Program production apparatus

Abstract

The present disclosure is a program creation device that creates a movement program for a removal processing robot for a workpiece having a processing surface and a reference surface displaced with respect to the processing surface, in the program creation device, the removal processing robot is provided with a removal processing tool, the program creation device is provided with: a position information acquisition section that acquires position information related to a positional relationship between the processing surface and the reference surface of the workpiece; a tool information holding section that holds tool information related to the removal processing tool; and a program creation section that creates the movement program for the removal processing robot based on the position information of the workpiece and the tool information of the removal processing tool, wherein the program creation section selects a use site of the removal processing tool in a manner that avoids interference between the removal processing tool and the reference surface of the workpiece.

Description

Technical Field

[0001] This disclosure relates to a program creation apparatus, and more specifically, to a program creation apparatus for creating motion programs for robots used in deburring processes, etc. Background Technology

[0002] Previously, in the deburring process performed by robots, vision sensors were used to detect the edges that constitute the deburring area and generate a deburring track. The deburring tool was then moved along the deburring track to perform the deburring.

[0003] In this deburring process performed by a robot, as long as there is a sufficient amount of displacement (e.g., height difference) between the workpiece's machined surface and a reference surface (e.g., a casting surface) that has been displaced relative to the machined surface, deburring can be performed smoothly without interference such as contact between the deburring tool and the workpiece's reference surface (see, for example, Patent Document 1).

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2009-175954 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] However, if there is insufficient displacement between the workpiece's machined surface and the reference surface, or if the displacement changes, the deburring tool may come into contact with and damage the reference surface during deburring, depending on the positional relationship. Furthermore, if the deburring tool's posture is unsuitable for the workpiece's shape, some edges that are part of the deburring area may not be deburred. The same applies to other removal processes besides deburring.

[0009] Solution for solving the problem

[0010] This disclosure discloses a program creation apparatus for creating a motion program for a removal processing robot for a workpiece having a machining surface and a reference surface displaced relative to the machining surface. In the program creation apparatus, the removal processing robot includes a removal processing tool. The program creation apparatus includes: a position information acquisition unit that acquires position information related to the positional relationship between the machining surface of the workpiece and the reference surface; a tool information holding unit that holds tool information related to the removal processing tool; and a program creation unit that creates the motion program for the removal processing robot based on the position information of the workpiece and the tool information of the removal processing tool. The program creation unit selects the application location of the removal processing tool in a manner that avoids interference between the removal processing tool and the reference surface of the workpiece.

[0011] The effects of the invention

[0012] According to this disclosure, even when there is insufficient displacement between the workpiece's machining surface and the reference surface, or when the displacement changes, it is possible to create a motion program for a robot used for workpiece removal. Attached Figure Description

[0013] Figure 1 This is a schematic diagram illustrating the structure of a deburring system including a program production apparatus according to one embodiment of the present disclosure.

[0014] Figure 2A This shows the use of Figure 1 A schematic diagram illustrating an example of a deburring tool in a deburring system.

[0015] Figure 2B This shows the use of Figure 1 A schematic diagram illustrating an example of a deburring tool in a deburring system.

[0016] Figure 2C This shows the use of Figure 1 A schematic diagram illustrating an example of a deburring tool in a deburring system.

[0017] Figure 2D This shows the use of Figure 1 A schematic diagram illustrating an example of a deburring tool in a deburring system.

[0018] Figure 3 This is a schematic diagram showing the positional relationship between the deburring tool and the workpiece when the machined surface of the workpiece and the reference surface are parallel to each other and there is a sufficient height difference between the machined surface of the workpiece and the reference surface.

[0019] Figure 4 It is shown in Figure 3This diagram illustrates the interference between the deburring tool and the workpiece when there is no sufficient height difference between the machined surface and the reference surface of the workpiece.

[0020] Figure 5 It is shown that it is used in Figure 3 This is a schematic diagram illustrating an example of avoiding interference between the deburring tool and the workpiece when there is no sufficient height difference between the machined surface and the reference surface of the workpiece.

[0021] Figure 6 It is shown that it is used in Figure 3 This is a schematic diagram illustrating other examples of avoiding interference between the deburring tool and the workpiece when there is no sufficient height difference between the machined surface and the reference surface of the workpiece.

[0022] Figure 7 This is a schematic diagram showing the positional relationship between the deburring tool and the workpiece when the machined surface of the workpiece is perpendicular to the reference surface and there is a sufficient height difference between the edge of the machined surface of the workpiece and the reference surface.

[0023] Figure 8 It is shown in Figure 7 This diagram illustrates the interference between the deburring tool and the workpiece when there is no sufficient height difference between the machined surface and the reference surface of the workpiece.

[0024] Figure 9 It is shown that it is used in Figure 7 This is a schematic diagram illustrating an example of avoiding interference between the deburring tool and the workpiece when there is no sufficient height difference between the machined surface and the reference surface of the workpiece.

[0025] Figure 10 It is shown that it is used in Figure 7 This is a schematic diagram illustrating other examples of avoiding interference between the deburring tool and the workpiece when there is no sufficient height difference between the machined surface and the reference surface of the workpiece.

