Pneumatic robotic finishing tool

Abstract

A pneumatic robotic tool, such as grinder, sander, etc., implements passive force control and compliance using two or more double-acting pneumatic pistons distributed about a pneumatic motor within the tool housing. The multiple pistons facilitate a compact design, reducing tool stack height, as compared to prior-art, single-piston designs. In one embodiment, filtered breather vents and an air pressure equalization passage maintain ambient atmospheric pressure throughout the tool, while preventing the infiltration of dust and other particulates. In one embodiment, a hard port rigidly affixed to the tool housing is provided for at least motor supply pneumatic fluid. The motor supply air is transferred from the hard port to the pneumatic motor via a flexible pneumatic fluid tube within the tool housing. In one embodiment, the pneumatic motor discharge air is vented from the tool housing in a sealed passage that accommodates the tool compliance motion, and prevents dust infiltration.