| 摘要 |
PURPOSE:To perform good chamfering even if there are dislocation in a workpiece and wear in a tool, by installing a solenoid-operated variable compliance mechanism between a wrist of a robot with a positioning function and a tool holder fitted with a chamfering tool, and setting up a displacement gause and a power sensor in the movable part. CONSTITUTION:A chamfering tool 2 is fed toward a work 5 by a variable compliance mechanism 10, and a contact position between the tool 2 and the work 5 is detected by a power sensor 13, then this contact position is stored in a robot controller 6 via a variable compliance control unit 14. In addition, pressing force (working force) of the tool 2 against the work 5 is detected by the power sensor 13 and thereby the variable compliance mechanism is controlled so as to cause the pressing force FS to become the same as the setting value FP being preset at a setting part 9, then the pressing force of the tool 2 is adjusted. The feed rate of the tool 2 to the work 5 is detected by a displacement gauge 12, and setting the said stored contact position as a criterion, when it reaches the specified chamfering value, tool feed is stopped. |