[0026] Figure 11 It is a flowchart used to create an action program that avoids interference between the deburring tool and the workpiece when there is not a sufficient height difference between the machining surface and the reference surface of the workpiece.

[0027] Figure 12 This is a schematic diagram illustrating the use of a three-dimensional vision sensor to detect the height difference between the machined surface of a workpiece and a reference surface.

[0028] Figure 13 This is a schematic diagram showing the areas where burrs cannot be removed, based on the detected height difference.

[0029] Figure 14 This is a schematic diagram showing a workpiece with protrusions or the like in a part of a height difference.

[0030] Figure 15 It is shown that it is used for Figure 14 A schematic diagram of the first example of deburring a workpiece.

[0031] Figure 16 It is shown that it is used for Figure 14 The second example of deburring a workpiece is illustrated in the diagram.

[0032] Figure 17 It is shown that it is used for Figure 14 The diagram shows the third example of deburring a workpiece.

[0033] Figure 18 It is shown that it is used for Figure 14 The fourth example of deburring a workpiece is illustrated in the diagram.

[0034] Figure 19 It is shown that it is used for Figure 14 The fifth example is a schematic diagram of deburring a workpiece.

[0035] Figure 20 It is shown that in order to Figure 14 This is a schematic diagram of the first part, showing the situation where the application of the deburring tool is changed when deburring the workpiece.

[0036] Figure 21 It is shown that in order to Figure 14 The second part is a schematic diagram of the case where the deburring tool is used in a different location when deburring the workpiece. Detailed Implementation

[0037] The embodiments of this disclosure will now be described with reference to the accompanying drawings. Figure 1 This is a schematic diagram showing the structure of a deburring system 1 including a program creation apparatus 20 according to one embodiment of the present disclosure. The deburring system 1 is a system for deburring workpiece W1.

[0038] The deburring system 1 of this embodiment includes a robot 2, a deburring tool 3 held at the front end of the robot 2, a force sensor 4 disposed between the robot 2 and the deburring tool 3, and a three-dimensional vision sensor 5 (see reference). Figure 12 The robot control device 10 controls the robot 2. The program creation device 20 is part of the robot control device 10.

[0039] As for Robot 2, a typical example is a vertical multi-joint robot, but it is not particularly limited to that type. Other types of robots, such as horizontal multi-joint (SCARA) robots, parallel link robots, or orthogonal coordinate robots, can also be used.

[0040] As the deburring tool 3, a grinder, reamer, or similar tool can be used. Furthermore, the shape of the deburring tool 3 can be appropriately selected, such as cylindrical, conical, bullet-shaped, or conical. This will be described later.

[0041] Force sensor 4 is a sensor that measures the force and torque on three axes. In other words, force sensor 4 can detect the force acting on deburring tool 3 as a three-dimensional vector.

[0042] The three-dimensional vision sensor 5 can detect and acquire the height difference W14 between the machining surface W11 of the workpiece W1 and the reference surface W13.

[0043] The robot control unit 10 controls the deburring process for removing burrs from the workpiece W1 by moving the deburring tool 3 along the edge line of the workpiece W1 via the robot 2. Deburring is one example of a removal process. Other examples include chamfering.

[0044] The robot control device 10 according to this embodiment includes a robot control unit 11, a position information acquisition unit 12, a tool information holding unit 13, a pressure acquisition unit 14, a travel speed acquisition unit 15, and a program creation unit 16. The position information acquisition unit 12, the tool information holding unit 13, the pressure acquisition unit 14, the travel speed acquisition unit 15, and the program creation unit 16 constitute a program creation device 20.

[0045] The robot control device 10 can be implemented by importing appropriate motion programs into one or more computer devices having a CPU, memory, etc. The aforementioned components of the robot control device 10 are derived by classifying the functions of the robot control device 10; however, they may not be clearly distinguishable in terms of their physical and program structures. Furthermore, the robot control device 10 may also have components that implement other functions.

[0046] The robot control unit 11 moves the robot 2 according to the teaching data, thereby moving the deburring tool 3 along the edge of the workpiece W1.

[0047] The position information acquisition unit 12 acquires the positional relationship (e.g., the height difference as a displacement) between the machined surface W11 of the workpiece W1 and the reference surface W13. Specifically, the height difference is calculated based on the shape information (CAD information, etc.) of the workpiece W1, or the height difference is detected using a three-dimensional vision sensor.

[0048] The tool information holding unit 13 holds information such as the shape of the deburring tool 3. Shape is a concept that includes size. Specifically, for each shape of the deburring tool 3, the tool information holding unit 13 holds, as described later, the length L1 along the axis from the tool center 3C to the tool front end 3E, the length L2 along the axis from the front part 3D to the tool front end 3E, the length L4 along the direction perpendicular to the axis from the tool center 3C to the tool rear end 3A, and the length L5 along the direction perpendicular to the axis from the tool rear part 3B to the tool rear end 3A. For each shape of the deburring tool 3, the tool information holding unit 13 calculates and holds the vertical component L3 of the length L1 along the axis from the tool center 3C to the tool front end 3E, and the horizontal component L6 of the length L4 along the direction perpendicular to the axis from the tool center 3C to the tool rear end 3A, corresponding to the tilt of the deburring tool 3's posture.

