EP4263129B1 - Système de ponçage avec fonctionnalité d'amortissement - Google Patents

Système de ponçage avec fonctionnalité d'amortissement

Info

Publication number
EP4263129B1
EP4263129B1 EP21827431.4A EP21827431A EP4263129B1 EP 4263129 B1 EP4263129 B1 EP 4263129B1 EP 21827431 A EP21827431 A EP 21827431A EP 4263129 B1 EP4263129 B1 EP 4263129B1
Authority
EP
European Patent Office
Prior art keywords
sanding
tool
backup pad
current
abrasive article
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP21827431.4A
Other languages
German (de)
English (en)
Other versions
EP4263129A1 (fr
Inventor
Joseph B. Eckel
Orlin B. Knudson
Erin D. Spring
Nathan J. HERBST
Rufus C. Sanders
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
3M Innovative Properties Co
Original Assignee
3M Innovative Properties Co
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 3M Innovative Properties Co filed Critical 3M Innovative Properties Co
Publication of EP4263129A1 publication Critical patent/EP4263129A1/fr
Application granted granted Critical
Publication of EP4263129B1 publication Critical patent/EP4263129B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B23/00—Portable grinding machines, e.g. hand-guided; Accessories therefor
    • B24B23/02—Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor
    • B24B23/03—Portable grinding machines, e.g. hand-guided; Accessories therefor with rotating grinding tools; Accessories therefor the tool being driven in a combined movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B27/00—Other grinding machines or devices
    • B24B27/0038—Other grinding machines or devices with the grinding tool mounted at the end of a set of bars
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00—Component parts such as frames, beds, carriages, headstocks
    • B24B41/007—Weight compensation; Temperature compensation; Vibration damping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B24—GRINDING; POLISHING
    • B24D—TOOLS FOR GRINDING, BUFFING OR SHARPENING
    • B24D11/00—Constructional features of flexible abrasive materials; Special features in the manufacture of such materials
    • B24D11/02—Backings, e.g. foils, webs, mesh fabrics

