Fast automatic deburring of circular castings by co-operating industrial and modular robot

Hannu Lehtinen, Raimo Soudunsaari, Paavo Voho

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

Abstract

Castings will enter a deburring cell from a sand-blast chamber on a conveyor belt. The type of the casting is known in advance. An industrial robot guided by an off-the-self vision system picks up the casting. The robot's grip is assured by a one-dimensional force sensor and by measuring the position of the fingers of the pneumatic gripper. The force sensor is combined by a spring and a distance sensor. These low-price sensors are sufficient for the purpose. The industrial robot moves the casting to a modular manipulator with three degrees of freedom. It moves the casting against a rotating grinding stone. The grip of the chuck is assured by a cheap pneumatic sensor (pressure switch). The stone wear will be compensated by measuring the radius of the stone on time to time by moving an optical grid towards the center of the stone. This does not require any additional axes. Long movements with accurately controllable lengths will be provided by combining pneumatic cylinders with servo-controlled position of mechanical shock absorbers as stoppers for the cylinders. The emphasis has been on low-price technology and cycle times less than 12 s per casting.
Original languageEnglish
Title of host publicationProceedings of the 8th international conference on robot vision and sensory control
Place of PublicationStuttgart
Pages193-202
Publication statusPublished - 1989
MoE publication typeA4 Article in a conference publication
EventInternational Conference on Robot Vision and Sensory Control - Stuttgart, Germany
Duration: 30 May 198931 May 1989
Conference number: 8

Conference

ConferenceInternational Conference on Robot Vision and Sensory Control
Abbreviated titleRoVISeC
CountryGermany
CityStuttgart
Period30/05/8931/05/89

Fingerprint

Modular robots
Deburring
Industrial robots
Casting
Pneumatics
Sensors
Chucks
Shock absorbers
Grippers
Pressure sensors
Manipulators
Sand
Switches
Wear of materials
Castings
Robots

Cite this

Lehtinen, H., Soudunsaari, R., & Voho, P. (1989). Fast automatic deburring of circular castings by co-operating industrial and modular robot. In Proceedings of the 8th international conference on robot vision and sensory control (pp. 193-202). Stuttgart.
Lehtinen, Hannu ; Soudunsaari, Raimo ; Voho, Paavo. / Fast automatic deburring of circular castings by co-operating industrial and modular robot. Proceedings of the 8th international conference on robot vision and sensory control. Stuttgart, 1989. pp. 193-202
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Lehtinen, H, Soudunsaari, R & Voho, P 1989, Fast automatic deburring of circular castings by co-operating industrial and modular robot. in Proceedings of the 8th international conference on robot vision and sensory control. Stuttgart, pp. 193-202, International Conference on Robot Vision and Sensory Control, Stuttgart, Germany, 30/05/89.

Fast automatic deburring of circular castings by co-operating industrial and modular robot. / Lehtinen, Hannu; Soudunsaari, Raimo; Voho, Paavo.

Proceedings of the 8th international conference on robot vision and sensory control. Stuttgart, 1989. p. 193-202.

Research output: Chapter in Book/Report/Conference proceedingConference article in proceedingsScientificpeer-review

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AU - Soudunsaari, Raimo

AU - Voho, Paavo

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N2 - Castings will enter a deburring cell from a sand-blast chamber on a conveyor belt. The type of the casting is known in advance. An industrial robot guided by an off-the-self vision system picks up the casting. The robot's grip is assured by a one-dimensional force sensor and by measuring the position of the fingers of the pneumatic gripper. The force sensor is combined by a spring and a distance sensor. These low-price sensors are sufficient for the purpose. The industrial robot moves the casting to a modular manipulator with three degrees of freedom. It moves the casting against a rotating grinding stone. The grip of the chuck is assured by a cheap pneumatic sensor (pressure switch). The stone wear will be compensated by measuring the radius of the stone on time to time by moving an optical grid towards the center of the stone. This does not require any additional axes. Long movements with accurately controllable lengths will be provided by combining pneumatic cylinders with servo-controlled position of mechanical shock absorbers as stoppers for the cylinders. The emphasis has been on low-price technology and cycle times less than 12 s per casting.

AB - Castings will enter a deburring cell from a sand-blast chamber on a conveyor belt. The type of the casting is known in advance. An industrial robot guided by an off-the-self vision system picks up the casting. The robot's grip is assured by a one-dimensional force sensor and by measuring the position of the fingers of the pneumatic gripper. The force sensor is combined by a spring and a distance sensor. These low-price sensors are sufficient for the purpose. The industrial robot moves the casting to a modular manipulator with three degrees of freedom. It moves the casting against a rotating grinding stone. The grip of the chuck is assured by a cheap pneumatic sensor (pressure switch). The stone wear will be compensated by measuring the radius of the stone on time to time by moving an optical grid towards the center of the stone. This does not require any additional axes. Long movements with accurately controllable lengths will be provided by combining pneumatic cylinders with servo-controlled position of mechanical shock absorbers as stoppers for the cylinders. The emphasis has been on low-price technology and cycle times less than 12 s per casting.

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Lehtinen H, Soudunsaari R, Voho P. Fast automatic deburring of circular castings by co-operating industrial and modular robot. In Proceedings of the 8th international conference on robot vision and sensory control. Stuttgart. 1989. p. 193-202