[0049] The pressure acquisition unit 14 acquires the pressure exerted by the deburring tool 3 on the workpiece W1. The pressure acquired by the pressure acquisition unit 14 is preferably vector data including direction information. For example, the pressure acquisition unit 14 can be configured to acquire the pressure exerted by the deburring tool 3 from a force sensor 4 provided on the robot 1.

[0050] The travel speed acquisition unit 15 acquires the travel speed of the deburring tool 3 obtained based on the robot 2. The travel speed acquisition unit 15 can be configured to acquire, for example, the travel speed of the deburring tool 3 obtained based on the robot 2 from the robot control unit 11.

[0051] The programming unit 16 creates motion programs for the robot control unit 11 to move the robot 2 based on information such as position information acquired by the position information acquisition unit 12, tool information held by the tool information holding unit 13, pressing pressure acquired by the pressing pressure acquisition unit 14, and travel speed acquired by the travel speed acquisition unit 15. The programming unit 16 will be described later.

[0052] Figures 2A to 2D The shapes of the deburring tool 3 are shown. Figure 2A This shows a cylindrical deburring tool 3-1. Figure 2B The tapered deburring tool 3-2 is shown. Figure 2C Showing a shell-shaped deburring tool 3-3, Figure 2D The conical deburring tool 3-4 is shown.

[0053] The deburring tool 3 will be described using the conical deburring tool 3-4 illustrated in the following embodiments, but other deburring tools 3-1 to 3-3 can also be described similarly. The deburring tool 3 has three axial regions extending from its root towards its front end: a tool rear portion 3B near the tool rear end 3A, a tool middle portion 3C, and a tool front portion 3D near the tool front end 3E. The tool rear portion 3B has a diameter D1, the tool middle portion 3C has a diameter D2, and the tool front portion 3D has a diameter D3. Typically, the tool middle portion 3C is used for deburring.

[0054] Reference Figures 3-6 The deburring process of a workpiece W1 of the first type will be described. The workpiece W1 has a machined surface W11 and a reference surface (e.g., a casting surface) W13 that is displaced relative to the machined surface W11. Specifically, the machined surface W11, which has an edge W12, is parallel to the reference surface (e.g., the casting surface) W13 and protrudes from the reference surface W13 by a height difference W14.

[0055] The deburring of this workpiece W1 with a height difference is usually performed by the standard type 1 action program created by the program production unit 16, which sets the tool center 3C of the deburring tool 3 as the usage area, as follows.

[0056] Specifically, such as Figure 3 As shown, the deburring tool 3 (e.g., a conical deburring tool 3-4) is held in a position such that its axis is perpendicular to the machining surface W11 of the workpiece W1. The tool center 3C of the deburring tool 3 abuts against the edge line W12 of the machining surface W11. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels around the machining surface W11 along the edge line W12.

[0057] However, this deburring process requires the workpiece W1 to have a sufficient height difference W14 (W14 > L1) exceeding the length L1, which is the length along the axis from the tool center 3C to the tool tip 3E of the deburring tool 3.

[0058] like Figure 4 As shown, when the height difference W14 of the workpiece W1 is smaller than the length L1 along the axis from the tool center 3C to the tool tip 3E (W14 < L1), the tool tip 3E of the deburring tool 3 will interfere with the reference surface W13. Therefore, deburring cannot be performed using the standard type 1 operation program.

[0059] exist Figure 5 The image shows a first example of how to avoid interference between the deburring tool 3 and the workpiece W1 in this situation. Figure 5In the process, the deburring process is performed as follows by setting the front 3D of the deburring tool 3 as the front use type of the application part, which is created by the program production unit 16.

[0060] Specifically, such as Figure 5 As shown, the deburring tool 3 is held in a position such that its axis is perpendicular to the machining surface W11 of the workpiece W1. The front part 3D of the deburring tool 3 is brought into contact with the edge line W12 of the machining surface W11. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels around the machining surface W11 along the edge line W12.

[0061] Therefore, deburring can be performed even when the length L2 of the axis from the front part 3D of the deburring tool 3 to the front end 3E of the tool is shorter than the height difference W14 (W14 > L2).

[0062] exist Figure 6 The image shows a second example of methods to avoid interference between the deburring tool 3 and the workpiece W1. Figure 6 In the process, the deburring process is performed as follows by the action program created by the program production unit 16, which tilts the direction of the axis of the deburring tool 3 and sets the tool center 3C of the deburring tool 3 to the tilt type 1 of the use part.

[0063] Specifically, such as Figure 6 As shown, the deburring tool 3 is held in a position such that its axis is tilted from the machining surface W11, which is perpendicular to the workpiece W1. The tool center 3C of the deburring tool 3 abuts against the edge line W12 of the machining surface W11. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels around the machining surface W11 along the edge line W12.

[0064] Therefore, deburring can be performed even when the vertical component L3 of the length L1 along the axis from the middle part 3C of the deburring tool 3 to the front end 3E of the tool is shorter than the height difference W14 (W14 > L3).