Definitions

  • a sanding system is defined according to independent claim 1, and a method of mechanically sanding a surface according to independent claim 6.
  • Preferred embodiments are defined in the dependent claims.
  • Embodiments herein disclose several variable compliance damper systems that change the amount of compliance in the tool as it interacts with the part being sanded. This can allow for real-time adjustability of the compliance in the tool.
  • Variable compliance damping systems provide significant benefits for robotic abrading systems. The ability to control the force applied depending on given abrasive application parameters is incredibly useful.
  • Variable force control systems described herein allow for both real-time adjustment of applied force in a system, for example based on feedback received during an operation, as well as pre-programmed force application cycles. Systems and methods herein can include active controls to monitor abrasion and adjust applied force accordingly.
  • Systems and methods herein can also be coupled with a vision system, or based on known trajectories of a repair path. For example, when an abrading system is approaching a corner, a viscosity of a magnetorheological fluid-based damper could be increased, providing more compliance.
  • a vision system, or a known trajectory can provide cues as to when to increase or decrease compliance based on an anticipated path.
  • a vision system may also detect a material being abraded to determine initial compliance settings.
  • a robotic sander may be sanding an airplane and may approach a window and round a corner. If the robotic system can detect the window coming, compliance can be adjusted accordingly.
  • Compliance changes are needed based on a variety of factors, including orientation changes, which adjust the application of gravitational forces on an abrasive article, as well as the need for more or less force based on features of the worksurface. Today this is done based on feedback from sensors that know the tool angle / weight and vary force from a force compliance tool accordingly.
  • Systems and methods herein can also adjust compliance by adjusting viscosity of compliant dampers.
  • a single sanding tool may interface with a plurality of backup pads based on operation parameters. For example, some operations require a low compliance foam backup pad while others require a firmer backup pad.
  • Such a backup pad may have an interface that connects to a sanding tool. The interface may allow for power to be drawn from the tool.
  • Some backup pads may be powered by an internal power supply.
  • FIGS 1A-1B illustrate an orbital sanding took in which embodiments of the present invention may be useful.
  • FIGS. 1A and 1B illustrate a random orbital sander 10 with a housing 14 having a hand grip 12 at a first end. While the housing 14 is shown as cylindrical, it can be formed in other configurations while still keeping within the scope of this disclosure. Connected to the second end of the housing, in some embodiments, is a lock ring that is adapted to secure a motor 20 within the housing 14.
  • the random orbital sander 10 may also include a particulate matter collection skirt 22 that is coupled to the lock ring 18.
  • the particulate matter collection skirt 22 is adapted to contain particulate matter created by the sander and, when used with a vacuum attachment, can be used to allow the dust the be collected by a vacuum unit.
  • the housing 14 Located adjacent the particulate matter collection skirt 22 is a sanding pad 16 that is coupled to the motor 20.
  • the housing 14 also includes a valve assembly 26 that is adapted to be connected to a pressurized air supply.
  • the valve assembly 26 is operated by depressing actuation lever 28. While the housing 14 is preferably made from plastic it can also be manufactured metal, such as aluminum, or other materials.
  • FIG. 1B illustrates a cutaway view of random orbital sander 10.
  • FIGS. 1A and 1B relate to pneumatically powered sanding tools. However, it is expressly contemplated that systems and methods herein may also be applicable to electric and battery powered handheld or robotic systems.
  • 1C illustrates a cutaway view of an electric rotary sander.
  • a motor can be seen and is designated generally by reference numeral 30.
  • the motor 30 includes an armature 32 having an output shaft 34 associated therewith.
  • the output shaft or drive spindle 34 is coupled to a combined motor cooling and dust collection fan 36.
  • fan 36 comprises a disc-shaped member having impeller blades formed on both its top and bottom surfaces.
  • the impeller blades 36a formed on the top surface serve as the cooling fan for the motor, and the impeller blades 36b formed on the bottom surface serve as the dust collection fan for the dust collection system.
  • Openings 18a formed in the platen 18 allow the fan 36b to draw sanding dust up through aligned openings 19a in the sandpaper 19 into the dust canister 16 to thus help keep the work surface clear of sanding dust.
