Scraping device and scraping method

Abstract

This scraping device is provided with: a machining robot that operates a blade by holding the blade having a blade section (11) and a flexible shank section (13) on which the blade section is provided; and a control device that controls the machining robot on the basis of the machining instruction data, the skiving device performs skiving on the surface to be machined (91) by moving the shank (13) in the machining direction while the shank (13) is bent, and the control device controls the machining robot so that when the blade (11) is separated from the surface to be machined (91), the skiving device performs skiving on the surface to be machined (91) by moving the shank (13) in the machining direction while the blade (11) is separated from the surface to be machined (91). On the basis of the amount by which the blade part (11) moves due to the elastic deformation of the shank part (13), the shank part (13) is moved by a predetermined amount in the machining direction, and the shank part (13) is moved in the direction away from the surface (91) to be machined at the same time.

Description

Technical Field

[0001] The present invention relates to a technique for automatically performing a scraping process. Background Art

[0002] In order to improve the flatness of the sliding surface of a machine tool with a moving part and reduce the sliding friction coefficient, the sliding surface is subjected to a scraping process (also called "scraping process"). Scraping is a type of metal processing. In the past, red lead (red lead) and pigment were applied to the processing target surface (processed surface) of the workpiece (workpiece), and the operator used a scraping tool (scraper) with a wide front end and a chisel shape (scraper shape) to manually scrape off the convex parts while observing the difference in color.

[0003] The original intention of scraping is to finish the sliding surface into a high-precision plane, but since the micron-level tiny depressions formed on the sliding surface by scraping act as oil grooves for lubricating oil during sliding, it has the effect of improving the lubricity of the sliding surface and preventing adhesion (wringing) during sliding. However, scraping by manual labor by the operator requires skill and is also very laborious.

[0004] In this regard, an automatic scraping device is proposed that automatically controls the movement of a scraper to scrape the processing target surface of a workpiece. For example, Patent Document 1 discloses a structure in which the scraper is moved in a manner such that the scraper's trajectory forms an acute angle with the processing surface when the tip of the scraper is brought into contact with or away from the processing surface.

[0005] (Prior art literature)

[0006] (Patent Document)

[0007] Patent document 1: International Publication No. WO2022 / 054674 Summary of the invention

[0008] (Problems to be solved by the invention)

[0009] However, in the above structure, the scraper processes the object in a bent state, so when the blade tip leaves the object surface, the scraper is released from the bending state and the blade tip moves. Therefore, the blade tip moves in the opposite direction of the processing direction due to the trajectory of the scraper. As a result, the planned length cannot be processed and cutting residue is generated, or burrs are easily generated near the end point of the processing path.

[0010] The present invention has been made in view of the above-mentioned problems, and relates to a shaving processing device for performing shaving processing, and an object of the present invention is to provide a technology for suppressing the generation of chip residues and burrs on a processing target surface.

[0011] (Measures taken to solve the problem)

[0012] (Method 1)

[0013] In order to solve the above-mentioned problems, a scraping processing device involved in one embodiment of the present invention comprises: a processing robot, which holds a scraper having a blade and a flexible handle provided with the blade to move the scraper; and a control device, which controls the processing robot according to processing instruction data, and moves the handle in a direction close to the processing target surface from a state in which the blade is in contact with the processing target surface of the workpiece, thereby bending the handle in a manner in which the blade moves in the processing direction along the processing target surface, and moving the handle in the processing direction in the state in which the handle is bent, thereby scraping the processing target surface, wherein the control device controls the processing robot so that when the blade is moved away from the processing target surface, the handle is moved a specified amount in the processing direction based on the amount by which the blade moves due to the elastic deformation of the handle, and at the same time, the handle is moved in a direction away from the processing target surface.

[0014] (Method 2)

[0015] In the above-mentioned method 1, the specified amount can be greater than or equal to the following amount: during the scraping process, from the state where the blade begins to abut against the processing object surface, the handle moves in the direction close to the processing object surface and the bending of the handle is completed, the amount by which the blade moves in the processing direction.

[0016] (Method 3)

[0017] In the first or second aspect, the control device may move the shank portion in the processing direction by the predetermined amount until the blade portion leaves the processing target surface.

[0018] (Method 4)

[0019] In any one of the above-mentioned methods one to three, if the amount by which the shank moves toward the processing object surface from the state in which the blade abuts against the processing object surface in a direction perpendicular to the processing object surface is set as the pressing amount, the control device can control the processing robot so that when the blade is moved away from the processing object surface during the scraping process, the shank is moved in the perpendicular direction toward the direction away from the processing object surface by the pressing amount, and the shank is moved by the specified amount in the processing direction.

[0020] (Method 5)

[0021] In any one of the above-mentioned methods 1 to 4, the handle is roughly in the shape of a strip plate, and the blade is provided at one end in the length direction. The control device can control the direction of the scraper during the scraping process so that the blade is located at the front end of the scraper in the processing direction.

[0022] (Method 6)

[0023] In any one of the above-mentioned aspects 1 to 5, the blade portion may be replaceably mounted on the handle portion.

[0024] (Method 7)

[0025] In any one of the first to sixth aspects, the processing robot may be configured to be able to adjust a cutting angle formed by a surface facing the processing target surface of the blade and the processing target surface.

