Scraping method and scraping device

Abstract

Provided are a scraping method and a scraping device with which the posture of a blade can be accurately adjusted. The method includes: an image capturing step of capturing an image of a gap between a tip of a blade (24) and a plane and generating image data in a scraper (22) having the blade (24) having an arc-shaped or V-shaped tip shape in a state in which the most tip portion of the blade (24) is in contact with the plane; and an adjustment step for adjusting the posture of the blade (22) on the basis of the image data on the basis of information relating to a gap formed on both sides of the most distal end of the blade (24).

Description

Technical Field

[0001] The invention relates to a scraping method and a scraping device. Background Art

[0002] In the past, there was a known hand-held tool for cutting metal, called a scraping tool. The original intention of scraping was to finish the sliding surface into a high-precision plane. Since the micron-level tiny depressions formed on the sliding surface due to scraping act as oil grooves for lubricating oil during sliding, they have the effect of improving the lubricity of the sliding surface and preventing adhesion (wringing) during sliding. This scraping process performed by manual work requires proficiency and is also very heavy labor. Therefore, the development of a scraping device that automatically performs scraping has been carried out.

[0003] (Prior art literature)

[0004] (Patent Document)

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 7-1229

[0006] Patent Document 2: Japanese Patent Application Laid-Open No. 7-136843 Summary of the invention

[0007] (Problems to be solved by the invention)

[0008] In the scraping process, if the posture of the scraper is incorrect, the process cannot be performed at the desired position and the desired surface cannot be obtained.

[0009] An object of the present invention is to provide a shaving method and a shaving device capable of accurately adjusting the posture of a scraper.

[0010] (Measures taken to solve the problem)

[0011] The present invention adopts the following measures to solve the above-mentioned problems.

[0012] That is, the scraping method of the present invention comprises:

[0013] An imaging step of imaging a gap between a tip of a scraper having an arc-shaped or V-shaped blade and a plane with the tip of the blade abutting against the plane to generate image data; and

[0014] The adjustment step is to adjust the posture of the scraper according to information on a gap formed on both sides of the front end portion of the blade based on the image data.

[0015] Furthermore, the scraping processing device of the present invention comprises:

[0016] a scraper having a blade with an arc-shaped or V-shaped front end; and

[0017] a moving unit that moves the scraper,

[0018] The scraping processing device further comprises:

[0019] An imaging device for imaging a gap between the tip of the blade and the plane in a state where the tip of the blade abuts against the plane; and

[0020] A control device controls the moving unit to adjust the posture of the scraper according to information related to the gap formed on both sides of the front end portion of the blade based on the image data captured by the imaging device.

[0021] According to these inventions, the posture of the scraper is adjusted based on the image data according to the information on the gap formed on both sides of the front end of the blade. Thus, the scraping process can be performed with the scraper in a desired posture.

[0022] Here, the information related to the gap may be the area of ​​the gap, the height of the gap in a direction perpendicular to the plane, or the length of the gap in a direction parallel to the plane. In addition, the information related to the gap may be the position information of an area where no gap is formed between a pair of the gaps formed on both sides of the front end.

[0023] Furthermore, the front end of the blade is symmetrically shaped with respect to both sides of the front end portion, and

[0024] In the adjustment step, the posture of the scraper is adjusted based on the information related to the gap so that the gap formed on both sides of the frontmost portion has a substantially symmetrical shape.

[0025] Furthermore, the above-mentioned solutions may be used in combination as much as possible.

[0026] (Effects of the Invention)

[0027] As described above, according to the present invention, the posture of the scraper can be accurately adjusted. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a figure which shows the schematic structure of the scraping processing apparatus which concerns on the Example of this invention.

[0029] Figure 2 A diagram showing a scraper unit held by a robot.

[0030] Figure 3 (a) is a diagram showing a state in which the blade of the scraper abuts against the processing target surface of the workpiece, as viewed from the side. Figure 3 (b) is a view viewed from above in the vertical direction.

[0031] Figure 4 It is a block diagram showing an example of the structure of the control device.

[0032] Figure 5 The following is a block diagram schematically showing an example of the functional structure of the control device.

[0033] Figure 6 This is an explanatory diagram of a unit for adjusting the roll angle of a scraper.

[0034] Figure 7 (a) is a part of the diagram showing the blade of the arc-shaped scraper as viewed from the front. Figure 7 (b) is a part of a view showing the blade of the V-shaped scraper as viewed from the front.

[0035] Figure 8 (a) is a diagram showing an example of an image obtained by photographing the blade of a scraper. Figure 8 (b) is for Figure 8 A portion of (a) is binarized.

[0036] Fig. 9 (a)~ Fig. 9 (e) in the figure is an illustration of image processing.

[0037] Fig.10 It is the action control flow chart.

[0038] Fig.11 It is the action control flow chart.

