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US 12,600,034 B2Granted
Compensation of positional tolerances in the robot-assisted surface machining
AssigneeFerRobotics Compliant Robot Technology GmbH
InventorRonald Naderer
Life of this patent
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Abstract
A device for robot-assisted machining of surfaces is described below. According to an example, the device has a retainer with a base plate designed for mounting on a manipulator and has an assembly suspended on the retainer, the assembly comprising a machine tool. The retainer has a tilt mechanism which couples the assembly to the retainer in such a way that the assembly can be tilted relative to the base plate about two axes of rotation, wherein the two axes of rotation can intersect with one another and run through the assembly below the base plate.
Claims17
A device, comprising:
- a retainer with a base plate configured to be mounted on a manipulator;
- and
- an assembly suspended on the retainer and comprising a machine tool,
- wherein the retainer has a tilt mechanism which couples the assembly to the retainer, such that the assembly is tiltable relative to the base plate about two axes of rotation,
- wherein the tilt mechanism is lockable, such that a tilting is blocked and the assembly is rigidly coupled to the base plate in a locked state.
2 more elements
A system, comprising:
- a manipulator;
- an assembly comprising a machine tool and coupled to a TCP (tool center point) of the manipulator;
- and
- a controller configured to control a movement of the TCP of the manipulator,
- wherein the controller is designed:
- to determine an angular deviation between a longitudinal axis of the machine tool and a normal of a workpiece surface, while a tool mounted on the machine tool is contacting the workpiece surface;
- and
- based on the determined angular deviation, to adjust the orientation of the TCP such that the angular deviation is reduced,
- wherein the assembly has a linear actuator coupled to the machine tool,
- wherein the controller is further configured to calculate the angular deviation based on a shift of the TCP and an associated change of the displacement of the linear actuator.
7 more elements
Dependencies are inferred from the claim text.