# US 12,552,045 B2 · Collaborative robot cutting system and method > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,552,045 B2 - Document ID: US12552045B2 - Status: Granted - Kind: B2 - Application number: 17/942,213 - Filed: 2022-09-12 - Published: 2023-03-16 - Granted: 2026-02-17 - Earliest claimed: 2021-09-12 - Assignees: Vectis Automation, LLC - Applicants: Vectis Automation, LLC - Inventors: Andrew Akey; Joshua Pawley; Douglas Rhoda; Alex Roerty; Todd Scarpella - Web page: https://patentgrep.com/patent/US12552045B2 ## CPC - B25J 11/0055: {Cutting} - B23Q 15/12: Adaptive control, i.e. adjusting itself to have a performance which is optimum according to a preassigned criterion - B25J 9/1674: {characterised by safety, monitoring, diagnostic} - B25J 9/1676: {Avoiding collision or forbidden zones} - B25J 19/06: Safety devices - G05B 2219/35098: Automatic coarse, rough and finish cutting path generation - G05B 2219/39001: Robot, manipulator control - G05B 2219/40202: Human robot coexistence - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - B23Q: DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING (tools of the kind used in lathes or boring machines B23B27/00); MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) ## Abstract A collaborative robot cutting system for the assembly, construction, fabrication, and/or the completion of structural components for manufactured assemblies. A method of preparing work pieces and materials for further manufacturing operations employing the intuitive graphical interactive programming features of a robot cutting system user interface to enhance productivity and versatility in high mix, low volume fabrication environments with minimal operator training. ## Claims ### Claim 1 A collaborative robot cutting system for producing precise structural components from raw work material for application in the assembly, construction, fabrication and/or completion of assembled products, the collaborative robot cutting system comprising: a mobile base; at least one programmable collaborative robot operatively connected to the mobile base, the programmable collaborative robot including a robot arm, a base operatively connected to the robot arm and adapted to mount the robot arm to the mobile base, and an electrically isolating pad positioned intermediate the base and the mobile base; a cutting implement operatively connected to the at least one programmable collaborative robot; a power supply operatively connected to the cutting implement; a control system; and a safety system adapted to reduce an operating speed of the system in accordance with recognized safety standards in response to conditions detected by the system. ### Claim 2 (depends on 1) The collaborative robot cutting system of claim 1 wherein the at least one programmable collaborative robot comprises a robot arm having a plurality of arm segments sequentially pivotally and/or rotatably interconnected to one another and structured and arranged to have a preselected reach length or distance. ### Claim 3 (depends on 2) The collaborative robot cutting system of claim 2 wherein the at least one programmable collaborative robot includes a safety feature built into the control system and the robot arm, the safety feature being adapted to interrupt movement of the robot arm, should it come in contact with an operator or another object. ### Claim 4 (depends on 3) The collaborative robot cutting system of claim 3 wherein the collaborative robot cutting system operates at a preprogrammed operating speed, the collaborative robot cutting system further including an operator protection safety system adapted to generate one or more non-visible safety zones or barriers surrounding the collaborative robot cutting system, to detect the presence of an object, operator, other personnel or a vehicle in at least one of the one or more safety zones or non-visible safety barriers, and to reduce the operating speed of the collaborative robot cutting system for safety purposes in response to the detection of an object, operator, other personnel or a vehicle in at least one of the one or more safety zones or non-visible safety barriers. ### Claim 5 (depends on 4) The collaborative robot cutting system of claim 4 wherein the mobile base includes a frame and the safety system comprises at least one LIDAR emitter/detector operatively mounted on a lower corner of the frame. ### Claim 6 (depends on 5) The collaborative robot cutting system of claim 5 wherein the frame includes a plurality of supporting legs operatively connected to the frame; a leveling device operatively connected to each of the plurality of supporting legs; a bottom or lower storage platform adapted to stow and transport the cutting system power supply and control system; and an upper gridded work surface or worktable having a plurality of apertures formed therein, each of the apertures being adapted to releasably receive a clamp or other securement device for holding a workpiece, fixture, assembly or raw work material in a fixed position during the performance of a cutting sequence using the cutting system. ### Claim 7 (depends on 6) The collaborative robot cutting system of claim 6 wherein the mobile base and the upper gridded work surface or worktable are adapted to be extended in size for use in the cutting of large metal plates, sheets and piece parts. ### Claim 8 (depends on 7) The collaborative robot cutting system of claim 7 further including an upper cantilever arm or beam operatively connected to the upper gridded work surface or worktable, wherein the cantilever arm or beam is adapted to receive the collaborative robot cutting arm in mounting engagement therewith. ### Claim 9 (depends on 8) The collaborative robot cutting system of claim 8 wherein the cantilever arm or beam.is selectively rotatable about an axis