[0026] (Method 8)

[0027] In order to solve the above-mentioned problem, the scraping processing method involved in the eighth mode of the present invention is performed by a scraping processing device, and the scraping processing device comprises: a processing robot, which holds a scraper having a blade and a flexible handle provided with the blade to move the scraper; and a control device, which controls the processing robot according to processing instruction data, and the scraping processing device scrapes the processing object surface of the workpiece, wherein, during the scraping processing, the control device controls the processing robot to perform the following steps: from a state in which the blade is in contact with the processing object surface, the handle is moved in a direction close to the processing object surface, thereby bending the handle in a manner in which the blade moves in the processing direction along the processing object surface; the handle is moved in the processing direction in the state in which the handle is bent, so that when the blade is moved away from the processing object surface, the handle is moved in the processing direction by a specified amount based on the amount by which the blade moves due to the elastic deformation of the handle, and the handle is moved in a direction away from the processing object surface.

[0028] (Method 9)

[0029] In the above-mentioned method eight, the specified amount can be greater than or equal to the following amount: during the scraping process, from the state where the blade begins to abut against the processing object surface, the handle moves in the direction close to the processing object surface and the bending of the handle is completed, the amount by which the blade moves in the processing direction.

[0030] (Method 10)

[0031] In the above-mentioned method eight or nine, the cutting edge of the blade portion is a convex arc shape in the central part in the blade width direction, and the scraping processing method may include: a first processing, in which the angle formed by the center line of the blade width direction of the blade portion when viewed from a direction perpendicular to the processing object surface and the processing direction is set to a first angle, and the first abutment portion of the cutting edge abuts against the processing object surface to process the processing object surface; and a second processing, in which the angle is set to a second angle different from the first angle, and the second abutment portion of the cutting edge located at a position different from the first abutment portion abuts against the processing object surface to process the processing object surface.

[0032] (Effects of the Invention)

[0033] According to the present invention, a shaving processing device that performs shaving processing can provide a technology for suppressing the generation of cutting residues and burrs on a processing target surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a figure which shows the schematic structure of the scraping processing apparatus which concerns on an Example.

[0035] Figure 2 It is a figure which shows the scraper held by the robot hand which concerns on Example.

[0036] Figure 3 This is a block diagram showing an example of the structure of the control device according to the embodiment.

[0037] Figure 4 This is a block diagram schematically showing an example of the functional structure of the control device according to the embodiment.

[0038] Figure 5 It is a figure which shows the process path of the scraping process which concerns on a comparative example.

[0039] Figure 6 It is a diagram showing the vicinity of the end point of a processing path of a scraping process according to a comparative example.

[0040] Figure 7 It is a figure which shows the process path of the scraping process which concerns on Example.

[0041] Figure 8 This is a diagram showing the vicinity of the end point of a processing path of a scraping process according to the embodiment.

[0042] Fig. 9 It is a figure which shows the trajectory of the robot during the scraping process involved in the embodiment.

[0043] Fig.10 It is a schematic top view showing the relationship between the scraper and the processing area involved in the embodiment. DETAILED DESCRIPTION

[0044] Hereinafter, with reference to the accompanying drawings, the mode for implementing the present invention will be described in detail based on the embodiments. In addition, the size, material, shape and relative arrangement of the structural components described in the present embodiment should be appropriately changed according to the structure and various conditions of the device to which the invention is applied. That is, it is not intended to limit the scope of the present invention to the following embodiments.

[0045] <Example>

[0046] (Scraping device 100)

[0047] First, a schematic structure of a shaving apparatus 100 according to an embodiment of the present invention will be described. Figure 1 Schematic diagram showing a schematic structure of a shaving apparatus 100 according to the embodiment. The shaving apparatus 100 includes a robot arm 20 for holding and moving a scraper 10 and a control device 30 for controlling the robot arm 20 according to processing instruction data.

[0048] The scraping device 100 is a device for automatically scraping (scraping) the processing target surface (processed surface) 91 of the workpiece 90 as the workpiece. The workpiece 90 is, for example, a metal sliding component used to constitute a machine tool, and the sliding surface of the sliding component as the processing target surface 91 is processed by scraping. Scraping is a type of metal processing, and a scraper 10 as a scraping tool (cutting tool) is used to scrape off the convex part of the processing target surface 91, improve the flatness of the processing target surface 91, and further form an oil sump, thereby reducing the sliding friction coefficient.

[0049] The processing target surface 91 in the scraping process is a plane with a certain flatness and slight bumps and depressions, which is usually processed by cutting, grinding, etc. on the casting surface. The original intention of the scraping process is to finish the sliding surface into a high-precision plane. Furthermore, in order to prevent adhesion (wringing) when the sliding surface slides, a plurality of micron-level tiny depressions are formed on the sliding surface during the scraping finishing process as oil grooves for lubricating oil, thereby improving the lubricity of the sliding surface.

[0050] The scraping processing device 100 in this embodiment performs a leveling processing for cutting the convex portion of the processing target surface 91 so that the flatness of the processing target surface 91 satisfies a predetermined target flatness, and after the leveling processing, a finishing processing for forming a depression for an oil groove on the processing target surface 91. In order to improve the accuracy and processing efficiency, different cutting conditions and scraping tools are usually used in each processing.

[0051] The scraper 10 includes a blade 11 and a flexible handle 13 that is detachably attachable to the robot arm 20. The blade 11 is formed of, for example, a cemented carbide and can cut a processing target surface 91 of, for example, a metal workpiece 90.

