ロボットによる鋳物素材仕上げ作業の自動化 : 打撃工具の開発とその外乱補償機能

抄録

This study deals with the development of new hammering tool called "air chipper". Hammering tool is one of typical deburring tools, and air-chipper is conventionally used to perform the deburring work for cast workpieces. Although air-chipper is an effective tool, there are problems of durability and quality since it is driven by compressed air. Excess energy after hammering motion transfers to damper rubber and causes the deterioration of rubber, which leads to the breakage of a chisel holder of air-chipper due to the crash with the stopper. In addition, the difficulty to directly measure the chisel motion causes uncertainty of deburring quality. Thus, the improvement of air-chipper was intended to solve the above problems by introducing an air damper to the air-chipper. It is possible to diagnose the deburring quality by measuring the inner pressure of air damper room. As a result, airchipper installed in a deburring robot system reveals an effective performance in combination with the image processing device.