <NUM> is rotated about the axes <NUM> and <NUM> in the cutting direction, the drilling tool <NUM> is moved along the axes <NUM> and <NUM> toward (e.g., in the direction of the arrow <NUM>, etc.) and into physical contact with the workpiece surface <NUM>. The drilling tool <NUM> is forced against (e.g., pressed into, etc.) the workpiece surface <NUM> along the axes <NUM> and <NUM> (e.g., in the direction of the arrow <NUM>, etc.) to provide a contact force between the drilling tool <NUM> and the workpiece surface <NUM>. The rotation of the drilling tool <NUM> in the cutting direction and the contact force between the drilling tool <NUM> and the workpiece surface <NUM> causes the drilling tool <NUM> to cut (e.g., drill, etc.) into the workpiece surface <NUM>.

The drilling end effector <NUM> includes a nosepiece <NUM> mounted to the base <NUM>. Specifically, the nosepiece <NUM> extends a length from an end portion <NUM> to an opposite end portion <NUM>. The end portion <NUM> of the nosepiece <NUM> is mounted to the base <NUM> of the drilling end effector <NUM> such that the nosepiece <NUM> at least partially surrounds the circumference of the drilling tool <NUM> when the drilling tool <NUM> is held by the chuck <NUM>, for example as shown in <FIG> and <FIG>. As illustrated in <FIG> and <FIG>, the length of the nosepiece <NUM> extends along the axes <NUM> and <NUM> when the nosepiece <NUM> is mounted to the base <NUM> of the drilling end effector <NUM>. In <FIG>, the base <NUM> and nosepiece <NUM> are cut away such that the interiors of the base <NUM> and nosepiece <NUM> are visible to illustrate the chuck <NUM> and drilling tool <NUM>.

The end portion <NUM> of the nosepiece <NUM> is rigidly mounted to the base <NUM> of such that the nosepiece <NUM> remains stationary relative to the base <NUM> (i.e., does not rotate about the axes <NUM> and <NUM> along with the drilling tool <NUM>) during operation of the drilling system <NUM>. In other words, during operation of the drilling system <NUM>, the drilling tool <NUM> rotates about the axis <NUM> of rotation and the centerline axis <NUM> relative to both the base <NUM> and the nosepiece <NUM> of the drilling end effector <NUM>. The end portion <NUM> of the nosepiece <NUM> is mounted to the base <NUM> using any method, means, structure, mechanism, manner, arrangement, connection, connector, device, and/or the like that enables the nosepiece <NUM> to function as described and/or illustrated herein, such as, but not limited to, an adhesive, an interference fit, a snap-fit, a fastener (e.g., a threaded fastener, etc.), a latch, welding, brazing, an epoxy, a clip, a ring, a cotter pin, a quick release pin, a clevis, a clevis-type connection, a bayonet-type connection, a spring override, and/or the like.

As will be described in more detail below, the end portion <NUM> of the nosepiece <NUM> is configured to be held on the workpiece surface <NUM> at a location wherein the centerline axis <NUM> of the drilling tool <NUM> is aligned with a target drilling location on the workpiece surface <NUM> (e.g., the target drilling location <NUM> shown in <FIG>, etc.). The end portion <NUM> of the nosepiece <NUM> includes an end surface <NUM> that is configured to face the workpiece surface <NUM> of the workpiece <NUM> when the end portion <NUM> is held on the workpiece surface <NUM> (e.g., during drilling of the workpiece <NUM>, etc.). In some implementations, the end surface <NUM> is configured to be engaged in physical contact with the workpiece surface <NUM> of the workpiece <NUM>, for example to facilitate holding the end portion <NUM> on the workpiece surface <NUM>.

The nosepiece <NUM> includes any structure, configuration, arrangement, geometry, and/or the like that enables the nosepiece <NUM> to function as described and/or illustrated herein (e.g., to facilitate alignment of the drilling tool <NUM> with the target drilling location on the workpiece surface <NUM>, etc.). In the implementations shown herein, the end portion <NUM> of the nosepiece <NUM> is defined by a single continuous segment that continuously surrounds (e.g., surrounds an approximate entirety of the circumference of, etc.) the drilling tool <NUM>, as should be apparent from <FIG>, <FIG>, and <FIG>. Although shown as including a circular shape, the end portion <NUM> of the nosepiece <NUM> additionally or alternatively includes any other shape(s), such as, but not limited to, a polygonal shape, a rectangular shape, a triangular shape, a quadrilateral shape, another curved shape, an oval shape, a hexagonal shape, an octagonal shape, and/or the like.

Any other suitable structure of the end portion <NUM> that enables the nosepiece <NUM> to function as described and/or illustrated herein is contemplated to be within the scope of the present disclosure. For example, in some other implementations, the end portion <NUM> of the nosepiece <NUM> is defined by any number of discrete segments that each extends around only a portion of the circumference of the drilling tool <NUM> (e.g., any number of discrete legs that extend outward from the end portion <NUM>, etc.).

In the exemplary implementations shown herein, the workpiece surface <NUM> is approximately planar along the area that includes the target drilling location. In other implementations wherein the area of the workpiece surface <NUM> that includes the target drilling location includes a 3D shape (e.g., is contoured, etc.), the end portion <NUM> (e.g., the end surface <NUM>, etc.) may include a 3D shape that is complementary with the 3D shape of the area of the workpiece surface <NUM> that includes the target drilling location (e.g., as opposed to the approximately planar geometry of the end surface <NUM> of the implementations shown herein, etc.).

The nosepiece <NUM> optionally includes a suction tube <NUM> that is configured to collect chips generated during drilling operations (e.g., during drilling of the workpiece <NUM>, etc.). The suction tube <NUM> is configured to be fluidly connected to a suction system (not shown) that is configured to generate suction within the suction tube <NUM> that enables the suction tube <NUM> to collect the chips.

In the implementations shown herein, the drilling platform <NUM> is an articulated robot arm 102a that is configured to hold the drilling end effector <NUM>, for example on an end portion <NUM> of the articulated robot arm 102a, as is shown in <FIG> and <FIG>. The articulated robot arm 102a of the exemplary implementations provides a fully automated drilling system <NUM>. For example, the articulated robot arm 102a is configured to automatically move the drilling end effector <NUM> to the target drilling location on the workpiece surface <NUM> and activate the drilling end effector <NUM> to drill into the workpiece <NUM> using the drilling tool <NUM>. The drilling system <NUM> includes a control system <NUM> operatively connected to (e.g., using a wired and/or wireless connection, etc.), or incorporated as a component of, the articulated robot arm 102a and/or the end effector <NUM> for controlling the drilling system <NUM>. For example, the control system <NUM> is configured to control movement of the articulated robot arm 102a, activation of the drilling end effector <NUM> to drill into the workpiece <NUM>, other control functions of the drilling system <NUM>, and/or the like.

The drilling platform <NUM> is not limited to the articulated robot arm 102a. Rather, additionally or alternatively the drilling system <NUM> includes any other type of drilling platform (whether the drilling system <NUM> is fully automated, semi-automated, or fully manual), such as, but not limited to, a drill press, a fixture and/or other structure (e.g., a hanging structure, a structure that mounts to the workpiece <NUM>, a structure that is adjacent the workpiece <NUM>, a structure that rests on and/or is attached to a floor, etc.), a gantry-style drilling platform, a post-style drilling platform, a hand-held drilling platform (e.g., a hand-held battery, electrical corded, pneumatic, or hydraulic powered drill, etc.), a less-portable drilling apparatus, and/or the like.

In some implementations, such as, but not limited to, the exemplary implementations shown herein, the chuck <NUM> and the drilling tool <NUM> held thereby move relative to the drilling platform <NUM> and the base <NUM> of the drilling end effector <NUM> to move the drilling tool <NUM> along the axes <NUM> and <NUM> toward and into physical contact with the workpiece surface <NUM> (e.g., in the direction of the arrow <NUM>, etc.); and the contact force between the drilling tool <NUM> and the workpiece surface <NUM> is provided by exerting a force on the chuck <NUM> and thereby the drilling tool <NUM> to force the drilling tool <NUM> against the workpiece surface <NUM>.

