JPH03281120A - Control method for pressure of chamfering robot - Google Patents
Control method for pressure of chamfering robotInfo
- Publication number
- JPH03281120A JPH03281120A JP8223190A JP8223190A JPH03281120A JP H03281120 A JPH03281120 A JP H03281120A JP 8223190 A JP8223190 A JP 8223190A JP 8223190 A JP8223190 A JP 8223190A JP H03281120 A JPH03281120 A JP H03281120A
- Authority
- JP
- Japan
- Prior art keywords
- robot
- pressure
- chamfering
- leaf spring
- arm
- 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.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 10
- 238000001514 detection method Methods 0.000 abstract description 13
- 230000009471 action Effects 0.000 abstract description 2
- 229910000831 Steel Inorganic materials 0.000 description 9
- 239000010959 steel Substances 0.000 description 9
- 230000000630 rising effect Effects 0.000 description 6
- 230000007423 decrease Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010049633 Shoshin beriberi Diseases 0.000 description 1
- 230000001154 acute effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000001035 drying Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
- B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
- B23Q1/36—Springs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q9/00—Arrangements for supporting or guiding portable metal-working machines or apparatus
- B23Q9/0064—Portable machines cooperating with guide means not supported by the workpiece during working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Milling, Broaching, Filing, Reaming, And Others (AREA)
Abstract
Description
【発明の詳細な説明】
Ａ 産業上の利用分野
本発明は、一定の押圧でワークの面取り加工を行えるよ
うにした面取り加工用ロボットの押圧制御方法に関する
ものである。DETAILED DESCRIPTION OF THE INVENTION A. Field of Industrial Application The present invention relates to a pressure control method for a chamfering robot that can chamfer a workpiece with a constant pressure.
Ｂ０発明の概要
本発明は、ロボットの手先フランジに切削用チップを固
着した板ばねを立設固定し、切削用チップをワークの面
取り加工部に押し当て面取り加工す２面取り加工用ロボ
ットにおいて、ロボットで前記切削用チップを前記面取
り加工部に押し付けて面取り加工する際に、板ばねのた
わみ量を歪ゲージで検出し、その検出信号が所定のレベ
ル範囲内に設定されるようにロボットを駆動制御するこ
とにより、常にワークに対する切削用チップの押圧を一
定に保つことが可能となり、ワークの寸法誤差や位置決
め誤差の影響を吸収して高精度の面取り加二Ｅを行うこ
とかでさるようにしたものである。B0 Summary of the Invention The present invention provides a robot for two-chamfer processing, in which a leaf spring with a cutting tip fixed to the flange of the robot's hand is erected and fixed, and the cutting tip is pressed against a chamfered part of a workpiece to perform chamfering. When pressing the cutting tip against the chamfering part to perform chamfering, the amount of deflection of the leaf spring is detected by a strain gauge, and the robot is controlled so that the detection signal is set within a predetermined level range. By doing this, it is possible to always keep the pressure of the cutting tip against the workpiece constant, and it is possible to absorb the effects of dimensional errors and positioning errors of the workpiece and perform high-precision chamfering. It is something.
０ 従来の技術
機械加工したワークは、エツジやかえり等が形成さ１１
ているため、仕−［、げに糸面取り等の作業を行う必要
がある。0 Workpieces machined using conventional technology may have edges, burrs, etc.11
Therefore, it is necessary to perform work such as chamfering the threads.
従来、ａボン１−の手先フランツｌ、ニエンドミル。Conventionally, abon 1-'s hand Franz l, Niendo mill.
ロータリーバーおよびヤスリ等の切削−［具を取りイ・
１け、ｔめ作成されたブ〔１グラ１３に従ってロボット
を移動座標」−５で動作させ、ワークの而取り加１−を
行っていた。Cutting with rotary bars and files - [Remove tools]
1, the robot was operated at the movement coordinates 1-5 according to the 1st graph 13 created, and the workpiece was removed and added 1-.