[0052] The handle 13 is in the shape of a strip formed of a flexible metal material, and the blade 11 is replaceably provided at one end in the longitudinal direction thereof. That is, the handle 13 holds the blade 11 in a detachable manner. When the blade 11 is worn due to repeated processing, or when a blade 11 having a different cutting edge width and curvature radius is used, a new blade 11 can be replaced with the handle 13. In addition, when the present invention is applied, the structure of the scraper is not limited to the above structure, for example, it can be a structure in which the blade and the handle are inseparable, or it can be a structure in which the blade and the handle are formed integrally.

[0053] The robot arm 20 is, for example, a six-axis multi-joint robot arm, and is a processing robot controlled by a control device 30. The robot arm 20 has a robot arm 21 on its front end side. The robot arm 21 can hold (grip) a scraper 10, a hand chuck (hand chuck) (not shown), etc. in a detachable manner. That is, in the robot arm 20, the scraper 10 and the hand chuck can be selectively replaced with the robot arm 21. In addition, the robot arm 20 drives each joint (for example, the first axis to the sixth axis) by a servo motor, etc., thereby enabling the robot arm 21 to move to any position in the XYZ three-dimensional orthogonal coordinate system. In addition, through the robot arm 20, the scraper 10 held by the robot arm 21 can be brought into contact with the processing object surface 91 in any direction and angle.

[0054] In addition, the robot arm 20 is equipped with a force sensor (force sensor) not shown in the figure. The force sensor is a sensor for detecting the load (resistance) acting on the scraper 10 during the scraping process. The control device 30 of the scraping processing device 100 can monitor (monitor) the state of the load during the scraping process output by the force sensor, and can perform feedback control based on the strength of the load as needed. In addition, the above-mentioned robot arm 20 is an example of the processing robot involved in the present invention, and the scraping processing robot is not limited to the robot arm 20. The scraping processing robot involved in the present invention is not particularly limited, as long as it is a structure that can automatically scrape the processing target surface 91 of the workpiece 90 by moving the held scraper 10.

[0055] For example, the control device 30 controls the robot arm 20 while the workpiece 90 is fixed on the processing stand 80 and the scraper 10 is held in the robot arm 21, thereby performing a scraping process on the processing target surface 91 of the workpiece 90. The processing stand 80 is formed in a horizontal plane shape, and the processing target surface 91 may be parallel to the surface or may not be parallel to the surface.

[0056] In addition, during the scraping process, a three-dimensional shape data (concave-convex shape data) of the processing target surface 91 is obtained in advance by a three-dimensional shape measuring instrument. The three-dimensional shape measuring instrument may be a contact type or a non-contact type, but since the measurement accuracy greatly affects the surface accuracy of the finished processing, it is better to measure the three-dimensional shape data with high accuracy.

[0057] (Scraper 10)

[0058] Next, the detailed structure and operation of the scraper 10 according to the present embodiment will be described. Figure 2 (a) is a schematic diagram showing a state in which the blade 11 of the scraper 10 held by the robot 21 abuts against the processing target surface 91 of the workpiece 90 . Figure 2 (b) shows the Figure 2 The state (a) in FIG. 1 is a schematic diagram showing a state in which the shank 13 moves toward the processing target surface 91 and the shank 13 bends. Figure 2 (c) in Figure 2 An enlarged view of part A in (b).

[0059] Hereinafter, the processing direction during the scraping process in the direction along the processing target surface 91 (the direction substantially parallel to the processing target surface 91) is referred to as the first direction X1, and the direction opposite to the first direction X1 is referred to as the second direction X2. In addition, the direction departing from the processing target surface 91 in the direction substantially perpendicular to the processing target surface 91 is referred to as the departure direction Y1, and the direction approaching the processing target surface 91 in the direction substantially perpendicular to the processing target surface 91 is referred to as the approach direction Y2.

[0060] Figure 2 The scraper 10 shown in (b) is in the state of performing scraping processing. Figure 2 In (b), the dashed line shows the Figure 2 The scraper 10 and the robot 21 are in the same state as (a) and the blade 11 begins to abut against the processing target surface 91. Figure 2 In (b), the black arrows show the approximate moving directions of the robot 21 and the handle 13 after the blade 11 starts to abut against the processing target surface 91, and the white arrows show the approximate moving direction of the blade 11.

[0061] If the robot 21 moves in the approach direction Y2 in a manner approaching the processing target surface 91 from a state where the blade 11 abuts against the processing target surface 91 and the shank 13 is substantially straight, the shank 13 approaches the processing target surface 91 while bending. Figure 2As shown by the white arrow in (b), due to the elastic deformation of the handle 13, the blade 11 moves in the first direction X1 while cutting into the processing target surface 91. In the following, the movement amount of the robot 21 and the handle 13 in the approach direction Y2 at this time is referred to as the pressing amount YA, and the movement amount of the blade 11 in the first direction X1 is referred to as the movement amount PA.

[0062] The reference height of the pressing amount YA is set by setting the height of the reference point of the processing target surface 91 measured by a three-dimensional shape measuring instrument as the zero point. For example, the corner of the processing target surface 91 may be set as the reference point and its surface height may be set as the reference height.

[0063] When the blade 11 cuts into the processing target surface 91 and the handle 13 is bent, the robot 21 and the scraper 10 move together in a direction along the processing target surface 91, thereby performing scraping. At this time, the direction of the scraper 10 is controlled in such a way that the blade 11 is located at the front end of the processing direction of the scraper 10. That is, Figure 2 In (b), the first direction X1 (right direction in the figure) is the processing direction.

