| 摘要 |
PURPOSE:To provide a working robot executing uniformalized deburring in work in spite of the size of a shape error in work. CONSTITUTION:A sound sensor such as a microphone 20, etc., is attached in the back surface of a jig 21 where work W is fitted and work sound to work W by a working tool such as a grinder gripped by the working robot, etc., is detected. A work start position which is previously taught is compared with the position of the grinder when work sound is obtained and a work route which is designated at first is corrected by the difference between the two. A sound-collecting horn 22 is arranged in the periphery of the sound sensor and a thin resonant disk part 28 is provided at the jig 21 so that the sensitivity for detecting work sound is enhanced. |
