Abnormality diagnosis based on processing reaction force in deburring by rotary brush

Recently, automation and labor saving are advancing in the factory. It is necessary to develop some abnormality diagnostic system, because operators usually leave a machining device after mounting tools and workpieces on the machining device. This research developed an abnormality diagnostic method for deburring process using an articulated robot with a rotary brush device. It was able to detect some abnormalities such as erroneous mounting of the rotary brush and heavy wear of the brush which have a bad influence on processing performance. In our experiment, the rotary brush was pressed against a surface of test piece slowly, the processing reaction force after contact are measured, and the increasing ratio of the reaction force was calculated. In case of erroneous mounting of the rotary brush, larger reaction force than usual was observed. In case of heavy wear of the brush, the increasing ratio of the reaction force differed from the ratio of normal brush. It was clarified that appearance of the reaction force depends on the state of rotary brush.