[0039] Fig.12 It is the action control flow chart. DETAILED DESCRIPTION

[0040] Hereinafter, with reference to the accompanying drawings, the mode for implementing the present invention is described in detail based on the embodiments. However, unless otherwise specified, the size, material, shape, relative arrangement, etc. of the structural components described in the embodiments are not intended to limit the scope of the present invention.

[0041] (Example)

[0042] <Schematic Structure of Processing Device>

[0043] Figure 1The present invention is a schematic diagram of a scraping device 1 according to an embodiment of the present invention, and various structures are shown in a stereoscopic diagram. In the figure, arrow Z indicates a vertical direction, and arrows X and Y indicate directions perpendicular to the Z direction and orthogonal to each other. In addition, the surface including the X and Y directions is a surface parallel to the horizontal plane. The scraping device 1 includes a control device 100, a robot arm 200 as a moving unit, and a three-dimensional shape measuring instrument 300.

[0044] The scraping device 1 is a device for automatically scraping the processing target surface 11 of the workpiece 10 as the processing target. The workpiece 10 is a metal sliding component used to constitute a machine tool, etc., and the sliding surface of the sliding component can be used as the processing target surface 11. Scraping is a kind of metal processing. A scraper 22 as a scraping tool is used to scrape off the convex part of the processing target surface 11, thereby improving the flatness of the processing target surface 11 and forming an oil sump, thereby reducing the sliding friction coefficient. In addition, the original intention of the scraping process is to finish the sliding surface into a high-precision plane. In the scraping process, in order to prevent the adhesion (tightness, Wringing) phenomenon when the sliding surface slides, during the finishing process of scraping, a plurality of micron-level tiny depressions are formed on the sliding surface as oil sumps for lubricating oil, thereby improving the lubricity of the sliding surface.

[0045] The robot arm 200 is, for example, a six-axis multi-joint robot arm, which is controlled by the control device 100. The robot arm 200 has a robot hand 210 at its front end side, and the robot hand 210 can hold the scraper unit 20 and the hand chuck 30 in a detachable manner. That is, the robot arm 200 can selectively replace the scraper unit 20 and the hand chuck 30 with the robot hand 210. In addition, the robot arm 200 can move the robot hand 210 to any position in the XYZ three-dimensional orthogonal coordinate system by driving each joint (for example, the first axis to the sixth axis) by a servo motor or the like.

[0046] Figure 2The present invention is a three-dimensional diagram showing a scraper unit 20 held in a manipulator 210. The scraper unit 20 is an attachment having a bracket portion 21 that is freely detachable from the manipulator 210 and a scraper 22 that is an integrally arranged scraping tool with the bracket portion 21. The scraper 22 has a scraper body 23 that is formed of a flexible metal material and is in the shape of a roughly strip plate, and a blade 24 that is mounted on the front end side of the scraper body 23. The blade 24 is formed of, for example, a superhard alloy, and is capable of cutting a processing target surface 11 of a workpiece 10 that is formed of, for example, a casting. The reference symbol W in the accompanying drawings represents the width dimension of the blade 24. The shape of the front end 25 of the blade 24 involved in this embodiment is an arc (for example, a circular arc, an elliptical arc). However, in the present invention, the shape of the front end 25 of the blade 24 may also be a V-shaped shape. For example, a scraper unit 20 having a different width dimension W of the blade 24 and a different size and shape of the front end 25 can be replaced in the manipulator 210.

[0047] The scraping process of the processing target surface 11 of the workpiece 10 is performed as follows: for example, by Figure 1 The processing stand C1 shown is performed by controlling the robot arm 200 while fixing the workpiece 10 and holding the scraper unit 20 in the robot hand 210. The surface of the processing stand C1 is formed in a flat surface parallel to the XY plane.

[0048] Figure 3 (a) and Figure 3 (b) is a diagram showing a state in which the blade 24 of the scraper 22 abuts against the processing target surface 11 of the workpiece 10. Figure 3 (a) is a view from the side. Figure 3 (b) is a view viewed from above in the vertical direction. In the scraping process, the blade 24 is tilted against the processing target surface 11, and the robot 210 is driven in the -Z direction to press the blade 24 against the processing target surface 11, so that the robot 210 is parallel to the XY plane. Figure 3 The processing target surface 11 is thereby cut little by little with a thickness of the micron level or sub-micron level.

[0049] also, Figure 3The reference symbol θ shown in (a) is the angle formed by the blade 24 and the XY plane when the blade 24 cuts the processing target surface 11 (hereinafter referred to as the "tool angle"). The robot arm 200, for example, uses the tool angle θ during scraping processing and the vertical pressing amount (displacement amount in the -Z direction) δz of the robot 210 as control parameters, thereby being able to adjust the cutting depth δDS and the cutting width WC of the processing target surface 11 in the cutting processing of one stroke of the scraper 22. Among them, for example, the vertical pressing amount (displacement amount in the -Z direction) δz of the robot 210 is set with the height of the reference point of the processing target surface 11 measured by the three-dimensional shape measuring instrument 300 as the reference height (zero point). The position (XY coordinate) of the reference point on the processing target surface 11 is not particularly limited. For example, the corner of the processing target surface 11 can be set as the reference point, and its surface height can be set as the reference height. In addition, since the scraper body 23 is flexible as described above, the processing target surface 11 is cut in a bent state of the scraper body 23. Therefore, the vertical pressing amount δz of the robot 210 during cutting can be set to a displacement amount of millimeters relative to the cutting depth of the processing target surface 11 being micrometer-level or submicrometer-level.