  • the platen 18 is secured to a bearing retainer 40 via a plurality of threaded screws 38 (only one of which is visible in FIG. 1C) which extend through openings 18b in the platen 18.
  • the bearing retainer 40 carries a bearing 42 that is journaled to an eccentric arbor 36c formed on the bottom of the fan member 36.
  • the bearing assembly is secured to the arbor 36c via a threaded screw 44 and a washer 46.
  • the bearing 42 is disposed eccentrically to the output shaft 34 of the motor, which thus imparts an orbital motion to the platen 18 as the platen 18 is driven rotationally by the motor 30.
  • FIGS 2A-2B illustrate a ball bearing based compliant damping feature for a sanding tool. Illustrated in FIG. 2A is a rotary sander 210 that is part of a sanding system 200. However, while a rotary sander 210 is illustrated, it is expressly contemplated that other sanding tools, such as orbital, linear and random orbital may be used, in other embodiments.
  • Sanding tool 210 is coupled to a backup pad 250, which has a tool connecting feature 254, which connects to a drive shaft of tool 210.
  • Backup pad 250 also has an abrasive article attachment surface 252, which receives an abrasive article for a sanding operation, such as an abrasive disc.
  • a damping system that includes a pair of ball bearings 260 that ride in a groove 262 (illustrated in FIG. 2B ). Each ball-bearing 260 is coupled to a compliant damper 264, which are also coupled to tool 210. As illustrated in FIGS. 2A and 2B , compliant damper 264 is a magnetorheological shock absorber. Compliant damper 264 is a variable compliance damper, for example allowing a range of compliance options when actuated.
  • backup pad 250 is illustrated at a significant distance from tool 210 for ease of understanding, it is expressly contemplated that, in at least some embodiments, the compliance dampers264 are condensed such that the tool 210 and the backup pad 250 are in close proximity to one another, for example on the order of one or more millimeters apart.
  • Compliant dampers 264 in the embodiment illustrated in FIG. 2A , are magnetorheological shock absorbers with a magnetorheological fluid that causes springs to expand and contract to absorb vibrations caused by operation of tool 210 during a sanding operation.
  • magnetorheological shock absorbers with a magnetorheological fluid that causes springs to expand and contract to absorb vibrations caused by operation of tool 210 during a sanding operation.
  • other suitable shock absorbing mechanisms may be used in other embodiments.
  • FIGS 3A-3B illustrate a magnetic fluid-based compliant damping feature for a sanding tool.
  • FIG. 3A illustrates a top-down view of a backup pad 300 modified with a damping system.
  • the backup pad includes a tool connector 302, which connects to a drive shaft of the tool, and which is on an opposite side from an abrasive article receiving surface 304.
  • Backup pad 300 includes a damping system with a first contact ring 310 and a second contact ring 320.
  • a flexible fluid container 330 is present within a housing of backup pad 300.
  • Fluid container 330 is filled with a magnetorheological fluid, in one embodiment, with a viscosity that can be altered when a current is applied to the wire coils that encircle, or are embedded within the fluid container 330.
  • a current can be applied by one of spring-loaded mobile arms 340 making contact with either or both of contact rings 310 or 320. As the viscosity of the fluid within container 330 changes, the firmness of backup pad 300 also changes.
  • a second set of arms 340 are also needed, such that arms 340 and the second set of arms both contact a coiled conducting wire in order for sufficient current to flow and cause an electromagnetic field.
  • a single coil is positioned within the magnetic fluid and receives a current that adjusts the viscosity of the magnetic fluid.
  • the fluid container 330 is encircled and current is applied using contacts 340.
  • Windings 360 are illustrated as used in conjunction with contacts 340, and instead of contact rings 310, 320.
  • FIGS 4A-4B illustrate a telescoping drive shaft for a sanding tool.
  • a telescoping driveshaft 450 couples tool 410 to backup pad 420, in one embodiment of a dampened sanding tool 400.
  • Backup pad 420 includes a tool connecting side, which receives drive shaft 450 through a threaded portion 480 of shaft 450 coupling to threading of backup pad 420 (not shown in FIGS. 4A-4B ).
  • Backup pad 420 also includes an abrasive article connecting side 422, which receives an abrasive article for a sanding operation.
  • Telescoping drive shaft 450 is capable of collapsing up and down such that a magnetorheological damping feature 470 can collapse or expand within shaft 450.
  • telescoping drive shaft has a plurality of grooves such that the telescoping sections can rotate together as tool 410 rotates backup pad 420 and an abrasive article coupled to side 422.
