砂型造型ロボットにおける砂押し付け力制御システムの開発

抄録

In recent years, the development of the sand molding robot system using a vertically articulated robot has been promoted for realizing the automation of molding work in foundry with high-mix low-volume production. In the previous studies, it is difficult to compact the sand mold by sand molding robot with the position control of stamp tool. Therefore, the sand pressing control in which the force sensor is installed into the molding robot is proposed in this study. The proposed sand pressing control is applied to the sand tamping down and the sand pressing motions. The efficacy of the proposed approach is verified in the experiments using the sand molding robot.