[0064] Figure 2 (c) in the figure shows the details of the blade 11 of the scraper 10 abutting against the processing target surface 91. The blade 11 has a rake face 11a located at the front end of the scraper 10, a back face 11b adjacent to the rake face 11a and opposite to the processing target surface 91 during cutting, and a cutting edge 11c formed at a ridge portion that is a boundary between the rake face 11a and the back face 11b. The cutting edge 11c of the present embodiment is in the shape of a circular arc (round) with a convex central portion in the blade width direction. When the present invention is applied, the shape of the cutting edge 11c is not limited to this, and may also be a straight line shape.

[0065] exist Figure 2 (c) in the figure shows the amount of penetration QA of the blade 11 into the processing target surface 91 and the amount of movement PA of the cutting edge 11c of the blade 11 in the first direction X1 caused by the bending of the shank 13. The penetration QA of the blade 11 corresponding to the cutting depth is of micrometer or submicrometer order. On the other hand, the amount of penetration YA of the manipulator 21 during processing can be set to a displacement of millimeter order. In this way, when the blade 11 is in the cutting state, the manipulator 21 moves in the direction along the processing target surface 91, thereby cutting the processing target surface 91 to a thickness of micrometer or submicrometer order.

[0066] As described above, when the shank 13 moves in the approach direction Y2 by the amount of indentation YA, the cutting edge 11c of the blade 11 cuts into the processing target surface 91 by the amount of indentation QA, and moves in the first direction X1 by the amount of movement PA. That is, during the period from when the blade 11 starts to abut against the processing target surface 91 to when the shank 13 is bent, the blade 11 exhibits a different action from the shank 13 and the robot 21. Specifically, the shank 13 moves in the approach direction Y2 and bends, and thereby the blade 11 moves in the first direction X1, which is the processing direction.

[0067] In addition, the entering angle, which is the angle between the processing target surface 91 and the flank surface 11b of the blade 11, changes before and after the shank 13 is bent. Figure 2 As shown in (c) in FIG. 1 , the cutting angle θA1 before the shank 13 is bent is changed to a smaller cutting angle θA2 due to the bending of the shank 13 . These angles and the pressing amount YA can be arbitrarily adjusted by the operation of the robot arm 20 .

[0068] As control parameters for the scraping process, the above-mentioned pressing amount YA and cutting angle θA1 are typically used. The control unit 37 operates the robot arm 20 according to each control parameter, thereby performing the scraping process.

[0069] (Control device 30)

[0070] Next, the control device 30 of the scraping processing device 100 is described. The control device 30 controls the robot 20 according to the processing instruction data, and as a result, the processing target surface 91 of the workpiece 90 is scraped according to the processing instruction data. In addition, the control device 30 generates processing instruction data for controlling the robot 20. That is, the control device 30 functions as a device for controlling the robot 20, and also functions as an information processing device (processing instruction data generating device) for generating processing instruction data used when controlling the robot 20. However, the processing instruction data for controlling the robot 20 may also be generated by an information processing device (processing instruction data generating device) other than the control device 30. In this case, the control device 30 obtains the processing instruction data generated by the information processing device (processing instruction data generating device), and the control device 30 controls the robot 20 according to the obtained processing instruction data. In addition, the transmission of the processing instruction data from the information processing device (processing instruction data generating device) to the control device 30 may also be performed by any of wired communication and wireless communication.

[0071] Figure 31 is a block diagram showing an example of the structure of the control device 30. The control device 30 is, for example, a common computer. The computer constituting the control device 30 includes a communication interface (communication I / F) 31, a storage device 32, an input / output device 33, and a processor 34, which are connected via a communication bus 35.

[0072] The communication I / F 31 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 30 receives three-dimensional shape information of a processing target surface 91 of a workpiece 90 from a three-dimensional shape measuring machine via the communication I / F 131.

[0073] The storage device 32 includes 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 34, the information sent and received with other computers, or the main storage device ensures the working area of ​​the processor 34. The auxiliary storage device stores the program executed by the processor 34, 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 32 (for example, the auxiliary storage device) stores an operating system (OS), various programs, and various information tables.

[0074] The input / output device 33 is a user interface such as an input device such as a keyboard or a mouse, an output device such as a monitor, or an input / output device such as a touch panel. The operator can input control parameters for setting a machining path of the scraping machining through the input / output device 33 .

[0075] The processor 34 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 34 loads the program stored in the auxiliary storage device of the storage device 32 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 as described later.

[0076] Furthermore, the control device 30 does not necessarily need to be implemented by a single physical structure, and may be composed of a plurality of computers that cooperate with each other.

[0077] Next, refer to Figure 4 The functional structure of the control device 30 will be described. Figure 4 1 is a block diagram schematically showing an example of the functional structure of the control device 30. The control device 30 includes a processing instruction data generating unit 36 ​​and a control unit 37 as functional units. The processor 34 of the control device 30 loads the program stored in the auxiliary storage device of the storage device 32 into the main storage device and executes it, thereby realizing the above-mentioned functional units. The processing instruction data generating unit 36 ​​performs processing for generating processing instruction data. The control unit 37 obtains the processing instruction data generated by the processing instruction data generating unit 36 ​​and controls the robot arm 20 according to the processing instruction data.

[0078] As described above, the scraper 10 is moved by the robot arm 20 controlled by the control device 30. However, the shank 13 of the scraper 10 is bent, so when the blade 11 is brought into contact with or away from the processing object surface 91, the blade 11 of the scraper 10 exhibits a different action from the robot arm 21 moving along the processing path. That is, when the processing path is set without considering the bending of the shank 13, the expected processing may not be performed. Therefore, next, the processing path during the scraping process of the comparative example that does not consider the bending of the shank 13 and the present embodiment that considers the bending of the shank 13 are described. In addition, the present invention is also applicable to any one of the finishing processing and leveling processing of forming a recess for an oil groove on the processing object surface 91.