[0065] A third example of avoiding interference between the deburring tool 3 and the workpiece W1 will be described. Deburring can be performed by replacing the deburring tool 3 with a smaller deburring tool 3. Because this smaller deburring tool 3 is smaller in size, its length along the axis from the middle 3C of the tool to the front 3E of the tool is shorter than the height difference W14. Such a tool is, for example... Figure 17 The deburring tool 3 shown on the right.

[0066] Reference Figures 7-10The deburring process for a second type of workpiece W2 will now be described. Workpiece W2 has a machined surface W21 and a reference surface (e.g., a casting surface) W23 that is displaced relative to the machined surface W21. Specifically, the machined surface W21 is perpendicular to the reference surface (e.g., the casting surface) W23, and the edge W22 of the machined surface W21 protrudes from the reference surface W23 by a height difference W24.

[0067] The deburring of this workpiece W2 with a height difference is usually performed by the standard type 2 action program created by the program production unit 16, which sets the tool center 3C of the deburring tool 3 as the usage area, as follows.

[0068] Specifically, such as Figure 7 As shown, the deburring tool 3 (e.g., a conical deburring tool 3-4) is held in a position such that its axis is perpendicular to the machining surface W21 of the workpiece W2. The tool center 3C of the deburring tool 3 abuts against the edge line W22 of the machining surface W21. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels around the machining surface W21 along the edge line W22.

[0069] However, this deburring process requires the workpiece W1 to have a sufficient height difference W24 (W24 > L4) exceeding the length L4, which is the length along the axis perpendicular to the axis from the middle part 3C of the deburring tool 3 to the rear end 3A of the tool.

[0070] like Figure 8 As shown, when the height difference W24 of the workpiece W2 is smaller than the length L4 in the direction perpendicular to the axis from the middle part 3C of the tool to the rear end 3A of the tool (W24 < L4), the rear end 3A of the deburring tool 3 will interfere with the reference surface W23. Therefore, deburring cannot be performed using the standard type 2 operation program.

[0071] exist Figure 9 The image shows a first example of how to avoid interference between the deburring tool 3 and the workpiece W2 in this situation. Figure 9 In the process, the deburring process is performed as follows by the action program created by the program production unit 16, which sets the tool rear part 3B of the deburring tool 3 as the rear part of the application area.

[0072] Specifically, such as Figure 9 As shown, the deburring tool 3 is held in a position such that its axis is perpendicular to the machining surface W21 of the workpiece W2. The rear part 3B of the deburring tool 3 abuts against the edge line W22 of the machining surface W21. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels around the machining surface W21 along the edge line W22.

[0073] Therefore, deburring can be performed even when the length L5 in the direction perpendicular to the axis from the rear part 3B of the deburring tool 3 to the rear end 3A of the tool is shorter than the height difference W24 (W24 > L5).

[0074] exist Figure 10 The image shows a second example of methods to avoid interference between the deburring tool 3 and the workpiece W2. Figure 10 In the process, the deburring process is performed as follows by the action program created by the program production unit 16, which tilts the direction of the axis of the deburring tool 3 and sets the tool center 3C of the deburring tool 3 to the tilt type 2 of the use part.

[0075] Specifically, such as Figure 10 As shown, the deburring tool 3 is held in a position such that its axis is tilted from the machining surface W21, which is perpendicular to the workpiece W2. The tool center 3C of the deburring tool 3 is brought into contact with the edge line W22 of the machining surface W21. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels around the machining surface W21 along the edge line W22.

[0076] Therefore, deburring can be performed even when the horizontal component L6 of the length L4 in the direction perpendicular to the axis from the middle part 3C of the deburring tool 3 to the rear end 3A of the tool is shorter than the height difference W24 (W24 > L6).

[0077] A third example of avoiding interference between the deburring tool 3 and the workpiece W2 will be described. Deburring can be performed by replacing the deburring tool 3 with a smaller deburring tool 3. Because this smaller deburring tool 3 is smaller in size, its length along the axis perpendicular to the axis from the middle part 3C of the tool to the rear end 3A of the tool is shorter than the height difference W24. Such a tool is, for example... Figure 17 The deburring tool 3 shown on the right.

[0078] The programming department 16 creates the various types of motion programs mentioned above. This creation includes modifications and alterations to existing motion programs. Figure 11 The flowchart shows the process of creating the motion program performed by the program creation unit 16. The program creation unit 16 determines the motion program as either standard type 1, front use type and tilt type 1, or standard type 2, rear use type and tilt type 2, based on the degree of height difference of the workpiece.

[0079] Specifically, in the case of workpiece W1, the program production unit 16, based on the height difference W14, the length L1 along the axis from the tool center 3C to the tool tip 3E of the deburring tool 3, the length L2 along the axis from the front part 3D to the tool tip 3E, and the vertical component L3 of the length L1 along the axis from the tool center 3C to the tool tip 3E, such as... Figure 11 As shown, the judgments are made sequentially for W14>L1, W14>L2, and W14>L3.

[0080] In the case of workpiece W2, the program production unit 16 determines W24 > L4, W24 > L5, and W24 > L6 in sequence based on the height difference W24, the length L4 in the direction perpendicular to the axis from the middle part 3C of the deburring tool 3 to the rear part 3A of the tool, the length L5 in the direction perpendicular to the axis from the rear part 3B of the tool to the rear part 3A of the tool, and the horizontal component L6 in the direction perpendicular to the axis from the middle part 3C of the tool to the rear part 3A of the tool.

