Application of multi-joint type industrial robot to scraping of surface plate.

摘要

The application of an industrial robot to a scraping operation has been developed. For this purpose, the feature of a manual scraping operation was investigated, and then a scraping unit which simulated manual action was newly designed to adapt to the robot scraping operation. An image processing system with a monochrome CCD camera was used to determine the scraping position on a surface plate. In order to recognise the red lead pattern on the surface plate clearly, an orange or blue color filter was positioned in front of the CCD camera. The robot and the image processing system were controlled by a personal computer, and consequently, the decisions of the scraping position and the scraping action were carried out automatically, except for taking a red lead print on the surface plate. As a result of scraping done by using this system to a cast iron surface plate which was 200 mm square, a surface plate with 6 μm flatness was obtained.