DEBURRING ROBOT DEVICE FOR ALUMINIUM WHEEL AND DEBURRING METHOD FOR ALUMINIUM WHEEL

摘要

PURPOSE: To remove a large burr efficiently by carrying out rough work while controlling stiffness force in the pushing direction of a tool to an aluminium wheel in the first regeneration stage according to instruction data, and controlling pushing force in the finishing stage. ;CONSTITUTION: In the case of removing a burr created in the inner peripheral part of a window part 33 of an aluminium wheel 30, the aluminium wheel 30 is fixed on an indexing stand, a burr is removed from a single window part 33 positioned in an indexing position by a derburring robot device. In this case, a position is controlled in the feed direction of a tool T1 of a robot body 10, and pushing is controlled in the pushing direction of the tool T1, and instruction data of the tool T1 is created. In the first regeneration stage according to this instruction data, a position is controlled in the feed direction of the tool T1, and stiffness force is controlled in the pushing direction, and rough work is carried out, and similarly in the second regeneration stage, a position is controlled in the feed direction of the tool T1, and pushing force is controlled in the pushing direction, and finishing work is carried out.;COPYRIGHT: (C)1994,JPO&Japio