B - Operations – Transporting – 25 – J
Patent
B - Operations, Transporting
25
J
B25J 11/00 (2006.01) B23C 3/12 (2006.01) B24B 1/00 (2006.01) B24B 9/00 (2006.01) B24B 29/00 (2006.01) B25J 17/02 (2006.01)
Patent
CA 2335396
A tool compliance device for use with a robotic system for removing material at the surface of a workpiece comprises a tool compliance unit including a rotary actuator having its fixed portion rigidly coupled to a rotary end element integrated at the robot working end and a pivoting end element secured to a pivoting member having a trailing portion supporting a tool assembly. The tool assembly is provided with a tool having guide portions contacting a workpiece-related reference surface. In use, the pivoting member is pulled according to a tool working path while the rotary end element brings the fixed portion of the rotary actuator in a position wherein the pivoting member is allowed to pivot with the tool assembly enabling the tool to move within a tool compliance range at a working position along the tool working path upon contact of the guide means against the workpiece-related reference surface under the torque applied by the rotary actuator, so that the tool compliance range has a non-null component parallel to a normal axis extending from the workpiece surface through the working position to provide compliance of the tool with the workpiece while removing material therefrom. A preferred embodiment for deburring a workpiece made of plastic material uses a tool provided with a trimming head having cylindrical guiding portions separated by a cutting element. The tool compliance device can also be used for other material removing application such as milling, grinding, chamfering or polishing workpieces made of various materials.
Boudreau Jean-Claude
Centre de Recherche Industrielle Du Quebec
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