| 摘要 |
PURPOSE:To enable searching of correct starting point of machining, in a virtual compliance control deburring robot system, by employing a proper positioning device for approaching the macro position of a machining material sufficiently to an indicated referential locus. CONSTITUTION:A machining material 2 discharged from a machining device 1 is carried sequentially in the direction of an arrow by means of a carrying device 3 while being shifted by +e1 or -e2 in the direction Y with respect to a referential line A'. When the machining material 2 is fed to this stage, a pusher 4 projects to push the material 2 to the right until the material 2 contacts with a stopper 5 and a clamp 6 grips the material 2 at that position. The clamp 6 is interlocked with a double acting actuator 7 to pull back the material 2 to the left by a predetermined dimension so as to position the left end of the material 2 at an imaginary referential line BB' separated by predetermined distance l3 from a stopper 9 arranged don a deburring robot 8. When the material 2 comes to the position of the robots 8, 8', it is pushed by the stopper 9' of the robot 8' which is moved by a moving device 10 and positioned between the stoppers 9, 9'. |
