An automatic tool changer and integrated software for a robotic die polishing station

This paper presents a robotic die polishing station controlled by a PC and a robot controller. The station consists of a six-degree-of-freedom industrial robot manipulator, a pneumatic grinding tool, and grinding abrasives. The station also includes an automatic tool changer which is specifically designed to exchange the grinding tool such that the operation is completely unmanned. Since die and mold manufacturing is typically low volume production, it is not practical to use a robotic automation system and manually program the serial robot with a teach pendant. Therefore, this paper proposes a procedure where the path data for the robot end-effector is generated automatically from the NC data of a previous die or mold machining process. A PC automatically generates a program for the die or mold polishing process and this program is uploaded to the robot controller. The program not only includes the path data, but can generate several polishing patterns and will control the automatic tool changer. To improve the quality of the finish, the posture angle between the grinding tool and the surface of the part is computer-controlled. Also, to further enhance the performance of the system; i.e., to improve the grinding contact, an elastic material is inserted between the polishing pad and the holder.