| 摘要 |
PURPOSE:To monitor deburring with accuracy in a deburring monitoring method which monitors deburring by a robot. CONSTITUTION:A deburring tool 16 fitted on a robot 1 approaches a work 17 as making a rotation and deburrs the surface of the work 17 by closely adhering thereto. An oscillation sensor 19 is fitted on a tool holder 15 together with the deburring tool 16 and detects the oscillation generated along with rotation of the deburring tool 16. The oscillation level S is sent to a robot controller 30. A first deburring monitoring means 301 makes comparison of the oscillation level S detected by the oscillation sensor 19 with a threshold value S1 which is set correspondingly to the oscillation level S prior to the deburring tool 16 coming in contact with the work 17 and monitors the driving condition of the deburring tool 16. A second deburring monitoring means 302 makes comparison of the oscillation level S with a threshold value S2 which is set correspondingly to the oscillation level S under the condition of the deburring tool 16 closely adhered to the work 17 and monitors the deburring condition. |