The drilling system <NUM> includes any suitable mechanism, structure, and/or the like that enables the chuck <NUM> and drilling tool <NUM> to move along the axes <NUM> and <NUM> relative to the drilling platform <NUM> and the base <NUM> of the drilling end effector <NUM>, such as, but not limited to, a mechanical quill, a bearing, and/or the like. The movement of, and force exerted on, the chuck <NUM> and thereby the drilling tool <NUM> to move the drilling tool <NUM> relative to the drilling platform <NUM> and the base <NUM> toward the workpiece surface <NUM> and provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM> is fully automated in the exemplary implementations, for example using an electrical, hydraulic, and/or pneumatic linear actuator that is controlled by the control system <NUM>, etc. In some other implementations, the movement of, and force exerted on, the chuck <NUM> to move the drilling tool <NUM> relative to the drilling platform <NUM> and the base <NUM> toward the workpiece surface <NUM> and provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM> is: (<NUM>) assisted (e.g., semi-automated, etc.), for example using a hydraulic cylinder, a pneumatic cylinder, a gas spring, and/or the like; or (<NUM>) fully manual, for example performed wholly by an operator directly and/or indirectly exerting a force on the drilling tool <NUM> (e.g., using a hand crank, a handle, a drill press, etc.), etc. In the exemplary implementations of the drilling end effector <NUM> shown herein, the nosepiece <NUM> is rigid along the length thereof to enable the drilling tool <NUM> to move along the length of the nosepiece <NUM> (i.e., relative to the length of the nosepiece <NUM>) toward the workpiece surface <NUM>.

Examples of fully automated implementations include the exemplary implementation of the articulated robot arm 102a shown herein, an implementation wherein the drilling platform <NUM> includes a drill press, gantry, or post system that includes a linear actuator (not shown) that automatically moves the drilling tool <NUM> relative to the base <NUM> of the drilling end effector <NUM> and automatically exerts a force on the drilling tool <NUM> that provides the contact force between the drilling tool <NUM> and the workpiece surface <NUM>, for example upon activation by an operator and/or a control system. An example of a semi-automated implementation is an implementation wherein the drilling platform <NUM> is a hand-held platform that includes a linear actuator and/or other mechanism that is configured to automatically move the drilling tool <NUM> relative to the base <NUM> of the drilling end effector <NUM> to automatically exert a force on the drilling tool <NUM> that provides the contact force, for example upon activation of the by an operator holding the drilling platform <NUM>. Examples of manual systems include an implementation wherein the drilling platform <NUM> is a drill press that includes a hand crank that can be manually turned by an operator to indirectly move the drilling tool <NUM> relative to the base <NUM> and indirectly exert a force on the drilling tool <NUM> that provides the contact force between the drilling tool <NUM> and the workpiece surface <NUM>.

In some other implementations, the drilling platform <NUM> and the base <NUM> of the drilling end effector <NUM> are: (<NUM>) moved along the axes <NUM> and <NUM> toward the workpiece surface <NUM> (e.g., in the direction of the arrow <NUM>, etc.) to thereby move the drilling tool <NUM> toward and into physical contact with the workpiece surface <NUM>; and (<NUM>) a force is exerted on the base <NUM> of the drilling end effector <NUM> to force the drilling tool <NUM> against the workpiece surface <NUM> and thereby provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM>. The movement of, and force exerted on, the base <NUM> of the drilling end effector <NUM> to move the drilling tool <NUM> toward the workpiece surface <NUM> and provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM> is: (<NUM>) fully automated in some implementations; (<NUM>) assisted in some implementations (e.g., semi-automated, etc.); and (<NUM>) fully manual (e.g., performed wholly by an operator, etc.) in some implementations. Examples of fully automated implementations include an implementation wherein an articulated robot arm (e.g., the articulated robot arm 102a, etc.) automatically moves the base <NUM> of the drilling end effector <NUM> to thereby move the drilling tool <NUM> toward the workpiece surface <NUM> and provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM>. Examples of manual implementations include an implementation wherein an operator holding the drilling platform <NUM> manually moves the drilling platform <NUM> and thereby the base <NUM> of the drilling end effector <NUM> to thereby move the drilling tool <NUM> toward the workpiece surface <NUM> and manually exert the force on the drilling platform <NUM> and the base <NUM> that provides the contact force between the drilling tool <NUM> and the workpiece surface <NUM>. In some implementations wherein the base <NUM> of the drilling end effector <NUM> is moved to thereby move the drilling tool <NUM> toward the workpiece surface <NUM> and provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM>, the nosepiece <NUM> is collapsible (e.g., resiliently, non-resiliently, etc.) along the length thereof to enable the drilling tool <NUM> to extend past the end portion <NUM> of the nosepiece <NUM> while the nosepiece <NUM> remains held on the workpiece surface <NUM> during drilling operations.

In the exemplary implementations shown herein, the drilling tool <NUM> is a drill bit, and more specifically a twist drill bit. But, the drilling tool <NUM> additionally or alternatively can include any type of drill bit, such as, but not limited to, a step drill bit, an unbit drill bit, a hole saw, a center and spotting drill bit, a core drill bit, a countersink bit, an ejector drill bit, a gun drill bit, an indexable drill bit, a left-hand bit, a metal spade bit, a straight fluted bit, a trepan, a lip and spur drill bit, a wood spade bit, a spoon bit, a forstner bit, a center bit, an auger bit, a gimlet bit, a hinge sinker bit, an adjustable wood bit, a metal drill bit, a diamond core bit, a masonry drill bit, a glass drill bit, a PCB through-hole drill bit, an installer bit, a fishing bit, a flexible shaft bit, and/or the like. Moreover, the drilling tool <NUM> is not limited to including a drill bit. Rather, the drilling tool <NUM> additionally or alternatively may include any other type of drilling tool, such as, but not limited to, a tap, a die, and/or the like.

In the illustrated implementations, the workpiece <NUM> is an aircraft component (e.g., an internal panel, an external skin panel, etc.). But, the workpiece <NUM> is not limited to being an aircraft component. Rather, the drilling system implementations shown and described herein are applicable to any type of workpiece into which a drilling operation is performed, such as, but not limited to, (e.g., an automotive component, a machine component, a marine component, a space component, a panel and/or other structure of a larger assembly, and/or the like. Moreover, as briefly described above, the workpiece surface <NUM> is not limited to being approximately planar (e.g., having an approximately two-dimensional (2D) shape, etc.) as is shown in <FIG> and <FIG>. Rather, in addition or alternatively to being approximately planar, one or more segments of the workpiece surface <NUM> is has a three-dimensional (3D) shape (e.g., is contoured, etc.) in other implementations.

Referring now to <FIG> and <FIG>, as briefly described above, the pattern generator <NUM> (not shown in <FIG>) of the drilling system <NUM> is configured to apply a pattern <NUM> (not visible in <FIG>) on the workpiece surface <NUM>. The pattern generator <NUM> is configured to apply the pattern <NUM> on the workpiece surface <NUM> at a reference location relative to the target drilling location <NUM> (not visible in <FIG>), for example as is illustrated in <FIG>. As will be described below, the reference location of the pattern <NUM> corresponds to a position of the end portion <NUM> (not shown in <FIG>) of the nosepiece <NUM> (not shown in <FIG>) along the workpiece surface <NUM> wherein the drilling tool <NUM> (not shown in <FIG>) is aligned with the target drilling location <NUM>.

The pattern generator <NUM> is not limited to applying the exemplary pattern <NUM> shown herein. Rather, the pattern generator <NUM> is configured to apply patterns <NUM> on the workpiece surface <NUM>: (<NUM>) at any reference location relative to the target drilling location that enables the drilling system <NUM> to function as described and/or illustrated herein (e.g., enables the camera <NUM> of the drilling end effector <NUM> to acquire one or more images that indicate whether the drilling tool <NUM> is aligned with the target drilling location, etc.); and (<NUM>) patterns <NUM> having any geometry (e.g., sizes, shapes, orientations, etc.) that enables the drilling system <NUM> to function as described and/or illustrated herein (e.g., enables the camera <NUM> of the drilling end effector <NUM> to acquire one or more images that indicate whether the drilling tool <NUM> is aligned with the target drilling location, etc.). For example, as used herein, the phrase "at a reference location relative to a target drilling location" includes patterns <NUM> applied on the workpiece surface <NUM>: (<NUM>) adjacent to the target drilling location; (<NUM>) near the target drilling location; (<NUM>) a predetermined distance from the target drilling location; (<NUM>) at least partially surrounding the target drilling location (e.g., the pattern <NUM> shown herein, which as shown in <FIG> completely surrounds the circumference of the target drilling location <NUM> on the workpiece surface <NUM>, a pattern <NUM> that includes one or more segments that each surrounds only a portion of the circumference of the target drilling location, etc.); (<NUM>) over the target drilling location (e.g., a pattern <NUM> that covers an approximate entirety of the target drilling location, a pattern <NUM> that covers only a portion of the target drilling location, etc.); and/or the like. Moreover, in addition or alternatively to the circular and/or hollow shape of the exemplary pattern <NUM> shown herein, the patterns <NUM> applied to the workpiece surface <NUM> by the pattern generator <NUM> may include any other shape(s), such as, but not limited to, solid shapes, other hollow shapes, polygonal shapes, rectangular shapes, triangular shapes, quadrilateral shapes, other curved shapes, oval shapes, hexagonal shapes, octagonal shapes, and/or the like. Optionally, the pattern <NUM> includes a geometry (e.g., size, shape, orientation, etc.) that is complementary with the geometry of the end portion <NUM> of the nosepiece <NUM> (e.g., the size and circular shape of the exemplary pattern <NUM> shown herein is complementary with the size and circular shape of the exemplary nosepiece <NUM> shown herein, etc.).