しかしながら、エンドミル ロータリーバーおよびヤス
リ専の切削工具は切削力が比較的大きいたｙ）、切削速
度や工具の当たり等の不均一がそのまま面取りの仕上げ
粘度に悪影響をｌテえて１．まう３、そこで、而取りの
仕１−げ精度を高めるためには、ロボットのティーチン
グやティーチングの修１１モを行う必要がある。また、
鋳型の加工誤差を含む同形状の穴部や異形状の穴部の面
取りを高精度に仕１−ぼるためには、各穴部に対して［
１ボットをティーチングさせる必要がある。ごのティー
チング作業は非常に面倒であり、多大な時間を要すると
いう問題があった。However, since end mill rotary bars and cutting tools exclusively for filing have relatively large cutting forces, unevenness in cutting speed and tool contact can have a negative impact on the finishing viscosity of the chamfer.1. 3. Therefore, in order to improve the accuracy of the target, it is necessary to teach the robot and improve the teaching. Also,
[
It is necessary to teach one bot. The problem is that the teaching work is very troublesome and takes a lot of time.
本出願人はこのような問題を解消するために、先の実願
平１、、−１０７４０９号明細書にて、ロボットの手先
フランジに切削用チップを設けた板ばねを立設し、板ば
ねのたわみ量を読み取れるようにゲージを設けて構成し
たロボット用面取り工具を提案した。ごのロボット用面
取り工具は、板ばねでワークの寸法誤差や位置決め誤差
をある程度吸収−４′ることかできるので、精度の良い
而取り加［二を行うことができるとともに、大きさと形
状が路間−ならば同一のプログラムの平行移動等が可能
となり、ティーチング作業時間を大幅に節約することが
できるなどの利点がある。In order to solve this problem, the present applicant proposed in the previous Utility Application No. 107409 that a leaf spring provided with a cutting tip was installed on the flange of the hand end of the robot, and the leaf spring was We proposed a chamfering tool for robots that is equipped with a gauge so that the amount of deflection can be read. The chamfering tool for robots uses a leaf spring to absorb dimensional errors and positioning errors of the workpiece to some extent. If it is between 1 and 2, it becomes possible to move the same program in parallel, and there are advantages such as the ability to save a large amount of teaching work time.
■〕９発明が解決しようとする課題
ｊ７かしながら、−１−記先願にかかるロボット用面取
りＪ−具は、〔１ボツトがワークに切削用チップを押１
．付けたときの板ばねのたわみ量を、ゲージで読み取っ
てティーチングしている。このため、各面取り加工部の
ティーチングポイントでは適正であっても、そのティー
チングポイント間を結んだ経路では必ずしｔ）ｉ正とな
る保証はなく、かつワークの寸法誤差やワークの位置決
め誤差の影響を受は易い。そこで、精度の良い面取りを
行う場合には、ワークの加工精度を高めるとともに、ワ
ークの取り付は位置を正確に出す必要がある。■] 9 Problems to be solved by the invention
．． Teaching is done by reading the amount of deflection of the leaf spring when it is attached using a gauge. Therefore, even if the teaching point of each chamfering part is correct, there is no guarantee that the path connecting the teaching points will always be positive, and the influence of workpiece dimensional errors and workpiece positioning errors. It is easy to receive. Therefore, when performing chamfering with high precision, it is necessary to increase the machining precision of the workpiece and to accurately position the workpiece.
本発明は、上記先願技術の有する課題を解決するために
なされたもので、ワーク自体の寸法誤差や位置決め誤差
の影響を吸収し、常に面取り加工部に対する切削用チッ
プの押圧を一定に保つことができる面取り加工用ロボッ
トの押圧制御方法を提供することをｌＩ的とする。The present invention was made in order to solve the problems of the prior art described above, and it is possible to absorb the effects of dimensional errors and positioning errors of the workpiece itself, and to always keep the pressure of the cutting tip against the chamfered part constant. The purpose of this invention is to provide a press control method for a chamfering robot that can perform the following steps.
