자동차 외판 금형 연마 가공 자동화를 위한 적정 수준 엔드이펙터 개발
Development of an appropriate level end effector for automating polishing of automobile exterior panel press die
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The end effector is the most critical component required to automate the polishing process using a robot. The demand for end-effector technology in the field is increasing. At present, it is necessary to develop an end effector that can be applied and used by domestic companies at a relatively low cost within a short period. Data on polishing work previously performed manually by workers on site was collected to establish criteria for the performance goals that the end effector must meet for the process section selected for automation using robots. Basic experiments have shown that when a worker performs polishing work for about 1 minute, the work can be sustained with a pressing force of about 40 N and a pushing force of about 30 N. The surface roughness of an automobile exterior panel press die was measured using a portable roughness measuring device. It was found that the roughness value of the die surface improved from an average of 2.33 ㎛ to 0.73 ㎛ through manual polishing work performed by the operator. A simple end effector capable of passive compliant motion to maintain a constant load during the polishing process was designed and manufactured using a pneumatic cylinder. An experimental device was constructed by applying the developed end-effector to a machine tool consisting of three linear axes to enable experimental evaluation of the automatic polishing process. The initial model of the end effector should be improved through experimental evaluation of future automatic polishing processes, and measures should be taken for further development of the automatic tool exchange structure and an integrated method for operation as a single system with the robot.
Abstract
The end effector is the most critical component required to automate the polishing process using a robot. The demand for end-effector technology in the field is increasing. At present, it is necessary to develop an end effector that can be applied and used by domestic companies at a relatively low cost within a short period. Data on polishing work previously performed manually by workers on site was collected to establish criteria for the performance goals that the end effector must meet for the process section selected for automation using robots. Basic experiments have shown that when a worker performs polishing work for about 1 minute, the work can be sustained with a pressing force of about 40 N and a pushing force of about 30 N. The surface roughness of an automobile exterior panel press die was measured using a portable roughness measuring device. It was found that the roughness value of the die surface improved from an average of 2.33 ㎛ to 0.73 ㎛ through manual polishing work performed by the operator. A simple end effector capable of passive compliant motion to maintain a constant load during the polishing process was designed and manufactured using a pneumatic cylinder. An experimental device was constructed by applying the developed end-effector to a machine tool consisting of three linear axes to enable experimental evaluation of the automatic polishing process. The initial model of the end effector should be improved through experimental evaluation of future automatic polishing processes, and measures should be taken for further development of the automatic tool exchange structure and an integrated method for operation as a single system with the robot.
참고문헌 (11)
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