[0050] Next, the manual chuck 30 will be described. The manual chuck 30 is an additional device for holding the workpiece 10 when the workpiece 10 is moved between the stages, and is detachable from the robot 210. Figure 1 The illustrated layout is used, for example, when moving the workpiece 10 between the processing stand C1 and the measuring stand C2. That is, the robot arm 200 holds the workpiece 10 using the manual chuck 30 mounted on the robot hand 210, thereby enabling the workpiece 10 to be freely moved between the processing stand C1 and the measuring stand C2.

[0051] The measuring stand C2 is a stand for placing the workpiece 10 when measuring the three-dimensional shape of the processing target surface 11 of the workpiece 10 using the three-dimensional shape measuring machine 300. The surface of the measuring stand C2 is also formed in a planar shape parallel to the XY plane.

[0052] The three-dimensional shape measuring instrument 300 is, for example, a measuring instrument of a white light interferometry method, which can obtain the three-dimensional shape data (concave-convex shape data) of the processing target surface 11 with high precision. However, the three-dimensional shape measuring instrument 300 is not particularly limited as long as it can measure the concave-convex shape data (height data) of the processing target surface 11, and for example, a three-dimensional laser scanner or the like may be used. In addition, the three-dimensional shape measuring instrument 300 may be a "non-contact" measuring instrument that obtains the concave-convex shape data of the processing target surface 11 in a non-contact manner, or a "contact" measuring instrument that obtains the concave-convex shape data of the processing target surface 11 by contacting a probe or the like with the processing target surface 11. In addition, the scraping processing device 1 may also include a tool mounting stand C3 for mounting the scraper unit 20, a manual chuck stand C4 for mounting the manual chuck 30, and the like.

[0053] In addition, the robot arm 200 is also equipped with a force sensor (force sensor) 220. The force sensor 220 is a sensor for detecting the load (resistance) acting on the scraper 22 during the scraping process. The control device 100 of the scraping processing device 1 monitors (supervises) the state of the load during the scraping process output by the force sensor 220, and can perform feedback control based on the strength of the load as needed. In addition, the above-mentioned robot arm 200 is an example of the mobile unit involved in the present invention, and the mobile unit is not limited to the robot arm 200. The mobile unit involved in the present invention is not particularly limited as long as it is a structure that can automatically scrape the processing target surface 11 of the workpiece 10 by moving the retained scraper.

[0054] <Control device>

[0055] The control device 100 of the scraping processing device 1 is described. The control device 100 controls the robot 200 according to the processing instruction data, and as a result, the processing target surface 11 of the workpiece 10 is scraped according to the processing instruction data. In addition, the control device 100 generates processing instruction data for controlling the robot 200. That is, the control device 100 functions as a device for controlling the robot 200, and also functions as an information processing device for generating processing instruction data used when controlling the robot 200. However, the processing instruction data for controlling the robot 200 can also be generated by an information processing device other than the control device 100. In this case, the control device 100 obtains the processing instruction data generated by the information processing device, and the control device 100 controls the robot 200 according to the obtained processing instruction data. In addition, the transmission of the processing instruction data from the information processing device to the control device 100 can also be performed by any one of wired communication or wireless communication.

[0056] Figure 41 is a block diagram showing an example of the structure of the control device 100. The control device 100 is, for example, a general computer. The computer constituting the control device 100 includes a communication interface (communication I / F) 101, a storage device 102, an input / output device 103, and a processor 104, which are connected via a communication bus 105.

[0057] The communication I / F 101 may be, for example, a network card or a communication module, and communicates with other computers, devices, etc. based on a predetermined protocol. For example, the control device 100 receives three-dimensional shape information of the processing target surface 11 of the workpiece 10 from the three-dimensional shape measuring machine 300 via the communication I / F 101 .

[0058] The storage device 102 includes: for example, a main storage device such as RAM (Random Access Memory), ROM (Read Only Memory), and an auxiliary storage device (secondary storage device) such as HDD (Hard-Disk Drive), SSD (Solid State Drive), and flash memory. The main storage device temporarily stores the program read by the processor 104, the information sent and received with other computers, or the main storage device ensures the working area of ​​the processor 104. The auxiliary storage device stores the program executed by the processor 104, the information sent and received with other computers, etc. In addition, the auxiliary storage device may also include a removable medium (removable recording medium). The removable medium is a disk recording medium such as a USB memory, an SD card, or a CD-ROM, a DVD disk, or a Blu-ray disk. The storage device 102 (for example, the auxiliary storage device) stores an operating system (OS), various programs, and various information tables.

