KR960040575A - Deburring Robot - Google Patents

Abstract

Deburring robot with improved control method and control device to detect contact force generated on tool and workpiece when deburring and to keep the contact force constant.The machining direction when removing burrs generated on workpiece by using industrial robot Measuring the force when the tool removing the bur contacts the workpiece in order to provide a deburring robot for effective and clean burr removal and stable force control by controlling both the component and the component perpendicular to the machining direction. In order to install a sensor on the head of the robot and to process the signal measured by this sensor and to teach the position controller, and to set C to the attenuation coefficient, ωn, k, ζ, s

The force is converted to velocity command using the equation.

Description

Deburring Robot

As this is a public information case, the full text was not included.

1 is a schematic diagram schematically showing a main part of a conventional deburring robot. 2 is a perspective view schematically showing the entire deburring robot according to the present invention. 3 is a schematic diagram showing a state using a position controller of a deburring robot and a DP-RAM applied for position transmission of a force control period according to the present invention. 4 is a flowchart showing the main routine and interrupt routine of the force controller operation according to the present invention.

Claims (4)

Initializing the force sensor, teaching the start and end positions of the workpiece to be deburred, waiting for the operation of the interrupt routine until the deburring is completed in the position controller controlling the robot, and controlling the bur Processing and calculating the signal generated by the force sensor to provide an interrupt routine to the controller. The method of claim 2, wherein the step of providing the interrupt routine comprises the steps of: converting the measured force from the sensor coordinate system to the tool coordinate system, comparing the force converted to the tool coordinate system with the desired pressure force; , where ω _n is the natural frequency, k is the spring constant, ζ filter damping coefficient, and s is the frequency variable. And converting the compared force into a speed command, and converting the speed command back into a robot's base coordinate system. A robot having a plurality of joints and a head for mounting a tool, a position controller for controlling the position of the robot, a tool installed in the head of the robot to remove burrs, and a force measured when the tool and the workpiece come into contact Deburring robot characterized in that it comprises a sensor provided in the head portion of the robot and a force controller for processing the signal measured by the sensor to teach the position controller. The deburring according to claim 3, wherein the force controller comprises a sensor receiver for receiving a signal measured by the sensor, and a RAM board for calculating a signal received from the sensor receiver and transmitting the signal received from the force controller to the position controller. Robot. ※ Note: The disclosure is based on the initial application.