Robot Deburring Program Creation for Low-Clearance Tool Paths
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Solution Overview
Problem
In deburring processes by robots, insufficient displacement between the machined surface and the reference surface can cause interference, leading to damage or incomplete deburring, especially when the pose of the deburring tool does not match the workpiece shape.
Innovation Solution
A program creation device for robots in removal machining that acquires position information between the machined and reference surfaces, retains tool information, and creates operation programs to select the appropriate part of the removal machining tool to avoid interference, allowing for effective deburring even without sufficient displacement.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a sufficient amount of displacement exists between the machined surface and the reference surface, then deburring can be performed smoothly without interference, but the method fails when displacement is insufficient or changes
Solution Approach 1:
The patent applies dynamics by making the operation program adaptable to varying workpiece conditions. The program creation unit dynamically adjusts the robot's movement path and tool pose based on detected ridge line positions and calculated displacement amounts, allowing the deburring process to accommodate different displacement conditions rather than requiring fixed sufficient displacement
Solution Approach 2:
The patent changes parameters by calculating the actual displacement amount between the machined surface and reference surface for each workpiece, then using this parameter to determine appropriate robot movement commands and tool positioning, enabling the system to adapt to varying displacement conditions
2Ease of operation
If the pose of the deburring tool is fixed, then the control is simple, but parts of the ridge line may not be deburred when the pose does not match the workpiece shape
Solution Approach 1:
The patent makes the tool pose dynamic by calculating optimal robot movement commands and tool positioning based on the detected ridge line shape and position. The program creation unit generates adaptive poses that match the specific workpiece geometry, ensuring complete deburring coverage while maintaining automated control
Solution Approach 2:
The patent applies local quality by adjusting the robot's movement path and tool pose locally according to the specific ridge line characteristics detected in different areas of the workpiece, ensuring that each portion of the ridge line receives appropriate deburring treatment
3Object-affected harmful factors
If the deburring tool contacts the reference surface, then the reference surface may be damaged, but avoiding contact requires complex interference checking
Solution Approach 1:
The patent applies preliminary action by calculating the displacement amount between the machined surface and reference surface before generating the operation program. This advance calculation allows the system to determine safe robot movement paths and tool positions that prevent interference with the reference surface, eliminating the need for complex real-time interference checking
Solution Approach 2:
The patent uses the calculated displacement amount as an intermediary parameter that mediates between the robot's movement commands and the workpiece geometry. This intermediary value enables the program creation unit to generate interference-free paths without requiring complex direct interference checking between tool and workpiece
Data Source
AI summary
Provided is a program creation device capable of creating an operation program for a robot for removal machining of a workpiece even when a sufficient amount of displacement does not exist between a machined surface and a reference surface of the workpiece or even when the amount of displacement changes. The present disclosure pertains to a program creation device for creating an operating program for a robot for removal machining a workpiece having a machining surface, and a reference surface displaced from the machining surface. The robot for removal machining comprises a removal machining tool. The program creation device comprises: a positional information acquisition unit for acquiring positional information about a positional relationship between the machining surface and the reference surface of the workpiece; a tool information storage unit for storing tool information about the removal machining tool; and a program creation unit for creating, on the basis of the positional information about the workpiece and the tool information about the removal machining tool, the operating program for the robot for removal machining. The program creation unit selects a portion to be used of the removal machining tool so as to avoid interference between the removal machining tool and the reference surface of the workpiece.