US 12,220,751 B2
Robotic drill system and method of drilling with a robotic drill system
Jason John Cochrane, Melbourne (AU); Leng Benjamin Vongchanh, Melbourne (AU); and Ashkan Amirsadri, Melbourne (AU)
Assigned to The Boeing Company, Chicago, IL (US)
Filed by The Boeing Company, Chicago, IL (US)
Filed on Jan. 11, 2022, as Appl. No. 17/572,843.
Claims priority of provisional application 63/175,781, filed on Apr. 16, 2021.
Prior Publication US 2022/0331975 A1, Oct. 20, 2022
Int. Cl. B23B 31/40 (2006.01); B23B 39/14 (2006.01); B23B 49/02 (2006.01); B25J 11/00 (2006.01); B25J 13/08 (2006.01)
CPC B23B 31/4006 (2013.01) [B23B 39/14 (2013.01); B23B 49/02 (2013.01); B25J 11/005 (2013.01); B25J 13/08 (2013.01); B23B 2231/26 (2013.01); B25J 11/0055 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A robotic drill system comprising:
a tool head comprising an expandable collet and an end effector, wherein the expandable collet is configured to expand between a retracted configuration for insertion into a hole defined in a drill template and an expanded configuration;
a robotic manipulator arm to support the tool head;
at least one robotic actuator to move the robotic manipulator arm to produce a robotic insertion of the tool head towards the hole of the drill template; and
at least one binding sensor to detect a misalignment-induced binding of the expandable collet to a wall of the hole of the drill template before the end effector reaches a specified position,
wherein in response to detecting the misalignment-induced binding of the expandable collet within the hole, (i) the robotic insertion of the tool head is stopped, and (ii) the expandable collet is configured to expand to the expanded configuration to center the end effector in the hole, and
wherein a retracted diameter of the expandable collet in the retracted configuration is at least 95%, but less than 100%, of a template hole diameter of the hole.