The pattern generator <NUM> may include any type of pattern generator that is configured to apply a pattern <NUM> formed from any material(s), structure, construction, and/or the like that enables the drilling system <NUM> to function as described and/or illustrated herein (e.g., enables the camera <NUM> of the drilling end effector <NUM> to acquire one or more images that indicate whether the drilling tool <NUM> is aligned with the target drilling location, etc.). For example, some implementations of the pattern generator <NUM> include a printer (e.g., an inkjet printer, a laser printer, a dot matrix printer, a screen printer, a device configured to fabricate a decal, etc.), a painting device (e.g., a spray painting device, a brush painting device, etc.), a writing device (e.g., a pen, a pencil, a marker, etc.), a stamp configured to stamp and thereby deposit material (e.g., ink, paint, etc.) onto the workpiece surface <NUM>, a stamp configured to stamp the pattern <NUM> into the workpiece surface <NUM>, a press configured to press and thereby deposit material (e.g., ink, paint, etc.) onto the workpiece surface <NUM>, a press configured to press the pattern <NUM> into the workpiece surface <NUM>, an etching device configured to etch the pattern <NUM> into the workpiece surface <NUM>, and/or the like. Optionally, the pattern generator <NUM> includes a pattern end effector <NUM> (not shown in <FIG>) that is configured to be held by the drilling platform <NUM> (e.g., the articulated robot arm 102a, etc.). The pattern end effector <NUM> is shown in <FIG> as being dismounted from the drilling platform <NUM> (i.e., not held by the articulated robot arm 102a. <FIG> illustrates the pattern end effector <NUM> mounted to the articulated robot arm 102a according to one implementation.

Examples of the material(s), structure, construction, and/or the like from which the pattern <NUM> is fabricated include, but are not limited to, ink, paint, pencil, crayon, chalk, decals, indentations, etches, and/or the like. In some implementations, the pattern <NUM> is removable from the workpiece surface <NUM> after the associated drilling operations have been completed.

In some implementations, the pattern generator <NUM> simultaneously fabricates and applies the pattern <NUM> to the workpiece surface <NUM>. For example, in some implementations the pattern generator <NUM> includes a printer, a painting device, a writing device, a stamp, and/or a press that fabricates the pattern <NUM> respectively by printing, painting, writing, stamping, and/or pressing the pattern <NUM> directly onto (and/or into) the workpiece surface <NUM>. In other implementations, the pattern generator <NUM> first fabricates the pattern <NUM> and thereafter applies the pattern <NUM> to the workpiece surface <NUM>. For example, in some implementations the pattern <NUM> is a decal that is fabricated (e.g., printed, drawn, painted, etc.) and thereafter applied to the workpiece surface <NUM>.

Fabrication and application of the pattern <NUM> to the workpiece surface <NUM> may be performed by the same component of the pattern generator <NUM>. For example, implementations that include the pattern end effector <NUM> may utilize the pattern end effector <NUM> to both fabricate and apply the pattern <NUM> to the workpiece surface <NUM> (e.g., implementations wherein the pattern end effector <NUM> includes a printer, a painting device, a writing device, a stamp, a press, etc.). Another example includes using a component <NUM> (e.g., a printer, a painting device, a writing device, a stamp, a press, etc.) of the pattern generator <NUM> that is discrete from (i.e., separate from, external to, not configured to be held by, etc.) the drilling platform <NUM> to both fabricate and apply the pattern <NUM> to the workpiece surface <NUM>. In some implementations, the component <NUM> is located within an automation cell (not shown) of the drilling platform <NUM> for applying the pattern <NUM> to the workpiece surface <NUM> within the automation cell prior to the drilling operation, while in other implementations the component <NUM> is not located within (e.g., is located external to, remotely from, etc.) an automation cell or other location of the drilling platform <NUM> for applying the pattern <NUM> to the workpiece surface <NUM> before the workpiece <NUM> is transported to the location of the drilling platform for performance of the associated drilling operation.

In some implementations, fabrication and application of the pattern <NUM> to the workpiece surface <NUM> are performed by different components (wherein the component that fabricates the pattern <NUM> is optionally a component of the pattern generator <NUM>). For example, implementations that include the pattern end effector <NUM> may utilize the pattern end effector <NUM> to apply a pattern <NUM> (e.g. a decal, etc.) that has been fabricated by another component, such as, but not limited to, another component of the pattern generator <NUM> (e.g., the component <NUM>, etc.), an external device that is not a component of the pattern generator <NUM>, and/or the like. Another example includes using a first component of the pattern generator <NUM> that is discrete from (i.e., separate from, external to, not configured to be held by, etc.) the drilling platform <NUM> (e.g., the component <NUM>, etc.) to apply a pattern <NUM> that has been fabricated by another component, such as, but not limited to, another component of the pattern generator <NUM> (e.g., the component <NUM>, etc.), an external device that is not a component of the pattern generator <NUM>, and/or the like.

It should be understood from the above examples that in some implementations the pattern <NUM> is fabricated by the pattern generator, while in other implementations fabrication of the pattern <NUM> is not performed by the pattern generator <NUM>. For example, in some implementations, the pattern generator <NUM> applies a pattern <NUM> to the workpiece surface <NUM> that has been previously fabricated by an external device that is not a component of the pattern generator <NUM>.

Fabrication and application of the pattern <NUM> to the workpiece surface <NUM> is: (<NUM>) fully automated in some implementations; (<NUM>) assisted in some implementations (e.g., semi-automated, etc.); and (<NUM>) fully manual (e.g., performed wholly by an operator, etc.) in some implementations. One example of a fully automated processes is the drilling platform <NUM> automatically fabricating and applying the pattern <NUM> to the workpiece surface <NUM> using the pattern end effector <NUM>. Another example of a fully automated process is the drilling platform automatically using the pattern end effector <NUM> to apply a pattern <NUM> (e.g. a decal, etc.) that has been automatically fabricated by another component, such as, but not limited to, another component of the pattern generator <NUM> (e.g., the component <NUM>, etc.), an external device that is not a component of the pattern generator <NUM>, and/or the like. Still another fully automated example includes using the component <NUM> (e.g., a printer, a painting device, a writing device, a stamp, a press, etc.) of the pattern generator <NUM> to both automatically fabricate and apply the pattern <NUM> to the workpiece surface <NUM>. Yet another fully automated example includes using the component <NUM> to automatically apply a pattern <NUM> that has been automatically fabricated by another component, such as, but not limited to, another component of the pattern generator <NUM>, an external device that is not a component of the pattern generator <NUM>, and/or the like.

Examples of assisted processes of fabricating and applying the pattern <NUM> include an operator manually applying a pattern <NUM> (e.g. a decal, etc.) that has been automatically fabricated by another component, such as, but not limited to, another component of the pattern generator <NUM> (e.g., the component <NUM>, etc.), an external device that is not a component of the pattern generator <NUM>, and/or the like. Another example of an assisted process is automatically applying a pattern <NUM> (e.g., a decal, etc.) that has been manually fabricated (e.g., drawn, painted, stenciled, printed, etc.) by an operator using another component, such as, but not limited to, another component of the pattern generator <NUM> (e.g., the component <NUM>, etc.), an external device that is not a component of the pattern generator <NUM>, and/or the like. It should be understood from the above examples that in some implementations the pattern generator <NUM> includes a human operator.

An example of a fully manual process for fabricating and applying the pattern <NUM> includes an operator manually fabricating and applying the pattern <NUM> to the workpiece surface <NUM>, for example by: (<NUM>) drawing, painting, spraying, stenciling, printing, stamping, pressing, and/or the like the pattern <NUM> on the workpiece surface <NUM>; (<NUM>) carving, etching, scratching, stamping, pressing, and/or the like the pattern <NUM> into the workpiece surface <NUM>; (<NUM>) by applying (e.g., adhering, etc.) a decal to the workpiece surface <NUM>; and/or the like.

In some implementations that include the pattern end effector <NUM>, the drilling end effector <NUM> and the pattern end effector <NUM> may be configured to be releasably held by the drilling platform <NUM> (e.g., by the articulated robot arm 102a, etc.) such that each of the end effectors <NUM> and <NUM> can be selectively secured to and removed from the drilling end effector <NUM>, for example to enable the drilling platform <NUM> to cycle between applying the pattern <NUM> to the workpiece surface <NUM> using the pattern end effector <NUM> and performing a drilling operation on the workpiece surface <NUM> using the drilling end effector <NUM>. In addition or alternatively to being releasably held by the drilling platform <NUM>, some implementations of the drilling platform <NUM> include a fixture (not shown) that is capable of simultaneously holding both end effectors <NUM> and <NUM> and is configured to move (e.g., rotate, slide or otherwise move linearly, etc.) to enable the drilling platform to cycle between drilling and pattern operations performed using the drilling end effector <NUM> and the pattern end effector <NUM>, respectively.