  • Telescoping drive shaft 450 also has a connection feature 480 that interlocks tool 410 to backup pad 420. As illustrated in FIG. 4B , in one embodiment, the connection feature is a threaded shaft.
  • FIG. 5 illustrate a fluid-based damping feature for a sanding tool.
  • FIG. 5 illustrates a sanding tool 500 with an external housing 502 that houses a motor, as illustrated.
  • a fluid-filled bladder 510 Within housing 502 is a fluid-filled bladder 510.
  • Fluid 520 in one embodiment, is a magnetorheological fluid that can change viscosity when affected by a magnetic field.
  • a magnetic field can be applied by running a current through a current-conducting medium, such as a wire 530 wrapped around bladder 510.
  • Current conducting element 530 in some embodiments, is an insulated coil to prevent shorts.
  • element 530 couples to a positive lead, and the other couples to a negative lead.
  • the strength of the applied magnetic field can be varied by the amount of current and / or the number of windings of wire 530.
  • a single wire 530 on an exterior is illustrated in FIG. 5 , However, wire 530 may be within bladder 510, in some embodiments. In another embodiment, a second wire 530 is present on an interior of bladder 510, between bladder 510 and a motor.
  • fluid bladder 510 may only be substantially between the top of a motor and the top of the housing 502. Such an embodiment may limit the ability of the motor to move to just along axis 540.
  • a plurality of fluid bladders 510 instead of a single fluid bladder 510, a plurality of fluid bladders 510, each surrounded by a current conducting element 530, are present within housing 502. The plurality of fluid bladders 510 may allow for at least some angular movement of the motor within housing 502, as illustrated by axis 542.
  • FIG. 6 illustrates an electronic control system which may operate in concert with damping systems described herein.
  • Systems using compliant damping systems, such as rheological-based fluids or other shock absorbers under the control of an electronic control system can product damping as selected or specified by a program memory 620 stored in, or accessible by, the device.
  • a set of system operating conditions 610 are monitored by a control system of a sanding tool and are input to an electronic analog to digital converter (A/D) 614 that converts analog signals to a digital representation, which is then provided to a computing engine 614.
  • Operating conditions 610 may include RPM, temperature, axial acceleration, etc.
  • a force or displacement measurement sensed by a sensor 640 associated with a rheological damping element 650.
  • Sensor(s) 640 may be an accelerometer, force and/or displacement sensor or other sensors that determine the system operating conditions.
  • Computing engine 614 takes as inputs: the algorithm(s) of the program memory 620, system operating conditions 610 and measurements from sensor(s) 640.
  • A/D 612, program memory hardware 620, and digital to analog converter (DAC) 616 are integrated into computing engine 614.
  • Computing engine 614 may be, in some embodiments, a microprocessor, microcontroller or other suitable computing device.
  • Program memory 620 programs the response of the computing engine 614, for example setting parameters around how fast to respond, under what conditions as determined by the system operating conditions, etc., and this is output to digital to analog converter (DAC) 616 that converts the multiple inputs, using program memory algorithm 620, through an amplifier 630 into a controlled current signal that controls the magnetic field provided by compliant damper 640.
  • DAC digital to analog converter
  • FIG. 7 illustrates a diagrammatic view of a sanding system in accordance with embodiments herein.
  • the sanding system 800 includes a sanding tool 802 which couples to a backup pad 850, which connects to an abrasive article 804, such as an abrasive disc.
  • the sanding tool 802 may be a linear sander, a rotary sander, an orbital sander or a random orbital sander.
  • Sanding tool 802 includes a housing with an internal cavity that houses a motor 820.
  • the motor includes an output shaft that couples to backup pad 850, or directly to an abrasive disc 804.
  • sanding tool includes a particulate collector 816 that, for example, applies a vacuum or otherwise collects particulates created during a sanding operation.
  • a particulate collector 816 that operates based on a vacuum
  • an air supply connection 818 may be present.
  • either tool 802 and / or backup pad 850 may have a damping feature 822, 852.
  • damping features 822, 852 are each components of a damping system that spans a connection between tool 802 and backup pad 850.
  • the damping system is wholly contained within either sander 802 or backup pad 850, such that one or the other of features 822, 852 are either not present, or not active, during a sanding operation.
  • system 400 described herein wholly contains the damping system within the sanding tool 802
  • system 300 contains the damping system wholly within the backup pad 850.
