Design of Robot Direct-Teaching Tool and its Application to Path Generation for Die Induction Hardening

To apply induction hardening method to a press die having 3-D free surface, the induction hardening tool moves on a press die above 1～2mm gap with constant velocity. Since the induction hardening process requires its own hardening path for each die, a direct teaching method which generates working path directly guided by operators is more suitable than an offline method using CAD/CAM data. The direct teaching apparatus in this work includes a teaching tool with a force/torque sensor and data processing computer to finally generate robot's Induction hardening program , in direct teaching operation, an operator teaches working path maintaining contact with surface of press die by holding...