[0059] The input / output device 103 is a user interface such as an input device such as a keyboard and a mouse, an output device such as a monitor, or an input / output device such as a touch panel.

[0060] The processor 104 is a computing device such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), and performs various processes involved in this embodiment by executing programs. For example, the processor 104 loads the program stored in the auxiliary storage device of the storage device 102 into the main storage device and executes it, thereby realizing various processes such as the processing instruction data generation process for generating processing instruction data.

[0061] Furthermore, the control device 100 does not necessarily have to be implemented by a single physical structure, and may be composed of a plurality of computers that cooperate with each other.

[0062] Next, based on Figure 5 The functional structure of the control device 100 will be described. Figure 5 1 is a block diagram schematically showing an example of the functional structure of the control device 100. The control device 100 includes a processing instruction data generating unit 110 and a control unit 111 as functional units. The processor 104 of the control device 100 loads the program stored in the auxiliary storage device of the storage device 102 into the main storage device and executes it, thereby realizing the above-mentioned functional units. The processing instruction data generating unit 110 performs a processing instruction data generating process for generating processing instruction data. The control unit 111 obtains the processing instruction data generated by the processing instruction data generating unit 110, and controls the robot arm 200 according to the processing instruction data.

[0063] <Roll Angle Adjustment of Scraper>

[0064] The following describes a method (adjustment device) for adjusting the roll angle of the scraper 22 (roll angle of the blade 24). The roll angle of the scraper 22 is adjusted at an appropriate timing, such as when the scraper 22 is replaced.

[0065] Specifically, the roll angle of the scraper 22 can be adjusted by rotationally controlling appropriate arms among the plurality of arms constituting the robot arm 200 .

[0066] In addition, for example, Figure 6 As shown, a rotation unit 26 having a motor for rotating the scraper body 23 can also be provided. Thus, the scraper body 23 is directly rotated by the rotation unit 26, thereby changing the roll angle of the scraper 22. In this way, the unit for adjusting the roll angle of the scraper 22 can adopt various structures.

[0067] Figure 7 (a) and Figure 7 (b) is a diagram showing a portion of the blade 24 of the scraper 22 enlarged from the front. The tip 25 of the blade 24 of this embodiment is symmetrical on both sides of the tip 25a. Figure 7 (a) shows the case where the front end 25 of the blade 24 is arc-shaped. Figure 7 (b) shows a case where the tip 25 of the blade 24 is V-shaped. As described above, the roll angle of the blade 24 of the scraper 22 is adjusted by the roll angle adjustment method (adjustment device) of the scraper 22 (see arrow R).

[0068] The following is a description of the roll angle adjustment procedure. In this embodiment, the control device 100 performs image processing of the image (camera) obtained by shooting, and controls the robot arm 200 based on the data obtained by the image processing, thereby adjusting the roll angle. Therefore, in the scraping processing device 1 involved in this embodiment, in order to shoot an image, a light source 51 and a camera 52 as a camera device (see Figure 3 (a) and Figure 3 Here, in order to facilitate the adjustment of the rolling angle of the scraper 22 based on the data obtained by image processing of the image (video) taken by the camera 52, the light source 51 and the camera 52 can be arranged as follows. That is, the light source 51 and the camera 52 are arranged so that a virtual straight line (a virtual straight line (refer to the virtual straight line (the virtual straight line (refer to the virtual straight line (( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( ( Figure 3 The thick single-dot chain line L1 in (b) and the virtual straight line passing through the center of the captured image obtained by the light source 51 and the camera 52 (see Figure 3 In (b), the thin single-point dash line L2) is preferably coincident with the two virtual straight lines (refer to Figure 3 In addition, Figure 3 (a) and Figure 3 (b) shows a case where the light source 51 is arranged closer to the front end side than the front end 25 of the blade 24, and the camera 52 is arranged on the rear end side, but the arrangement may be reversed. In addition, the light source 51 and the camera 52 may be arranged on the processing stand C1, may be fixed to the base of the robot 210, or may be arranged at other positions.

[0069] The scraping processing device 1 thus constructed is used, and in a state where the front end 25a of the blade 24 is in contact with the plane, light is irradiated by the light source 51 in such a manner that the light passes through the gap between the front end 25 of the blade 24 and the plane (irradiation process). Then, the gap between the front end 25 of the blade 24 and the plane is photographed by the camera 52 from the side between the blade 24 and the opposite side of the light source 51, thereby generating image data (photography process). In addition, in the present embodiment, when obtaining the photographic data, a structure is adopted in which the front end 25a of the blade 24 is in contact with the processing target surface 11 of the workpiece 10. However, as long as the front end 25a of the blade 24 can be in contact with the plane, it does not matter if the object of contact is not the processing target surface 11 of the workpiece 10. For example, a structure in which the front end 25a of the blade 24 is in contact with a portion of a plane of a dedicated component (such as a dedicated adjustment table whose surface is composed of a plane) used only when adjusting the roll angle of the scraper 22 can also be adopted.

