鋳バリのセンシングシステムについて

概要

論文の詳細を見る
When a relatively large burr of castings is removed by a robot, the recognition system for the shape of workpiece and burr is necessary. The teaching playback method has been conventionally used for the decision of the robot movement. However, the method is difficult in applying to industrial uses, because of varieties of burr shapes and positions, and because of inaccuracy in positioning of the castings to be deburred. This study is a basic investigation of the sensing system for deburring robots. A photo sensor which is attached to a linear pulse motor, can be reciprocated over the burr, nearly perpendicular to the longitudinal direction of the burr. Design standard of the sensing system and the limitation of measurement of burr are calculated. It is found that the method can recognize a distinction between workpiece and burr, completion of deburring, a section form of burr and burr width.
公益社団法人精密工学会の論文
1989-03-05