US-12617102-B2 - Robotic polishing system and method for using same

Abstract

A polishing system includes a robotic polishing assembly, a belt removal assembly, and a controller. The robotic polishing assembly includes an end effector. The end effector includes a polishing arm, a motor, and a tool head. The tool head extends along a lengthwise axis between and to an inner end and a tip end. The tool head includes a belt tensioner, a roller, and an abrasive belt. The belt tensioner is configured to bias the tip end outward from the inner end. The abrasive belt is disposed on the motor and the roller. The belt removal assembly includes a first lateral arm, a second lateral arm, and a back stop. The controller includes a processor in communication with a non-transitory memory storing instructions, which instructions when executed by the processor, cause the processor to: identify an end-of-life condition is present for the abrasive belt and remove the abrasive belt from the tool head.

Inventors

• Philippe Morin
• Canam HOANG
• Jean-Francois Collette
• Pierre-Luc Nault
• Guillaume WHITTOM
• THOMAS ROUX
• Guillaume FORTIER

Assignees

• PRATT & WHITNEY CANADA CORP.

Dates

Publication Date

20260505

Application Date

20231227

Claims (20)

1. 1 . A polishing system comprising: a robotic polishing assembly including an end effector, the end effector including a polishing arm, a motor, and a tool head, the motor mounted on the polishing arm, the tool head extending along a lengthwise axis between and to an inner end and a tip end, the inner end disposed on the polishing arm at the motor, the tool head including a belt tensioner, a roller, and an abrasive belt, the belt tensioner configured to bias the tip end outward from the inner end along the lengthwise axis, the abrasive belt disposed on the motor and the roller; a belt removal assembly including a first lateral arm, a second lateral arm, and a back stop disposed laterally between the first lateral arm and the second lateral arm; and a controller in signal communication with the robotic polishing assembly, the controller including a processor in communication with a non-transitory memory storing instructions, which instructions when executed by the processor, cause the processor to: identify an end-of-life condition is present for the abrasive belt using a usage threshold value for the abrasive belt; and in response to identifying the end-of-life condition, remove the abrasive belt from the tool head by controlling the robotic polishing assembly to position the tool head within the belt removal assembly, compress the belt tensioner against the back stop, and move the tool head between the first lateral arm and the second lateral arm.
2. 2 . The polishing system of claim 1 , wherein the back stop includes a first back stop surface and a second back stop surface, the first back stop surface and the second back stop surface forming a notch.
3. 3 . The polishing system of claim 1 , wherein the belt removal assembly further includes a first lateral brush and a second lateral brush, the first lateral brush disposed on the first lateral arm and the second lateral brush disposed on the second lateral arm.
4. 4 . The polishing system of claim 1 , wherein the robotic polishing assembly further includes a robotic arm, the robotic arm including a plurality of movable joints extending between and to a base end and a distal end, the end effector disposed at the distal end.
5. 5 . The polishing system of claim 1 , wherein the belt removal assembly further includes a belt retention member configured to retain the abrasive belt after the abrasive belt has been removed from the tool head, the belt retention member including a post extending upward to a distal end, distal end disposed vertically below the first lateral arm and the second lateral arm.
6. 6 . The polishing system of claim 1 , wherein the first lateral arm includes a first belt removal panel and the second lateral arm includes a second belt removal panel, the first belt removal panel extending in a transverse direction relative to the second belt removal panel.
7. 7 . The polishing system of claim 6 , wherein the first belt removal panel includes a first engagement end, the second belt removal panel includes a second engagement end, the abrasive belt has a first width, the first engagement end is laterally spaced from the second engagement end by a second width, and the first width is greater than the second width.
8. 8 . The polishing system of claim 1 , wherein the belt tensioner includes a tool guide, a tool extension, and a biasing member, the tool guide disposed at the inner end, the tool extension disposed at the tip end, and the biasing member configured to bias the tool extension outward from the tool guide along the lengthwise axis.
9. 9 . The polishing system of claim 1 , wherein the instructions, when executed by the processor, further cause the processor to identify the end-of-life condition by comparing a measured abrasive belt usage value of the abrasive belt to the usage threshold value, wherein the usage threshold value is a predetermined usage threshold value stored in memory.
10. 10 . The polishing system of claim 1 , wherein the instructions, when executed by the processor, further cause the processor to move the tool head between the first lateral arm and the second lateral arm by rotating the end effector about the tip end with the tip end pressed against the back stop so that the tool head passes between the first lateral arm and the second lateral arm.
11. 11 . A method for removing an abrasive belt from a tool head of an end effector for a robotic polishing system, the method comprising: identifying an end-of-life condition is present for the abrasive belt; and in response to identifying the end-of-life condition, removing the abrasive belt from the tool head by: positioning the tool head within a belt removal assembly, the belt removal assembly including a first lateral arm, a second lateral arm, and a back stop disposed laterally between the first lateral arm and the second lateral arm; loosening the abrasive belt on the tool head by pushing the tool head against the back stop; and moving the tool head between the first lateral arm and the second lateral arm.
12. 12 . The method of claim 11 , wherein the belt removal assembly further includes a first lateral brush and a second lateral brush, the first lateral brush disposed on the first lateral arm and the second lateral brush disposed on the second lateral arm, the method further comprising: moving the tool head between and through the first lateral brush and the second lateral brush.
13. 13 . The method of claim 11 , further comprising collecting the removed abrasive belt with a belt retention member.
14. 14 . The method of claim 11 , wherein identifying the end-of-life condition is present for the abrasive belt includes comparing a measured abrasive belt usage value for the abrasive belt to a predetermined usage threshold value.
15. 15 . The method of claim 11 , wherein: the back stop includes a first back stop surface and a second back stop surface, the first back stop surface and the second back stop surface forming a notch; and wherein pushing the tool head against the back stop includes positioning the tool head within the notch.
16. 16 . A belt removal assembly comprising: a back portion; a first lateral arm extending longitudinally outward from the back portion, the first lateral arm including a first arm body and a first belt removal panel, the first arm body including a first top side and a first bottom side, the first belt removal panel disposed on the first bottom side; a second lateral arm extending longitudinally outward from the back portion, the second lateral arm laterally spaced from the first lateral arm, the second lateral arm including a second arm body and a second belt removal panel, the second arm body including a second top side and a second bottom side, the second belt removal panel disposed on the second bottom side; and a back stop disposed at the back portion laterally between the first lateral arm and the second lateral arm, the back stop including a first back stop surface and a second back stop surface, the first back stop surface and the second back stop surface forming a notch at an intersection of the first back stop surface and the second back stop surface, the intersection extending vertically between the first lateral arm and the second lateral arm.
17. 17 . The belt removal assembly of claim 16 , further comprising a first lateral brush and a second lateral brush, the first lateral brush disposed on the first top side and the second lateral brush disposed on the second top side.
18. 18 . The belt removal assembly of claim 16 , wherein the first belt removal panel extends in a transverse direction relative to the second belt removal panel.
19. 19 . The belt removal assembly of claim 16 , further comprising a belt retention member disposed laterally between the first lateral arm and the second lateral arm.
20. 20 . The belt removal assembly of claim 19 , wherein the belt retention member includes a post extending upward to a distal end, the distal end disposed vertically below the first lateral arm and the second lateral arm.