[0070] Figure 8(a) in FIG. 5 shows an example of an image (video) captured by the camera 52. In addition, Figure 8 (b) shows the image of Figure 8 The image of the area surrounded by the dotted line V in (a) is processed (binarized image). Figure 8 As shown in the range V of (a) in FIG. 1 , the image of the region where the width direction coincides with both ends of the blade 24 is binarized, thereby, as shown in FIG. Figure 8 As shown in (b) in FIG. 1 , the ranges of the gaps G1 and G2 formed on both sides of the most distal end portion 25 a of the blade 24 can be specified (determined).

[0071] In the present embodiment, the roll angle of the scraper 22 is adjusted based on the image data captured by the camera 52 and information on the gaps G1 and G2 formed on both sides of the tip 25 a of the blade 24 (adjustment step).

[0072] The front end 25 of the blade 24 involved in this embodiment is a shape in which both sides of the front end 25a are symmetrical. In order to process the blade 24 configured in this way at a desired position, it is necessary to process it in a state where the roll angle of the scraper 22 is adjusted so that the gaps on both sides of the front end 25a of the blade 24 are symmetrical. When the light source 51 and the camera 52 are configured as described above, if the gaps G1 and G2 are symmetrical in the image obtained by the camera 52, it can be considered that the roll angle of the scraper 22 has been adjusted so that the gaps on both sides of the front end 25a of the blade 24 are symmetrical.

[0073] Therefore, in the above adjustment process, the roll angle of the scraper 22 is adjusted so that the gaps G1 and G2 of the image data obtained by image processing become symmetrical. Therefore, as information related to the gaps G1 and G2 formed on both sides of the front end 25a of the blade 24, the following information can be listed.

[0074] The first is the areas S1 and S2 of the gaps G1 and G2. If their areas are equal, it can be determined that the gap G1 and the gap G2 are symmetrical shapes. Therefore, in the binarized image data, the integral value of the area corresponding to the gap G1 (equivalent to the area S1) and the integral value of the area corresponding to the gap G2 (equivalent to the area S2) are compared. If they are equal, it can be determined that the gap G1 and the gap G2 are symmetrical shapes. However, in actual products, according to the performance of the robot arm 200, etc., the minimum unit that can change the rolling angle of the scraper 22 has been determined. Therefore, in actual products, according to this minimum unit, the rotation angle of the scraper 22 is adjusted to the minimum difference between the areas S1 and S2 of the gaps G1 and G2. In this case, the gaps G1 and G2 are not completely symmetrical shapes, but are roughly symmetrical shapes.

[0075] The second is the height of the gaps G1 and G2 in the direction perpendicular to the plane (in the case of this embodiment, the machined surface 11 of the workpiece 10). Further, in the gaps G1 and G2, at the same position in the width direction, the height at any position may be used, but in order to easily create a difference between the two, it is preferable to use the maximum height. That is, in Figure 8 in (b) thereof, the height H1 at the leftmost end position of the gap G1 and the height H2 at the rightmost end position of the gap G2 are compared. If they are equal, it can be determined that the gaps G1 and G2 are symmetric shapes. However, as described above, in an actual product, the minimum unit by which the rolling angle of the blade 22 can be changed has been determined. Therefore, it is only necessary to adjust the rotation angle of the blade 22 so that the difference between the height H1 and the height H2 becomes the minimum.

[0076] The third is the length of the gaps G1 and G2 in the direction parallel to the plane. Further, in the gaps G1 and G2, at the same position in the height direction, the length at any position may be used, but in order to easily create a difference between the two, it is preferable to use the maximum length. That is, in Figure 8 in (b) thereof, the width W1 of the gap G1 on the plane and the width W2 of the gap G2 are compared. If they are equal, it can be determined that the gaps G1 and G2 are symmetric shapes. However, as described above, in an actual product, the minimum unit by which the rolling angle of the blade 22 can be changed has been determined. Therefore, it is only necessary to adjust the rotation angle of the blade 22 so that the difference between the width W1 and the width W2 becomes the minimum.

[0077] The fourth is the position information of the region A where no gap is formed between a pair of gaps formed on both sides of the foremost end portion 25a of the blade 24. That is, in Figure 8 in (b) thereof, when the center of the region A is located at the center of the region from the left end of the gap G1 to the right end of the gap G2, it can be determined that the gaps G1 and G2 are symmetric shapes. However, as described above, in an actual product, the minimum unit by which the rolling angle of the blade 22 can be changed has been determined. Therefore, it is only necessary to adjust the rotation angle of the blade 22 so that the distance L between the center of the region A and the center of the region from the left end of the gap G1 to the right end of the gap G2 becomes the minimum.

