PURPOSE: To enable a chamfering of a high accuracy, by detecting the pressure of a cutting tip to the chamfering part of a work by a pressure sensor and controlling a robot with its driving so that the detection signal is set within the specific level range.
CONSTITUTION: In the case of performing teaching to a robot, an arm 1 is moved with a inching action, a cemented carbide tip 8 is pressed to the chamfering part of a work and it is adjusted so that a work face becomes optimum. At this time, the deflection quantity of a sheet spring 5 is recorded with its detection by a distortion gage 9, teaching is performed to the robot so that the deflection quantity of the sheet spring 5 becomes equal at the teaching position of the outer chamfering part, then, the pressure of the cemented carbide tip 8 at each chamfering part becomes constant. When the deflection quantity of the sheet spring 5 becomes larger with the increase of the pressure of the cemented carbide tip 8, an ascent signal is input to the input terminal DI1 of a robot controller 12, which ascends the arm 1. In the reverse case to the above, the arm 1 is descended.
| JPH0623369 | [Name of device] Deburring device |
| JP2007229836 | DEBURRING DEVICE FOR STEEL SHEET EDGE PORTION |
ENDO MAKOTO
KAWABUCHI HIDETOSHI