Description

This application claims priority to U.S. Patent Appln. No. 63/435,484 filed Dec. 27, 2022, which is hereby incorporated herein by reference in its entirety. TECHNICAL FIELD This disclosure relates generally to robotic machining systems, more particularly, to systems and methods for removing an abrasive belt from a robotic machining system. BACKGROUND OF THE ART Robotic machining systems may be used to accomplish one or more machining (e.g., polishing) operations for the manufacture of components. Various robotic machining systems are known in the art. While these known systems have various advantages, there is still room in the art for improvement. SUMMARY It should be understood that any or all of the features or embodiments described herein can be used or combined in any combination with each and every other feature or embodiment described herein unless expressly noted otherwise. According to an aspect of the present disclosure, a polishing system includes a robotic polishing assembly, a belt removal assembly, and a controller. The robotic polishing assembly includes an end effector. The end effector includes a polishing arm, a motor, and a tool head. The motor is mounted on the polishing arm. The tool head extends along a lengthwise axis between and to an inner end and a tip end. The inner end is disposed on the polishing arm at the motor. The tool head includes a belt tensioner, a roller, and an abrasive belt. The belt tensioner is configured to bias the tip end outward from the inner end along the lengthwise axis. The abrasive belt is disposed on the motor and the roller. The belt removal assembly includes a first lateral arm, a second lateral arm, and a back stop disposed laterally between the first lateral arm and the second lateral arm. The controller is in signal communication with the robotic polishing assembly. The controller includes a processor in communication with a non-transitory memory storing instructions, which instructions when executed by the processor, cause the processor to: identify an end-of-life condition is present for the abrasive belt using a usage threshold value for the abrasive belt and, in response to identifying the end-of-life condition, remove the abrasive belt from the tool head by controlling the robotic polishing assembly to position the tool head within the belt removal assembly, compress the belt tensioner against the back stop, and move the tool head between the first lateral arm and the second lateral arm. In any of the aspects or embodiments described above and herein, the back stop may include a first back stop surface and a second back stop surface. The first back stop surface and the second back stop surface may form a notch. In any of the aspects or embodiments described above and herein, the belt removal assembly may further include a first lateral brush and a second lateral brush. The first lateral brush may be disposed on the first lateral arm and the second lateral brush may be disposed on the second lateral arm. In any of the aspects or embodiments described above and herein, the robotic polishing assembly may further include a robotic arm. The robotic arm may include a plurality of movable joints extending between and to a base end and a distal end. The end effector may be disposed at the distal end. In any of the aspects or embodiments described above and herein, the belt removal assembly may further include a belt retention member configured to retain the abrasive belt after the abrasive belt has been removed from the tool head. The belt retention member may include a post extending upward to a distal end, distal end disposed vertically below the first lateral arm and the second lateral arm. In any of the aspects or embodiments described above and herein, the first lateral arm may include a first belt removal panel and the second lateral arm may include a second belt removal panel. The first belt removal panel may extend in a transverse direction relative to the second belt removal panel. In any of the aspects or embodiments described above and herein, the first belt removal panel may include a first engagement end, the second belt removal panel may include a second engagement end, the abrasive belt may have a first width, the first engagement end may be laterally spaced from the second engagement end by a second width, and the first width may be greater than the second width. In any of the aspects or embodiments described above and herein, the belt tensioner may include a tool guide, a tool extension, and a biasing member. The tool guide may be disposed at the inner end. The tool extension may be disposed at the tip end. The biasing member may be configured to bias the tool extension outward from the tool guide along the lengthwise axis. In any of the aspects or embodiments described above and herein, the instructions, when executed by the processor, may further cause the processor to identify the end-of-life condition by comparing a measured abrasive