Device and method for adaptive robotic stone surfacing
AssigneeTechnion Research & Development Foundation Limited
InventorsAaron Sprecher, Tom Shaked
Life of this patent
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Abstract
A device comprising: a bracket adapted to be coupled to a distal end of a robotic arm; a tool holder coupled to said bracket and configured for changeably receiving a first portion of a stone working tool, wherein said tool is movable in a reciprocating axial direction; a driving element for driving said tool distally along said axial direction during a power stroke of said device; and a guiding element for changeably receiving a body portion of said tool and for guiding said tool in said axial direction, wherein said guiding element is configured to resiliently return said tool proximally along said axial direction after said power stroke.
Claims12
A device comprising:
- a bracket adapted to be coupled to a distal end of a robotic arm;
- a tool holder disposed within said bracket and configured for changeably receiving a first portion of a stone working tool, wherein said tool holder is movable along a single reciprocating axial direction;
- a driving element, disposed within said bracket, for driving said tool holder, inside said bracket, distally along said single reciprocating axial direction during a power stroke of said device;
- and
- a guiding element comprising one or more resilient elements, connected to said tool holder, for changeably receiving a body portion of said tool and for guiding said tool in said single reciprocating axial direction, wherein said guiding element is configured to slidingly reciprocally travel along said single reciprocating axial direction, and wherein said guiding element is configured to resiliently return said tool proximally along said single reciprocating axial direction after said power stroke.
A method comprising:
- providing a device comprising:
- a bracket adapted to be coupled to a distal end of a robotic arm;
- a tool holder disposed within said bracket and configured for changeably receiving a first portion of a stone working tool, wherein said tool holder is movable along a single reciprocating axial direction;
- a driving element, disposed within said bracket, for driving said tool holder, inside said bracket, distally along said single reciprocating axial direction during a power stroke of said device;
- and
- a guiding element comprising one or more resilient elements, connected to said tool holder, for changeably receiving a body portion of said tool and for guiding said tooling said single reciprocating axial direction, wherein said guiding element is configured to slidingly reciprocally travel along said single reciprocating axial direction, and wherein said guiding element is configured to resiliently return said tool proximally along said single reciprocating axial direction after said power stroke;
- coupling said device to a distal end of a robotic arm;
- and
- operating said robotic arm according to a set of fabrication instructions, to generate a desired surface pattern on a working surface of a stone article.
Dependencies are inferred from the claim text.