• Title/Summary/Keyword: Grinding robot

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Grinding robot system for car brazing bead

  • Kang, Hyo-Sik;Lee, Woo-Ho;Park, Jong-Oh;Lee, Gwang-Se;Shin, Hyoun-Oh
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10b
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    • pp.160-163
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    • 1993
  • In this paper, design of an automatic grinding robot system for car brazing bead is introduced. Car roof and side panels are joined using brazing, and then the brazing bead is processed so that the bead is invisible after painting. Up to now the grinding process is accomplished manually. The difficulties in automation of the grinding process are induced by variation of position and shape of the bead and non-uniformity of the grinding area due to surface deformation. For each car, the grinding area including the brazing bead is sensed and then modeled using a 2-D optical sensor system. Using these model data, the position and the direction of discrete points on the car, body surface are obtained to produce grinding path for a 6 degrees of freedom grinding robot. During the process, it is necessary to sense the reaction forces continuously to prepare for the unexpected circumstances. In addition, to meet the line cycle time it is necessary to reduce the required time in sensing, signal processing, modeling, path planning and data transfer by utilizing real-time communication of the information. The key technique in the communication and integration of the complex information is obtaining in-field reliability. This automatic grinding robot system may be regarded as a jump in the intelligent robot processing technique.

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Development of a Grinding Robot System for the Engine Cylinder Liner's Oil Groove (실린더 라이너 오일그루브 가공 로봇 시스템 개발)

  • Noh, Tae-Yang;Lee, Yun-Sik;Jung, Chang-Wook;Oh, Yong-Chul
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.33 no.6
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    • pp.614-619
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    • 2009
  • An engine for marine propulsion and power generation consists of several cylinder liner-piston sets. And the oil groove is on the cylinder liner inside wall for the lubrication between a piston and cylinder. The machining process of oil groove has been carried by manual work so far, because of the diversity of the shape. Recently, we developed an automatic grinding robot system for oil groove machining of engine cylinder liners. It can covers various types of oil grooves and adjust its position by itself. The grinding robot system consists of a robot, a machining tool head, sensors and a control system. The robot automatically recognizes the cylinder liner's inside configuration by using a laser displacement sensor and a vision sensor after the cylinder liner is placed on a set-up equipment.

Development of a grinding robot system for the oil groove of the engine cylinder liner (실린더 라이너 오일그루브 가공 로봇 시스템 개발)

  • Noh, Tae-Yang;Lee, Yun-Sik;Jung, Chang-Wook;Lee, Ji-Hyung;Oh, Yong-Chul
    • Proceedings of the KSME Conference
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    • 2008.11a
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    • pp.1075-1080
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    • 2008
  • An engine for marine propulsion and power generation consists of several cylinder liner-piston sets. And the oil groove is on the cylinder liner inside wall for the lubrication between a piston and cylinder. The machining process of oil groove has been carried by manual work so far, because of the diversity of the shape. Recently, we developed an automatic grinding robot system for oil groove machining of engine cylinder liners. It can covers various types of oil grooves and adjust its position by itself. The grinding robot system consists of a robot, a machining tool head, sensors and a control system. The robot automatically recognizes the cylinder liner's inside configuration by using a laser displacement sensor and a vision sensor after the cylinder liner is placed on a set-up equipment.

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Auto Path Generation and Active Compliance Force Control Using 3-axis Grinding Robot (3축 그라인딩 로봇을 이용한 자동 경로 생성 및 능동 컴플라이언스 힘 제어)

  • Choo, Jung-Hoon;Kim, Soo-Ho;Lee, Sang-Bum;Kim, Jung-Min
    • Journal of Institute of Control, Robotics and Systems
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    • v.12 no.11
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    • pp.1088-1094
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    • 2006
  • In this paper, an auto path generation and an active compliance grinding control using 3-axis farce sensor are presented. These control algorithms enable the grinding robot to follow unknown path of various workpiece shape pattern. The robot is able to go grinding along unknown paths by position controller managing tangential direction angle and cutting speed, with only information about the start position and the end position. Magnitude and direction of normal force are calculated using force data that go through low pass filter. Moreover, normal and tangential directions are separated for force control and velocity control, respectively.

