An acoustic perforation method and assembly for forming holes or perforations into a face sheet of a sandwich panel without damaging a honeycomb core thereof. The method may include photographing or otherwise scanning the face sheet bonded to the honeycomb core after cure, then detecting locations of cell walls of the honeycomb core via image processing or analysis of scan data obtained. For example, discolorations on the face sheet or coatings applied thereto may indicate locations of the cell walls of the honeycomb core. A perforation pattern may then be generated or altered based on the detected locations of the cell walls, and a perforation device may be commanded to perforate the face sheet in accordance with the perforation pattern at locations where the cell walls are not located.

An acoustic perforation method and assembly for forming holes or perforations into a face sheet of a sandwich panel without damaging a honeycomb core thereof. The method may include photographing or otherwise scanning the face sheet bonded to the honeycomb core after cure, then detecting locations of cell walls of the honeycomb core via image processing or analysis of scan data obtained. For example, discolorations on the face sheet or coatings applied thereto may indicate locations of the cell walls of the honeycomb core. A perforation pattern may then be generated or altered based on the detected locations of the cell walls, and a perforation device may be commanded to perforate the face sheet in accordance with the perforation pattern at locations where the cell walls are not located.

A system and method is disclosed for performing matched drilling operations on mating first and second workpieces. A microscopic camera is mounted on a movable spindle holding a tool. A micro-adjustment mechanism on the spindle controllable moves the tool. A template is provided that is mounted to the first workpiece and to the second workpiece. A controller receives images of the template from the microscopic camera at each of the predetermined positions on the first workpiece and identifies microscopic features on the template associated with each of the predetermined positions on the first workpiece. The controller compares microscopic features within received images of the template at each of the predetermined positions on the second workpiece associated with microscopic features of a corresponding image of the first workpiece to calculate a necessary offset adjustment that is applied to the micro-adjustment mechanism before each operation on the second workpiece.

A system and method is disclosed for performing matched drilling operations on mating first and second workpieces. A microscopic camera is mounted on a movable spindle holding a tool. A micro-adjustment mechanism on the spindle controllable moves the tool. A template is provided that is mounted to the first workpiece and to the second workpiece. A controller receives images of the template from the microscopic camera at each of the predetermined positions on the first workpiece and identifies microscopic features on the template associated with each of the predetermined positions on the first workpiece. The controller compares microscopic features within received images of the template at each of the predetermined positions on the second workpiece associated with microscopic features of a corresponding image of the first workpiece to calculate a necessary offset adjustment that is applied to the micro-adjustment mechanism before each operation on the second workpiece.

The invention relates to a method and an arrangement for introducing boreholes into a surface of a workpiece (W) mounted in a stationary manner using a boring tool which is attached to the end face of an articulated-arm robot (KR) and which can be spatially positioned by said robot. The method has the following method steps: positioning the articulated-arm robot-guided boring tool at a spatial position which lies opposite a specified machining location on the workpiece surface at a specified distance therefrom, producing a rigid mechanical connection which supports the end face of the articulated-arm robot (KR) on the workpiece and which can be released from the workpiece surface, and machining the surface by moving the boring tool towards the machining location and subsequently engaging the boring tool with the workpiece (W) at the machining location on the workpiece surface while the end face of the articulated-arm robot (KR) is connected to the workpiece. The invention is characterized by the combination of the following method steps: the boring tool is moved towards the workpiece (W) by means of an NC advancing unit attached to the end face of the articulated-arm robot (KR), the boring process is monitored on the basis of information obtained using a sensor system which detects the position of the boring tool relative to the workpiece surface and which is attached to the end face of the articulated-arm robot (KR), and the boring process is terminated upon reaching a specified boring depth.

The invention relates to a method and an arrangement for introducing boreholes into a surface of a workpiece (W) mounted in a stationary manner using a boring tool which is attached to the end face of an articulated-arm robot (KR) and which can be spatially positioned by said robot. The method has the following method steps: positioning the articulated-arm robot-guided boring tool at a spatial position which lies opposite a specified machining location on the workpiece surface at a specified distance therefrom, producing a rigid mechanical connection which supports the end face of the articulated-arm robot (KR) on the workpiece and which can be released from the workpiece surface, and machining the surface by moving the boring tool towards the machining location and subsequently engaging the boring tool with the workpiece (W) at the machining location on the workpiece surface while the end face of the articulated-arm robot (KR) is connected to the workpiece. The invention is characterized by the combination of the following method steps: the boring tool is moved towards the workpiece (W) by means of an NC advancing unit attached to the end face of the articulated-arm robot (KR), the boring process is monitored on the basis of information obtained using a sensor system which detects the position of the boring tool relative to the workpiece surface and which is attached to the end face of the articulated-arm robot (KR), and the boring process is terminated upon reaching a specified boring depth.

A robotic drilling apparatus is described which has been adapted for drilling holes in ceilings and walls on a construction site. The apparatus (100) comprises a robotic arm (110) mounted to a substructure (112), 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 (114) 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 (120) provided on the movable end for holding a drilling device (122) and a control unit (134) for controlling the operation of the robotic arm. The lifting mechanism preferably comprises a scissor-jack lifting platform. The robotic arm (110) and any support structure (134) for the robotic arm weighs less than 43 kg, and preferably individually weigh less than 23 kg.

A robotic drilling apparatus is described which has been adapted for drilling holes in ceilings and walls on a construction site. The apparatus (100) comprises a robotic arm (110) mounted to a substructure (112), 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 (114) 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 (120) provided on the movable end for holding a drilling device (122) and a control unit (134) for controlling the operation of the robotic arm. The lifting mechanism preferably comprises a scissor-jack lifting platform. The robotic arm (110) and any support structure (134) for the robotic arm weighs less than 43 kg, and preferably individually weigh less than 23 kg.

The disclosure relates to a machining station for machining platelike workpieces (1) by means of at least one tool (10, 13, 14). The machining station has a measuring device (16) for acquiring data relating to the position of bores, a drill (10, 13, 14) for generating bores in the workpiece (1), and a data processor (17) for processing data of the at least one measuring device (16) and/or for controlling the at least one drill (10, 13, 14). The data processor (17) is here suitable and set up for performing an adjustment between a desired drilling position and/or a desired bore depth and an actual position and/or actual depth as determined by the at least one measuring device (16) for a bore present in the workpiece (1), and adapting the drilling position and/or bore depth for generating bores by means of the at least one drill (10, 13, 14).

The disclosure relates to a machining station for machining platelike workpieces (1) by means of at least one tool (10, 13, 14). The machining station has a measuring device (16) for acquiring data relating to the position of bores, a drill (10, 13, 14) for generating bores in the workpiece (1), and a data processor (17) for processing data of the at least one measuring device (16) and/or for controlling the at least one drill (10, 13, 14). The data processor (17) is here suitable and set up for performing an adjustment between a desired drilling position and/or a desired bore depth and an actual position and/or actual depth as determined by the at least one measuring device (16) for a bore present in the workpiece (1), and adapting the drilling position and/or bore depth for generating bores by means of the at least one drill (10, 13, 14).