Robot Deburring Control for Failure Cause Detection
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Solution Overview
Problem
Existing deburring systems fail to accurately identify the cause of deburring defects such as tool misalignment and chatter vibration, leading to incomplete or excessive deburring, and automatic system interruptions complicate the restart process.
Innovation Solution
A deburring control device that includes a displacement amount calculation, pressing force acquisition, rotation speed detection, and defect detection units to identify and record the cause of deburring defects, allowing for precise interruption and restart of the process.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If automatic interruption and retraction of the deburring tool is implemented, then system safety and protection from damage are improved, but the ability to identify the cause of defects deteriorates
Solution Approach 1:
The system performs preliminary recording of operational parameters (pressing force, rotation speed, trajectory) before interruption occurs. This allows the cause of defects to be identified after automatic interruption by analyzing the recorded data, thus preserving cause identification capability while maintaining system safety benefits.
Solution Approach 2:
The system provides feedback by recording and storing operational parameters at the moment of defect detection. This feedback mechanism enables subsequent analysis of the recorded data to identify defect causes, resolving the contradiction between automatic interruption (safety) and cause identification (information loss).
2Measurement precision
If multiple parameters are monitored and recorded, then defect identification accuracy is improved, but system complexity increases
Solution Approach 1:
The control device performs multiple functions using integrated components: it monitors pressing force, rotation speed, and trajectory simultaneously; detects defects; and records all parameters. This multi-functionality approach improves defect identification accuracy without proportionally increasing system complexity, as a single control device handles all these tasks.
Solution Approach 2:
The system merges the monitoring, detection, and recording functions into an integrated control device. By combining these functions that operate on the same operational parameters, the system achieves high defect identification accuracy while avoiding the complexity increase that would result from separate independent systems for each function.
Data Source
AI summary
The objective of the present invention is to provide a deburring control device capable of easily identifying the cause of a deburring failure. A deburring control device according to one aspect of the present disclosure controls deburring processing for removing burrs on a workpiece by moving a deburring tool along a ridge line of the workpiece by means of a robot, and is provided with: an offset amount calculating unit for calculating an offset amount between the actual path of the robot and a taught path thereof; a pressing force acquiring unit for acquiring the pressing force of the deburring tool; a rotational speed acquiring unit for acquiring the rotational speed of the deburring tool; a failure detecting unit for detecting a deburring failure, in which the deburring processing could not be performed appropriately, on the basis of the offset amount, the pressing force, and the rotational speed; and a recording unit for recording a failure reason, which is the reason for the failure detecting unit determining the deburring failure, when the deburring failure is detected.