[0078] Fig. 9 in (a) to Fig. 9 in (d) are the images (binary images) after image processing when the rolling angles of the blade 22 are different. Fig. 9 In (a) thereof, it is a binary image when S1 << S2, H1 << H2, W1 << W2 and the center of the region A is greatly deviated to the left side in the drawing compared to the center of the region from the left end of the gap G1 to the right end of the gap G2. Fig. 9 (b) is a binarized image in the case where S1<S2, H1<H2, W1<W2 and the center of region A is slightly offset to the left of the center of the region from the left end of gap G1 to the right end of gap G2. Fig. 9 (c) is a binarized image when S1=S2, H1=H2, W1=W2, and the center of the region A coincides with the center of the region from the left end of the gap G1 to the right end of the gap G2. Fig. 9 (d) is a binarized image in the case where S1>S2, H1>H2, W1>W2 and the center of region A is slightly offset to the right in the figure from the center of the region from the left end of gap G1 to the right end of gap G2. Fig. 9 (e) is a binarized image in the case where S1>>S2, H1>>H2, W1>>W2, and the center of region A is greatly deviated to the right in the figure compared to the center of the region from the left end of gap G1 to the right end of gap G2.

[0079] In adjusting the rolling angle of the scraper 22, Fig. 9 In addition, as described above, in actual products, the state of the binary image can be obtained by adjusting the roll angle to a state where the difference between S1 and S2 is minimized, the difference between H1 and H2 is minimized, the difference between W1 and W2 is minimized, and the distance L between the center of area A and the center of the area from the left end of gap G1 to the right end of gap G2 is minimized.

[0080] Fig.10 This is a flow chart of the operation control until the roll angle of the scraper 22 is adjusted in the scraping processing device 1. When the control device 100 receives the start command of the roll angle adjustment operation (step SS), the robot arm 200 is driven to move the blade 24 of the scraper 22 onto the processing target surface 11 of the workpiece 10 and control for changing the roll angle is performed (step S1), and the roll angle adjustment operation control is ended (step SE).

[0081] Fig.11An operation control flowchart showing a first specific example of the rolling angle control step (step S1). If step S1 (step S11S) starts, the control device 100 performs shooting based on the camera 52 and performs image processing for binarizing the obtained captured image (step S111). Next, the control device 100 determines whether the difference between, for example, S1 and S2 is within a predetermined threshold range (step S112). When the difference between S1 and S2 is not within the predetermined threshold range, the control device 100 performs an operation of changing the rolling angle of the blade 22 (step S113). The same operation is repeated until it is determined that the difference between S1 and S2 is within the predetermined threshold range. If it is determined in step S112 that the difference between S1 and S2 is within the predetermined threshold range, the operation control for changing the rolling angle is ended (step S11E).

[0082] In addition, here, the case where S1 and S2 are used as determination objects (information related to the gap) is shown. However, as described above, any one of H1 and H2, W1 and W2, and the distance L between the center of region A and the center of the region from the left end of gap G1 to the right end of gap G2 can be used as the determination object. In addition, regarding the determination objects, any one of them can be used alone, but in order to improve the determination accuracy, multiple (two, three, or all) can also be adopted. For example, the operation control for changing the rolling angle can also be ended when the difference between S1 and S2 is within the predetermined threshold range and the difference between H1 and H2 is within the predetermined threshold range.

[0083] Fig.12 An operation control flowchart showing a second specific example of the rolling angle control step (step S1). If step S1 (step S12S) starts, the control device 100 moves the blade 24 of the blade 22 multiple times while sequentially changing the rolling angle of the blade 22 in the smallest unit. At this time, for example, until it clearly changes from the state where S1 << S2 to the state where S1 >> S2, the blade 24 of the blade 22 is sequentially moved in the smallest unit. Then, while moving the blade 24 of the blade 22, the control device 100 performs shooting based on the camera 52 in each state and performs image processing for binarizing the obtained captured image (step S121). Thus, for example, Fig. 9 in (a) to Fig. 9The control device 100 then determines, based on the image data, the image data in which the difference between, for example, S1 and S2 is the smallest. That is, the control device 100 determines that the rolling angle of the scraper 22 is the image at the optimal position (step S122). The control device 100 then moves the blade 24 of the scraper 22 so that the scraper 22 reaches the rolling angle when the image determined to be the optimal position is captured. That is, the rolling angle is adjusted (step S123), and the action control for changing the rolling angle is terminated (step S12E).

[0084] In addition, here, a case where S1 and S2 are used as the determination object (information related to the gap) is shown, but as described above, any one of H1 and H2, W1 and W2, and the distance between the center of the area A and the center of the area from the left end of the gap G1 to the right end of the gap G2 can be used as the determination object. In addition, regarding the determination object, only any one of them can be used, but in order to improve the determination accuracy, multiple (two, three, or all) can also be used. For example, the control device 100 comprehensively determines the difference between S1 and S2 and the difference between H1 and H2 to determine that the rolling angle of the scraper 22 is the optimal position.

