Effects of inclination of gathering pole and fireclay ball rise speed with gathering robot

摘要

This paper describes an experiment to automate the gathering work using a glass blowing process. The gathering work which is carried out by skilled work can be classified into 7different items. Also, as the conditions which need to be clarified because of automation, 10 items have been extracted due to analysis by the operators. The experimental conditions are each one kind of the sphere and egg shape gathering ball and the rise speed of the ball are 7, the sinking depth of the ball is 5 and the inclination of the gathering pole consists 6 conditions. The experiments were made by using a gathering apparatus built as a trial. As a result, the following became clear to realize the gathering work's automation, the ball rise speed is set at to 60 - 8Omm/s, the inclination of the gathering pole is set at to 22 - 28degrees and as for the depth, the change must be controlled.