to bring the cutting system to the work without moving the mobile base. ### Claim 10 (depends on 9) The collaborative robot cutting system of claim 9 further including a pivot connection or mounting plate adapted to provide rotatable positioning of the cantilever beam and collaborative robot cutting system over extended radial points above large work material or structures. ### Claim 11 (depends on 10) The collaborative robot cutting system of claim 10 including a retractable pin mechanism including a pin and actuating handle which is urged by a suitable biasing mechanism into locking engagement with one of a plurality of apertures positioned at spaced-apart radial locations on a bottom surface of the mounting plate. ### Claim 12 (depends on 10) The collaborative robot cutting system of claim 10 further including a slewing ring secured to a bottom surface of the mounting plate, a servo motor operatively connected to the frame, and a pinion gear operatively connected to the servo motor and adapted to rotatably engage the slewing ring, whereby the cantilever beam and collaborative robot cutting system are selectively rotated to a desired radial position in response to rotational forces exerted on the slewing ring by the pinion gear. ### Claim 13 (depends on 1) The collaborative robot cutting system of claim 1 wherein the collaborative robot cutting system is operatively connected to the mobile base by a magnetic base. ### Claim 14 (depends on 13) The collaborative robot cutting system of claim 13 further including a cam lock base adapted to connect the collaborative robot cutting system to the magnetic base. ### Claim 15 (depends on 14) The collaborative robot cutting system of claim 14 wherein the magnetic base is releasably positioned at any location suitable for the work material to be cut. ### Claim 16 (depends on 13) The collaborative robot cutting system of claim 13 wherein the magnetic base is releasably positioned at any location suitable for the work material to be cut. ### Claim 17 A collaborative robot cutting system for producing precise structural components from raw work material for application in the assembly, construction, fabrication and/or completion of assembled products, the collaborative robot cutting system comprising: at least one programmable collaborative robot; a cutting implement operatively connected to the at least one programmable collaborative robot; a power supply operatively connected to the cutting implement; a control system; a mobile base, the mobile base including a frame, the frame having a plurality of supporting legs operatively connected thereto, a leveling device operatively connected to each of the plurality of supporting legs, a bottom or lower storage platform adapted to stow and transport the power supply and the control system; and an upper gridded work surface or worktable adapted to be extended in size for use in the cutting of large metal plates, sheets and piece parts, the upper gridded work surface having a plurality of apertures formed therein, each of the apertures being adapted to releasably receive a clamp or other securement device for holding a workpiece, fixture, assembly or raw work material in a fixed position during the performance of a cutting sequence using the cutting system; an upper cantilever arm or beam operatively connected to the upper gridded work surface or worktable; a pivot connection or mounting plate adapted to operatively connect the upper cantilever arm or beam to the upper gridded work surface or worktable and to provide rotatable positioning of the cantilever arm or beam about an axis over extended radial points above large work material or structures, wherein the cantilever arm or beam.is selectively rotatable to bring the collaborative robot cutting system to the work material without moving the mobile base; the at least one programmable collaborative robot including a robot arm, a base operatively connected to the robot arm and adapted to mount the robot arm to the upper cantilever arm or beam to the upper gridded work surface, and an electrically isolating pad positioned intermediate the base and the upper cantilever arm or beam; a retractable pin mechanism including a pin and actuating handle which is urged by a suitable biasing mechanism into locking engagement with one of a plurality of apertures positioned at spaced-apart radial locations on a bottom surface of the pivot connection or mounting plate; and a safety system adapted to reduce an operating speed of the system in accordance with recognized safety standards in response to conditions detected by the system. ### Claim 18 (depends on 17) The collaborative robot cutting system of claim 17 wherein the collaborative robot cutting system operates at a preprogrammed operating speed, the safety system comprising an operator protection safety system adapted to generate one or more non-visible safety zones or barriers surrounding the collaborative robot cutting system, each of the at least one or more non-visible safety zones or barriers being adapted to detect the presence of an object, operator, other personnel or a vehicle in at least one of the one or more safety zones or non-visible safety barriers, and to reduce the operating speed of the collaborative robot cutting system for safety purposes in response to the detection of an object, operator, other personnel or a vehicle in at least one of the one or more safety zones or non-visible safety barriers. ### Claim 19 (depends on 17) The collaborative robot cutting system of claim 17 wherein the control system includes a programming or hand-guided jog button operatively connected to the control system and to a teach pendant, the hand-guided jog button and teach pendant being adapted to allow an operator to set up and program the cutting system in an intuitive and graphical manner.