産業用ロボットを用いる金属箔の摺動加工システム : 第1報,実験装置の作製と基礎実験(機械要素,潤滑,工作,生産管理など)

概要

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This paper describes slide-bending formation of thin metal sheet by using an industrial robot. The formation of parts made of very thin sheets has become increasingly important following the miniaturization of industrial products. The thinning of sheet thickness causes several problems on the formability and accuracy of the products. In order to solve such problems in bending, one of the authors proposed a new method called a slide bending formation. However, in order to form more precise products, it is necessary to construct a system which can be controlled more precisely. The authors have made an automatic slide-bending formation system which consists of a force sensor, a CCD camera and an industrial robot. The slide-bending forming tool was mounted on the top of the robot. The reactive forces in the normal and the horizontal direction were measured by the force sensor attached on the wrist. The trajectory of the robot was controlled so that the reactive force was kept constant. The bending angle of the sheet was measured by the CCD camera. From the results of the experiment, it is shown that the larger the reactive force, the larger the bending angle of the thin metal sheet.
社団法人日本機械学会の論文
2007-10-25