  • system 200 contains features 822, 852 that are either part of tool 802 or backup pad 850.
  • Sanding tool 802 has an actuator 812 that, when actuated, causes motor 820 to move abrasive disc 804 to move in a pattern for a sanding operation.
  • actuator 812 is only actuatable when sanding tool 802 has been plugged in or otherwise powered. In other embodiments, actuator 812 serves to power on and actuate motor 820. In some embodiments, motor 820 directly causes movement of backup pad 820, which then causes abrasive disc 804 to move.
  • damping feature 822 and / or damping feature 852 are actuated in conjunction with sanding actuator 812, that is the damping starts as soon as sander 802 begins a sanding operation.
  • damping actuator 814 may also be mechanically actuated based on another event, such as a minimum counterforce applied by a workpiece against the abrasive disc 804 during a sanding operation, or a minimum vibratory activity.
  • damping features 822 and / or 852 An amount of compliance provided by damping features 822 and / or 852 is controlled by controller 820.
  • controller 820 may communicate with a damping feature 822, 852 and activate, increase, decrease or deactivate current flow, causing a viscosity of a magnetorheological fluid to change.
  • FIG. 8 illustrates a method of providing damping to a sanding operation in accordance with embodiments herein.
  • Method 900 may be implemented in any suitable sanding or grinding tool that is expected to produce vibrations during a grinding operation.
  • a sanding tool is prepared.
  • Preparing a sanding tool may include selecting and attaching a suitable backup pad to the tool, and / or selecting a suitable abrasive article for a sanding job.
  • a backup pad 912 has features of a damping system that correspond to damping features on or associated with the sanding tool.
  • Preparing the sanding tool may also include other steps 916, such as attaching a particulate collection system.
  • a sanding operation is conducted.
  • the sanding operation may be conducted using an orbital sander 922, random orbital sander 924, rotary sander 926, or another sanding tool 928, such as a linear sander.
  • a compliant damping feature is actuated. While block 930 is illustrated as following block 920, it is expressly contemplated that, in some embodiments, actuating the sanding tool also actuates the damping feature. However, it is expressly contemplated that the damping feature may be separately actuated, for example when power to the sanding tool is initiated, or when a reaction force is exerted on the sanding system by a worksurface being sanded.
  • the damping feature may be any suitable damping feature, such as a fluid feature 932 containing a magnetorheological fluid that has a manipulatable viscosity, such as that described in FIGS. 3 and 5 , a ball-bearing-based damping system 934, such as that described in FIG. 2 , a telescoping drive shaft, as described in FIG. 4 .
  • Other damping systems 938 may also be possible.
  • the damping feature activated in block 930 may include components solely associated with the sanding tool, as illustrated in block 952, for example incorporated into the drive shaft or otherwise housed within the housing of the sanding tool. In other embodiments, the components of the damping feature may be solely associated with, or wholly included within the backup pad, as illustrated by block 954.
  • FIG. 9 illustrates an exploded view of the components of a robotic paint repair stack.
  • the robotic paint repair stack 1106 comprises a robot arm 1200, force control sensors and devices 1108, a grinding/polishing tool 1110 with damping system 1102, a hardware integration device 1202, abrasive pad(s) and compounds 1112, a design abrasives process 1204, and data and services 1206.
  • These elements may work together to identify defect locations and to implement a predetermined repair program using a deterministic policy for the identified defect, such as the policy discussed in co-owned and co-pending PCT Application No. PCT/IB2019/057053, filed on August 21, 2019 .
  • damping to a robotic grinding / polishing tool 1110 through a damping feature 1104 is also expressly contemplated herein.
  • One area where robots are lacking behind their human counterparts is the ability to identify and adapt to the need for changing pressure of changing pressure when sanding over non-flat part features.
  • compliant abrasive products such as abrasive nonwoven wheels or bristle products
  • compliance is provided through a force control unit 1108, which adjusts a force applied to a sanding tool 1110.
  • the compliance mechanism By moving the compliance mechanism into the abrasive tool, itself, it could allow for any abrasive to be used. Furthermore, if the tool compliance is adjustable in real-time, this could allow for maximizing cut rates during sanding of the part. This could also reduce complexity in the robotic system by removing the need for a separate force control unit outside of the sanding tool.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Claims (11)