The Development of Grinding Robot System Using NC data and Off-line Programming (수치제어 데이터와 오프라인 프로그램을 이용한 연마 로봇 시스템 개발)

  • Oh, Young-Sup;Ryuh, Beom-Sahng
    • Journal of the Korean Society for Precision Engineering
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    • v.16 no.3 s.96
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    • pp.9-17
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    • 1999
  • This paper presents a method of grinding and polishing automation of precision die after CNC machining. The method employs a robot system equipped with a pneumatic spindle and a special abrasive film pad. The robot program is automatically generated off-line program form a PC and downloaded to robot controller. Position and orientation data for the program is supplied form cutter contact (CC) data of NC machining process. This eliminates separate robot teaching process. This paper aims at practical automation of die finishing process which is very time consuming and suffering from shortage of workpeople. Time loss due to changeover from one product to another is eliminated by PC off-line programming exploiting appropriate NC machining data. Dextrous 6-axis robot with rigid wrist and simple tooling enables the process applicable to larger, rather complex 3 dimensional free surfaces.

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A Study on a Development of the Grinding Robot to Remove Welding-bid of Working Pieces (취부용 피스(piece)제거 및 사상 작업 자동화장비 개발에 관한 연구)

  • Noh, Hyo-Won;Kim, Ki-Jung;Leem, Rae-Soo;Kim, Ho-Kyoung
    • Special Issue of the Society of Naval Architects of Korea
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    • 2008.09a
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    • pp.136-143
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    • 2008
  • This paper presents the application of a robot which aims at grinding automatically welding-bead remained in the removal job of working pieces for shipbuilding. In specific, the investigation on this application is composed of two parts; one topic is on the development of a robot platform vertically movable on a steel plate of hull, while the other topic is of the development of a grinding tool mechanism in order to remove welding-beads by using a diamond wheel installed on a servo cylinder (which can result in high working pressure on the grinding wheel). Besides, the development of a vision system for tracking welding-beads as well as recognizing welding surfaces is added for the convenience of this robot application to the removal of welding-beads remained in the working pieces for shipbuilding.

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Development of a Parallel-Serial Robot Arm for Propeller Grinding (프로펠러 연삭작업을 위한 병렬-직렬 로보트 암 개발)

  • Lee, Min Ki;Choi, Byung Oh;Jung, Jong Yoon;Park, Kun Woo
    • Journal of the Korean Society for Precision Engineering
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    • v.13 no.2
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    • pp.146-158
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    • 1996
  • This paper develops a robot arm for propeller blade grinding. The grinding work requires a high stiffness robot arm to reduce deformation and vibration which are generated during machining operation. Conventional articulated robots have serial connecting links from the base to the gripper. Thus, they have very weak structure to the stiffness for grinding operation. Stewart Platform is a typical parallel robotic mechanism with very high stiffness but it has small work space and large installation space. This research proposes a new grinding robot arm by combining parallel mechanism with serial mechanism. Therefore, the robot has large range of work space as well as high stiffness. This paper introduces the automatic system for propeller grinding utilizing the robot and the design of proposed robot arm.

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NC데이타와 Off-Line Program을 이용한 연마 로봇 시스템 개발

  • 오영섭;유범상;양균의
    • Proceedings of the Korean Society of Precision Engineering Conference
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    • 1997.04a
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    • pp.692-697
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    • 1997
  • This paper presents a method of grinding and polishing automation of precision die after CNC machining. The method employs a robot system equipped with a pneumatic spindle and a special abrasive film pad. The robote program is automatically generated off-line from a PC and downloaded to robot controller. Position and orientation data for the program is supplied from cutter contact (CC) data of NC machining process. This eliminates separate robot teaching process. This paper aims at practical automation of die finishing process which is very time consuming and suffering from shortage of workpeople. Time loss for changeover from one product to next is eliminated by off-line programming exploiting appropriate NC machining data. Dextrous 6-axis robot with rigid wrist and simple tooling enables the process applicable to larger, rather complex 3 dimensional free surfaces

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