US 5,548,194 A · Control method and control device for a deburring robot

Abstract

When a deburring tool encounters a large burr near point P'.sub.1 in the process in which the tip of the tool moves from point P.sub.1 to point P.sub.2 on a workpiece, the cutting resistance increases suddenly until it exceeds the present threshold Xth, the robot retracts the deburring tool in the direction in which the cutting resistance is reduced and brings the tool tip from point P'.sub.1 to point Q.sub.1. After that, the robot controls the movement of the tool so that the tool tip moves from point Q.sub.1 to point P.sub.2 (pattern I). When the cutting resistance exceeds the threshold Xth during the movement of the tool tip from point Q.sub.1 to point P.sub.2, a similar retraction movement is executed (pattern II, III). As long as the tool does not encounter such a large burr, the moving speed is controlled to a value corresponding to the cutting resistance.

Claims20

Dependent claims

A method for controlling a deburring robot holding a deburring tool to successively move the deburring tool along a plurality of taught points of a workpiece as specified by a teaching program to remove burrs on the workpiece during a deburring operation, comprising the steps of:

(a) setting a relationship between a target moving speed of said deburring robot and a cutting resistance or pressing reaction of said deburring tool;
(b) monitoring a change in the cutting resistance or pressing reaction of said deburring tool during the deburring operation;
and
(c) controlling an actual moving speed of said deburring robot to a speed corresponding to a value of the cutting resistance or pressing reaction of the deburring tool obtained by the monitoring step (b), based on the relationship.

1 more element

(a) setting a relationship between a target moving speed of said deburring robot and a cutting resistance or pressing reaction of said deburring tool;
(b) monitoring a change in the cutting resistance or pressing reaction of said deburring tool during the deburring operation;
(c) controlling an actual moving speed of said deburring robot to a speed corresponding to a value of the cutting resistance or pressing reaction of the deburring tool obtained by the monitoring step (b), based on the relationship, as long as the monitored deburring tool cutting resistance or pressing reaction does not exceed a preset threshold;
and
(d) reducing the cutting resistance or pressing reaction of said deburring tool by controlling the deburring operation of said robot so that said deburring tool is moved a predetermined distance in a specified direction when it is detected that the monitored deburring tool cutting resistance or pressing reaction exceeds said preset threshold, and controlling the deburring operation so that said deburring tool moves toward the taught points specified by the teaching program.

2 more elements

A control device for a deburring robot comprising:

robot control means for controlling a movement of said deburring robot carrying a deburring tool to successively move said deburring tool along a plurality of taught points of a workpiece specified by a teaching program to remove burrs on said workpiece during a deburring operation;
tool reaction monitoring means for monitoring a change in a cutting resistance or pressing reaction of said deburring tool during the deburring operation;
comparison means for comparing the monitored value obtained from said tool reaction monitoring means with a preset threshold and for generating a signal indicating that the monitored value has exceeded said preset threshold;
tool target speed control means for controlling an actual moving speed of said deburring robot to a speed corresponding to a value of the cutting resistance or pressing reaction of the deburring tool obtained by said tool reaction monitoring means, based on a relationship between the target moving speed of said deburring robot and the cutting resistance or pressing reaction of said deburring tool carried by said deburring robot, as long as said comparison means determines that the deburring tool cutting resistance or pressing reaction has not exceeded the preset threshold;
and
tool retraction control means for controlling the deburring operation to retract said deburring robot a predetermined distance in a specified direction when said signal is received from said comparison means, and for controlling the deburring operation of said deburring robot so that said deburring tool moves toward the taught points specified by the teaching program.

3 more elements

Dependencies are inferred from the claim text.

Control method and control device for a deburring robot

Life of this patent

Control method and control device for a deburring robot

Life of this patent

Abstract

Claims20