A method for recognizing a deburring trajectory, relevant to be performed by a controller or a computer, includes the steps of: according to a process flow of a workpiece, analyzing a CAD file of the workpiece, determining a burr processing area and obtaining a mathematical model of boundary contour curve; applying a linear contour sensor to scan the workpiece to obtain contour section information of the workpiece; performing curve fitting upon the contour section information of the workpiece and the mathematical model of boundary contour curve so as to obtain a boundary curve function; and, utilizing the boundary curve function to determine deburring position information of the workpiece and to further generate a processing path. In addition, a system for recognizing a deburring trajectory is also provided.

A robot control system according to an embodiment is a control system for a robot comprising an arm, the arm being capable of holding a tool while rotating the tool and capable of moving the tool in at least two-dimensional directions, the arm being equipped with a rotating mechanism provided for the tool. The robot control system comprises a load-acquiring unit and a control-signal-generating unit. The load-acquiring unit is configured to acquire a force measured by a force sensor configured to measure a force applied from the tool to the arm during profile copying performed on a machining object by moving the arm while a copying guide attached to the arm and a copying mold placed on the machining object are kept in contact with each other. The control-signal-generating unit is configured to automatically control the arm by generating a control signal for the arm in accordance with the force acquired by the load-acquiring unit and with control information for the arm regarding the profile copying, and by outputting the control signal to the arm.

A tool head is for machining edges of a workpiece and includes a first tool section with first blades and a second tool section with second blades. The second blades are positioned between the first blades when seen in the circumferential direction. The second section is movable relative to the first section in the direction of the longitudinal axis between a passive and active position. The second blades are axially recessed relative to the first blades in the passive position and project axially outwards between the first blades in the active position. The tool head has a pressure switching mechanism for moving the second tool section between the passive and active position. In a tool system, the tool head and an actuation element can be moved axially relative to each other. The at least one actuation surface and the actuation element are configured to be axially pressed towards each other.

A tool head is for machining edges of a workpiece and includes a first tool section with first blades and a second tool section with second blades. The second blades are positioned between the first blades when seen in the circumferential direction. The second section is movable relative to the first section in the direction of the longitudinal axis between a passive and active position. The second blades are axially recessed relative to the first blades in the passive position and project axially outwards between the first blades in the active position. The tool head has a pressure switching mechanism for moving the second tool section between the passive and active position. In a tool system, the tool head and an actuation element can be moved axially relative to each other. The at least one actuation surface and the actuation element are configured to be axially pressed towards each other.

A chip scattering prevention cover (1) is attached to a head portion (6b) of a rotary cutter (6). The cover (1) includes an annular portion (1a) configured to be detachably fitted over an outer peripheral edge of the head portion (6b), and a plate portion (1b) extending inwardly of the annular portion (1a) from an inner circumference portion of the annular portion (1a). The plate portion (1b) is configured to cover a region of a cutout gap (6e) of the rotary cutter (6) corresponding to the head portion (6b) with the annular portion (1a) being fitted over the head portion (6b). The annular portion (1a) and the plate portion (1b) are flush with a surface of the head portion (6b) when the annular portion (1a) is fitted over the head portion (6b).

A chip scattering prevention cover (1) is attached to a head portion (6b) of a rotary cutter (6). The cover (1) includes an annular portion (1a) configured to be detachably fitted over an outer peripheral edge of the head portion (6b), and a plate portion (1b) extending inwardly of the annular portion (1a) from an inner circumference portion of the annular portion (1a). The plate portion (1b) is configured to cover a region of a cutout gap (6e) of the rotary cutter (6) corresponding to the head portion (6b) with the annular portion (1a) being fitted over the head portion (6b). The annular portion (1a) and the plate portion (1b) are flush with a surface of the head portion (6b) when the annular portion (1a) is fitted over the head portion (6b).

An insert is provided, ensuring to vary the cutout angle of the cutting edge without replacing the body, and to prevent the change in the cutout angle of the cutting edge in the cutting process. The insert includes a constraining part, a through hole, and a blade. The blade includes a cutting edge for the cutting process. An outer surface of the constraining part around the central axis includes a pair of first constraining surfaces, and a pair of second constraining surfaces. The cutting edge in the state where the pair of first constraining surfaces are fixed becomes non-parallel to the cutting edge in the state where the constraining part is rotated around the central axis from the fixed state of the pair of first constraining surfaces to place the pair of second constraining surfaces on the same surface on which the pair of first constraining surfaces have been fixed.

An insert is provided, ensuring to vary the cutout angle of the cutting edge without replacing the body, and to prevent the change in the cutout angle of the cutting edge in the cutting process. The insert includes a constraining part, a through hole, and a blade. The blade includes a cutting edge for the cutting process. An outer surface of the constraining part around the central axis includes a pair of first constraining surfaces, and a pair of second constraining surfaces. The cutting edge in the state where the pair of first constraining surfaces are fixed becomes non-parallel to the cutting edge in the state where the constraining part is rotated around the central axis from the fixed state of the pair of first constraining surfaces to place the pair of second constraining surfaces on the same surface on which the pair of first constraining surfaces have been fixed.

The present disclosure provides a deburring apparatus and a deburring method that does not require a positioning engagement part that is engaged with a fixed part of a machine tool. The deburring apparatus (10) includes a housing (1) with a shank (11), a transmission rod (3), a recovery rod (5), a tilting shaft (4), a spring (6), a holder (7), and a rotary-to-rectilinear motion conversion mechanism (9) with a plunger (8). The spring forces the recovery rod toward the tilting shaft. The holder for fixing the cutter (101) is arranged on the tilting shaft in a manner rotatable through a predetermined rotation angle. The rotary-to-rectilinear motion conversion mechanism separates the first flange portion from the second flange portion and brings the plunger into contact with the recovery rod on the tilting axis (43) when the holder rotates in a direction opposite to the rotation direction of the shank (11).

Proposed is a removable retainer including a body part that is formed of a shape memory alloy material and has a front surface in close contact with the outer tooth surface of each tooth, and a fixing part coupled to the body part and fixing the body part, wherein the body part includes a curved protrusion part formed to protrude toward an interdental space to be inserted into the interdental space, and multiple support parts. A manufacturing method of the removable retainer includes a step of acquiring three-dimensional scanning data, a data processing step of generating first and second processing lines, a laser cutting step of laser cutting a flat plate-shaped base material to form a body-part forming part, a shape processing step of cutting the body-part forming part, and a fixing part coupling step of coupling the manufactured body part and the manufactured fixing part to each other.