８１課題を解決するための手段
本発明は萌記目的を達成するために、ロボットの手先フ
ランジに板ばねを立設固定し、その板ばねの自由端に切
削用チップを固着してなる面取り加工用ロボットにおい
て、面記板ばねのたわみ量を歪ゲージで検出し、この検
出信号が所定のレベル範囲内に設定されるように［１ボ
ツドアー１２を駆動制御し、ワークの面取り加工部に対
する前記切削用チップの押圧がほぼ一定になるようにす
ることを特徴とする。81 Means for Solving the Problems In order to achieve the object described above, the present invention provides a chamfering process in which a leaf spring is erected and fixed on the flange of the robot's hand, and a cutting tip is fixed to the free end of the leaf spring. In the robot, the amount of deflection of the surface plate spring is detected by a strain gauge, and the robot tool 12 is driven and controlled so that this detection signal is set within a predetermined level range, and the cutting tool is applied to the chamfered portion of the workpiece. It is characterized in that the pressure applied to the tip is kept almost constant.
Ｆ 作用
ワークの面取り加工部に対する切削用チップの押圧を板
ばねと歪ゲージとからなる押圧センサで検出し、この押
圧センサの検出信号が所定のレベル範囲内に設定される
ようにロボットアームを駆動制御することによって、面
取り加工部に対する切削用チップの押圧をほぼ一定に保
つことができる。F Action The pressure of the cutting tip against the chamfered part of the workpiece is detected by a pressure sensor consisting of a leaf spring and a strain gauge, and the robot arm is driven so that the detection signal of this pressure sensor is set within a predetermined level range. By controlling the pressure of the cutting tip against the chamfered portion, it is possible to maintain a substantially constant pressure.
Ｇ、実施例
以下、本発明を第１図および第２図に示ず一実施例に基
づいて説明する。G. Example Hereinafter, the present invention will be explained based on an example not shown in FIGS. 1 and 2.
第１図は本発明の押圧制御方法を適用した面取７ り加工用ロボットの一実施例を示す概略構成図である。Figure 1 shows chamfering 7 to which the pressure control method of the present invention is applied. 1 is a schematic configuration diagram showing an embodiment of a processing robot.
本図において、ｌは多関節型ロボットのアームで、その
アームＩの手先フランジ２にロボット用面取り工具３が
取り付けられている。In this figure, l is an arm of an articulated robot, and a robot chamfering tool 3 is attached to the hand flange 2 of arm I.
前記のロボット用面取り工具３は、円板状の工具フラン
ジ４に板ばね５を所定の角度に傾斜させて立設固定し、
この板ばね５の鋭角側で板ばね５と平行になるように支
持板６を工具フランジ４に立設固定し、これらの板ばね
５と支持板４の自由端側にゴム環７を挟持させ、このゴ
ム環７を少なくとも板ばね５または支持板４の一方に固
定し板ばね５の自由端に切削用の超鋼チップ８を設けて
なる。The robot chamfering tool 3 has a plate spring 5 tilted at a predetermined angle and fixed upright on a disc-shaped tool flange 4.
A support plate 6 is erected and fixed on the tool flange 4 so as to be parallel to the leaf spring 5 on the acute angle side of the leaf spring 5, and a rubber ring 7 is sandwiched between the leaf spring 5 and the free end side of the support plate 4. The rubber ring 7 is fixed to at least one of the leaf spring 5 or the support plate 4, and a carbide steel tip 8 for cutting is provided at the free end of the leaf spring 5.
前記板ばね５のほぼ中央部分の両板面には、充分な可撓
性を有する歪ゲージ９．９が貼着されている。この歪ゲ
ージ９．９は、板ばね５のたわみ量を電気量に変換する
公知の金属線抵抗歪ゲージを用いたものである。この歪
ゲージ９．９の抵抗値の変化をブリッジ等の手段で検出
し、その出力端子にはストレインアンプ１０を介して比
較器ＩＩが接続されている。この比較器１１は、板ばね
５のたわみ塁に応じた検出信号が第２図に示すように予
め設定された上昇信号出力レベルより高いときに上昇信
号を出力し、下降信号出力レベルより低いときに下降信
号を出力するもので、各信号線はロボットコントローラ
１２の入力端子ＤＩｌ。Strain gauges 9.9 having sufficient flexibility are attached to both plate surfaces of the leaf spring 5 at approximately the center thereof. This strain gauge 9.9 uses a known metal wire resistance strain gauge that converts the amount of deflection of the leaf spring 5 into an amount of electricity. A change in the resistance value of the strain gauge 9.9 is detected by means such as a bridge, and a comparator II is connected to the output terminal of the strain gauge 9.9 via a strain amplifier 10. This comparator 11 outputs a rising signal when the detection signal corresponding to the deflection base of the leaf spring 5 is higher than a preset rising signal output level as shown in FIG. 2, and when it is lower than a falling signal output level. Each signal line is connected to the input terminal DIl of the robot controller 12.
