| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot for FRP defoaming work which can defoam by changing to a strong pressure with the solidification of an object surface and respond to an object surface of a complex shape. SOLUTION: In a robot which extrudes bubbles contained in an FRP layer which was sprayed to a molding mold, a defoaming roller driving device 50 which consists of a support arm 51 fixed to the wrist part of the robot, an oscillation case 52 which is supported freely oscillatably by the support arm 51 and oscillated/driven by an oscillation cylinder 53, a translation rod 54 which is supported freely slidably by the oscillation case 52 and reciprocated by a translation cylinder 56, and a defoaming roller 58 which is supported freely rotatably at the end of the translation rod 54 at right angles to the shaft of the translation rod 54 through an arm 59 and is constituted to be able to slightly rotate a defoaming roller 58 around the shaft of the translation rod 54 and a shaft at right angles to the translation rod 54 is provided, and the pressure of air to be supplied to the oscillation cylinder and the translation cylinder 56 is controlled by a robot controller 70 through an electropneumatic converter 71. |
