Deburring of intersecting holes with industrial robots based on measurement data with respect of optimized path planning algorithms

由于功能集成水平的提高，机械部件具有越来越多的交叉孔。直到今天，在相交轮廓处产生的毛刺不能通过自动制造过程可靠地去除。特别是在安全相关部分，需要防止这些剥离。因此，在工业中，在广泛的机械部件上使用非常昂贵且耗时的手动去毛刺工艺。 本研究项目的目标是开发一种基于工业机器人的交叉孔去毛刺工艺。该程序将在液压阀中常见的典型孔处进行演示。该解决方案包括一个自适应的自动化概念，可以记录每个孔的位置，从而能够计算相交几何形状。因此，可以考虑机器人的定位误差和孔的公差。对于去毛刺，将测试不同的工具。相应刀具路径的生成需要不同的软件系统（例如CAD/CAM系统和机器人专用后处理器）。因此，该项目的另一个目标是在一个模拟环境中集成这两种功能。通过使用特殊的优化算法，孔加工的顺序将被利用，从而获得额外的优化潜力。

Due to an increasing level of function integration mechanical components have increasing number of intersecting holes. Until today, the resulting burrs at the intersecting contour can¿t be reliable removed by automatic manufacturing processes. Particularly at security relevant parts a peel of these burrs needs to be prevented. So in the industry at a wide range of mechanical components a very costly and time-consuming manual deburring process is used. The goal of this research project is the development of a deburring process based on industrial robots for the deburring of intersecting holes. The procedure will be demonstrated at typical holes which can be found in hydraulic valves. The solution includes an adaptable automation concept which can record the position of each hole and thus enables the calculation of the intersection geometry. Thereby the positioning inaccuracy of the robot and tolerances of the holes can be taken into account. For the deburring different tools will be tested. The generation of corresponding tool paths requires different software systems (e.g. a CAD/CAM system and a robot specific postprocessor). Therefore another goal of the project is the integration of both functionalities in one simulation environment. By using special optimization algorithms the order in which way the holes are machined additional optimization potential will be exploited.