Intelligent Automatic Deburring System by Integrating Palletizing Robot with Image and Vibration Sensors

摘要

The edge of the contour of a stamping part is burred because of the shearing phenomenon when punching or blanking. To detect burrs, manual visual inspection is often used, which is time-consuming and inefficient, making a systematic detection method necessary. In this study, we developed a palletizing robot with a three-axis vibration sensor, vision sensor, gripper, electric deburring tool, and machine vision software that can detect the burring of punching holes for stamping parts. The vibration sensor is used to monitor the vibrations during workpiece clamping, grinding, and placing. If the vibration signal exceeds the threshold value, the system immediately stops. Integrating image and vibration sensors into the proposed palletizing robot enabled effective and intelligent detection, deburring, and monitoring processes.