Automation of casting products finishing works by a robotdevelopment of a hammering tool and its compensation function
This study deals with the development of a new hammering tool called an air-chipper. A hammering tool is a typical deburring tool which is conventionally used to debur cast workpieces. Although the air-chipper is an effective tool, there are problems concerning durability and deburring quality. Surplus energy from the hammering motion is transferred to the damper rubber and causes deterioration of the rubber. This leads to breakage of the chisel holder for the air-chipper due to the high velocity contact with the stopper. In addition, the difficulty of directly measuring the chisel motion causes uncertainty of the deburring quality. Thus, improvement of the air-chipper was intended to solve the above problems by introducing an air damper. The air damper softens the impact force and absorbs the surplus energy of the chisel. Furthermore, it is possible to diagnose the deburring quality by measuring the inner pressure of the air damper. As a result, the air-chipper installed in a deburring robot system provides effective performance in combination with the image processing device.
castings robot hammering tool compensation function air-chipper deburring