| 摘要 |
<p>PURPOSE:To thoroughly remove burrs easily from a work processed, even though it is in a complicated contour, by using a six degree-of-freedom robot having a revolving shaft, up-and-down shaft, fore-and-aft shaft, twisting shaft, bending shaft, and rotary shaft. CONSTITUTION:From the revolving speed of a rotary machine 8 for a rotary tool (end mill) 9, a control device 2 calculates the deviation from the set value of revolving speed and the rotational acceleration of the rotary machine at certain intervals, and deceleration/acceleration of a 6 degree-of-freedom robot 1 from the moving speed in the previous duty period are determined from these amounts of deviation and rotational acceleration, and the resultant is used as the robot moving speed command value. If the calculated rotational acceleration of the rotary machine is greater than the set value, the robot moving speed command value shall be 0m/sec for a certain while. Thus the 6 degree-of- freedom robot 1 is moved along the instructed track in conformity to the command value determined to ensure that a rotary tool grasped by the robot removes effectively burrs thoroughly from a work 7 of complicated contour.</p> |