ＤＩ２に接続される。このロボットコントローラ１２は
、面取り加工用ロボットを制御するもので、検出信号が
上昇信号出力レベルと下降信号出力レベルとの範囲内に
あるときは、ティーチングされた動作軌路の通りにアー
ム１を動作させ、入力端子ＤＩ＋またはＤ■２に上昇信
号または下降信号が入力されたときは、現在の動作に上
昇指令または下降指令を加えて補正する。Connected to DI2. This robot controller 12 controls the chamfering robot, and when the detection signal is within the range of the rising signal output level and the falling signal output level, it operates the arm 1 according to the taught movement trajectory. When a rise signal or a fall signal is input to the input terminal DI+ or D2, the current operation is corrected by adding a rise command or a fall command.
次に、このように構成された面取り加工用ロボットの動
作を説明する。Next, the operation of the chamfering robot configured as described above will be explained.
まず、面取り作業を行うためにロボットにティーチング
を行う際には、インヂング動作によりアームＩを動かし
、ワークの面取り加工部に超鋼チップ８を押し付け、面
取り加工部への超鋼チップ８の当たりが適正になるよう
に調節する。このとき、板ばね５のたわみ量を歪ゲージ
９．９で検出して記録し、他の面取り加工部のティーチ
ング位置において、板ばね５のたわみ量（超鋼チップ８
の押圧）が等しくなるようにロボットをテイーヂングす
れば、各面取り加工部ての超鋼チップ８の押圧が一定の
ものとなる。First, when teaching the robot to perform chamfering work, the arm I is moved by an inching motion, and the carbureted steel tip 8 is pressed against the chamfered part of the workpiece, so that the contact of the carbureted steel chip 8 with the chamfered part is ensured. Adjust as appropriate. At this time, the amount of deflection of the leaf spring 5 is detected and recorded by the strain gauge 9.9, and the amount of deflection of the leaf spring 5 (the super steel tip 8
If the robot is steered so that the pressure (pressure) is equal, the pressure of the cemented carbide tip 8 at each chamfered portion will be constant.
とごろが、実際に而取り加工を行うと、ワークの・１法
誤差や位置決め誤差などに、１ってワークの面取り加り
部に対する超鋼チップ８の押圧が変動することかある。However, when chamfering is actually performed, the pressure of the super steel tip 8 against the chamfered part of the workpiece may vary due to 1-normal error or positioning error of the workpiece.
この超鋼チップ８の押圧が増加して板ばね５のたわみａ
ｔが大きくなると、画歪ゲジ９，９の抵抗値の差が次第
に広がる。このと９＼、検出信号が第２図に示すよ・）
に上昇信号出力レベルより高くなると、比較器ＩＯから
上昇信号がロボットコンｌ−ｒＪ−ラ１２の入力端子Ｄ
Ｉ＋に入力される。すると、［ｌボットコント〔１−ラ
１２は、この１−昇信４）に基づいてロボットを駆動制
御してアームＩを！−昇させろ。これにより、面取り加
Ｉ ｉ’ｌ＜に対′４−る超鋼チップ８の押圧が次第に
弱ま１
す、第２図に示すように検出信号のレベルは下降線をた
どる。As the pressure of this cemented carbide chip 8 increases, the deflection a of the leaf spring 5
As t increases, the difference between the resistance values of the image distortion gauges 9 gradually widens. In this case, the detection signal is shown in Figure 2.)
When the rising signal becomes higher than the output level, the rising signal from the comparator IO is output to the input terminal D of the robot controller l-rJ-ra 12.
