ROBOT AND METHOD FOR TREATING SURFACES

Abstract

A robot includes an arm having a plurality of links, drives for moving the links, a control device for actuating the drives, and a process head connected to the arm. The control device is configured to operate the drives in a force- and/or torque-controlled manner such that the process head or a first element extending from the arm touches a surface having a structure and/or having at least one characterizing feature, and is moved along the surface with simultaneous elongation or simultaneous tightening of the surface. The process head has a radiation-emitting radiation source, and the wavelength and/or intensity of the radiation can be adjusted based on the structure and/or the at least one characterizing feature.

Claims

1-12. (canceled)

13. A robot for treating a surface that has at least one of a structure or at least one mark, the robot comprising: an arm having a plurality of links and a plurality of drives for moving the links; a processing head connected to the arm and comprising a radiation source that emits radiation; and a control device configured to actuate the drives; the control device configured to operate the drives so as to adjust forces and/or torques applied by the drives such that the processing head or a first element that extends from the arm touches the surface and is moved along the surface while simultaneously stretching or tightening the surface; wherein at least one of a wavelength or intensity of the emitted radiation is adjusted based on at least one of the structure or the at least one mark.

14. The robot of claim 13, wherein the arm comprises an apparatus that cools the surface.

15. The robot of claim 13, further comprising: at least one optical sensor associated with the arm and configured to sense the surface or a region thereof; and an image-processing unit communicating with the at least one optical sensor.

16. The robot of claim 13, wherein at least one of the wavelength or an intensity of the emitted radiation is adjustable based on a pigmentation of at least one of the surface, the structure, or the at least one mark.

17. The robot of claim 13, further comprising: a tactile sensor extending from the arm; wherein the control device is further configured to receive signals from the tactile sensor, and to operate the drives to adjust or control movement of the arm based on the signals.

18. The robot of claim 13, wherein the radiation source comprises at least one laser from the group of a Ruby Laser (694.3 nm), an Nd:YAG Laser (1064 nm, frequency-doubled 532 nm), an Er:YAG Laser (2940 nm), an Alexandrite Laser (755 nm), or a CO.sub.2 Laser (1064 nm, 9400 nm).

19. A method for machining or treating a surface that has at least one of a structure or at least one mark, the method comprising: obtaining a robot comprising an arm having a plurality of links and a plurality of drives for moving the links, a processing head connected to the arm and comprising a radiation source that emits radiation, and a control device configured to actuate the drives; operating the drives with the control device so as to adjust forces and/or torques applied by the drives such that the processing head or a first element that extends from the arm touches the surface and is moved along the surface while simultaneously stretching or tightening the surface; emitting radiation from the processing head; and adjusting at least one of a wavelength or intensity of the emitted radiation based on at least one of the structure or the at least one mark.

20. The method of claim 19, further comprising: sensing at least one of the structure or the at least one mark with a sensor; wherein adjusting at least one of a wavelength or intensity of the emitted radiation comprises adjusting based on at least one of the sensed structure or the at least one sensed mark.

21. The method of claim 19, further comprising: sensing at least one of the structure or the at least one mark with a sensor; and adjusting or controlling at least one of a movement, a speed, or an acceleration of the arm based on at least one of the sensed structure or the at least one sensed mark.

22. The method of claim 19, wherein the arm is provided with a plurality of processing heads, each configured to emit a different type of radiation, the method further comprising: emitting radiation from at least one of the plurality of processing heads based on at least one of the structure or the at least one mark.

23. The method of claim 19, further comprising: operating the drives with the control device to apply a pressure to the surface while the surface is machined or treated; wherein the applied pressure is in the range of about 1 kPa and about 6 kPa.

24. The method of claim 19, wherein emitting radiation from the processing head comprises emitting laser radiation having an energy density in the range of 300 mJ/cm.sup.2 and 10 J/cm.sup.2 toward the surface.

25. The method of claim 24, wherein emitting radiation from the processing head comprises emitting laser radiation having an energy density in the range of 300 mJ/cm.sup.2 and 2 J/cm.sup.2 toward the surface.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and, together with a general description of the invention given above, and the detailed description given below, serve to explain the principles of the invention.

[0033] FIG. 1 is a schematic illustration of an exemplary robot in accordance with the principles of the present disclosure.