Referring again to <FIG> and <FIG>, in some implementations the drilling system <NUM> includes one or more cameras <NUM>. In the exemplary implementations, each camera <NUM> is mounted to the base <NUM> of the drilling end effector <NUM>. Each camera <NUM> is configured to acquire images of an area (e.g., the area <NUM> shown in <FIG>, etc.) of the workpiece surface <NUM> that includes the pattern <NUM> (shown in <FIG> and <FIG>) when the end portion <NUM> of the nosepiece <NUM> held on the workpiece surface <NUM>. For example, the camera <NUM> is configured such that when the end portion <NUM> of the nosepiece <NUM> is held on the workpiece surface <NUM> at a location wherein the target drilling location <NUM> (shown in <FIG>) is in view of the camera <NUM>, the camera <NUM> acquires one or more images of an area (e.g., the area <NUM>, etc.) that includes both the pattern <NUM> and the target drilling location <NUM>. As will be described in more detail below, the images acquired by the camera <NUM> indicate whether the end portion <NUM> of the nosepiece <NUM> of the drilling end effector <NUM> is aligned with the pattern <NUM> on the workpiece surface <NUM> such that the drilling tool <NUM> is aligned with the target drilling location <NUM>.

Each camera <NUM> is configured to acquire any type(s) of image, such as, but not limited to, still images, video images, real-time images, delayed images, visible light images, night vision images, and/or like. For example, in one exemplary implementation, one or more cameras <NUM> is configured to acquire real-time video of the area that includes both the pattern <NUM> and the target drilling location <NUM>. Each camera <NUM> is any type of camera <NUM> that enables the camera <NUM> to function as described and/or illustrated herein (e.g., to acquire images of an area of the workpiece surface <NUM> that includes both the pattern <NUM> and the target drilling location <NUM>, etc.). Examples of the camera <NUM> include, but are not limited to, a still image camera, a video camera, a digital camera, a night vision camera, a visible light camera, a lipstick camera, and/or the like. Although shown as including a single camera <NUM> in <FIG> and two cameras <NUM> in <FIG>, in other implementations the drilling end effector <NUM> includes any other number of cameras <NUM>.

As described above, in the exemplary implementations shown herein, each camera <NUM> is mounted to the base <NUM> of the drilling end effector <NUM>. In some other implementations, one or more cameras <NUM> additionally or alternatively is mounted to the nosepiece <NUM>, the chuck <NUM>, and/or another component of the drilling end effector <NUM>. Moreover, in some implementations, one or more of the cameras <NUM> is discrete from (i.e., separate from, external to, not mounted to, etc.) the drilling end effector <NUM> (e.g., one or more of the cameras <NUM> is mounted to the drilling platform <NUM>, a floor, a wall, a ceiling, a fixture or other support structure, within an automation cell or at another location that includes the drilling platform, etc.).

Each camera <NUM> is mounted at any position (e.g., location, orientation, alignment, angle, etc.) that enables the camera <NUM> to function as described and/or illustrated herein (e.g., to acquire images that indicate whether the end portion <NUM> of the nosepiece <NUM> of the drilling end effector <NUM> is aligned with the pattern <NUM> on the workpiece surface <NUM>, etc.). In the exemplary implementations shown herein, the images of the area <NUM> (shown in <FIG>) acquired by the camera(s) <NUM> are plan views (e.g., bird's eye views, etc.), but the camera(s) are not limited to acquiring plan view. Rather, each camera <NUM> may acquire images from any view(s) (e.g., from any perspective(s), etc.) that enable the camera <NUM> to function as described and/or illustrated herein (e.g., to acquire images that indicate whether the end portion <NUM> of the nosepiece <NUM> of the drilling end effector <NUM> is aligned with the pattern <NUM> on the workpiece surface <NUM>, etc.). For example, in some implementations one or more cameras <NUM> is configured to acquire images of the area <NUM> (shown in <FIG>) from one or more side views.

Each camera <NUM> is mounted using any method, means, structure, mechanism, manner, arrangement, connection, connector, device, and/or the like that enables the camera <NUM> to function as described and/or illustrated herein (e.g., to acquire images that indicate whether the end portion <NUM> of the nosepiece <NUM> of the drilling end effector <NUM> is aligned with the pattern <NUM> on the workpiece surface <NUM>, etc.). Examples of methods, means, structures, mechanisms, manners, arrangements, connections, connectors, devices, and/or the like that are used in some implementations to mount one or more of the cameras <NUM> include, but are not limited to: an adhesive; an interference fit; a snap-fit; a fastener (e.g., a threaded fastener, etc.); a latch; welding; brazing; an epoxy; a clip; a ring; a cotter pin; a quick release pin; a clevis; a clevis-type connection; a bayonet-type connection; a spring override; being built into the base <NUM>, the chuck <NUM>, and/or the nosepiece <NUM>; and/or the like.

In some implementations, one or more parameters of one or more of the cameras <NUM> is selectable, for example to enable calibration of the camera <NUM>. In other words, one or more parameters of one or more of the cameras <NUM> can be adjusted, changed, and/or the like (e.g., by a user, a technician, etc.) in some implementations, for example to configure the camera <NUM> to acquire images of an area of the workpiece surface <NUM> (e.g., the area <NUM>, etc.) that includes both the target drilling location <NUM> and the pattern <NUM>. Examples of parameters of one or more cameras <NUM> that are selected in some implementations include, but are not limited to, the position (e.g., location, orientation, alignment, angle, etc.) of the camera <NUM>, the speed of the camera <NUM>, the type of images (e.g., still images, video images, real-time images, delayed images, visible light images, night vision images, etc.) acquired by the camera, a delay of images acquired by the camera <NUM>, and/or the like.

Referring now solely to <FIG>, in implementations that include one or more cameras <NUM>, optionally each camera <NUM> is operatively connected to one or more optional displays <NUM> of the drilling system <NUM> and/or one or more external displays <NUM> (described below) such that the camera <NUM> is configured to send the images acquired thereby to the display(s) <NUM> and/or the display(s) <NUM> for viewing by an operator of the drilling system <NUM>. For example, in some implementations the drilling platform <NUM>, the drilling end effector <NUM>, and/or the control system <NUM> includes one or more displays <NUM>. In the exemplary implementation, the display <NUM> is built into an optional user interface <NUM> of the control system <NUM>. In addition or alternatively, one or more displays <NUM> is built into the drilling platform <NUM> and/or the drilling end effector <NUM> in some implementations. Moreover, in some implementations, one or more displays <NUM> is an external attachment that is mounted to the control system <NUM>, the drilling platform <NUM>, the drilling end effector <NUM>, and/or a support structure (e.g., a fixture, a floor, a wall, a ceiling, a table, a cart, etc.) of an automation cell or another location that includes the drilling platform <NUM>, a control room (not shown), and/or the like. Any displays <NUM> that are external attachments are optionally mounted to the control system <NUM>, the drilling platform <NUM>, the drilling end effector <NUM>, and/or a support structure in a configuration such that the position of the display <NUM> is configured to be adjusted by an operator of the drilling system <NUM> (e.g., using a telescoping arm; an articulating arm; a bending arm; a hinge; a fixture that enables tilt, swivel, and/or rotation; etc.).

The display <NUM> of the drilling system <NUM> described above and illustrated in <FIG> is a dedicated display. In other words, the display <NUM> is dedicated to displaying images acquired by one or more of the cameras <NUM> of the drilling system <NUM>. In addition or alternatively to the drilling system <NUM> including one or more displays <NUM>, optionally one or more of the cameras <NUM> of the drilling system <NUM> is configured to be operatively connected to one or more external displays <NUM> that is not a component of the drilling system <NUM>. In other words, in some implementations one or more of the cameras <NUM> is configured to be operatively connected to one or more external displays <NUM> that is not dedicated to merely displaying images acquired by the camera(s) <NUM> of the drilling system <NUM>. Examples of the external display <NUM> include, but are not limited to, a television, a display panel, a computer monitor, a smartphone, a headset, a virtual reality headset, an augmented reality headset, virtual reality glasses, augmented reality glasses, Google Glass, a hand held screen, a tablet and/or other mobile device, and/or the like.

