砂型造型ロボットにおける砂かき動作の簡易教示システムの開発

抄録

  This paper discusses a robot teaching system for scraping motion in a sand molding robot system using a vertical articulated robot. Sand molding robot systems for making self-hardening molds are increasingly being developed in recent years. These robots are able to automatically build a variety of sand molds by teaching robot motion for the sand mold making work. However, the teaching work takes considerable time and effort as the user needs to make the path of the robot motion by numerical entry using a teaching pendant as an input device, which makes it difficult to apply this robot system to high-mix low-volume manufacturing processes. In this study, we therefore proposed a simplified teaching system using a touch panel in which the paths of the robot motion can be generated by tapping the desired paths and visualized on the touch panel. It is easy to teach the desired paths to the sand molding robot and teaching work can be performed in a short time. We also focused on developing the teaching system for the sand scraping motion in the sand molding robot. The efficacy of the proposed teaching system was verified through experiments on sand scraping motion using the vertical articulated robot.