Robot for performing scraping, robot system, method, and computer program
A robot includes a base part; a pair of scrapers provided to the base part so as to face each other, the pair of scrapers each having a proximal end connected to the base part and a distal end for cutting a surface, and the pair of scrapers extending so as to approach or recede from each other progressively from the proximal end toward the distal end; and a movement mechanism unit for rotating the base part between a first orientation in which one of the pair of scrapers is closer to a workpiece than the other scraper, and a second orientation in which the other scraper is closer to the workpiece than the one scraper.
1 . A robot configured to perform a scraping process to scrape and smoothen a surface of a workpiece, the robot comprising:
a base;
a pair of scrapers disposed at the base so as to be opposite to each other, each of the pair of scrapers having a proximal end connected to the base and a distal end configured to scrape the surface, the pair of scrapers extending so as to approach or separate from each other as extending from the proximal ends toward the distal ends; and
a moving mechanism configured to rotate the base between:
a first orientation in which one of the pair of scrapers is closer to the surface than the other of the pair of scrapers; and
a second orientation in which the other of the pair of scrapers is closer to the surface than the one of the pair of scrapers,
wherein each of the pair of scrapers includes:
a handle provided at the base and defining the proximal end; and
a blade immovably fixed to the handle and defining the distal end.
2 . The robot of claim 1 , wherein the base extends along a first axis,
wherein the pair of scrapers are arranged to be opposite to each other in a direction of the first axis, and
wherein the moving mechanism rotates the base about a second axis orthogonal to the first axis.
3 . The robot of claim 2 , wherein the pair of scrapers are arranged symmetrically to each other with respect to a third axis orthogonal to the first axis and the second axis.
4 . The robot of claim 1 , wherein at least one of the pair of scrapers is movably disposed at the base such that a spacing between the pair of scrapers is variable.
5 . The robot of claim 1 , wherein at least one of the pair of scrapers is rotatably disposed at the base.
6 . A robot system comprising:
the robot of claim 1 ; and
a control device configured to control the robot,
wherein the control device controls the moving mechanism so as to:
execute a first scraping process by pressing the distal end of the one of the pair of scrapers against the surface and moving the base in a first direction, while arranging the base at the first orientation;
rotate the base from the first orientation to the second orientation, after the first scraping process; and
execute a second scraping process by pressing the distal end of the other of the pair of scrapers against the surface and moving the base in a second direction opposite to the first direction, while arranging the base at the second orientation.
7 . The robot system of claim 6 , further comprising a cleaning device having an opening disposed between the distal ends of the pair of scrapers, and configured to suction chips produced by the scraping process through the opening or blow away the chips with a fluid sprayed from the opening.
8 . A method of performing a scraping process to scrape and smoothen a surface of a workpiece, using the robot of claim 1 , in which a processor controls the moving mechanism so as to:
execute a first scraping process by pressing the distal end of the one of the pair of scrapers against the surface and moving the base in a first direction, while arranging the base at the first orientation;
rotate the base from the first orientation to the second orientation, after the first scraping process; and
execute a second scraping process by pressing the distal end of the other of the pair of scrapers against the surface and moving the base in a second direction opposite to the first direction, while arranging the base at the second orientation.
9 . A computer-readable recording medium configured to record a computer program causing the processor to execute the method of claim 8 .