Each display <NUM> and <NUM> is operatively connected to the corresponding camera(s) <NUM> of the drilling system <NUM> using any wireless operative connection and/or any wired operative connection that enables (e.g., configures, etc.) the display <NUM> or <NUM> to receive and display images acquired by the corresponding camera(s) <NUM>. Examples of wired operative connections that enable the displays <NUM> and <NUM> to receive and display images acquired by the corresponding camera(s) <NUM> include, but are not limited to, one or more electrical cables, one or more electrical wires, one or more optical cables, a wired connection to a local area network (LAN), a wired connection to a wide area network (WAN), a wired connection to the Internet, and/or the like. Examples of wireless operative connections that enable the displays <NUM> and <NUM> to receive and display images acquired by the corresponding camera(s) <NUM> include, but are not limited to, a Wi-Fi™ network, Bluetooth®, a wireless LAN (WLAN), a wireless WAN (WWAN), a wireless connection to the Internet, and/or the like.

Each display <NUM> and <NUM> is any type of display that enables the display <NUM> or <NUM> to function as described and/or illustrated herein (e.g., to display images acquired by the corresponding camera <NUM>, etc.), such as, but not limited to, a plasma display, a liquid crystal display (LCD), a light emitting diode (LED) display, a cathode ray tube (CRT) display, a projection display, an organic light-emitting diode (OLED) display, and/or the like. Although shown has including only a single display <NUM> and a single display <NUM>, in other implementations any other number of displays <NUM> and any other number of displays <NUM> is be provided.

Optionally, the nosepiece <NUM> includes one or more strain gauges (not shown) configured to measure a load exerted on the end portion <NUM> of the nosepiece <NUM> by a contact force between the end surface <NUM> of the nosepiece <NUM> and the workpiece surface <NUM>. Specifically, each strain gauge is configured to measure the load exerted on the nosepiece <NUM> by the contact force between the end surface <NUM> and the workpiece surface <NUM> at the location of the strain gauge. Accordingly, the load measured by each strain gauge indicates the amount of contact force that the end surface <NUM> of the nosepiece <NUM> is applying to the workpiece surface <NUM> at the location of the strain gauge. Each strain gauge measures the load exerted on the nosepiece <NUM> at the location of the strain gauge in any units, such as, but not limited to, pounds (lbs. ), kilograms (kgs. ), and/or the like.

In some implementations, one or more of the cameras <NUM>, one or more of the displays <NUM>, and/or one or more of the displays <NUM> is configured such that one or more displays <NUM> and/or one or more displays <NUM> is configured to display the load measured by the strain gauge(s). In implementations wherein the nosepiece <NUM> includes more than one strain gauge, the display(s) <NUM> and/or the display(s) <NUM> may display the load measured by each strain gauge individually and/or may display an average of the measurements of two or more of the strain gauges. The nosepiece <NUM> may include any number of the strain gauges. Each strain gauge is mounted to the nosepiece <NUM> at any position (e.g., location, orientation, alignment, angle, etc.) and using any method, means, structure, mechanism, manner, arrangement, connection, connector, device, and/or the like that enables the strain gauge to function as described and/or illustrated herein (e.g., to measure a load that indicates the amount of contact force that the end surface <NUM> is applying to the workpiece surface <NUM> at the location of the strain gauge, etc.).

In operation, the end portion <NUM> of the nosepiece <NUM> of the drilling end effector <NUM> is positioned on the workpiece surface <NUM> of the workpiece <NUM> over the target drilling location <NUM>. In the exemplary implementations shown herein, the control system <NUM> automatically commands the articulated robot arm 102a to automatically position and hold the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM> over the target drilling location <NUM>. In other implementations, another type of fully automated drilling system or a semi-automated drilling system automatically positions and holds the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM> over the target drilling location <NUM>. In still other implementations, an operator manually positions the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM> over the target drilling location <NUM>.

In the exemplary implementation shown herein, the end surface <NUM> of the nosepiece <NUM> is engaged in physical contact with the workpiece surface <NUM> when the end portion <NUM> of the nosepiece <NUM> is held on the workpiece surface <NUM> over the target drilling location <NUM> (e.g., as shown in <FIG>, etc.), for example to facilitate orienting the drilling tool <NUM> relative to the workpiece surface <NUM>, to facilitate holding the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM>, etc..

Once the nosepiece <NUM> has been positioned on the workpiece surface <NUM> over the target drilling location <NUM>, one or more images acquired by the camera(s) <NUM> is analyzed (e.g., viewed; data, signals, and/or the like that represents the image(s) is accessed; etc.) to determine whether the end portion <NUM> of the nosepiece <NUM> is aligned (e.g., approximately aligned, precisely aligned, etc.) with the pattern <NUM> on the workpiece surface <NUM>. In the exemplary implementations shown herein, the control system <NUM> automatically analyzes the image(s) acquired by the camera(s) <NUM> to determine whether the end portion <NUM> of the nosepiece <NUM> is aligned with the pattern <NUM> on the workpiece surface <NUM>. In addition or alternatively, the image(s) acquired by the camera(s) <NUM> is automatically analyzed by another device (e.g., a camera <NUM>, another control system, the pattern generator <NUM>, etc.) and/or is manually analyzed by an operator viewing the image(s) on one or more of the optional displays <NUM> and/or <NUM>. In addition or alternative to analyzing the image(s) acquired by the camera(s) <NUM>, an operator may view the area <NUM> of the workpiece surface <NUM> that includes the pattern <NUM> and the target drilling location <NUM> through a direct line of sight or an indirect line of sight (e.g., provided by one or more mirrors, reflectors, etc.) to determine whether the end portion <NUM> of the nosepiece <NUM> is aligned with the pattern <NUM> on the workpiece surface <NUM>. The optional displays <NUM> and <NUM> and the optional line of sight also enable an operator to observe the area <NUM> that includes the pattern <NUM> and the target drilling location <NUM> during the various positioning, alignment, and drilling operations of the drilling system <NUM>.

Any relative position (e.g., location, orientation, etc.) between the pattern <NUM> and the end portion <NUM> of the nosepiece <NUM> along the workpiece surface <NUM> can be used to determine whether the end portion <NUM> of the nosepiece <NUM> is aligned with the pattern <NUM> (whether the relative position is obtained from image(s) acquired by the camera(s) <NUM> or by an operator through line of sight). Examples of relative positions between the pattern <NUM> and the end portion <NUM> of the nosepiece <NUM> that can be used to determine whether the end portion <NUM> is aligned with the pattern <NUM> include, but are not limited to: whether the pattern <NUM> is visible when the end portion <NUM> of the nosepiece <NUM> is held on the workpiece surface <NUM> over the target drilling location <NUM>; whether an edge, segment, and/or other geometry of the end portion <NUM> lines up with an edge, segment, and/or other geometry of the pattern <NUM>; and/or the like.

In the exemplary implementations shown herein, the end portion <NUM> of the nosepiece <NUM> is determined as misaligned (e.g., not approximately aligned, not precisely aligned, etc.) with the pattern <NUM> when the pattern <NUM> is visible in the image(s) acquired by the camera(s) <NUM>. For example, <FIG> illustrates an exemplary implementation of an image <NUM> of the area <NUM> acquired by the camera(s) <NUM> that illustrates the end portion <NUM> of the nosepiece <NUM> misaligned with the pattern according to one implementation. As can be seen in <FIG>, the pattern <NUM> is visible in the image <NUM>, thereby indicating that the end portion <NUM> of the nosepiece <NUM> is misaligned with the pattern <NUM>.

In the exemplary implementations shown herein, the end portion <NUM> of the nosepiece <NUM> is determined to be aligned with the pattern <NUM> when the end portion <NUM> covers the pattern <NUM> such that the pattern <NUM> is not visible in the image(s) acquired by the camera(s) <NUM>. For example, <FIG> illustrates an exemplary implementation of an image <NUM> of the area <NUM> acquired by the camera(s) <NUM> that illustrates the end portion <NUM> of the nosepiece <NUM> aligned with the pattern according to one implementation. As can be seen in <FIG>, the pattern <NUM> is not visible in the image <NUM>, thereby indicating that the end portion <NUM> of the nosepiece <NUM> is aligned with the pattern <NUM>.

A determination that the end portion <NUM> of the nosepiece <NUM> is aligned with the pattern <NUM> indicates that the drilling tool <NUM> is aligned (e.g., approximately aligned, precisely aligned, etc.) with the target drilling location <NUM>. Accordingly, the drilling end effector <NUM> is activated to drill into the workpiece surface <NUM> at the target drilling location <NUM> upon a determination that the end portion <NUM> of the nosepiece <NUM> is aligned with the pattern <NUM> on the workpiece surface <NUM>.