[0079] (Comparative example processing path)

[0080] First, refer to Figure 5 (a) to (d) and Figure 6 , describing the processing path involved in the scraping processing method of the comparative example. Figure 5 (a) to (d) in the figure are diagrams showing the actions of the scraper 10 and the robot 21 in a series of processing paths of the comparative example, showing the state of the blade 11 abutting, processing, and leaving the processing target surface 91. In these figures, the scraper 10 and the like in the original position before the movement are shown by the dotted line, the general movement direction of the handle 13 and the robot 21 is shown by the black arrow, and the general movement direction of the blade 11 is shown by the white arrow. In the comparative example, when the blade 11 is separated from the processing target surface 91, the control device 30 moves the robot 21 in the separation direction Y1 which is substantially perpendicular to the processing target surface 91.

[0081] Figure 5(a) is a side view showing a state where the blade 11 abuts against the processing target surface 91 with the shank 13 having almost no bend. At this time, the shank 13 is substantially straight, although there is a negligible slight bend due to gravity or the like.

[0082] Figure 5 (b) shows the Figure 5 The state (a) is a side view of the state when the handle 13 and the robot 21 move in the approach direction Y2 by the pressing amount YA. At this time, the handle 13 moves in the approach direction Y2, and the cutting edge 11c of the blade 11 cuts into the processing target surface 91 while moving in the first direction X1 by the movement amount PA.

[0083] Figure 5 (c) in the figure shows that Figure 5 The state (b) in FIG. 1 is a side view showing a state in which the scraper 10 and the robot 21 move in the first direction X1 and the processing target surface 91 is processed by the blade 11. At this time, the scraper 10 and the robot 21 move in the first direction X1 as a whole with the handle 13 bent. In addition, the blade 11 processes the processing target surface 91 with a thickness of the cutting amount QA into the processing target surface 91.

[0084] Figure 5 (d) in the figure shows the Figure 5 The state (c) in FIG. 1 is a side view of the state when the handle 13 and the robot 21 have moved in the separation direction Y1 by a movement amount YB. The movement amount YB is substantially the same as the pressing amount YA. At this time, the bending of the handle 13 is released, and the blade 11 is separated from the processing target surface 91.

[0085] When the blade 11 is separated from the processing target surface 91, the bending of the shank 13 is released, and the cutting edge 11c moves in the second direction X2 by the return amount PB1. The return amount PB1 is the movement amount caused by the release of the bending of the shank 13, so the return amount PB1 is substantially the same as the movement amount PA. That is, in the processing path of the comparative example, the cutting edge 11c moves in the first direction X1 along with the bending of the shank 13, and moves in the second direction X2 along with the release of the bending of the shank 13.

[0086] Figure 6 for Figure 5 (d) is an enlarged view of the B portion. Near the end point of the processing path, the cutting edge 11c moves in the second direction X2, so it is easy to generate burrs 92 on the workpiece 90. If burrs 92 are generated on the sliding surface, it will greatly affect the sliding performance and damage the sliding surface of the other party. In addition, if a new process is added to remove large burrs 92, this will lead to an increase in manufacturing costs, so it is better to suppress the generation of burrs 92.

[0087] In addition, in the comparative example, a processing path in which the robot 21 is moved in a direction perpendicular to the processing target surface 91 so that the blade 11 is separated from the processing target surface 91 is described, but the generation of burrs is not limited to the above-mentioned processing path. For example, the same problem may also occur in a processing path in which the robot 21 is moved in the first direction X1 and in the separation direction Y1 so that the blade 11 is separated from the processing target surface 91. Specifically, when the blade 11 is separated from the processing target surface 91, if the movement amount of the robot 21 in the first direction X1 is less than the above-mentioned return amount PB1, the cutting edge 11c moves in the second direction X2 and burrs may be generated. Furthermore, the cutting edge 11c moves in the second direction X2 opposite to the processing direction, so that the planned length cannot be processed, and cutting residues of the processing target surface 91 may be generated near the end point of the processing path. Therefore, the inventors of the present application have conceived a technique for controlling the robot arm 20 based on the amount of movement of the blade 11 due to the elastic deformation of the shank 13 , thereby suppressing the generation of burrs and cutting residues.

[0088] (Processing path of this embodiment)

[0089] Next, refer to Figure 7 (a) to (d) and Figure 8 , describing the processing path involved in the scraping processing method of this embodiment. Figure 7 (a) to (d) in the figure are diagrams showing the actions of the scraper 10 and the robot 21 in a series of processing paths of this embodiment, showing the state from the blade 11 abutting against the processing target surface 91 to just leaving the processing target surface 91. In these figures, the scraper 10 and the like in the original position before the movement are shown by dotted lines, the general movement direction of the handle 13 and the robot 21 is shown by black arrows, and the general movement direction of the blade 11 is shown by white arrows.

[0090] Figure 7 (a) is a side view showing a state in which the blade 11 abuts against the processing target surface 91 in a state in which the shank 13 is substantially not bent. Figure 7 (b) shows the Figure 7 State (a) is a side view of a state in which the handle 13 and the robot hand 21 are moved in the approach direction Y2 by a pressing amount YA. Figure 7 (c) in the figure shows the Figure 7 The state (b) in the figure is a side view showing a state in which the scraper 10 and the robot 21 move in the first direction X1 and the processing target surface 91 is processed by the blade 11. That is, in this embodiment, similarly to the comparative example, the scraper 10 and the robot 21 move with the handle 13 bent, and the processing target surface 91 is processed by the blade 11.

