ロボットによる鋳物素材仕上げ作業の自動化 : 工法設計情報に基づく工具経路生成方法(機械要素,潤滑,工作,生産管理など)

抄録

The study deals with a deburring and finishing tool path generation method for robots, based on the process planning information. Although CAM systems, which are useful for robot teaching task and process simulation, have been developed and spread to various applications such as spot/arc welding, spray painting and so on, but they have not been necessarily used in cast deburring fields. It is due to three major issues concerning the specialty of deburring and finishing tooling conditions. The first is lack of CAM system to apply diverse shaped and sized tools and to generate their paths for a variety of workpiece shapes to be deburred and finished. The second is the difficulty of setting working points, taking account of tool life and production cost. The third is the necessity of solving the interference problem between workpiece and tool. The study analyzes the information necessary for tool path generation using diverse tools applied in accordance with workpiece shape and burr occurrence conditions. Then we propose a generalized tool arrangement method for generating tool path, which settles three issues : applying diverse tools, improving tool life, and avoiding interference, by parametrically defining working points and coordinates on tools and on workpieces. As a result, it is experimentally proven that the system is effective to deburr and finish cast workpieces.