A determination that the end portion <NUM> of the nosepiece <NUM> is misaligned with the pattern <NUM> indicates that the drilling tool <NUM> is misaligned (e.g., not approximately aligned, not precisely aligned, etc.) with the target drilling location <NUM>. Accordingly, upon a determination that the end portion <NUM> of the nosepiece <NUM> is misaligned with the pattern <NUM>, the end portion <NUM> of the nosepiece <NUM> is adjustably aligned (e.g., approximately aligned, precisely aligned, etc.) with the pattern <NUM> on the workpiece surface <NUM> by moving the drilling end effector relative to the workpiece surface <NUM> (e.g., along the length and/or width of the workpiece surface <NUM>, etc.). In the exemplary implementations shown herein, the control system <NUM> automatically commands the articulated robot arm 102a to automatically move the drilling end effector <NUM> relative to the workpiece surface <NUM> to thereby automatically adjustably align the end portion <NUM> of the nosepiece <NUM> with the pattern <NUM> on the workpiece surface <NUM>. In some other implementations, the end portion <NUM> of the nosepiece <NUM> is manually moved by an operator to manually adjustably align the end portion <NUM> of the nosepiece <NUM> with the pattern <NUM> on the workpiece surface <NUM>.

The optional displays <NUM> and <NUM> and the optional line of sight of an operator enables the operator to observe the area <NUM> that includes the pattern <NUM> and the target drilling location <NUM> during the various positioning, alignment, and drilling operations of the drilling system <NUM>. In some examples, the area <NUM> is analyzed (e.g., using the image(s) acquired by the camera(s) <NUM>, by an operator viewing the area <NUM> through a line of sight, etc.) during a drilling operation (e.g., drilling into the workpiece surface <NUM> at the target drilling location <NUM> using the drilling tool <NUM>, etc.) to determine and correct for any movement of the end portion <NUM> of the nosepiece <NUM> out of alignment with the pattern <NUM>, for example caused by the drilling tool <NUM> "walking" along the workpiece surface <NUM> away from the target drilling location <NUM>, caused by movement of the drilling platform, and/or the like.

<FIG> is a flow chart illustrating a method <NUM> for drilling a workpiece according to an implementation. The method <NUM> includes applying, at <NUM>, a pattern on a workpiece surface of the workpiece at a reference location relative to a target drilling location. At <NUM>, the method <NUM> includes holding a nosepiece of a drilling end effector on the workpiece surface of the workpiece. At <NUM>, the method <NUM> includes acquiring an image of an area of the workpiece surface that includes the pattern. The method <NUM> further includes determining, at <NUM>, whether the end portion of the nosepiece is aligned with the pattern on the workpiece surface using the acquired image. In some implementations, determining at <NUM> whether the end portion of the nosepiece is aligned with the pattern on the workpiece surface using the acquired image includes determining, at 208a, whether the pattern is visible in the acquired image.

The method <NUM> further includes adjustably aligning, at <NUM>, the end portion of the nosepiece with the pattern on the workpiece surface by moving the drilling end effector relative to the workpiece surface upon a determination that the end portion of the nosepiece is misaligned with the pattern on the workpiece surface. At <NUM>, the method <NUM> includes drilling the target drilling location with the drilling end effector upon a determination that the end portion of the nosepiece is aligned with the pattern on the workpiece surface.

Certain implementations of the present disclosure facilitate aligning a drilling tool with a target drilling location on a workpiece surface. Certain implementations of the present disclosure facilitate preventing movement (e.g., sliding, skidding, skating, etc.) of the drilling tool away from the target drilling location on the workpiece surface, for example before and/or during the performance of a drilling operation on the workpiece.

Certain implementations of the present disclosure reduce the occurrence of openings being drilled at inaccurate locations (e.g., an opening misaligned with the target drilling location, etc.) on the workpiece surface. Certain implementations of the present disclosure reduce damage (e.g., scratches, scrapes, gashes, etc.) caused to the workpiece and/or other structures (e.g., attaching substructure, etc.) resulting from the drilling tool moving along the workpiece surface. Certain implementations of the present disclosure reduce the number of broken drilling tools resulting from repeated drilling operations. Certain implementations of the present disclosure facilitate detecting, preventing, reducing, and/or correcting for movement (e.g., sliding, skidding, skating, etc.) of a drilling tool away from the target drilling location without increasing the cost and/or complexity of one or more components (e.g., an articulated robot arm, a drilling end effector, the automation cell in which a drilling operation is performed, a control system, etc.) of the drilling system.

Another exemplary implementation of a drilling end effector <NUM> is illustrated in <FIG>. Referring now to <FIG>, a drilling system <NUM> includes a drilling platform <NUM> and a drilling end effector <NUM>. As will be described in more detail below, a nosepiece <NUM> of the drilling end effector <NUM> includes a suction clamp <NUM> that is configured to hold the nosepiece <NUM> to a workpiece surface <NUM> of a workpiece <NUM>.

The drilling end effector <NUM> includes the nosepiece <NUM>, which is mounted to the base <NUM>. The nosepiece <NUM> extends a length from an end portion <NUM> to an opposite end portion <NUM>. The end portion <NUM> of the nosepiece <NUM> is mounted to the base <NUM> of the drilling end effector <NUM> such that the nosepiece <NUM> at least partially surrounds the circumference of the drilling tool <NUM> when the drilling tool <NUM> is held by the chuck <NUM>, for example as shown in <FIG> and <FIG>. As illustrated in <FIG> and <FIG>, the length of the nosepiece <NUM> extends along the axes <NUM> and <NUM> when the nosepiece <NUM> is mounted to the base <NUM> of the drilling end effector <NUM>. In <FIG>, the base <NUM> and nosepiece <NUM> are cut away such that the interiors of the base <NUM> and nosepiece <NUM> are visible to illustrate the chuck <NUM> and drilling tool <NUM>.

The end portion <NUM> of the nosepiece <NUM> is configured to be held on the workpiece surface <NUM> at a location wherein the centerline axis <NUM> of the drilling tool <NUM> is aligned with a target drilling location on the workpiece surface <NUM>. The end portion <NUM> of the nosepiece <NUM> includes an end surface <NUM> that is configured to face the workpiece surface <NUM> of the workpiece <NUM> when the end portion <NUM> is held on the workpiece surface <NUM> (e.g., during drilling of the workpiece <NUM>, etc.). In the implementations falling under the scope of the claims, the end surface <NUM> is configured to be engaged in physical contact with the workpiece surface <NUM> of the workpiece <NUM>, for example to facilitate holding the end portion <NUM> on the workpiece surface <NUM>.

The nosepiece <NUM> includes any structure, configuration, arrangement, geometry, and/or the like that enables the nosepiece <NUM> to function as described and/or illustrated herein (e.g., to facilitate alignment of the drilling tool <NUM> with the target drilling location on the workpiece surface <NUM>, etc.). In the implementations shown herein, the end portion <NUM> of the nosepiece <NUM> is defined by a single continuous segment that continuously surrounds (e.g., surrounds an approximate entirety of the circumference of, etc.) the drilling tool <NUM>, as should be apparent from <FIG> and <FIG>. Although shown as including a circular shape, the end portion <NUM> of the nosepiece <NUM> additionally or alternatively includes any other shape(s), such as, but not limited to, a polygonal shape, a rectangular shape, a triangular shape, a quadrilateral shape, another curved shape, an oval shape, a hexagonal shape, an octagonal shape, and/or the like.

In the implementations shown herein, the drilling platform <NUM> is an articulated robot arm 302a that is configured to hold the drilling end effector <NUM>, for example on an end portion <NUM> of the articulated robot arm 302a, as is shown in <FIG> and <FIG>. The articulated robot arm 302a of the exemplary implementations provides a fully automated drilling system <NUM>. For example, the articulated robot arm 302a is configured to automatically move the drilling end effector <NUM> to the target drilling location on the workpiece surface <NUM> and activate the drilling end effector <NUM> to drill into the workpiece <NUM> using the drilling tool <NUM>. The drilling system <NUM> includes a control system <NUM> operatively connected to (e.g., using a wired and/or wireless connection, etc.), or incorporated as a component of, the articulated robot arm 302a and/or the end effector <NUM> for controlling the drilling system <NUM>. For example, the control system <NUM> is configured to control movement of the articulated robot arm 302a, activation of the drilling end effector <NUM> to drill into the workpiece <NUM>, other control functions of the drilling system <NUM>, and/or the like.

The drilling platform <NUM> is not limited to the articulated robot arm 302a. Rather, additionally or alternatively the drilling system <NUM> includes any other type of drilling platform (whether the drilling system <NUM> is fully automated, semi-automated, or fully manual), such as, but not limited to, a drill press, a fixture and/or other structure (e.g., a hanging structure, a structure that mounts to the workpiece <NUM>, a structure that is adjacent the workpiece <NUM>, a structure that rests on and/or is attached to a floor, etc.), a gantry-style drilling platform, a post-style drilling platform, a hand-held drilling platform (e.g., a hand-held battery, electrical corded, pneumatic, or hydraulic powered drill, etc.), a less-portable drilling apparatus, and/or the like.

