公开(公告)号：US20190054615A1

公开(公告)日：2019-02-21

申请号：US15679472

申请日：2017-08-17

申请人： Matthew S. Ulliman ,  Jeff Martin

发明人： Matthew S. Ulliman ,  Jeff Martin

IPC分类号： B25J9/10

摘要： An apparatus for surface finishing includes a robot and an end effector. The end effector includes a compliance wrist having an axis of movement and coupled to the robot and a grinder tool coupled to the compliance wrist. The robot is configured to controllably position the end effector in three-dimensional space. The compliance wrist is configured to bias the grinder tool to a biased position relative to the robot and enable the grinder tool to move relative to the robot in response to an external force acting upon the grinder tool.

公开(公告)号：US10537993B2

公开(公告)日：2020-01-21

申请号：US15679472

申请日：2017-08-17

申请人： Matthew S. Ulliman ,  Jeff Martin

发明人： Matthew S. Ulliman ,  Jeff Martin

IPC分类号： B25J11/00 ,  B25J17/02 ,  B25J5/00 ,  B24B7/18 ,  B25J9/10 ,  B24D7/02 ,  B24B23/00 ,  B24B27/00 ,  B24B23/02 ,  B24B55/10 ,  B24D7/10 ,  B24B49/12 ,  B24D7/16 ,  B66F11/04

摘要： An apparatus for surface finishing includes a robot and an end effector. The end effector includes a compliance wrist having an axis of movement and coupled to the robot and a grinder tool coupled to the compliance wrist. The robot is configured to controllably position the end effector in three-dimensional space. The compliance wrist is configured to bias the grinder tool to a biased position relative to the robot and enable the grinder tool to move relative to the robot in response to an external force acting upon the grinder tool.

公开(公告)号：US10518376B2

公开(公告)日：2019-12-31

申请号：US15442892

申请日：2017-02-27

申请人： Matthew S. Ulliman ,  Jeff Martin

发明人： Matthew S. Ulliman ,  Jeff Martin

IPC分类号： B24B9/00 ,  B24B23/08 ,  B23B5/16

摘要： An apparatus for surface finishing a flange surface of a flange of a pipe includes a frame assembly, a drive assembly coupled to the frame assembly, and a bracket assembly coupled to the frame assembly. The flange is clamped between the frame assembly and the drive assembly. The drive assembly circumferentially translates the apparatus around the pipe. A power tool is coupled to the bracket assembly to perform the surface finishing operation on the flange surface of the flange.

公开(公告)号：US20180243878A1

公开(公告)日：2018-08-30

申请号：US15442892

申请日：2017-02-27

申请人： Matthew S. Ulliman ,  Jeff Martin

发明人： Matthew S. Ulliman ,  Jeff Martin

IPC分类号： B24B9/00

摘要： An apparatus for surface finishing a flange surface of a flange of a pipe includes a frame assembly, a drive assembly coupled to the frame assembly, and a bracket assembly coupled to the frame assembly. The flange is clamped between the frame assembly and the drive assembly. The drive assembly circumferentially translates the apparatus around the pipe. A power tool is coupled to the bracket assembly to perform the surface finishing operation on the flange surface of the flange.