[0091] like Figure 7As shown in (a) to (c) in FIG. 1 , in this embodiment, the actions of the manipulator 21 and the scraper 10 from the time when the blade 11 contacts the processing target surface 91 to the time when the manipulator 21 moves parallel to the processing target surface 91 are the same as those of the comparative example. Figure 7 As shown in (d) in FIG. 1 , in order to suppress the generation of processing residues and burrs, in this embodiment, when the blade 11 is separated from the processing target surface 91, the control device 30 moves the robot 21 in the separation direction Y1 while moving the robot 21 in the first direction X1 by a predetermined amount. That is, in this embodiment, the angle between the trajectory of the robot 21 and the processing target surface 91 when the blade 11 is separated from the processing target surface 91 is an acute angle.

[0092] Figure 7 (d) in the figure shows the Figure 7 (c) is a side view of the state in which the cutting edge portion 11 is about to leave the processing object surface 91. In the present embodiment, when the cutting edge portion 11 is caused to leave the processing object surface 91, the handle 13 and the robot 21 are moved obliquely relative to the processing object surface 91. At this time, the movement amounts of the handle 13 and the robot 21 are the movement amount XB in the first direction X1 and the movement amount YB in the departure direction Y1. Similar to the comparative example, the movement amount YB is substantially the same as the pressing amount YA. In other words, during the period from when the handle 13 moves the movement amount YB in the departure direction Y1 to when the cutting edge 11 is in contact with the processing object surface 91, the handle 13 moves the movement amount XB in the first direction X1. Then, the robot 21 moves from Figure 7 The blade 11 is further moved in the same direction from the state shown in (d) in FIG. 1 , whereby the blade 11 completely leaves the processing target surface 91 .

[0093] The movement amount XB of the shank 13 in the first direction X1 is set to be greater than the movement amount PA of the blade 11 in the first direction X1 when the shank 13 is bent. The movement amount PA is substantially the same as the return amount PB1 of the blade 11 in the second direction X2, so it can be said that the movement amount XB is set to be greater than the return amount PB1. By setting the processing path in this way, the robot 21 moves in the first direction X1 by an amount greater than the movement amount of the blade 11 in the second direction X2 accompanying the release of the bend of the shank 13. Therefore, according to the present embodiment, when the shank 13 moves in the departure direction Y1, the cutting edge 11c also moves in the first direction X1. If the movement amount of the cutting edge 11c in the first direction X1 at this time is set as the movement amount PB2, the movement amount PB2 is substantially the same as the difference between the movement amount XB of the shank 13 and the return amount PB1 of the cutting edge 11c.

[0094] Figure 8 for Figure 7According to the present embodiment, the cutting edge 11 c moves away from the processing target surface 91 while moving in the first direction X1 near the end point of the processing path, so that the generation of cutting residue and burrs can be suppressed.

[0095] Next, refer to Fig. 9 , the trajectory of the robot 21 during the scraping process involved in this embodiment is explained in more detail. Fig. 9 Schematic diagram showing the trajectory of the robot 21 during scraping processing. Fig. 9 In FIG. 1 , the trajectory of the robot 21 is shown by a dotted line with an arrow, and points D1 to D4 are shown as representative positions of the robot 21. As described above, the operation of the robot 21 is controlled by the control device 30, and the robot 21 moves while holding the scraper 10.

[0096] When the robot 21 is at point D1, the handle 13 is basically not bent, and the blade 11 is in contact with the processing target surface 91 without cutting into it. In addition, the robot 21 moves in the approach direction Y2 by the pressing amount YA and reaches the point D2 from point D1. At this time, the handle 13 is bent, and the blade 11 cuts into the processing target surface 91 and moves in the first direction X1.

[0097] In the state where the handle 13 is bent, the robot 21 moves from point D2 to D3 in the first direction X1. The processing amount of the processing target surface 91 is determined by the movement amount and the pressing amount YA at this time. The processing path so far can be determined by setting the coordinate position of point D1, the pressing amount YA, and the movement amount in the first direction X1.

[0098] Then, the robot 21 moves from point D3 to point D4. At this time, the robot 21 moves the movement amount YB in the departure direction Y1 and the movement amount XB in the first direction X1. That is, the track of the robot 21 is inclined at an acute angle RB relative to the processing object surface 91. As described above, the movement amount YB in the departure direction Y1 is approximately the same as the pressing amount YA, and the movement amount XB in the first direction X1 is a value greater than the movement amount PA and the return amount PB1. Then, the robot 21 moves further from point D4 in the direction away from the processing object surface 91, whereby the blade 11 completely leaves the processing object surface 91 and ends a series of processing paths. This processing along the processing path is repeated to perform leveling processing and finishing processing.

[0099] When setting the machining path from point D3 to point D4, the operator may input the movement amount XB and angle RB in advance, or the operator may input the movement amount PA and return amount PB1, and the control device 30 may automatically determine the movement amount XB, etc. For example, the control device 30 may store an information table that establishes a correspondence between the movement amount PA and the movement amount XB, and the operator may input the movement amount PA, and the control device 30 may set the movement amount XB.