Examples of fully automated implementations include the exemplary implementation of the articulated robot arm 302a shown herein, an implementation wherein the drilling platform <NUM> includes a drill press, gantry, or post system that includes a linear actuator (not shown) that automatically moves the drilling tool <NUM> relative to the base <NUM> of the drilling end effector <NUM> and automatically exerts a force on the drilling tool <NUM> that provides the contact force between the drilling tool <NUM> and the workpiece surface <NUM>, for example upon activation by an operator and/or a control system. An example of a semi-automated implementation is an implementation wherein the drilling platform <NUM> is a hand-held platform that includes a linear actuator and/or other mechanism that is configured to automatically move the drilling tool <NUM> relative to the base <NUM> of the drilling end effector <NUM> to automatically exert a force on the drilling tool <NUM> that provides the contact force, for example upon activation of the by an operator holding the drilling platform <NUM>. Examples of manual systems include an implementation wherein the drilling platform <NUM> is a drill press that includes a hand crank that can be manually turned by an operator to indirectly move the drilling tool <NUM> relative to the base <NUM> and indirectly exert a force on the drilling tool <NUM> that provides the contact force between the drilling tool <NUM> and the workpiece surface <NUM>.

In some other implementations, the drilling platform <NUM> and the base <NUM> of the drilling end effector <NUM> are: (<NUM>) moved along the axes <NUM> and <NUM> toward the workpiece surface <NUM> (e.g., in the direction of the arrow <NUM>, etc.) to thereby move the drilling tool <NUM> toward and into physical contact with the workpiece surface <NUM>; and (<NUM>) a force is exerted on the base <NUM> of the drilling end effector <NUM> to force the drilling tool <NUM> against the workpiece surface <NUM> and thereby provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM>. The movement of, and force exerted on, the base <NUM> of the drilling end effector <NUM> to move the drilling tool <NUM> toward the workpiece surface <NUM> and provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM> is: (<NUM>) fully automated in some implementations; (<NUM>) assisted in some implementations (e.g., semi-automated, etc.); and (<NUM>) fully manual (e.g., performed wholly by an operator, etc.) in some implementations. Examples of fully automated implementations include an implementation wherein an articulated robot arm (e.g., the articulated robot arm 302a, etc.) automatically moves the base <NUM> of the drilling end effector <NUM> to thereby move the drilling tool <NUM> toward the workpiece surface <NUM> and provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM>. Examples of manual implementations include an implementation wherein an operator holding the drilling platform <NUM> manually moves the drilling platform <NUM> and thereby the base <NUM> of the drilling end effector <NUM> to thereby move the drilling tool <NUM> toward the workpiece surface <NUM> and manually exert the force on the drilling platform <NUM> and the base <NUM> that provides the contact force between the drilling tool <NUM> and the workpiece surface <NUM>. In some implementations wherein the base <NUM> of the drilling end effector <NUM> is moved to thereby move the drilling tool <NUM> toward the workpiece surface <NUM> and provide the contact force between the drilling tool <NUM> and the workpiece surface <NUM>, the nosepiece <NUM> is collapsible (e.g., resiliently, non-resiliently, etc.) along the length thereof to enable the drilling tool <NUM> to extend past the end portion <NUM> of the nosepiece <NUM> while the nosepiece <NUM> remains held on the workpiece surface <NUM> during drilling operations.

Referring now to <FIG> and <FIG>, the suction clamp <NUM> will now be described. The suction clamp <NUM> includes one or more suction cups <NUM> and one or more suction feed lines <NUM>. Specifically, the nosepiece <NUM> of the drilling end effector <NUM> includes the suction cup(s) <NUM> and the suction feed line(s) <NUM>. In the exemplary implementations shown herein, the end portion <NUM> of the nosepiece <NUM> includes the suction cup(s) <NUM>. Each suction cup <NUM> is fluidly connected to one or more corresponding suction feed lines <NUM>, for example as is shown in <FIG>. Each suction feed line <NUM> is fluidly connected to a suction system <NUM> (not shown in <FIG>; e.g., of the drilling system <NUM>, an external suction system <NUM> that is not a component of the drilling system <NUM>, etc.) that is configured to generate suction at the suction cup(s) <NUM>.

As briefly described above, the suction clamp <NUM> is configured to hold the nosepiece <NUM> to the workpiece surface <NUM>. Specifically, in operation, the end portion <NUM> of the nosepiece <NUM> is positioned on the workpiece surface <NUM> of the workpiece <NUM> over the target drilling location such that the drilling tool <NUM> is aligned with the target drilling location on the workpiece surface <NUM> and such that the suction cup(s) <NUM> are engaged in physical contact with the workpiece surface <NUM>. In the exemplary implementations shown herein, the control system <NUM> automatically commands the articulated robot arm 302a to automatically position the nosepiece <NUM> on the workpiece surface <NUM> over the target drilling location <NUM>. In other implementations, another type of fully automated drilling system or a semi-automated drilling system automatically positions the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM> over the target drilling location. In still other implementations, an operator manually positions the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM> over the target drilling location.

Once the end portion <NUM> of the nosepiece <NUM> has been positioned on the workpiece surface <NUM> over the target drilling location, the suction system <NUM> is activated to pull the suction cup(s) <NUM> under suction such that the suction cup(s) <NUM> adhere to the workpiece surface <NUM>. The adherence of the suction cup(s) <NUM> to the workpiece surface <NUM> holds the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM> (e.g., as is shown in <FIG>, etc.) such that the drilling tool <NUM> remains aligned with the target drilling location.

In the exemplary implementations shown herein, the control system <NUM> automatically activates the suction system <NUM> to pull the suction cup(s) <NUM> under suction. In other implementations, another type of fully automated drilling system or a semi-automated drilling system automatically activates the suction system <NUM>. In still other implementations, an operator manually activates the suction system <NUM>.

Optionally, one or more suction cups <NUM> includes a strain gauge <NUM> that is configured to measure a load that represents a contact force (e.g., amount of suction, etc.) exerted on the workpiece surface <NUM> by the suction cup(s) <NUM>. on the end portion <NUM> of the nosepiece <NUM> by a contact force between the end surface <NUM> of the nosepiece <NUM> and the workpiece surface <NUM>. Each strain gauge <NUM> measures the contact force exerted on the workpiece surface <NUM> in any units, such as, but not limited to, pounds (lbs. ), kilograms (kgs. ), and/or the like. In some implementations, one or more cameras (e.g., the camera <NUM> shown in <FIG> and <FIG>, etc.) and one or more displays (e.g., the display <NUM> shown in <FIG>, the display <NUM> shown in <FIG>, etc.) to display the loads measured by the strain gauge(s) <NUM>. In implementations wherein more than one strain gauge <NUM> is included, the load measured by each strain gauge <NUM> may be displayed individually and/or as an average of the measurements of two or more of the strain gauges <NUM>. Although four are shown, any number of the strain gauges <NUM> may be provided, whether the number of strain gauges <NUM> is the same as the number of suction cups <NUM>.

Although four are shown in <FIG>, the nosepiece <NUM> may include any other number of suction cups <NUM>. Moreover, the suction cup(s) <NUM> may have configuration, arrangement, and/or the like that enables the suction clamp <NUM> to function as described and/or illustrated herein (e.g., to hold the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM> such that the drilling tool <NUM> remains aligned with the target drilling location, etc.). For example, in some implementations the end surface <NUM> of the nosepiece <NUM> is engaged in physical contact with the workpiece surface <NUM> when the end portion <NUM> of the nosepiece <NUM> is held on the workpiece surface <NUM> by the suction clamp <NUM>, while in other implementations the end surface <NUM> of the nosepiece <NUM> is not engaged in physical contact with the workpiece surface <NUM> when the end portion of the nosepiece <NUM> is held on the workpiece surface <NUM> by the suction clamp <NUM>.

Referring now to <FIG>, in the implementation shown in <FIG>, <FIG>, and <FIG>, and according to the present invention, the end surface <NUM> of the nosepiece <NUM> includes the suction cups <NUM>, which are recessed into the end surface <NUM> to enable the end surface <NUM> of the nosepiece <NUM> to be engaged in physical contact with the workpiece surface <NUM> while the suction cups <NUM> hold the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM>. According to an example implementation useful for understanding the presently claimed invention, another example of the configuration, arrangement, and/or the like of the suction cups <NUM> is shown in <FIG>. In the example shown in <FIG>, the end surface <NUM> of the nosepiece <NUM> includes one or more suction cups <NUM> that extend outward from the end surface <NUM> such that the end surface <NUM> of the nosepiece <NUM> is not engaged in physical contact with the workpiece surface <NUM> while the suction cups <NUM> hold the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM>. In still another example of the configuration, arrangement, and/or the like of the suction cups <NUM> that is shown in <FIG>, the end portion <NUM> of the nosepiece <NUM> can further include one or more suction cups <NUM> that is positioned alongside the end surface <NUM> of the nosepiece <NUM>. In the example shown in <FIG>, the suction cups <NUM> are positioned relative to the end surface <NUM> of the nosepiece <NUM> such that the end surface <NUM> is engaged in physical contact with the workpiece surface <NUM> when the end portion <NUM> of the nosepiece <NUM> is held on the workpiece surface <NUM> by the suction cups <NUM>. In some other example implementations useful for understanding the presently claimed invention, the suction cups <NUM> are positioned alongside the end surface <NUM> of the nosepiece <NUM> such that the end surface <NUM> is not engaged in physical contact with the workpiece surface <NUM> when the end portion <NUM> of the nosepiece <NUM> is held on the workpiece surface <NUM> by the suction cups <NUM>.

