Back to results
US 9,849,594 B2Granted
Parting device and parting method
AssigneeKUKA Systems GmbH
InventorMarkus Keese
Life of this patent
Estimating the term…
Abstract
A parting device and a parting method are provided, in particular for trimming workpieces (2), in particular solar modules. The parting device has a multi-member (12, 13, 14, 15) programmable robot (6) which is in the form of a tactile robot, in particular a force/torque-regulated robot. The robot guides a parting tool (8) which is in the form of a knife.
Claims17
A method for parting and trimming workpieces, the method comprising the steps of:
- providing a multimember programmable and tactile force/torque-regulated robot;
- and
- providing a parting tool comprising a cutting tool;
- providing a sensor system integrated in the robot, wherein the sensory system has at least one force and/or torque sensor at a robot axis;
- detecting a workpiece edge with the sensor system;
- guiding the cutting tool by the tactile force/torque-regulated robot to feed the cutting tool at a lateral excess portion of the workpiece, obliquely in relation to a course of the excess portion and to move the parting tool along the edge of the workpiece after reaching the workpiece edge based on the detecting of the workpiece edge;
- and
- performing, with the robot, a vibrating motion directed in a direction of the feed of the cutting tool during an approach to the workpiece and during feeding of the parting tool to the workpiece and during detection of the reference location on the workpiece and during cutting after the feeding of the cutting tool.
5 more elements
A parting and trimming device comprising:
- a parting tool comprising a cutting tool;
- a multiaxial programmable robot with an associated robot control and force-regulated or torque-regulated axes, the robot moving the cutting tool during a cutting process and the robot generating a vibration motion of the cutting tool;
- and
- a sensor system associated with the robot, the sensor system detecting forces and/or torques acting on the robot and the robot control controlling or regulating motions of the robot based on the detected forces and/or torques acting on the robot, the sensor system further comprising an edge scanning sensor system detecting an edge of a workpiece and the sensor system comprising at least one forces and/or torques sensor at a robot axis wherein, movement of the robot is forces and/or torques-regulated, wherein the robot is programmed to feed the cutting tool, at a lateral excess portion of the workpiece, obliquely in relation to a course of the excess portion to approach the edge and to feed the parting tool along a direction of the edge of the workpiece, after detecting the edge of the workpiece, and to generate the vibration motion during the approach and feeding of the parting tool to the workpiece and during detection of the edge and during a following cutting process.
1 more element
A parting and trimming device comprising:
- a multimember programmable robot;
- a parting tool;
- and
- a sensor system integrated in the robot, the sensor system sensing, at the robot and/or at the parting tool, an edge reference to detect a reference location on a workpiece at an edge of the workpiece and the sensor system comprising at least one force and/or torque sensor at a robot axis wherein, the robot is a force/torque-regulated robot, wherein:
- the parting tool comprises a cutting tool;
- and
- the robot is programmed to feed the parting tool, at a lateral excess portion of the workpiece, obliquely in relation to a course of the excess portion and to move the parting tool along the edge of the workpiece after reaching the edge of the workpiece edge, based on detecting the reference location on the workpiece at the edge of the workpiece and the robot is configured to generate a vibrating motion in a direction of feed which vibrating motion is generated during approach and feeding of the parting tool to the workpiece and during detection of the reference location on the workpiece and during a following cutting process.
4 more elements
Dependencies are inferred from the claim text.