[0085] <Advantages of the Scraping Method and Scraping Device of the Present Embodiment>

[0086] According to the scraping method and the scraping device 1 involved in this embodiment, the roll angle of the scraper 22 is adjusted based on information related to the gaps G1 and G2 formed on both sides of the front end 25a of the blade 24. As a result, the roll angle of the scraper can be correctly adjusted, and processing can be performed at a desired roll angle to accurately process the desired position, thereby obtaining a desired surface.

[0087] (other)

[0088] In this embodiment, regarding the shape of the front end 25, a case where the blades 24 are symmetrically shaped on both sides of the front end 25a are used is shown. In addition, on this basis, a case where the following structure is used is shown: the light source 51 and the camera 52 are arranged to be projected in the vertical direction to observe the direction in which the scraper 22 extends and the virtual straight line (single-point dash line L1) passing through the center of the width direction of the scraper 22 and the virtual straight line (single-point dash line L2) passing through the center of the captured image obtained by using the light source 51 and the camera 52 are overlapped.

[0089] By adopting such a structure, as long as the roll angle of the scraper 22 is adjusted so that the gaps on both sides of the front end portion 25a of the blade 24 are symmetrical, the gap G1 and the gap G2 are symmetrical in the image obtained by the camera 52. Therefore, in this embodiment, a method and an apparatus for adjusting the roll angle of the scraper 22 so that the gap G1 and the gap G2 are substantially symmetrical based on various information related to the gaps G1 and G2 are shown.

[0090] However, in the present invention, it is not necessary to adopt the above-mentioned structure. For example, on the basis of adopting the blade 24 constructed as above, the configuration structure of the light source 51 and the camera 52 may not adopt the above-mentioned structure. For example, the light source 51 and the camera 52 may be configured so that when the virtual straight line passing through the center of the width direction of the scraper and the virtual straight line passing through the center of the captured image obtained by the light source 51 and the camera 52 are projected in the vertical direction and observed, the two virtual straight lines may be inclined to intersect. In this case, when the roll angle of the scraper 22 is adjusted to a state (referred to as the target state) in which the gaps on both sides of the front end 25a of the blade 24 become symmetrical shapes, in the image obtained by the camera 52, the gap G1 and the gap G2 will not become symmetrical shapes. Therefore, even if the scraping processing device 1 has a blade 24 with a symmetrical shape on both sides of the front end 25a of the front end 25 as in the above-mentioned embodiment, it is impossible to judge whether it is in the target state based on the image obtained by the camera 52 by the same method as the above-mentioned embodiment. In this case, the shapes and sizes of the gaps G1 and G2 in the image obtained by the camera 52 under the target state are investigated in advance. For example, in the image obtained by the camera 52 under the target state, S1-S2=Sn(mm 2 ), H1-H2=Hn(mm), W1-W2=Wn(mm), and the distance L between the center of area A and the center of the area from the left end of gap G1 to the right end of gap G2=Ln(mm). In this case, it is possible to measure at least one of S1-S2, H1-H2, W1-W2, and L in the image obtained by the camera 52, and determine whether the scraping device 1 is in the target state based on whether the difference between them and the target values ​​Sn, Hn, Wn, and Ln is within the range of the threshold. Therefore, for example, as long as the difference between S1 and S2 becomes the closest to Sn(mm 2 ) value can be used to adjust the scroll angle in the state of the binary image.

[0091] In addition, the shape of the front end 25 can be applied to the present invention even when the blade 24 is not symmetrical on both sides of the front end 25a. In this case, when the roll angle of the scraper 22 is arranged at a desired position (referred to as a target state), the gap G1 and the gap G2 will not be symmetrical in the image obtained by the camera 52. In this case, as described above, the shape and size of the gap G1 and the gap G2 in the image obtained by the camera 52 in the target state are also investigated in advance, and the shape and size of the gap G1 and the gap G2 in the image actually obtained by the camera 52 are compared, thereby adjusting the roll angle in the same way as in the above case.

[0092] In the above-mentioned embodiment, a method for adjusting the roll angle of the scraper 22 based on the image obtained by the camera 52 is described, but the object of adjustment is not limited to the roll angle of the scraper 22. The present invention includes a scraper processing method including an adjustment process for adjusting an arbitrary posture of the scraper 22 based on the image obtained by the camera 52. In this case, the setting position, the shooting direction, the shooting range, etc. of the camera 52 are set, so that when the posture of the adjustment object of the scraper 22 is changed, the shape and size of the gap between the front end 25 of the blade 24 and the plane in the image obtained by the camera 52 are changed. In addition, it is previously investigated what the shape and size of the gap between the front end 25 of the blade 24 and the plane becomes in the image obtained by the camera 52 when the posture of the scraper 22 is the target state, and the shape and size of the gap in the image actually obtained by the camera 52 are compared, thereby adjusting the posture of the scraper 22.

