System and Method for Selectively Treating Part with Ultrasonic Vibrations
A system for treating a part with ultrasonic vibrations. The system includes a robotic arm, an ultrasonic end effector, and a controller. The robotic arm includes an actuator system that controls motion of the robotic arm and a tool holder. The ultrasonic end effector is configured to apply ultrasonic vibrations to a region of the part. The controller executes a program for controlling motion of the robotic arm for the ultrasonic end effector to apply ultrasonic vibrations to the region of the part; and controls the ultrasonic vibrations of the ultrasonic end effector based on a programmed ultrasonic parameter value for the region.
1 . A system for treating a part with ultrasonic vibrations, the system comprising:
a robotic arm comprising an actuator system configured to control motion of the robotic arm through space, the robotic arm including a tool holder;
an ultrasonic end effector coupled to the tool holder, the ultrasonic end-effector configured to apply ultrasonic vibrations to a region of the part; and
a controller configured to:
execute a program for controlling motion of the robotic arm for the ultrasonic end effector to apply ultrasonic vibrations to the region of the part; and
control the ultrasonic vibrations of the ultrasonic end effector based on a programmed ultrasonic parameter value for the region.
2 . The system of claim 1 , further comprising sensors configured to sense properties of at least one of: the robotic arm, the ultrasonic end-effector, or the region of the part, wherein the controller is further configured to adapt the motion of the robotic arm or vibrations of the ultrasonic end-effector based on the sensed properties.
3 . The system of claim 1 , wherein the programmed ultrasonic parameter for the region is based on a material property of the region and a desired treatment for the region.
4 . The system of claim 1 , wherein the programmed ultrasonic parameter value is determined so the ultrasonic vibrations soften material at the region.
5 . The system of claim 1 , wherein the programmed ultrasonic parameter value is determined so the ultrasonic vibrations harden material at the region.
6 . The system of claim 1 , wherein the part is made of metal.
7 . The system of claim 6 , wherein the part is a sheet metal part.
8 . The system of claim 1 , wherein the ultrasonic end effector includes a mechanical transducer coupled to a component with a surface configured to interact with the part or a material of the part.
9 . The system of claim 8 , wherein the component includes a rounded surface.
10 . The system of claim 1 , wherein the surface area of the region is less than the surface area of the part.
11 . The system of claim 1 , wherein, when the ultrasonic end effector applies ultrasonic vibrations to the part, the ultrasonic end effector does not apply vibrations to other regions of the part.
12 . The system of claim 1 , wherein the ultrasonic vibrations change the temperature of the region by less than ten degrees Celsius.
13 . The system of claim 1 , wherein the ultrasonic parameter value indicates at least one of: a power of the ultrasonic vibrations, a frequency of the ultrasonic vibrations, a speed of the motion of the robotic arm, or an angle of the ultrasonic end effector.
14 . The system of claim 1 , wherein controlling motion of the robotic arm includes controlling the end effector to move on a path along a surface of the part.
15 . The system of claim 1 , wherein the actuator system is a six degree-of-freedom actuator system configured to control motion of the robotic arm through three-dimensional space.
16 . A method for treating a part with ultrasonic vibrations, the method comprising:
controlling a robotic arm, the robotic arm comprising an actuator system configured to control motion of the robotic arm through space, the robotic arm including a tool holder coupled to an ultrasonic end effector, the ultrasonic end-effector configured to apply ultrasonic vibrations to a region of the part,
wherein controlling the robotic arm comprises:
controlling motion of the robotic arm for the ultrasonic end effector to apply ultrasonic vibrations to the region of the part; and
controlling the ultrasonic vibrations of the ultrasonic end effector based on an ultrasonic parameter value for the region.
17 . The method of claim 16 , wherein the ultrasonic parameter for the region is based on a material property of the region and a desired treatment for the region.
18 . The method of claim 16 , wherein the part is a sheet metal part.
19 . A non-transitory computer-readable storage medium comprising stored instructions that, when executed by a computing device, cause the computing device to perform operations comprising:
controlling a robotic arm, the robotic arm comprising an actuator system configured to control motion of the robotic arm through space, the robotic arm including a tool holder coupled to an ultrasonic end effector, the ultrasonic end-effector configured to apply ultrasonic vibrations to a region of a part,
wherein controlling the robotic arm comprises:
controlling motion of the robotic arm for the ultrasonic end effector to apply ultrasonic vibrations to the region of the part; and
controlling the ultrasonic vibrations of the ultrasonic end effector based on an ultrasonic parameter value for the region.
20 . The non-transitory computer-readable storage medium of claim 19 , wherein the ultrasonic parameter for the region is based on a material property of the region and a desired treatment for the region.