[0081] exist Figure 11 In step S1, the program creation unit 16 determines whether W14 > L1 or W24 > L4. If "yes", the process proceeds to step S2. In step S2, either standard type 1 or standard type 2 operation is performed. If "no", the process proceeds to step S3.

[0082] In step S3, the program creation unit 16 determines whether W14 > L2 or W24 > L5. If "yes", the process proceeds to step S4. In step S4, either the front-end or rear-end usage type operation is performed. If "no", the process proceeds to step S5.

[0083] In step S5, the program creation unit 16 determines whether W14 > L3 or W24 > L6. If "yes", the process proceeds to step S6. In step S6, either tilt type 1 or tilt type 2 is performed. If "no", the process ends.

[0084] In this disclosure, when a protrusion is detected on the reference surface of the workpiece based on the workpiece's shape information or position information obtained by a three-dimensional vision sensor, the position information acquisition unit 12 can also calculate and obtain the portion of the workpiece's machining surface that cannot be removed or is difficult to remove due to the protrusion. This will be described in detail below.

[0085] An example is given to illustrate a method for detecting height differences in workpieces. For example... Figure 12As shown, a 3D vision sensor 5 is used to detect whether workpiece W1 has a height difference W14 and the size of the height difference W14. Alternatively, the presence and size of the height difference W14 can be calculated based on the shape information (CAD information) of workpiece W1. The same applies to the height difference W24 of workpiece W2.

[0086] Figure 13 A third type of workpiece W3 is shown. Workpiece W3 has a machined surface W31 and a reference surface (e.g., a casting surface) W33 that is displaced relative to the machined surface W31. Specifically, the machined surface W31, which has an edge W32, is parallel to the reference surface (e.g., the casting surface) W33 and protrudes from the reference surface W33 by a height difference W34.

[0087] Workpiece W3 also has a protrusion W35 that projects from the reference surface W33. The protrusion W35 protrudes from the reference surface W33 by a height W36. The protrusion height W36 of the protrusion W35 is approximately equal to the height difference W34 between the machined surface W31 and the reference surface W33. That is, there is almost no height difference between the portion W320 of the edge W32 of the machined surface W31 adjacent to the protrusion W35 and the upper surface (protruding surface) W37 of the protrusion W35.

[0088] Therefore, in the case of workpiece W3, the portion W320 of the ridge line W32 adjacent to the protrusion W35, which covers the entire circumference of the machined surface W31, cannot be deburred. On the other hand, the remaining portion of the ridge line W32, excluding the portion W320, can be deburred using the deburring tool 3. The portion W320 of the ridge line W32 adjacent to the protrusion W35 is an example of "a portion of the machined surface of the workpiece that cannot be removed or is difficult to remove due to the protrusion".

[0089] Regarding whether there are areas where the burrs cannot be removed, it is also possible to... Figure 12 As shown, the detection is performed using a 3D vision sensor 5. Alternatively, the presence or absence of non-deburring portions of workpiece W3 can be calculated based on the shape information (CAD information) of workpiece W3.

[0090] Regarding the deburring process of workpiece W1 with such undescalable parts, the deburring tool 3's tool center 3C is set as the standard type 1 of the usage area by the action program created by the program creation unit 16, for example... Figure 3 As shown, deburring is only performed on the parts that can be deburred.

[0091] Furthermore, if it is found that the second displacement between the workpiece's machined surface and the protruding surface parallel to the reference plane in the protrusion is smaller than the first displacement between the workpiece's machined surface and the reference plane, making it difficult to remove parts of the machined surface corresponding to the protruding surface of the protrusion with the second displacement, the program generation unit 16 can also change the application position of the removal tool 3, or change the posture of the removal tool 3, or change the shape of the removal tool 3 based on the difference between the first displacement and the second displacement. This will be described in detail below.

[0092] Figure 14 A fourth type of workpiece W4 is shown. Workpiece W4 has a machined surface W41 and a reference surface (e.g., a casting surface) W43 displaced relative to the machined surface W41, and also has a protrusion W45 projecting from the reference surface W43. Figure 13 Unlike workpiece W3, workpiece W4 has a height difference W46 between the upper surface (protruding surface) W47 of protrusion W45 and the machined surface W41. This height difference W46 is smaller than the height difference W44 between the machined surface W41 and the reference surface W43 (W46 < W44). "W46 < W44" is an example of "the second displacement between the machined surface of the workpiece and the protruding surface parallel to the reference surface in the protrusion is smaller than the first displacement between the machined surface of the workpiece and the reference surface". "The protruding surface W47 of protrusion W45" is an example of "the protruding surface of the protrusion having a second displacement".

[0093] Reference Figures 15-19 The deburring process for workpiece W4 of type four will be explained.

[0094] The first embodiment of the deburring process for workpiece W4 is as follows: Figure 15 As shown, select the same processing area of ​​the deburring tool 3 for all parts of the edge W42 with the smallest height difference (in this case, the height difference W46 of the protrusion W45) as shown.

