Collaborative Robot Cutting System and Method
AssigneeVectis Automation, LLC
InventorsAndrew Akey, Joshua Pawley, Douglas Rhoda, Alex Roerty, Todd Scarpella
Life of this patent
Estimating the term…
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.
Claims19
A highly-mobile collaborative robot cutting system for producing precise structural components from raw work material, the highly-mobile collaborative robot cutting system comprising:
- a highly-mobile base adapted to be to be extended in size and relocated without any significant labor and/or rigging, the highly-mobile base including a bottom or lower storage platform and an upper work surface or worktable;
- at least one programmable collaborative robot operatively connected to the highly-mobile base, the at least one programmable collaborative robot including a robot arm and a base operatively connected to the robot arm and adapted to mount the robot arm to the highly-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.
A method for producing precise structural components from raw work material using a highly-mobile collaborative robot cutting system, the highly-mobile collaborative robot cutting system including at least one programmable collaborative robot having a working space and including a cutting arm member or segment and a cutting implement operatively connected thereto, a power supply, and a control system including control program software, the method comprising the steps of:
- a. either moving the highly-mobile collaborative robot cutting system to the raw work material to be cut or bringing the raw work material to be cut to the highly-mobile collaborative robot cutting system;
- b. powering on the power supply and the at least one programmable collaborative robot;
- c. determining if the raw work material to be cut is aligned and in position in accordance with prescribed cut specifications set forth in design drawings and specifications required by a given cutting or assembly procedure for a cut joint configuration;
- d. selectively engaging and disengaging a programming or hand-guided jog mechanism operatively connected to the cutting arm member or segment and the cutting implement whereby a hand-guided jogging mode is selectively engaged or disengaged at any point in a cutting process;
- e. moving the cutting arm member and the cutting implement to the raw work material to be cut;
- f. performing a clearance air move whereby the cutting arm member and the cutting implement are moved to a home position for creating a cut path;
- g. if the raw work material to be cut is aligned and in position in accordance with prescribed cut specification, selecting and initiating a pattern workflow subroutine robot program to establish a cut path pattern;
- h. selecting a cut path pattern start point or position;
- i. saving the cut path pattern start point or position in the pattern workflow subroutine robot program;
- j. performing a clearance air move whereby the cutting arm member and the cutting implement are moved to a cut path pattern end point or position;
- k. saving the cut path pattern end point or position in the pattern workflow subroutine robot program;
- l. determining the number of cut path pattern path iterations required to define a cut path pattern;
- m. entering the number of pattern path iterations determined in step I into the pattern workflow subroutine robot program;
- n. entering a starting iteration portion of the pattern workflow subroutine robot program;
- o. determining a set of program nodes needed to define the cut path pattern;
- p. entering into the pattern workflow subroutine robot program the set of program nodes and all necessary robot motions and processes required in the prescribed cut specifications to complete the cut path;
- q. executing the pattern workflow subroutine robot program whereby a cut path pattern is calculated;
- r. performing a clearance air move whereby the cutting arm member and the cutting implement are moved to a home position for creating a cut path;
- and
- s. performing a cutting operation.
A method for producing precise structural components from raw work material using a highly-mobile collaborative robot cutting system, the highly-mobile collaborative robot cutting system including at least one programmable collaborative robot having a working space and including a cutting arm member or segment and a cutting implement operatively connected thereto, a power supply, and a control system including control program software, the method comprising the steps of;
- a. either moving the highly-mobile collaborative robot cutting system to the raw work material to be cut or bringing the raw work material to be cut to the highly-mobile collaborative robot cutting system;
- b. powering on the power supply and the at least one programmable collaborative robot;
- c. determining if the raw work material to be cut is aligned and in position in accordance with prescribed cut specifications set forth in design drawings and specifications required by a given cutting or assembly procedure for a cut joint configuration;
- d. selectively engaging and disengaging a programming or hand-guided jog mechanism operatively connected to the cutting arm member or segment and the cutting implement whereby a hand-guided jogging mode is selectively engaged or disengaged at any point in a cutting process;
- e. moving the cutting arm member and the cutting implement to the raw work material to be cut;
- f. if the raw work material to be cut is not aligned and not in position in accordance with prescribed cut specification, selecting and initiating a search offset workflow subroutine robot program, whereby an offset cut path may be created;
- g. selecting and entering into the search offset workflow subroutine either a command to turn off all offsets stored in the search offset workflow subroutine robot program, or a command to turn on an offset that is saved in the search offset workflow subroutine robot program for a particular named or previously identified offset, or a command to enter a selected offset value and an offset reference feature to manually activate the search offset workflow subroutine robot program;
- h. executing the search offset workflow subroutine robot program whereby offsets stored in the search offset workflow are turned off or an offset is selected and an offset cut path pattern is calculated;
- i. performing a clearance air move whereby the cutting arm member and the cutting implement are moved to a home position for creating an offset cut path;
- and
- j. performing a cutting operation.
