System for deburring or grinding a workpiece using a robot or manipulator, method of using said system, and use of said system and method

摘要

In a system for deburring a workpiece (8), such as a casting, using a robot (3) provided with gripping means (4) to grip the workpiece to be deburred, said system comprising at least one stationary, rotating deburring means (9, 9a, 11, 11a), such as a grinding wheel (9a, 11a), said deburring means being trued-up from time to time, and in which the robot is controlled to move the contour or contours of the workpiece to be deburred past the deburring means with a correct pre-loading and/or spacing for carrying out the deburring. The main novel feature is that the robot, in addition to the normal tools, is provided with at least one contact-less sensor (52, 53) for sensing a surface position on the deburring means (9, 9a, 11, 11a), possibly also a trueing-up means (51). With this arrangement, the robot can carry out calibrating and trueing-up operations on tools during or between the normal processing steps.