Robot for performing scraping, robot system, method, and computer program

Patent metadata

Field	Value
Publication number	US-12502800-B2
Application number	US-202218271113-A
Country	US
Kind code	B2
Filing date	Jan 19, 2022
Priority date	Jan 26, 2021
Publication date	Dec 23, 2025
Grant date	Dec 23, 2025

Abstract

A robot includes a base part; a pair of scrapers provided to the base part so as to face each other, the pair of scrapers each having a proximal end connected to the base part and a distal end for cutting a surface, and the pair of scrapers extending so as to approach or recede from each other progressively from the proximal end toward the distal end; and a movement mechanism unit for rotating the base part between a first orientation in which one of the pair of scrapers is closer to a workpiece than the other scraper, and a second orientation in which the other scraper is closer to the workpiece than the one scraper.

First claim

The invention claimed is:

1 . A robot configured to perform a scraping process to scrape and smoothen a surface of a workpiece, the robot comprising:
a base; a pair of scrapers disposed at the base so as to be opposite to each other, each of the pair of scrapers having a proximal end connected to the base and a distal end configured to scrape the surface, the pair of scrapers extending so as to approach or separate from each other as extending from the proximal ends toward the distal ends; and a moving mechanism configured to rotate the base between:
a first orientation in which one of the pair of scrapers is closer to the surface than the other of the pair of scrapers; and
a second orientation in which the other of the pair of scrapers is closer to the surface than the one of the pair of scrapers,
wherein each of the pair of scrapers includes:
a handle provided at the base and defining the proximal end; and
a blade immovably fixed to the handle and defining the distal end.

2 . The robot of claim 1 , wherein the base extends along a first axis,
wherein the pair of scrapers are arranged to be opposite to each other in a direction of the first axis, and wherein the moving mechanism rotates the base about a second axis orthogonal to the first axis.

3 . The robot of claim 2 , wherein the pair of scrapers are arranged symmetrically to each other with respect to a third axis orthogonal to the first axis and the second axis.

4 . The robot of claim 1 , wherein at least one of the pair of scrapers is movably disposed at the base such that a spacing between the pair of scrapers is variable.

5 . The robot of claim 1 , wherein at least one of the pair of scrapers is rotatably disposed at the base.

6 . A robot system comprising:
the robot of claim 1 ; and a control device configured to control the robot, wherein the control device controls the moving mechanism so as to:
execute a first scraping process by pressing the distal end of the one of the pair of scrapers against the surface and moving the base in a first direction, while arranging the base at the first orientation;
rotate the base from the first orientation to the second orientation, after the first scraping process; and
execute a second scraping process by pressing the distal end of the other of the pair of scrapers against the surface and moving the base in a second direction opposite to the first direction, while arranging the base at the second orientation.

7 . The robot system of claim 6 , further comprising a cleaning device having an opening disposed between the distal ends of the pair of scrapers, and configured to suction chips produced by the scraping process through the opening or blow away the chips with a fluid sprayed from the opening.

8 . A method of performing a scraping process to scrape and smoothen a surface of a workpiece, using the robot of claim 1 , in which a processor controls the moving mechanism so as to:
execute a first scraping process by pressing the distal end of the one of the pair of scrapers against the surface and moving the base in a first direction, while arranging the base at the first orientation; rotate the base from the first orientation to the second orientation, after the first scraping process; and execute a second scraping process by pressing the distal end of the other of the pair of scrapers against the surface and moving the base in a second direction opposite to the first direction, while arranging the base at the second orientation.

9 . A computer-readable recording medium configured to record a computer program causing the processor to execute the method of claim 8 .

Assignees

• Fanuc Corp

Inventors

• Suzuki Tadanori

Classifications

• B25J11/005 Primary

  Manipulators for mechanical processing tasks · CPC title

• B26D3/08

  Making a superficial cut in the surface of the work without removal of material, e.g. scoring, incising · CPC title

• B25J15/0052

  multiple gripper units or multiple end effectors · CPC title

• B23D79/02

  Machines or devices for scraping (turning-machines for bevelling, chamfering, or deburring the ends of bars or tubes B23B5/16) · CPC title

• B26D5/005 Primary

  Computer numerical control means · CPC title