A method for producing precise structural components from raw work material using a highly-mobile collaborative robot cutting system, the highly-mobile collaborative robot cutting system including at least one programmable collaborative robot having a working space and including a cutting arm member or segment and a cutting implement operatively connected thereto, a power supply, and a control system including control program software, the method comprising the steps of:
- a. either moving the highly-mobile collaborative robot cutting system to the raw work material to be cut or bringing the raw work material to be cut to the highly-mobile collaborative robot cutting system;
- b. powering on the power supply and the at least one programmable collaborative robot;
- c. determining if the raw work material to be cut is aligned and in position in accordance with prescribed cut specifications set forth in design drawings and specifications required by a given cutting or assembly procedure for a cut joint configuration;
- d. selectively engaging and disengaging a programming or hand-guided jog mechanism operatively connected to the cutting arm member or segment and the cutting implement whereby a hand-guided jogging mode is selectively engaged or disengaged at any point in a cutting process;
- e. moving the cutting arm member and the cutting implement to the raw work material to be cut;
- f. performing a clearance air move whereby the cutting arm member and the cutting implement are moved manually to a waypoint for initiating the creation of a cut path;
- g. selecting and initiating a cut path template workflow subroutine robot program adapted to generate a cut path template;
- h. manually selecting a cut start waypoint;
- i. manually positioning the cutting arm member and the cutting implement at a selected approach point and entering the approach point into the cut path template workflow subroutine robot program;
- j. manually positioning the cutting arm member and cutting implement at a cut start waypoint and entering the cut start waypoint into the cut path template workflow subroutine robot program;
- k. selecting the cut process data by manually tracing out the cut path by creating one or more cut thought way points, at least one cut end way point, and a depart point in hand-guided jogging mode and entering all of the one or more cut thought way points, the at least one cut end way point, and the depart point into the cut path template workflow subroutine robot program, thereby generating a cut path template;
- l. returning the cutting arm member and the cutting implement to the cut start waypoint;
- m. selecting a cutting process to be executed by the cutting arm member and the cutting implement as the cutting arm member and the cutting implement move along the cut path from the cut start point through the one or more cut through way points, and the at least one cut end point;
- and
- n. executing the selected cutting process and the cut path template whereby a cut path is generated.
A method for producing precise structural components from raw work material using a highly-mobile collaborative robot cutting system, the highly-mobile collaborative robot cutting system including at least one programmable collaborative robot having a working space and including a cutting arm member or segment and a cutting implement operatively connected thereto, a power supply, and a control system including control program software, the method comprising the steps of:
- a. either moving the highly-mobile collaborative robot cutting system to the raw work material to be cut or bringing the raw work material to be cut to the highly-mobile collaborative robot cutting system;
- b. powering on the power supply and the at least one programmable collaborative robot;
- C. determining if the raw work material to be cut is aligned and in position in accordance with prescribed cut specifications set forth in design drawings and specifications required by a given cutting or assembly procedure for a cut joint configuration;
- d. selectively engaging and disengaging a programming or hand-guided jog mechanism operatively connected to the cutting arm member or segment and the cutting implement whereby a hand-guided jogging mode is selectively engaged or disengaged at any point in a cutting process;
- e. moving the cutting arm member and the cutting implement to the raw work material to be cut;
- f. performing a clearance air move whereby the cutting arm member and the cutting implement are moved manually to a waypoint for initiating the creation of a cut path;
- g. selecting and initiating a cut path template workflow subroutine robot program adapted to generate a cut path template;
- h. selecting an automatically positioned approach point in the cut path template workflow subroutine robot program;
- i. manually positioning the cutting arm member and cutting implement at a cut start waypoint and entering the cut start waypoint into the cut path template workflow subroutine robot program;
- j. selecting the cut process data and entering it into the cut path template workflow subroutine robot program;
- k. manually positioning the cutting arm member and cutting implement at a cut end waypoint and entering the cut end waypoint into the cut path template workflow subroutine robot program;
- l. selecting an automatic depart point;
- and
- m. initiating execution of the cut path template.
A method for producing precise structural components from raw work material using a highly-mobile collaborative robot cutting system, the highly-mobile collaborative robot cutting system including at least one programmable collaborative robot having a working space and including a cutting arm member or segment and a cutting implement operatively connected thereto, a power supply, and a control system including control program software, the method comprising the steps of:
- a. either moving the highly-mobile collaborative robot cutting system to the raw work material to be cut or bringing the raw work material to be cut to the highly-mobile collaborative robot cutting system;
- b. powering on the power supply and the at least one programmable collaborative robot;
- c. determining if the raw work material to be cut is aligned and in position in accordance with prescribed cut specifications set forth in design drawings and specifications required by a given cutting or assembly procedure for a cut joint configuration;
- d. selectively engaging and disengaging a programming or hand-guided jog mechanism operatively connected to the cutting arm member or segment and the cutting implement whereby a hand-guided jogging mode is selectively engaged or disengaged at any point in a cutting process;
- e. moving the cutting arm member and the cutting implement to the raw work material to be cut;
- f. performing a clearance air move whereby the cutting arm member and the cutting implement are moved manually to a waypoint for initiating the creation of a cut path;
- g. selecting and initiating a cut shape template workflow subroutine robot program in the control program software adapted to generate a cut shape template;
- h. selecting a cut shape type and choosing a shape template from a shape library stored in the control program software;
- i. selecting the shape positions and shape dimensions required to define a cut shape;
- j. creating the cut shape defined in step I;
- k. manually selecting an approach waypoint and entering it into the cut shape template workflow subroutine robot program;
- l. manually positioning the cutting arm member and cutting implement at the approach waypoint and entering the approach waypoint into the cut shape template workflow subroutine robot program;
- m. selecting the cut process data and entering it into the cut shape template workflow subroutine robot program;
- n. manually selecting a cut depart waypoint and entering it into the cut shape template workflow subroutine robot program;
- o. manually positioning the cutting arm member and cutting implement at the cut depart waypoint;
- p. executing the cut shape template.
Dependencies are inferred from the claim text.