Input to I+. Then, [l bot control [1-ra 12 drives and controls the robot based on this 1-shoshin 4) to move arm I! -Let it rise. As a result, the pressure of the cemented carbide chip 8 against the chamfering process Ii'1 gradually weakens, and the level of the detection signal follows a downward line as shown in FIG.
逆に、超鋼チップ８の押圧が減少して板ばね５のたわみ
Ｉ−＋１が小さくなると、画歪ゲージ９．９の抵抗値の
差が次第に縮まる。このとき、検出信す・が第２図に示
すようにド降信号出力レベルより低くなると、比較器１
０から下降信号がロボットコントローラ１２の入力端子
１） Ｉ ２に入力される。Conversely, when the pressing force of the cemented carbide chip 8 decreases and the deflection I-+1 of the leaf spring 5 decreases, the difference in the resistance values of the image distortion gauge 9.9 gradually decreases. At this time, when the detected signal becomes lower than the drop signal output level as shown in Fig. 2, the comparator 1
A descending signal from 0 is input to the input terminal 1) I2 of the robot controller 12.
すると、［７ポツトコントローラ１２は、その１ζζ俗
信に基づいてロボットを駆動制御しアーム１を下降させ
る。これにより、而取り加Ｉ：部に対する超鋼チップ８
の押圧が次第に強より、第２図に示すように検出信号の
レベルは上昇線をたどる。Then, the 7-pot controller 12 controls the robot to lower the arm 1 based on the 1ζζ belief. As a result, the super steel tip 8 for the section I:
As the pressure gradually increases, the level of the detection signal follows an increasing line as shown in FIG.
このようにして、検出信号が上昇信号出力レベルと下降
信号出力レベルとの範囲内に設定される］２
と、［７ポソトコント［１−ラ１２はティーチングされ
た動作軌路の通りにアーノ、Ｉを動作させる。In this way, the detection signal is set within the range of the rising signal output level and the falling signal output level. make it work.
したがって、このような構成によれば、面取り加工部に
対する超鋼チップ８の押圧を板ばね５と歪ゲージ９ つ
とからなる押Ｆｌミセンサで検出１２、この押圧センサ
の検出信号が所定のレベル範囲内に設定されるようにロ
ボットを駆動制御することにより、面取り加工部に対す
る超鋼チップ８の押圧をほぼ ・定に保つことかできる
ため、高精度の而取り加工を容易に行うことができると
ともに、ワークの寸法誤差や位置決め誤差に対して許容
で八る範囲か広がるため、ティーチング作業を著しく向
−１−さｌ−ることかできる。（７かも、超鋼チップ８
の押Ｙ（：を自動的にＪ＾Ｊ整４−ることにより、ティ
ーチング゛および加【ニドライ回数が少なくてすむため
、面取り加［′、の作業能率を著しく向にさせることが
できる。Therefore, according to such a configuration, the pressure of the cemented carbide chip 8 against the chamfered portion is detected by the pressure sensor 12 consisting of the leaf spring 5 and nine strain gauges, and the detection signal of this pressure sensor is within a predetermined level range. By controlling the robot so that the chamfering part is set to , the pressure of the super steel tip 8 against the chamfering part can be maintained at approximately . Since the allowable range for dimensional errors and positioning errors of the workpiece is widened, teaching work can be greatly improved. (Maybe 7, super steel chip 8
By automatically adjusting the press Y(:), the number of times of teaching and drying can be reduced, so the work efficiency of chamfering can be significantly improved.
また、支持板４と板ばね５の間にゴム環７を設けてダン
パとして作用させることにより、而取り工具３に生ずる
ビビリ等の微振動を吸収することができるため、安定し
た面取り作業を行うことができる。In addition, by providing a rubber ring 7 between the support plate 4 and the leaf spring 5 to act as a damper, it is possible to absorb minute vibrations such as chatter that occur in the removal tool 3, thereby achieving stable chamfering work. be able to.
なお、本発明は−に記実施例に限定されるものではなく
、要旨を変更しない範囲において種々変形して実施する
ことができる。本実施例では、ロボットアームを一トド
方向に駆動制御し、ワークの而取り加工部に対して切削
用チップの押圧を調整できるようにしたが、ロボットア
ームを左右方向ｊご駆動制御することもできる。It should be noted that the present invention is not limited to the embodiments described in -, but can be implemented with various modifications without changing the gist. In this embodiment, the robot arm is driven in one direction to adjust the pressure of the cutting tip against the cutting part of the workpiece, but it is also possible to control the robot arm to be driven in the left and right directions. can.
