Carpentry tool for human-robot collaborative stereotomy using a collaborative industrial robot system controlled by artificial vision capabilities that locates, recognises and executes machining instructions hand-drawn by a carpenter on a work piece, and operating method

A method for operating a collaborative carpentry tool for human-robot collaborative stereotomy (100) using a collaborative industrial robot system (20), CHARACTERIZED in that it comprises the steps of:

• a) arranging the collaborative carpentry tool (100) on a transport unit (10) in a factory or a construction site;
• b) activating the collaborative industrial robot system (20) by connecting a control system (21) and a vacuum generator (22) to an installed power grid or backup power system (23);
• c) hand-drawing, by a carpenter (40), the machining instructions (31) on a workpiece, or other exemplary workpiece (30.1, 30.2, 30.3), using a graphical visual language that is known to both the carpenter (40) and the collaborative industrial robot system (20);
• d) positioning the workpiece on a positioning means (24) and using a user interface (25) by the carpenter (40) to authorize the collaborative industrial robot system (20) to inspect the workpiece;
• e) verifying, by means of a detection system (26a), the absence of persons in the operational space, issuing a light and sound alarm by transmitting a signal to the alert system (26b), and only then leaving by a manipulator (27a) its starting pose by moving on a horizontal linear movement shaft (27b), using a robotic tool changer (27c) by the manipulator (27a) to pick up from an end-effector rack (27d) an automatically changeable eye-in-hand vision system (28) to inspect the workpiece;
• f) finishing the automatic inspection carried out by the manipulator (27a) and returning the automatically changeable eye-in-hand vision system (28) to the end-effector rack (27d) by means of the manipulator (27a), then returning to its starting pose and then by means the user interface (25) display to the carpenter (40) the results of the artificial vision recognition of the identity of the workpiece, the resulting shape, the types of cut, the required interchangeable cutting tools (29), their order of application, and the estimated time to complete the machining task, as well as the relative position and orientation of all geometric figures drawn with respect to the center point of each required cutting tool (29);
• g) reviewing, by the carpenter (40) at the user interface (25), the results of the artificial vision recognition and validate or cancel the operation, then issuing a light and sound alarm by transmitting a signal to the alert system (26b) to indicate that the collaborative industrial robot system (20) is unoccupied and only then allowing the carpenter (40) to enter the operational space to remove the workpiece from the positioning means (24);
• or
• h) verifying, by means of the detection system (26a), the absence of persons in the operational space if the carpenter (40) validates the operation and issuing a light and sound alarm by transmitting a signal to the alert system (26b) to indicate that the collaborative industrial robot system (20) will start machining the workpiece, waiting for a given time and only then proceed by means of the manipulator (27a) to machine the workpiece, using the robotic tool changer (27c) mounted on its mechanical interface to pick up from the end-effector rack (27d) one by one the available interchangeable cutting tools (29);
• in parallel, displaying via the user interface (25) the progress of the machining process until having executed all the machining instructions drawn on the workpiece and returned all the interchangeable cutting tools (29) to the end-effector rack (27d) by means of the manipulator (27a);
• and
• i) finishing the machining of the workpiece, returning the last of the interchangeable cutting tools (29) to the end-effector rack (27d) by means of the manipulator (27a), then returning to its starting pose and warn by means of the user interface (25) and issuing a light and sound alarm by transmitting a signal to the alert system (21b) to indicate that the collaborative industrial robot system (20) is unoccupied, that the workpiece released and derived by the positioning means (24).