[0095] Regarding the deburring process of the first embodiment of this workpiece W4, the deburring process is performed as follows by an action program created by the program production unit 16, which sets the front part 3D of the deburring tool 3 as the front part of the application area.

[0096] Specifically, imitating Figure 5 For example, the deburring tool 3 is held in a position such that its axis is perpendicular to the machining surface W41 of the workpiece W4, so as not to cause the deburring tool 3 to... Figure 15The deburring tool 3 shown on the right interferes with the protrusion W45. The front part 3D of the deburring tool 3 is brought into contact with the edge W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 travels along the edge W42 of the machined surface W41 around the machined surface W41. Thus, a single deburring tool 3 can be used to deburr the entire edge W42.

[0097] The second embodiment of the deburring process for workpiece W4 is as follows: Figure 16 As shown, select the same tool posture to suit the smallest height difference (in this case, the height difference W46 of the portion of protrusion W45).

[0098] Regarding the deburring process of the second embodiment of this workpiece W4, the deburring process is performed as follows by an action program created by the program production unit 16 that tilts the direction of the axis of the deburring tool 3 and sets the tool center 3C of the deburring tool 3 to the tilt type 1 of the use area.

[0099] Specifically, imitating Figure 6 For example, the deburring tool 3 is kept in a position by tilting its axis from the machining surface W41 perpendicular to the workpiece W4, so as not to cause the deburring tool 3 to... Figure 16 The deburring tool 3 shown on the right interferes with the protrusion W45. The middle part 3C of the deburring tool 3 is brought into contact with the edge W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 travels along the edge W42 of the machined surface W41 around the machined surface W41. Thus, a single deburring tool 3 can be used to deburr the entire edge W42.

[0100] The third implementation method for deburring workpiece W4 is as follows: Figure 17 As shown, for areas with small height differences (in this case, the height difference W46 of the protrusion W45), select a smaller deburring tool 3; for areas with large height differences (in this case, the height difference W44 of the area other than the protrusion W45), select a larger deburring tool 3.

[0101] Regarding the deburring process of the third embodiment of this workpiece W4, the deburring process is performed as follows by the standard type 1 operation program created by the program production unit 16, which sets the tool center 3C of the deburring tool 3 as the usage part.

[0102] Specifically, for areas with small height differences, use a smaller deburring tool 3 to avoid... Figure 17 The deburring tool 3 shown on the right interferes with the protrusion W45. (Following the example...) Figure 3For example, the deburring tool 3 is held in a position such that its axis is perpendicular to the machining surface W41 of the workpiece W4. The tool center 3C of the deburring tool 3 is brought into contact with the edge line W42 of the machining surface W41. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels along the edge line W42 of the machining surface W41 in a portion around the machining surface W41 (the portion with a small height difference).

[0103] against Figure 17 The large height difference shown on the left side was addressed using a larger deburring tool 3. (Following the example...) Figure 3 For example, the deburring tool 3 is held in a position such that its axis is perpendicular to the machining surface W41 of the workpiece W4. The tool center 3C of the deburring tool 3 is brought into contact with the edge line W42 of the machining surface W41. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels along the edge line W42 of the machining surface W41 in the remaining portion around the machining surface W41 (the portion with the largest height difference).

[0104] The fourth embodiment of deburring workpiece W4 is as follows: Figure 18 As shown, for areas with small height differences (in this case, the height difference W46 of the portion of the protrusion W45), select the front 3D of the deburring tool 3; for areas with large height differences (in this case, the height difference W44 of the portion other than the protrusion W45), select the middle 3C of the deburring tool 3.

[0105] Regarding the deburring process of the fourth embodiment of this workpiece W4, for parts with small height differences, the deburring process is performed as follows: for parts with small height differences, the deburring tool 3D is set as the front part of the application area using the operation program created by the program creation unit 16, and for parts with large height differences, the deburring tool 3C is set as the standard type 1 using the application area using the operation program created by the program creation unit 16.

[0106] Specifically, for sections with small height differences, imitate... Figure 5 For example, the deburring tool 3 is held in a position such that its axis is perpendicular to the machining surface W41 of the workpiece W4, so as not to cause the deburring tool 3 to... Figure 18 The deburring tool 3 shown on the right interferes with the protrusion W45. The front part 3D of the deburring tool 3 is brought into contact with the edge line W42 of the machined surface W41. While rotating the deburring tool 3 around the axis, the deburring tool 3 travels along the edge line W42 of the machined surface W41 in a part around the machined surface W41 (the part with a small height difference).

[0107] for Figure 18 The large height difference shown on the left side is modeled after... Figure 3 For example, the deburring tool 3 is held in a position such that its axis is perpendicular to the machining surface W41 of the workpiece W4. The tool center 3C of the deburring tool 3 is brought into contact with the edge line W42 of the machining surface W41. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels along the edge line W42 of the machining surface W41 in the remaining portion around the machining surface W41 (the portion with the largest height difference).

[0108] The fifth embodiment of deburring workpiece W4 is as follows: Figure 19 As shown, different deburring tool postures are selected for portions with small height differences (in this case, the height difference W46 of the portion protruding W45) and portions with large height differences (in this case, the height difference W44 of the portion other than the protruding W45).

