Title:
ABRASION COMPENSATION OF ABRADED TOOL
Document Type and Number:
Japanese Patent JPH01171761
Kind Code:
A
Abstract:
PURPOSE:To perform burr eliminating work at a low cost and a high reliability by setting a coordinates system for an abraded tool in a robot hand, and compensating an abrasion quantity of the tool detected by a sensor by making a parallel shift in this coordinates system. CONSTITUTION:An abrasion quantity D of a grindstone 1 is measured once in a cycle or several cycles of burr eliminating work. This abrasion quantity D is compensated by making a shift for coordinates XT, YT set for the grindstone 1 installed at a robot hand 3. Burr eliminating work for a three- dimensional work 2 having curvature can be performed at a high reliability by this compensation.
Inventors:
HARA KATSUAKI
NISHIKAWA SEIGO
TAZAKI TAKETOSHI
INOGUCHI HIROSHI
NISHIKAWA SEIGO
TAZAKI TAKETOSHI
INOGUCHI HIROSHI
Application Number:
JP32971987A
Publication Date:
July 06, 1989
Filing Date:
December 28, 1987
Export Citation:
Assignee:
YASKAWA DENKI SEISAKUSHO KK
International Classes:
B23Q15/16; B24B47/20; B24B49/04; B24B49/10; B24B49/18; B25J9/10; G05B19/404; G05B19/41; (IPC1-7): B24B49/04
Domestic Patent References:
| JPS62199358A | 1987-09-03 | |||
| JPS5914462A | 1984-01-25 | |||
| JPS61188095A | 1986-08-21 | |||
| JP37017895A |
Attorney, Agent or Firm:
Shuichi Hattori
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