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Technical gazette, Vol. 27 No. 5, 2020.

Original scientific paper

https://doi.org/10.17559/TV-20181110163252

Automatic Detection of Industrial Robot Tool Damage Based on Force Measurement

Andrzej Burghardt orcid id orcid.org/0000-0002-7358-4866 ; Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics, al. Powstańców Warszawy 12, 35-959 Rzeszów, Poland
Piotr Gierlak* orcid id orcid.org/0000-0003-4545-8253 ; Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics, al. Powstańców Warszawy 12, 35-959 Rzeszów, Poland
Krzysztof Kurc orcid id orcid.org/0000-0002-1765-2430 ; Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics, al. Powstańców Warszawy 12, 35-959 Rzeszów, Poland
Dariusz Szybicki ; Rzeszow University of Technology, Faculty of Mechanical Engineering and Aeronautics, Department of Applied Mechanics and Robotics, al. Powstańców Warszawy 12, 35-959 Rzeszów, Poland

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Abstract

This paper proposes a solution for diagnosing the condition of the tools applied in metal alloy robotic machining. Determination of the condition of a cutting tool requires specific methods that depend on the damage type or the wear level. Methods that involved measurements of basic geometric dimensions of cutting tools based on force sensor, and testing the forces of inertia caused by tool unbalance were applied in the work covered herein. Damage of cutting tool, including unbalance, fracture or complete tool wear were detected with a system of force measurement, which was part of the standard equipment of the robot in a process used to investigate the methods covered herein. All methods proposed herein were performed automatically and require no human intervention. This paper presents examples of solutions for determining the condition of a grinding pin, which is a common machining tool.

Keywords

automation; damage detection; force sensor; industrial robot; Industry 4.0; tool condition

Hrčak ID:

244699

URI

https://hrcak.srce.hr/244699

Publication date:

17.10.2020.

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