Design and Feasibility Test of an Automatic Scraping Robot

Abstract

Scraping is a key technology in high-precision machine tool machining. Scraping can eliminate the accumulated tolerances and improve the assembly accuracy of the machine tool. Scraping is a time-consuming and tedious manual labor, which is usually conducted by experienced technician. To overcome these shortcomings, a novel automatic scraping robot was designed and tested in this study. The robot includes a 3-axis moving mechanism, a vision recognition system, a 3-D measurement system, and a control system. In this study, milling is used to simulate the shape of tool marks in the traditional scraping process. After a series of tests, the designed robot has been verified to be able to perform automatic scraping work. The workpiece scraped with this robot meets the standard of a high precision machine.