[0109] Regarding the deburring process of the fifth embodiment of this workpiece W4, for parts with small height differences, the deburring process is performed as follows: for parts with small height differences, the deburring tool 3 is tilted in the direction of its axis and the tool center 3C of the deburring tool 3 is set as the usage area by an operation program created by the program creation unit 16; and for parts with large height differences, the deburring process is performed as follows by a standard type 1 operation program created by the program creation unit 16 that sets the tool center 3C of the deburring tool 3 as the usage area.

[0110] Specifically, for sections with small height differences, imitate... Figure 6 For example, the deburring tool 3 is kept in a position by tilting its axis from the machining surface W41 perpendicular to the workpiece W4, so as not to cause the deburring tool 3 to... Figure 19 The deburring tool 3 shown on the right interferes with the protrusion W45. The tool center 3C of the deburring tool 3 is brought into contact with the edge line W42 of the machined surface W41. While rotating the deburring tool 3 around the axis, the deburring tool 3 travels along the edge line W42 of the machined surface W41 in a part around the machined surface W41 (the part with a small height difference).

[0111] for Figure 19 The large height difference shown on the left side is modeled after... Figure 3 For example, the deburring tool 3 is held in a position such that its axis is perpendicular to the machining surface W41 of the workpiece W4. The tool center 3C of the deburring tool 3 is brought into contact with the edge line W42 of the machining surface W41. While rotating the deburring tool 3 about its axis, the deburring tool 3 travels along the edge line W42 of the machining surface W41 in the remaining portion around the machining surface W41 (the portion with the largest height difference).

[0112] In this disclosure, when the application position or shape of the removal tool 3 is changed for the processing area corresponding to the protruding surface with a second displacement of the protrusion on the processing surface, the program production unit 16 can also adjust the travel speed and pressing pressure of the removal robot 2 in the processing area, as well as the travel speed and pressing pressure of the removal robot 2 in the processing areas other than the processing area, so that a uniform processing depth can be obtained in the entire processing area of ​​the processing surface. This will be described in detail below.

[0113] Reference Figure 20 , Figure 21 For example, Figure 18 The following explanation will cover the adjustment of the travel speed (V1, V2) or pressure (F1, F2) of the deburring tool 3 obtained by the robot 2 when the application position of the deburring tool 3 is changed as shown.

[0114] The program production unit 16 adjusts the process as follows based on the information of the travel speed (V1, V2) of the deburring tool 3 obtained from the travel speed acquisition unit 15 and the information of the pressing force (F1, F2) of the deburring tool 3 pressing the workpiece obtained from the pressing force acquisition unit 14.

[0115] Figure 20 Showing the example of Figure 18 The deburring tool 3 shown on the left is used to process the large height difference section. The deburring tool 3 is applied to the middle section 3C, and therefore the motion procedure is based on standard type 1. Furthermore, the travel speed of the deburring tool 3, based on robot 2, is V1, and the pressing force of the deburring tool 3, based on robot 2, is F1. This configuration applies to all sections except the protrusion W45.

[0116] Figure 21 Showing the example of Figure 18 The deburring tool 3 is used when processing the small height difference shown on the right. The deburring tool 3 is used on the front 3D area, therefore, the motion program is based on a front-use type. Furthermore, the travel speed of the deburring tool 3, based on the robot 2, is V2, and the pressing force of the deburring tool 3, based on the robot 2, is F2. This state only applies to the ridge line W42 corresponding to the portion between the two ends of the protruding surface W47 of the protrusion W45 and the workpiece W4. "The ridge line W42 corresponding to the portion between the two ends of the protruding surface W47 of the protrusion W45 and the workpiece W44" is an example of "the processing area corresponding to the protruding surface of the protrusion with a second displacement of the processing surface".

[0117] Figure 20 The diameter D2 of the middle part 3C of the deburring tool 3 (refer to Figure 2) is greater than that of the part used. Figure 21The diameter D3 (see Figure 2) of the front part 3D of the deburring tool 3, which is the part to be used, is larger (D2 > D3), so the circumference of the middle part 3C is longer than the circumference of the front part 3D.

[0118] Additionally, when the deburring tool 3 rotates around the axis at a fixed speed, Figure 20 During the process of rotating the middle part 3C of the deburring tool 3 once, Figure 21 The front part 3D of the deburring tool 3 also rotates one revolution. Therefore, during the period when the deburring tool 3 rotates one revolution, the contact length between the middle part 3C and the edge line W42 of the workpiece W4 is longer than the contact length between the front part 3D and the edge line W42 of the workpiece W4. In other words, processing with the middle part 3C of the deburring tool 3 results in a greater amount of processing compared to processing with the front part 3D.

[0119] Therefore, the program production department 16 adjusts the travel speed (V1, V2) or pressing force (F1, F2) of the deburring tool 3 obtained based on the robot 2 so that the processing amount is uniform when using the middle part 3C of the deburring tool 3 and when using the front part 3D.

