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US 10,976,728 B2Granted
Automatic process planning for robotic deburring operations
AssigneeRaytheon Technologies Corporation
InventorsZhigang Wang, Michael A. Klecka, Abhijit Chakraborty, Changsheng Guo, Jeffrey Michael Mendoza, Edward Marchitto
Life of this patent
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Abstract
A robotic deburring process that automatically, accurately, and efficiently removes burrs from a workpiece. The robotic deburring process uses CAM location data to establish deburring trajectory, physics based machining models to predict burr type and size, and force control functions to compensate inaccuracies due of inaccuracies of robots arms.
Claims20
A deburring apparatus comprising:
- a robot including a robot arm;
- a deburring tool attached to the robot arm;
- a plurality of force sensors attached to the robot arm;
- and
- a controller in data communication with the robot, the controller being configured to:
- predict burr characteristics on a workpiece using manufacturing data, wherein the manufacturing data includes at least one of the workpiece material, chip load, coolant properties, machining tool cutting depth, machining tool cutting speed, machining tool feed rate, machining tool cutting force, machining tool material, machining tool geometry, and machining tool cutting temperature;
- calculate joint positions of the robot arm using computer aided manufacturing (CAM) data and communicate the joint positions of the robot arm to the robot;
- establish the deburring tool trajectory using the CAM data and communicate the deburring tool trajectory to the robot;
- direct the motion of the robot during the removal of a burr on the workpiece, based on the CAM data;
- and
- establish and control a speed of the deburring tool and feed rate of the deburring tool, based on the predicted burr characteristics;
- wherein the controller automatically predicts burr characteristics on the workpiece immediately after completion of machining and finishing of the workpiece.
9 more elements
A method for controlling a robotic deburring process, the method comprising:
- predicting, by a controller, burr characteristics on a workpiece using manufacturing data, wherein the manufacturing data includes at least one of the workpiece material, chip load, coolant properties, machining tool cutting depth, machining tool cutting speed, machining tool feed rate, machining tool cutting force, machining tool material, machining tool geometry, and machining tool cutting temperature;
- calculating, by the controller, joint positions of a robot arm using computer aided manufacturing (CAM) data and communicating, by the controller, the joint positions of the robot arm to the robot;
- establishing, by the controller, a trajectory of a deburring tool connected to the robot arm using the CAM data and communicating, by the controller, the deburring tool trajectory to the robot;
- directing, by the controller, the motion of the robot during the removal of a burr on a workpiece, based on the CAM data;
- and
- establishing and controlling, by the controller, a speed of the deburring tool and a feed rate of the deburring tool, based on the predicted burr characteristics;
- wherein the controller automatically predicts burr characteristics on the workpiece immediately after completion of machining and finishing of the workpiece.
4 more elements
Dependencies are inferred from the claim text.