[0100] In addition, as another method of setting the processing path when the blade 11 is separated, the control device 30 may also set the angle RB. The angle RB is represented by tan(RB)=YB / XB, and the movement amount YB is substantially the same as the pressing amount YA. Therefore, within the range of the angle RB being an acute angle, as long as RB<tan -1 (YA / PA), XB>PA. Therefore, the operator may input the pressing amount YA and the moving amount PA, and the control device 30 may calculate the angle RB by the calculation function of the control device 30. By setting the processing path as described above, the blade 11 moves away from the processing target surface 91 while moving in the first direction X1.

[0101] In addition, the movement amount PA used for setting the processing path can be calculated based on the shape and physical property values ​​of the shank 13, or can be obtained by measuring for each processing condition. For example, when the blade 11 is in contact with the processing object surface 91, if the robot 21 is moved in the approach direction Y2 and then in the departure direction Y1, a processing mark of the amount of movement of the blade 11 due to the bending of the shank 13 will remain on the workpiece 90. This measurement processing is performed under various processing conditions, and the length of the processing mark is measured, thereby obtaining the movement amount PA of the blade 11 corresponding to each processing condition. Therefore, it is also possible to store the movement amount PA of each processing condition obtained by measurement in the scraping processing device 100, thereby, the control device 30 automatically obtains the movement amount PA according to the processing conditions and determines the movement amount XB.

[0102] As can be seen from the above, according to this embodiment, a machining path can be set that takes into account the movement amount of the blade 11 due to the elastic deformation of the shank 13. Furthermore, it is possible to prevent the cutting edge 11c from moving in the direction (second direction) opposite to the machining direction (first direction X1) as the bending of the shank 13 is released near the end point of the machining path, thereby suppressing the generation of cutting residues and burrs.

[0103] Next, refer to Fig.10(a) and (b) in the figure illustrate a scraping method for extending the life of the blade 11 of the scraper 10. If the scraping process is repeated and the cutting edge 11c of the blade 11 is worn, the tip of the blade becomes rounded and blunt, and the degree of cutting becomes shallow. However, if the blade 11 or the scraper 10 is frequently replaced, the processing cost will increase due to the increase in replacement time and the increase in tool costs.

[0104] On the other hand, as described above, the cutting edge 11c of the blade portion 11 is in a convex arc shape in the center in the blade width direction, and has a predetermined blade width. During the scraping process, for example, when the indentation amount YA is small, only a portion of the cutting edge 11c abuts against the processing target surface 91, and the cutting edge 11c has a portion that has been worn out due to use for processing and a portion that has not been worn out due to use for processing. Therefore, the inventor of the present application has come up with a technique to improve the processing method by staggering the contact position of the blade tip, dividing a single cutting edge into a plurality of portions and using them separately for processing, thereby extending the tool life.

[0105] Fig.10 (a) and (b) are schematic top views showing the relationship between the scraper 10 and the processing area 91a of the processing target surface 91 when viewed from a direction perpendicular to the processing target surface 91. Fig.10 In (a) and (b), a processing area 91a as a processed area of ​​the processing target surface 91 is filled in with oblique lines, and the moving direction of the handle 13 is shown by a black arrow.

[0106] First, explain Fig.10 The first processing is performed in the state shown in (a) in FIG. In the first processing, the handle 13 moves to process the processing area 91a while the center line 11d of the blade width direction of the blade portion 11 is parallel to the processing direction. If the angle formed by the center line 11d and the processing direction at this time is set to the first angle, the first angle is 0°. The center line 91b of the width direction of the processing area 91a is parallel to the processing direction, so in the first processing, the robot arm 20 is driven in a manner that the center line 11d and the center line 91b coincide with each other. Therefore, the first abutment portion 11e of the cutting edge 11c abutting the processing area 91a is located in the center portion in the blade width direction. In other words, the two end portions of the cutting edge 11c in the blade width direction do not abut against the processing object surface 91 during processing, and therefore are not worn.

[0107] Next, explain Fig.10The second processing is performed in the state shown in (b) in FIG. In the second processing, the handle 13 moves to process the processing area 91a while the center line 11d of the blade 11 is inclined relative to the processing direction. That is, relative to the first processing, in the second processing, the angle formed by the center line 11d and the processing direction changes. If the angle formed by the center line 11d and the processing direction at this time is set as the second angle, the second angle is an angle different from the first angle, and is an acute angle. In addition, the center line 11d of the blade 11 and the center line 91b of the processing area 91a are in an inclined state. At this time, the second abutment portion 11f of the cutting edge 11c abutting the processing area 91a is located on the end side of the cutting edge 11c in the blade width direction relative to the first abutment portion 11e. That is, in the second processing, the robot arm 20 is driven to perform processing in a manner in which the cutting edge 11c abuts against the processing area 91a at a position different from that in the first processing.

[0108] According to the present embodiment, when the first processing is repeated and the wear of the first abutment portion 11e of the cutting edge 11c increases, the second processing is switched to the second processing, thereby making it possible to continue processing using the unworn second abutment portion 11f without the need for tool exchange or the like. In addition, when the wear of the second abutment portion 11f increases, further, the end portion of the second abutment portion 11f of the cutting edge 11c located on the opposite side of the first abutment portion 11e can be used to continue processing. That is, in the present embodiment, the cutting edge 11c is divided into three regions for use, and the robot arm 20 is controlled in such a manner that different regions are used for processing as the wear of each region increases.