  1. Système de ponçage comprenant :
    un outil (500, 802) avec un moteur (820) qui, lorsqu'il est actionné, entraîne un mouvement d'un arbre d'entraînement :
    un tampon de support (300, 850) accouplé à l'arbre d'entraînement, dans lequel le tampon de support est conçu pour recevoir un article abrasif (804),
    et dans lequel un mouvement de l'arbre d'entraînement provoque le mouvement de l'article abrasif ;
    caractérisé en ce qu'une unité d'amortissement souple est conçue pour fournir une souplesse variable à l'outil lorsque l'article abrasif entre en contact avec une surface de travail, dans lequel l'unité d'amortissement comprend un fluide magnétorhéologique (520) qui passe d'une première viscosité à une seconde viscosité lorsqu'un courant appliqué passe d'un premier courant à un second courant, dans lequel le fluide magnétorhéologique est logé dans le tampon de support (300) et dans lequel le courant est appliqué à un anneau de contact (310, 320) sur une surface du tampon de support ; et
    un dispositif de commande électronique qui reçoit un état de fonctionnement du système, envoie un signal à l'unité d'amortissement souple sur la base de l'état de fonctionnement du système.
  2. Système de ponçage selon la revendication 1, dans lequel l'état de fonctionnement du système est reçu depuis un capteur associé à l'unité d'amortissement, un capteur associé au moteur, un effecteur terminal auquel l'outil de ponçage est accouplé, ou un système de vision.
  3. Système de ponçage selon la revendication 2, dans lequel l'état de fonctionnement du système est une force de réaction mesurée, une orientation de l'outil par rapport à la surface de travail, une indication que l'article abrasif est entré en contact avec une surface de travail, ou un seuil de vibration.
  4. Système selon la revendication 1, dans lequel le fluide magnétorhéologique est contenu dans une poche de fluide, et dans lequel l'outil comprend un fil enroulé autour de la poche de fluide, et dans lequel le fil est conçu pour produire un champ magnétique lorsqu'un courant est reçu.
  5. Système selon l'une quelconque des revendications 1 à 4, dans lequel le système de ponçage est monté sur un bras robotisé.
  6. Procédé de ponçage de manière mécanique d'une surface, le procédé comprenant :
    la fourniture d'un système de ponçage tel que défini dans l'une quelconque des revendications précédentes, comprenant un outil de ponçage (500, 802) accouplé à un article abrasif (804) ;
    la mise en contact de l'article abrasif avec une surface de travail ; et
    la variation de la souplesse de l'outil de ponçage pendant une opération abrasive comprenant l'article abrasif entrant en contact avec une surface de travail, dans lequel la variation de la souplesse comprend la commande d'une fonctionnalité d'amortissement souple, dans lequel la fonctionnalité d'amortissement souple ajuste une force appliquée de l'outil de ponçage dans lequel l'unité d'amortissement souple comprend un fluide magnétorhéologique (520) qui passe d'une première viscosité à une seconde viscosité lorsqu'un champ magnétique est appliqué, dans lequel le fluide magnétique est logé dans le tampon de support (300) et dans lequel le courant est appliqué à un anneau de contact (310, 320) sur une surface du tampon de support ; et
    dans lequel un système de commande électronique actionne la fonctionnalité d'amortissement mécanique en réponse à un état de fonctionnement du système reçu depuis un capteur.
  7. Procédé selon la revendication 6, dans lequel la commande comprend l'augmentation d'un courant appliqué qui augmente la force appliquée de l'outil de ponçage.
  8. Procédé selon l'une quelconque des revendications 6 ou 7, dans lequel la commande comprend la diminution d'un courant appliqué qui diminue la force appliquée de l'outil de ponçage.
  9. Procédé selon la revendication 6,
    dans lequel l'actionnement du moteur provoque l'actionnement du dispositif de commande électronique.
  10. Procédé selon la revendication 9, dans lequel l'état de fonctionnement du système est reçu depuis un capteur associé à la fonctionnalité d'amortissement souple, un capteur associé au moteur ou un système de vision éloigné de l'outil de ponçage.
  11. Procédé selon la revendication 9, dans lequel le champ magnétique est appliqué à un fil (530) enroulé autour du fluide magnétorhéologique (520).
EP21827431.4A 2020-12-17 2021-12-08 Système de ponçage avec fonctionnalité d'amortissement Active EP4263129B1 (fr)

Applications Claiming Priority (2)

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US202063199281P 2020-12-17 2020-12-17
PCT/IB2021/061470 WO2022130129A1 (fr) 2020-12-17 2021-12-08 Système de ponçage avec fonctionnalité d'amortissement

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EP4263129A1 EP4263129A1 (fr) 2023-10-25
EP4263129B1 true EP4263129B1 (fr) 2025-08-20

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US11280381B2 (en) * 2019-05-24 2022-03-22 Onto Innovation Inc. Active damper for semiconductor metrology and inspection systems
CN110497317B (zh) * 2019-07-25 2024-05-03 杭州电子科技大学 一种适用于自动打磨设备的恒压装置
US11590661B2 (en) * 2020-04-30 2023-02-28 The Boeing Company Robotic sanding systems and methods

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