Deburring device

Abstract

Deburring device comprising the following: a robot (30) supporting a deburring tool (50) and using the deburring tool (50) to perform a deburring process on an object that is supported by a support (2) in a machine tool (1) and has been cut; a visual sensor (10), a relative motion means for initiating a relative movement between the visual sensor (10) and the object supported by the support (2), wherein the relative motion means a first base (21) which is attached to an upper wall or the like of the machine tool (1), a first rail (21a) which is arranged on the first base (21) and extends in an X-axis direction as a horizontal direction, a second base (22) which is supported by the first rail (21a) and is movable along the first rail (21a), a second rail (22a) which is arranged on the second base (22) and extends in a Y-axis direction as a horizontal direction, and a third base (23) which is supported by the second rail (22a) and is movable along the second rail (22a); a control unit that operates the relative motion means on the basis of a visual sensor relative motion program for controlling the operation of the relative motion means, such that the relative motion means moves the visual sensor relative to the object along a point corresponding to the section of the object to be deburred, and the object being partially within a field of view of the visual sensor, wherein the control unit is configured to operate the relative motion means in such a way that an increase in the object supported by the support (2) is detected by the visual sensor (10) during the relative movement; and a deburring operating program creation means that creates a deburring operating program using the detected elevation obtained by the visual sensor (10) when the relative motion means is operated based on the visual sensor relative motion program, wherein the deburring operating program is a program that operates the robot (30) and / or the machine tool (1) such that the deburring tool (50) moves along a location based on the detected elevation.

Description

TECHNICAL AREA

[0001] The present invention relates to a deburring device that performs a deburring process for a cut object. GENERAL STATE OF THE ART

[0002] A known deburring device of this type includes a support for a flattened and burr-bearing object (such as a workpiece) and a deburring tool mounted on a robot (see, for example, PTL 1). The device incorporates an imaging unit that focuses the object into its field of view. A raised area on the outer circumference of the object, as seen in the imaging data, is interpreted by a control unit as the section to be deburred. To achieve a certain level of deburring precision, the control unit uses the raised area and three-dimensional data of the object, such as CAD data, to generate data regarding the shapes and positions of the burrs. This data is then used by the robot for deburring.

[0003] From German patent application DE 10 2014 108 956 A1, a deburring device is also known, comprising a deburring tool for removing burrs from an object, a robot for moving the object or the tool, a force sensor for detecting the force acting on the tool, and a visual sensor that detects the position of a burr section on the object. In the deburring device, information regarding the shape data of the burr section and the position of the tool is obtained in advance from three-dimensional data of the object. Based on the shape data and the position of the tool, a robot program is generated. Depending on an actual burr section detected by the visual sensor, the robot program is updated as needed. During deburring, the robot is controlled by a force control system that uses the value detected by the force sensor.

[0004] German patent application DE 10 2005 011 330 A1 discloses a method for position detection of a molded part, in particular one that is not rotationally symmetrical, made of, for example, ceramic or metallic material, in which the molded part is illuminated at a first angle using a light source in a point- or line-like manner and a camera image is taken at a different angle to provide a three-dimensional image of the molded part, a contour within the molded part is detected and the position of the molded part is determined using the contour, wherein, before or during contour detection, data components of irrelevant data in the camera image are reduced by filtering them out. CITATION LIST PATENT LITERATURE

[0005] PTL 1: Publication of Japanese patent JP 5 845 212 B2 BRIEF DESCRIPTION OF THE INVENTIONAL PROBLEM

[0006] However, in the deburring device, the object to be deburred is flattened by a machine tool, and then the object is removed from the machine tool and supported by a support in the deburring device. Furthermore, after being supported by the support in the deburring device, an image of the object to be deburred is taken, and so on, to generate data regarding the shape and position of the burrs. As described above, it is necessary for the object to be moved from the machine tool to the deburring device to be deburred, and then the information required for deburring is detected, which increases the deburring time.

[0007] The present invention is based on these circumstances and aims to provide a deburring device that is able to increase deburring precision while reducing the time required for deburring. SOLUTION TO THE PROBLEM

[0008] The problem described above is solved by a deburring device with the features of claim 1. The problem is further solved by a deburring device with the features of claim 6 and by a deburring device with the features of claim 7. Advantageous embodiments of the invention are the subject of the dependent claims.

[0009] One aspect of the present invention provides a deburring device comprising: a robot that supports a deburring tool and uses the deburring tool to perform a deburring process on an object that is supported by a rest in a machine tool and has been cut; a visual sensor; a relative motion means for initiating a relative movement between the visual sensor and the object supported by the rest, wherein the Means of relative motion a first base which is attached to an upper wall or the like of the machine tool, a first rail which is arranged on the first base and extends in an X-axis direction as a horizontal direction, a second base which is supported by the first rail and is movable along the first rail, a second rail which is arranged on the second base and extends in a Y-axis direction as a horizontal direction, and a third base supported by the second rail and movable along the second rail; a control unit that operates the relative motion means based on a visual sensor relative motion program to control the operation of the relative motion means, such that an elevation of the object supported by the support is detected by the visual sensor during the relative motion; and a deburring operation program creation means that creates a deburring operation program using the detected elevation obtained by the visual sensor when the relative motion means is operated based on the visual sensor relative motion program, wherein the deburring operation program is a program that operates the robot and / or machine tool such that the deburring tool moves along a location based on the detected elevation.