[0120] Specifically, for example, if the pressing force F1 of the deburring tool 3 obtained by the robot 2 when using the middle part 3C of the deburring tool 3 is equal to the pressing force F2 of the deburring tool 3 obtained by the robot 2 when using the front part 3D of the deburring tool 3 (F1=F2), the program production unit 16 makes the traveling speed V1 of the deburring tool 3 obtained by the robot 2 when using the middle part 3C of the deburring tool 3 greater than the traveling speed V2 of the deburring tool 3 obtained by the robot 2 when using the front part 3D of the deburring tool 3 (V1>V2).

[0121] Furthermore, when the travel speed V1 of the deburring tool 3 obtained by the robot 2 when using the middle part 3C of the deburring tool 3 is equal to the travel speed V2 of the deburring tool 3 obtained by the robot 2 when using the front part 3D of the deburring tool 3 (V1=V2), the program production unit 16 makes the pressing force F1 of the deburring tool 3 obtained by the robot 2 when using the middle part 3C of the deburring tool 3 smaller than the pressing force F2 of the deburring tool 3 obtained by the robot 2 when using the front part 3D of the deburring tool 3 (F1<F2).

[0122] In addition, Figures 15-19 In the implementation method, for Figure 14 The fourth type of workpiece W4 is illustrated. The fourth type of workpiece W4 is designed for... Figure 1 , Figure 3The workpiece shown is a first type of workpiece W1 obtained by adding a protrusion W45. However, for... Figure 7 The second type of workpiece W2 shown, with the addition of a protrusion, also results in a workpiece of the same type that can be used with... Figures 15-19 The implementation methods are similarly considered in various ways.

[0123] In that type of workpiece, when the travel speed (V1, V2) or pressure (F1, F2) of the deburring tool 3 obtained based on the robot 2 is adjusted when the usage position of the deburring tool 3 is changed, the relationship between the diameter D2 of one of the usage positions of the deburring tool 3, namely the middle part 3C, and the diameter D1 of the other usage position of the deburring tool 3, namely the rear part 3B (see Figure 2) will be used (D2 < D1).

[0124] Furthermore, the deburring process of the workpiece has been described in the above embodiments. However, the present invention can also be applied to any removal process other than deburring. Typically, removal processes are contact-based removal processes, such as cutting, grinding, and lapping.

[0125] Explanation of reference numerals in the attached figures

[0126] 1: Deburring system; 2: Robot; 3: Deburring tool (removal processing tool); 4: Force sensor; 5: 3D vision sensor; 10: Robot control device; 11: Robot control unit; 12: Position information acquisition unit; 13: Tool information holding unit; 14: Pressure acquisition unit; 15: Travel speed acquisition unit; 16: Programming unit; 20: Programming device; W1, W2, W3, W4: Workpiece; W11, W21, W31, W41: Processed surface; W13, W23, W33, W43: Reference surface; W14, W24, W34, W44, W46: Height difference; W35, W45: Protrusion; W37, W47: Protruding surface.

Claims

1. A program creation apparatus for creating motion programs for a robot used in the removal and processing of a workpiece, the workpiece having a machining surface and a reference surface displaced relative to the machining surface, wherein the program creation apparatus, The robot used for removal and processing is equipped with removal and processing tools. The removal tool has three axial regions extending from the root towards the front end: a tool rear portion near the tool's rear end, a tool middle portion (the middle part of the tool), and a tool front portion near the tool's front end. The program creation device includes: The position information acquisition unit acquires position information related to the positional relationship between the machining surface of the workpiece and the reference surface; The tool information holding unit holds tool information related to the removal processing tool; as well as The programming department creates the motion program for the removal robot based on the position information of the workpiece and the tool information of the removal tool. The program creation unit selects the application part of the removal tool from at least the rear part, the middle part, and the front part of the tool in a manner that avoids interference between the removal tool and the reference surface of the workpiece.

2. The program creation apparatus according to claim 1, wherein, The positional relationship between the machined surface and the reference surface of the workpiece is obtained by calculation based on the shape information of the workpiece or by detection by a three-dimensional vision sensor.

3. The program creation apparatus according to claim 2, wherein, If a protrusion is detected on the reference surface of the workpiece in the shape information of the workpiece or the position information obtained by the three-dimensional vision sensor, the position information acquisition unit calculates to obtain the portion of the workpiece that cannot be removed or is difficult to remove due to the protrusion on the machining surface of the workpiece.

4. The program creation apparatus according to claim 3, wherein, When it is determined that the second displacement between the workpiece's machined surface and the protruding surface of the protrusion parallel to the reference surface is smaller than the first displacement between the workpiece's machined surface and the reference surface, making it difficult to remove a portion of the machined surface corresponding to the protruding surface of the protrusion with the second displacement, the program creation unit, based on the difference between the first displacement and the second displacement, changes the application position of the removal tool, the posture of the removal tool, or the shape of the removal tool.

5. The program creation apparatus according to claim 4, wherein, When the application position or shape of the removal tool is changed for the processing area corresponding to the protrusion with the second displacement of the protrusion on the processing surface, the program production unit adjusts the travel speed and pressing pressure of the removal robot in the processing area, as well as the travel speed and pressing pressure of the removal robot in the other processing areas besides the processing area, so that a uniform processing depth can be obtained in the entire processing area of ​​the processing surface.

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