Robot-aided grinding apparatus
AssigneeFerRobotics Compliant Robot Technology GmbH
InventorRonald Naderer
Life of this patent
Estimating the term…
Abstract
Described is an apparatus for robot-aided grinding, comprising the following: a manipulator, a linear actuator, and a grinding machine which includes a rotating grinding tool and is connected to the manipulator via the linear actuator. The apparatus further comprises a protective cover that partially surrounds the rotating grinding tool, the rotating grinding tool protruding from the protective cover at least on a first side. An adjusting mechanism is provided which connects the protective cover to the grinding machine and is designed to adjust the position of the protective cover in relation to the grinding machine.
Claims15
An apparatus for robot-supported grinding, the apparatus comprising:
- a manipulator;
- a linear actuator;
- a grinding machine with a rotating grinding tool, the grinding machine being coupled with the manipulator via the linear actuator;
- an end stop that defines a maximum deflection of the linear actuator, wherein a position of the end stop is adjustable;
- and
- a control configured to adjust the end stop based on a size of the rotating grinding tool.
A method for operating a robot-supported grinding apparatus that comprises a manipulator, a linear actuator with an adjustable end stop and a grinding machine with a rotating grinding tool, the grinding machine being coupled with the manipulator via the linear actuator, the method comprising:
- defining a maximum deflection of the linear actuator by the end stop of the linear actuator;
- and
- adjusting a position of the end stop of the linear actuator based on a size of the rotating grinding tool.
An apparatus for robot-supported grinding, the apparatus comprising:
- a manipulator;
- a linear actuator;
- a grinding machine with a rotating grinding tool, the grinding machine being coupled with the manipulator via the linear actuator;
- an end stop that defines a maximum deflection of the linear actuator, wherein a position of the end stop is adjustable;
- a rod blocking device coupled to the end stop;
- and
- a control configured to disengage the rod blocking device, move a tool center point of the manipulator into a reference position in which the rotating grinding tool contacts a surface, and activate the rod blocking device in order to fixate the position of the end stop.
A method for operating a robot-supported grinding apparatus that comprises a manipulator, a linear actuator with an adjustable end stop and a grinding machine with a rotating grinding tool, the grinding machine being coupled with the manipulator via the linear actuator, the method comprising:
- defining a maximum deflection of the linear actuator by the end stop of the linear actuator;
- and
- adjusting a position of the end stop of the linear actuator by:
- disengaging a rod blocking device to enable shifting the position of the end stop;
- moving a tool center point of the manipulator into a reference position in which the rotating grinding tool contacts a surface;
- and
- activating the rod blocking device to fixate the position of the end stop.
Dependencies are inferred from the claim text.