Although only a single suction feed line <NUM> is shown in <FIG>, the nosepiece <NUM> may include any other number of suction feed lines <NUM>. Moreover, the suction feed line(s) <NUM> and suction cup(s) <NUM> may have configuration, arrangement, and/or the like (e.g., of fluid connectivity, etc.) that enables the suction clamp <NUM> to function as described and/or illustrated herein (e.g., to hold the end portion <NUM> of the nosepiece <NUM> on the workpiece surface <NUM> such that the drilling tool <NUM> remains aligned with the target drilling location, etc.). For example, in the exemplary implementation shown in <FIG>, the suction cups <NUM> are fluidly connected to each other (e.g., via exemplary channels <NUM> within a body <NUM> of the nosepiece <NUM>, etc.) and the suction feed line <NUM>. The fluid connection between the suction cups <NUM> and the suction feed line <NUM> may be provided by a fluid connection of the suction feed line <NUM> to one or more of the channels <NUM> (e.g., as is shown in <FIG>, etc.) and/or by a direct fluid connection of the suction feed line <NUM> to one or more of the suction cups <NUM>. In another example shown in <FIG>, the nosepiece <NUM> includes two or more suction cups <NUM> that are each independently fluidly connected to the suction system <NUM> (shown in <FIG>) through a corresponding suction feed line <NUM>. In some implementations, the suction feed line <NUM> is at least partially embedded within the body <NUM> of the nosepiece <NUM>, for example as is shown in <FIG>, etc..

Referring now to <FIG>, examples of the disclosure may be described in the context of using the positioning device to build one or more portions of an aircraft <NUM> that includes an airframe <NUM> with a plurality of high-level systems <NUM> and an interior <NUM>. Examples of high-level systems <NUM> include one or more of a propulsion system <NUM>, an electrical system <NUM>, a hydraulic fluid system <NUM>, a control system <NUM>, and an environmental system <NUM>. Any number of other systems can be included. Although an aerospace example is shown, the principles can be applied to other industries, such as, but not limited to, the automotive industry, the marine industry, and/or the like.

Examples of the disclosure can be described in the context of an aircraft manufacturing and service method <NUM> as shown in <FIG>. During pre-production, illustrative method <NUM> can include specification and design <NUM> of an aircraft (e.g., aircraft <NUM> shown in <FIG>, etc.) and material procurement <NUM>. During production, component and subassembly manufacturing <NUM> and system integration <NUM> of the aircraft take place. Thereafter, the aircraft can go through certification and delivery <NUM> to be placed in service <NUM>. While in service by a customer, the aircraft is scheduled for routine maintenance and service <NUM> (which can also include modification, reconfiguration, refurbishment, and so on).

Each of the processes of the illustrative method <NUM> can be performed or carried out by a system integrator, a third party, and/or an operator (e.g., a customer, etc.). For the purposes of this description, a system integrator can include, without limitation, any number of aircraft manufacturers and major-system subcontractors; a third party can 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.

It should be noted that any number of other systems can be included with the system described herein. Also, although an aerospace example is shown, the principles can be applied to other industries, such as, but not limited to, the automotive industry, the marine industry, and/or the like.

Systems and methods shown or described herein can be employed during any one or more of the stages of the manufacturing and service method <NUM>. For example, components or subassemblies corresponding to component and subassembly manufacturing <NUM> can be fabricated or manufactured in a manner similar to components or subassemblies produced while the aircraft is in service. Also, one or more aspects of the system, method, or combination thereof can be utilized during the production states of subassembly manufacturing <NUM> and system integration <NUM>, for example, by substantially expediting assembly of or reducing the cost of the aircraft. Similarly, one or more aspects of the apparatus or method realizations, or a combination thereof, cab be utilized, for example and without limitation, while the aircraft is in service, e.g., maintenance and service <NUM>.

Various implementations of the present disclosure facilitate aligning a drilling tool with a target drilling location on a workpiece surface. Various implementations of the present disclosure facilitate detecting, reducing, and/or correcting for movement (e.g., sliding, skidding, skating, etc.) of the drilling tool away from the target drilling location on the workpiece surface, for example before performing a drilling operation on the workpiece. Various implementations of the present disclosure facilitate preventing movement (e.g., sliding, skidding, skating, etc.) of the drilling tool away from the target drilling location on the workpiece surface, for example before and/or during the performance of a drilling operation on the workpiece.

Various implementations of the present disclosure reduce the occurrence of openings being drilled at inaccurate locations (e.g., an opening misaligned with the target drilling location, etc.) on the workpiece surface. Various implementations of the present disclosure reduce damage (e.g., scratches, scrapes, gashes, etc.) caused to the workpiece and/or other structures (e.g., attaching substructure, etc.) resulting from the drilling tool moving along the workpiece surface. Various implementations of the present disclosure reduce the number of broken drilling tools resulting from repeated drilling operations. Various implementations of the present disclosure facilitate detecting, preventing, reducing, and/or correcting for movement (e.g., sliding, skidding, skating, etc.) of a drilling tool away from the target drilling location without increasing the cost and/or complexity of one or more components (e.g., an articulated robot arm, a drilling end effector, an automation cell in which a drilling operation is performed, a control system, etc.) of the drilling system. For example, various implementations of the present disclosure utilize the capabilities of an existing camera on a drilling end effector.

It will be understood that the benefits and advantages described above can relate to one embodiment or can relate to several embodiments.

That is, the operations can be performed in any order, unless otherwise specified, and examples of the disclosure can include additional or fewer operations than those disclosed herein. For example, it is contemplated that executing or performing a particular operation before, contemporaneously with, or after another operation (e.g., different steps, etc.) is within the scope of aspects of the disclosure.

The terms "comprising," "including," and "having" are intended to be inclusive and mean that there can be additional elements other than the listed elements.

It is to be understood that the above description is intended to be illustrative, and not restrictive. For example, the above-described embodiments (and/or aspects thereof) can be used in combination with each other. In addition, many modifications can be made to adapt a particular situation or material to the teachings of the various embodiments of the disclosure without departing from their scope. While the dimensions and types of materials described herein are intended to define the parameters of the various embodiments of the disclosure, the embodiments are by no means limiting and are example embodiments. Many other embodiments will be apparent to those of ordinary skill in the art upon reviewing the above description. The scope of the various embodiments of the disclosure should, therefore, be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled. In the appended claims, the terms "including" and "in which" are used as the plain-English equivalents of the respective terms "comprising" and "wherein. " Moreover, the terms "first," "second," and "third," etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.

Claim 1:
A drilling end effector (<NUM>) for drilling a workpiece (<NUM>) having a workpiece surface (<NUM>), the drilling end effector (<NUM>) comprising:
a chuck (<NUM>) configured to hold a drilling tool (<NUM>); and
a nosepiece (<NUM>) configured to at least partially surround the drilling tool (<NUM>) when the drilling tool (<NUM>) is held by the chuck (<NUM>), the nosepiece (<NUM>) comprising an end portion (<NUM>), the nosepiece (<NUM>) comprising at least one suction cup (<NUM>) and at least one suction feed line (<NUM>), the at least one suction cup (<NUM>) being fluidly connected to the at least one suction feed line (<NUM>), the at least one suction feed line (<NUM>) being configured to be fluidly connected to a suction system (<NUM>), wherein the at least one suction cup (<NUM>) is configured to be engaged in physical contact with the workpiece surface (<NUM>) and pulled under suction by the suction system (<NUM>) such that the at least one suction cup (<NUM>) adheres to the workpiece surface (<NUM>) to thereby hold the end portion (<NUM>) of the nosepiece (<NUM>) on the workpiece surface (<NUM>), characterised in that:
the end portion (<NUM>) of the nosepiece (<NUM>) comprises an end surface (<NUM>) that is configured to engage in physical contact with the workpiece surface (<NUM>) of the workpiece (<NUM>) during drilling of the workpiece (<NUM>); and
the end surface (<NUM>) of the nosepiece (<NUM>) comprising the at least one suction cup (<NUM>), wherein the at least one suction cup (<NUM>) is at least partially recessed into the end surface (<NUM>).