[0093] In the above embodiment, an example in which the light source 52 is arranged between the blade 24 and on the opposite side to the camera 52 is described, but the arrangement and type of the light source are not limited to the above example, as long as the shape and size of the gap between the front end 25 of the blade 24 and the plane can be photographed by the camera 52. In addition, in the case where a sufficient amount of light required for photography can be obtained by the ambient light of the environment in which the scraping processing device 1 is installed (for example, the lighting device of the room in which the scraping processing device 1 is installed, natural light), it is not necessary to provide a separate light source for photography for the scraping processing device 1.

[0094] In the above embodiment, the scraper 22 is shown in which the front end shape of the blade 24 is arc-shaped or V-shaped, but the front end shape of the blade 24 is not limited to the above example, as long as the shape can form a gap on both sides of the front end 25a when the front end 25a is abutted on a plane. For example, it can be polygonal, stepped, or in a cross section perpendicular to the direction in which the blade 24 extends (with the blade 24 extending perpendicular to the blade 24). Figure 7 (a) Figure 7The shape of the front end 25 is any shape that increases monotonically from the vertex 25a to both sides on the same cross section in (b). Furthermore, as described above, the shape of the front end 25 is not limited to a bilaterally symmetrical shape.

[0095] (Explanation of Reference Numerals)

[0096] 1: scraping device; 10: workpiece; 11: processing object surface; 20: scraper unit;

[0097] 21: bracket; 22: scraper; 23: scraper body; 24: blade; 25: front end;

[0098] 25a: front end; 26: rotation unit; 30: manual chuck; 51: light source;

[0099] 52: camera; 100: control device; 200: robot arm; 200a: first arm;

[0100] 200b: second arm; 210: manipulator; 220: force sensor; 300: three-dimensional shape measuring instrument.

Claims

1. A scraping method, characterized in that: include: An imaging step of imaging a gap between a tip of a scraper having an arc-shaped or V-shaped blade and a plane with the tip of the blade abutting against the plane to generate image data; as well as The adjustment step is to adjust the posture of the scraper according to information on a gap formed on both sides of the front end portion of the blade based on the image data.

2. The scraping method according to claim 1, wherein: The scraping method further includes an irradiation step of irradiating light with a light source so as to allow the light to pass through a gap between the tip of the blade and the flat surface.

3. The scraping method according to claim 2, wherein: In the imaging step, an image of a gap between the tip of the blade and the flat surface is captured from a side opposite to the light source and interposed between the blade.

4. The scraping method according to any one of claims 1 to 3, wherein: The information related to the gap is the area of ​​the gap.

5. The scraping method according to any one of claims 1 to 3, wherein: The information related to the gap is the height of the gap in a direction perpendicular to the plane.

6. The scraping method according to any one of claims 1 to 3, wherein: The information related to the gap is the length of the gap in a direction parallel to the plane.

7. The scraping method according to any one of claims 1 to 3, wherein: The information related to the gap is position information of a region where no gap is formed between a pair of the gaps formed on both sides of the front end portion.

8. The scraping method according to any one of claims 1 to 7, wherein: The front end of the blade is symmetrically shaped on both sides of the front end portion, and In the adjustment step, the posture of the scraper is adjusted based on the information about the gap so that the gap formed on both sides of the frontmost portion has a substantially symmetrical shape.

9. The scraping method according to any one of claims 1 to 8, wherein: In the adjustment step, the roll angle of the scraper is adjusted.

10. A scraping device comprising: a scraper having a blade with an arc-shaped or V-shaped front end; and The moving unit, which moves the scraper, is characterized in that The scraping processing device comprises: An imaging device for imaging a gap between the front end of the blade and the plane in a state where the front end of the blade abuts against the plane; as well as A control device controls the moving unit to adjust the posture of the scraper according to information related to the gap formed on both sides of the front end portion of the blade based on the image data captured by the imaging device.

11. The scraping processing device according to claim 10, wherein: The shaving processing device includes a light source capable of causing irradiated light to pass through a gap between the tip of the blade and the flat surface.

12. The scraping processing device according to claim 11, wherein: The imaging device captures an image of a gap between a tip of the blade and the flat surface from a side opposite to the light source and interposed between the blade.

13. The scraping processing device according to any one of claims 10 to 12, wherein: The information related to the gap is the area of ​​the gap.

14. The scraping processing device according to any one of claims 10 to 12, wherein: The information related to the gap is the height of the gap in a direction perpendicular to the plane.

15. The scraping processing device according to any one of claims 10 to 12, wherein: The information related to the gap is the length of the gap in a direction parallel to the plane.

16. The scraping processing device according to any one of claims 10 to 12, wherein: The information related to the gap is position information of a region where no gap is formed between a pair of the gaps formed on both sides of the front end portion.

17. The scraping processing device according to any one of claims 10 to 16, wherein: The front end of the blade is symmetrically shaped on both sides of the front end portion, and The control device adjusts the posture of the scraper based on the information about the gap so that the gap formed on both sides of the frontmost portion has a substantially symmetrical shape.

18. The scraping processing device according to any one of claims 10 to 17, wherein: The control device controls the moving unit to adjust the rolling angle of the scraper.

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