１−１、発明の名称
以上に詳述したように本発明の面取り加工用ロボットの
押圧制御方法によれば、ワークの面取り加工部に対する
切削用チップの押圧を板ばねと歪ゲージとからなる押圧
センサで検出し、この押圧センサの検出信号が所定のレ
ベル範囲内に設定されるようにロボットを駆動制御する
ことで、常にワークに対する切削用チップの押圧を一定
に保つことができるので、高精度の面取り加工を容易に
行うことができるとともに、ティーチング作業性および
而取り加工の作業能率を著しく向」ニさせることができ
る。1-1. Title of the Invention As detailed above, according to the method for controlling the pressure of a chamfering robot of the present invention, the pressure of the cutting tip against the chamfered portion of the workpiece is controlled by a pressure composed of a leaf spring and a strain gauge. By detecting it with a sensor and controlling the robot so that the detection signal of this pressure sensor is set within a predetermined level range, the pressure of the cutting tip against the workpiece can always be kept constant, resulting in high precision. Chamfering can be easily performed, and teaching workability and chamfering efficiency can be significantly improved.
第１図は本発明の押圧制御方法を適用した面取り加工用
ロボットの一実施例を示す概略構成図、第２図は同実施
例の押圧制御方法を説明するための説明図である。
Ｉ・・アーム、２・・・手先フランジ、３・・ロボット
用面取り工具、４・・・工具フランジ、５・・・板ばね
、６・・・支持板、７・・・ゴム環、８・・・超鋼チッ
プ、９・・・歪ゲージ、１０・・・ストレインアンプ、
ＩＩ・・・比較器、Ｉ２・・ロボットコントローラ。
○FIG. 1 is a schematic configuration diagram showing an embodiment of a chamfering robot to which the pressure control method of the present invention is applied, and FIG. 2 is an explanatory diagram for explaining the pressure control method of the same embodiment. I... Arm, 2... Hand flange, 3... Chamfering tool for robot, 4... Tool flange, 5... Leaf spring, 6... Support plate, 7... Rubber ring, 8... ...Super steel chip, 9...Strain gauge, 10...Strain amplifier,
II...Comparator, I2...Robot controller. ○
Claims (1)
その板ばねの自由端に切削用チップを固着してなる面取
り加工用ロボットにおいて、前記板ばねのたわみ量を歪
ゲージで検出し、この検出信号が所定のレベル範囲内に
設定されるように前記ロボットを駆動制御し、ワークの
面取り加工部に対する前記切削用チップの押圧がほぼ一
定になるようにすることを特徴とする面取り加工用ロボ
ットの押圧制御方法。(1) A leaf spring is fixed upright on the robot's hand flange,
In a chamfering robot in which a cutting tip is fixed to the free end of the leaf spring, the amount of deflection of the leaf spring is detected by a strain gauge, and the deflection of the leaf spring is detected by a strain gauge, and the chamfer is A pressure control method for a chamfering robot, characterized in that the robot is drive-controlled so that the pressure of the cutting tip against a chamfered portion of a workpiece is substantially constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8223190A JPH03281120A (en) | 1990-03-29 | 1990-03-29 | Control method for pressure of chamfering robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8223190A JPH03281120A (en) | 1990-03-29 | 1990-03-29 | Control method for pressure of chamfering robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03281120A true JPH03281120A (en) | 1991-12-11 |
Family
ID=13768634
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8223190A Pending JPH03281120A (en) | 1990-03-29 | 1990-03-29 | Control method for pressure of chamfering robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH03281120A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020148225A (en) * | 2019-03-11 | 2020-09-17 | 住友重機械工業株式会社 | Gear device |
-
1990
- 1990-03-29 JP JP8223190A patent/JPH03281120A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2020148225A (en) * | 2019-03-11 | 2020-09-17 | 住友重機械工業株式会社 | Gear device |
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