[0109] Thus, a scraping method including a first process and a second process using different positions of the cutting edge 11c for processing is proposed, thereby being able to extend the life of the blade 11 compared to a scraping method that continuously uses only the same portion of the cutting edge 11c. In addition, in the above-mentioned embodiment, it is set as a structure in which the first abutment portion 11e is located at the center portion of the blade width direction of the cutting edge 11c in the first process, but extending the life of the blade 11 is not limited to this structure. For example, the cutting edge 11c may be divided into two regions in a manner in which the first abutment portion 11e is located at one end side of the cutting edge 11c in the blade width direction of the cutting edge 11c, and the second abutment portion 11f is located at the other end side of the opposite side of the one end side of the cutting edge 11c. In addition, in the above-mentioned embodiment, the first angle is set to 0°, but the first angle and the second angle may also be set to acute angles.

[0110] <Other Embodiments>

[0111] The above-mentioned embodiment is only an example, and the present disclosure can be implemented with appropriate changes without departing from the scope of the present disclosure. In addition, as long as no technical contradiction occurs, the processing and devices described in the present disclosure can be freely combined and implemented.

[0112] For example, in the above-mentioned embodiment, the machining path is composed of a straight line, but the machining path when the robot 21 leaves the machining target surface 91 may be composed of a curve. That is, as long as the robot 21 moves the movement amount PA or more in the first direction X1 until the cutting edge 11c leaves the machining target surface 91 (the robot 21 moves the movement amount YB in the departure direction Y1), the generation of cutting residue and burr can be suppressed.

[0113] Furthermore, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be performed by one device. In a computer system, the hardware structure can be flexibly changed to implement various functions.

[0114] (Explanation of Reference Numerals)

[0115] 10: scraper; 11: blade; 13: handle; 20: robot arm (processing robot);

[0116] 30: control device; 90: workpiece (object to be processed); 91: processing object surface;

[0117] 100: Scraping device.

Claims

1. A scraping device, comprising: A processing robot that holds a scraper having a blade and a flexible handle provided with the blade and moves the scraper; and a control device for controlling the processing robot according to the processing instruction data, The blade is brought into contact with the processing target surface of the workpiece, and the handle is moved in a direction close to the processing target surface. The handle is bent in such a way that the blade moves in the processing direction along the processing target surface. The handle is moved in the processing direction in a bent state, thereby performing a scraping process on the processing target surface. The method is characterized in that: The control device controls the processing robot so that when the blade is moved away from the processing object surface, the handle is moved in the processing direction by a specified amount based on the amount of movement of the blade due to the elastic deformation of the handle, and the handle is moved away from the processing object surface.

2. The scraping processing device according to claim 1, wherein: The specified amount is greater than or equal to the following amount: during the scraping process, the blade moves in the processing direction from the state where the blade begins to abut against the processing object surface, the handle moves in the direction close to the processing object surface, and the bending of the handle is completed.

3. The scraping processing device according to claim 1, wherein: The control device moves the shank portion in the processing direction by the predetermined amount until the blade portion leaves the processing target surface.

4. The scraping device according to claim 1, wherein: In a direction perpendicular to the processing target surface, if the amount of movement of the shank toward the processing target surface from the state where the blade portion abuts against the processing target surface is defined as the pressing amount, The control device controls the processing robot so that when the blade is moved away from the processing object surface during the scraping process, the shank is moved by the specified amount in the processing direction while the shank is moved by the pressing amount in the vertical direction in the direction away from the processing object surface.

5. The scraping device according to claim 1, wherein: The handle is roughly in the shape of a strip plate, and the blade is provided at one end in the length direction. The control device controls the orientation of the scraper during the scraping process so that the cutting edge portion is located at the front end of the scraper in the processing direction.

6. The scraping device according to claim 1, wherein: The blade portion is replaceably mounted on the handle portion.

7. The scraping device according to claim 1, wherein: The processing robot is configured to be able to adjust a cutting angle formed by a surface facing the processing target surface of the blade portion and the processing target surface.

8. A scraping method, which is performed by a scraping device, the scraping device comprising: a processing robot, which holds a scraper having a blade and a flexible handle provided with the blade to move the scraper; and a control device, which controls the processing robot according to processing instruction data, the scraping device performs scraping processing on the processing target surface of the workpiece, characterized in that During the scraping process, the control device controls the processing robot to perform the following steps: The handle is moved in a direction approaching the processing target surface from a state where the blade is in contact with the processing target surface, thereby bending the handle in such a manner that the blade moves in a processing direction along the processing target surface; The shank is moved in the processing direction while being bent, so that when the blade is moved away from the processing object surface, the shank is moved in the processing direction by a predetermined amount based on the amount of movement of the blade due to the elastic deformation of the shank, and the shank is moved in a direction away from the processing object surface.

9. The scraping method according to claim 8, wherein: The specified amount is greater than or equal to the following amount: during the scraping process, the blade moves in the processing direction from the state where the blade begins to abut against the processing object surface, the handle moves in the direction close to the processing object surface, and the bending of the handle is completed.

10. The scraping method according to claim 8, wherein: The cutting edge of the blade portion is in a convex arc shape in the center in the blade width direction. The scraping method comprises: A first machining process in which a first abutment portion of the cutting edge abuts against the machining target surface to machine the machining target surface, with the angle formed by the center line of the blade width direction of the blade portion when viewed from a direction perpendicular to the machining target surface and the machining direction being set to a first angle; and The second machining is to machine the machining target surface by making a second contact portion of the cutting edge located at a position different from the first contact portion contact the machining target surface while the angle is set to a second angle different from the first angle.

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