ロボットによる鋳物素材仕上げ作業の自動化 : ロボット教示支援装置の開発(機械要素,潤滑,工作,生産管理など)

概要

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For robot teaching, online teaching method has conventionally been carried out, using a teaching pendant by skilled workers. However, the operation with the teaching pendant is different every robot manufacture and requires huge man-hours to assign a large number of points in defining the tool path for deburring works. In recent years, offline teaching method by use of three-dimensional robot simulation system is being spread, however, is not necessarily easy to introduce in medium and small size businesses. Thus, two kinds of teaching support devices were developed to prepare the tool path from real workpieces and deburring tools, considering the cost of investment of equipment and training of operators. One is a three-wire type teaching support device, and the other an arm type one. The former consists of tension wires supported at three points like a kite, and the latter consists of two arms and six connecting axes. Each device can measure the position and posture of a dummy tool in the device coordinate. From the experiments, the arm type teaching support device shows enough capability as a teaching support device, rather than the three-wire type teaching support device, which is cost-effective.
社団法人日本機械学会の論文
2002-06-25