A method for automatic control of the cutting force the of an industrial robot is exerted on a tool, for example, to the trimming of the combs on a workpiece

摘要

The present invention relates to a method for automatically adjusting the cutting force to be applied to a tool mounted on an arm machining robot, for example, in order to deburr a ridge on a part. & br / this process consists of: a) - illuminate the part to be machined with a light beam; b) - produce an image of the trace of the light beam on the part (2) with the aid of a camera (5), in order to display the profile (3) of the workpiece to be machined (2); c) - analyze the image obtained in step (b) in order to detect the presence of any burrs (7) on the profile (3) and d) - calculated from the analysis carried out in (c) a cutting force that is appropriate to the profile (3) to be machined and to adjust the displacement of the tool (6) as a function of the cutting force thus calculated. & br / this process applies, for example, to the machining of parts of any type, and, for example, the deburring of edges located on the parts of the molding.