DETAILED DESCRIPTION

[0034] In the single FIGURE, a robot 10 is shown purely schematically, which can be designed as a lightweight robot. A specific embodiment can be an LBR iiwa robot by KUKA AG. The robot 10 comprises a robot arm 12, which comprises four links 14, 16, 18, 20 in the embodiment. The links 14, 16, 18, 20 are interconnected by means of links 22, 24, 26, which are moved by drives (not shown). The drives are electric drives, which are moved by means of sensors that are integrated in the robot 10 and by a control device such that the force and torque thereof are adjusted. The arm 12 can thereby be moved with respect to six or more degrees of freedom.

[0035] The front end of the outermost link 20 comprises a flange 28, to which a processing head 30 is fastened and in which a laser beam source is integrated in the embodiment.

[0036] Furthermore, a spacer 32 extends from the flange 28. By means of the laser radiation 34 that emanates from the processing head 30, marks on a surface 36 are intended to be machined or treated, which surface is the surface of a body 38, which is positioned on a machining table 40, for example, in particular such that it does not move.

[0037] The body 38 can be an object covered in leather or hide or can be leather, hide or skin per se, for example, without the inventive teaching being restricted thereto.

[0038] Furthermore, sensors are arranged in the arm 12, which arm in particular extends from the flange 18, all of which sensors are denoted by reference sign 42. These are in particular optical sensors, by means of which the surface 36 and therefore the structure or marks of the surface 36 are recorded. The optical signals are then processed by means of an image-processing unit in order to be able to adjust or control the movement of the robot arm 12 and therefore of the laser beam 34 on the basis of the shape of the structure or mark.

[0039] In this case, it is also possible to record the color of the mark and the surface surrounding it in order to then adjust the laser radiation 34 with respect to the wavelength and/or intensity such that, once the mark has been removed, the entire surface 36 remains uniformly pigmented as desired.

[0040] In order to achieve a specific spacing from the surface 36, in the embodiment, the spacer 32 extends from the flange 28, which, when the laser radiation 34 is applied, remains in contact with the surface 36 and acts on it such that, when the arm 12 is moved, the surface 36 stretches. Therefore, smoothing can be achieved irrespective of whether the surface may be rough, which means that reproducible machining or treatment results can be achieved.

[0041] Of course, the processing head 30 itself can slide along the surface 36. The laser radiation 34 has to be adjusted accordingly.

[0042] Marks can also be made on the surface 36, which are recorded by the sensors 42 in order to set off on a path on the surface 36 that is preset by the marks.

[0043] The arm 12 is moved by means of the force and torque sensor system that is integrated in the robot 10, and that ensures that the necessary but admissible force acts on the surface 36 in order to achieve the desired stretching effect, and at the same time that damage cannot occur. This is of particular importance when a tattoo is to be removed, and therefore it ensures that dangerous amounts of force are not exerted on a body.

[0044] Semi-automatic or automatic operation is possible. For semi-automatic operation, the arm 12 travels on preset paths, in particular with constant operating parameters.

[0045] Of course, movement is also possible by sampling along the surface. For this purpose, a tactile sensor can additionally extend from the arm 12 or the link 20.

[0046] During automatic operation, the surface 36 or the region to be treated is recorded by the sensor system arranged in the robot arm 12 or by the sensors 40, in order to then move the arm 12 on the basis of existing marks or structures such that the laser beam 34 makes the desired changes to the structure or the marks to the necessary extent.

[0047] In particular, a Ruby Laser (694.3 nm), Nd:YAG Laser, Er:YAG Laser, Alexandrite Laser or a CO.sub.2 Laser can be used as the laser. The energy density should be between 300 mJ/cm.sup.2 and 10 J/cm.sup.2, in particular between 300 mJ/cm.sup.2 and 2 J/cm.sup.2.

[0048] As the processing head slides along the surface, the pressure that acts on the surface 36 should be between 1 KPa and 6 KPa.

[0049] In the region when the radiation strikes, the surface 36 should be stretched or tightened by from 0.5 percent to 2.0 percent.

[0050] The embodiment has been described on the basis of the use of laser radiation. IPL technology can also be integrated in the processing head 30 such that treatment is carried out using high-energy flashes of light.

[0051] Instead of a radiation source provided in the processing head 30, a processing head can also be used that comprises mechanical treatment means, such as epilation units, in order to machine the surface 36.

[0052] While the present invention has been illustrated by a description of various embodiments, and while these embodiments have been described in considerable detail, it is not intended to restrict or in any way limit the scope of the appended claims to such detail. The various features shown and described herein may be used alone or in any combination. Additional advantages and modifications will readily appear to those skilled in the art. The invention in its broader aspects is therefore not limited to the specific details, representative apparatus and method, and illustrative example shown and described. Accordingly, departures may be made from such details without departing from the spirit and scope of the general inventive concept.