[0010] In this aspect, the object, supported by the support, is cut in the machine tool, and then the robot uses the deburring tool to deburr the object. The object is not moved from the support in the machine tool for deburring, thus reducing the deburring time.

[0011] Furthermore, the visual sensor detects the object's elevation during the relative movement between the sensor and the object. This means that even if, for example, the object is large and its elevation cannot be detected with high precision, the detection precision can be adjusted to meet the required deburring precision when the entire object is brought into the field of view.

[0012] In the aspect outlined above, the deburring device may include a visual sensor program creation means which creates the visual sensor relative motion program using position and / or shape information that includes at least information about a position and shape of a section to be deburred in the cut object, as well as information about a machining point along which a machining tool is moved during cutting, in order to initiate the relative movement after cutting such that the elevation is detected by the visual sensor.

[0013] Since the object is deburred while supported by the support in the machine tool, the object's position and shape information stored in the machine tool, and the information regarding the machining point along which the machining tool is moved during cutting, can be used to efficiently create the visual sensor relative motion program for detecting the elevation.

[0014] In the aspect outlined above, the deburring device may include: an actual shape information retention means for obtaining information about the actual shape of the cut object; and a visual sensor program creation means which generates the visual sensor relative motion program using the information regarding the actual shape obtained by the actual shape information retention means and information about a field of view of the visual sensor to cause the relative motion after cutting such that the elevation is detected by the visual sensor.

[0015] The actual shape information preservation tool can retain information regarding the actual shape of the cut object, thereby improving the precision of the visual sensor relative motion program for detecting the elevation even for objects that have different shapes and sizes.

[0016] In the aspect outlined above, the visual sensor relative motion program can be used to operate the relative motion means, such that the visual sensor is moved relative to the object, whose position and orientation are not changed, or such that the object is moved relative to the visual sensor, whose position and orientation are not changed.

[0017] In the aspect outlined above, the deburring operating program may contain robot operating commands to operate the robot, which supports the deburring tool relative to the object, whose position and orientation are not changed.

[0018] Another aspect of the invention relates to a deburring device comprising the following: a robot that supports a deburring tool and uses the deburring tool to perform a deburring process on an object that is supported by a support in a machine tool and has been cut; a visual sensor, a relative motion device for initiating a relative movement between the visual sensor and the object supported by the support; a control unit that operates the relative motion device on the basis of a visual sensor relative motion program to control the operation of the relative motion device, such that an increase in the object supported by the support is detected by the visual sensor during the relative motion; and a deburring operation program creation means that creates a deburring operation program using the detected elevation obtained by the visual sensor when the relative motion means is operated based on the visual sensor relative motion program, wherein the deburring operating program is a program that operates the robot and / or machine tool such that the deburring tool moves along a location based on the detected elevation, and the deburring operating program contains machine tool operating commands to move the machine tool to change the position and orientation of the object.

[0019] In the aspect outlined above, the deburring device may include a machining correctness determination means that determines the correctness of the deburring process during or after the deburring process using a detection result from a force sensor arranged in the machine tool and / or the visual sensor.

[0020] Another aspect of the invention relates to a deburring device comprising the following: a robot that supports a deburring tool and uses the deburring tool to perform a deburring process on an object that is supported by a support in a machine tool and has been cut; a visual sensor, a relative motion device for initiating a relative movement between the visual sensor and the object supported by the support; a control unit that operates the relative motion device on the basis of a visual sensor relative motion program to control the operation of the relative motion device, such that an increase in the object supported by the support is detected by the visual sensor during the relative motion; and a deburring operation program creation means that creates a deburring operation program using the detected elevation obtained by the visual sensor when the relative motion means is operated based on the visual sensor relative motion program, wherein the deburring operating program is a program that operates the robot and / or machine tool such that the deburring tool moves along a location based on the detected elevation, and wherein the deburring device further comprises a machining correctness determination means which determines the correctness of the deburring process during or after the deburring process using a detection result from a force sensor arranged in the machine tool and / or the visual sensor.

[0021] Such configurations are advantageous for maintaining or improving deburring precision. ADVANTAGEOUS EFFECTS OF THE INVENTION

[0022] The present invention can improve deburring precision and thereby reduce the time required for deburring. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a schematic front view of a deburring device according to a first embodiment of the present invention. Fig. Figure 2 is a block diagram of a robot control unit used in the deburring device according to the first embodiment. Fig. Figure 3 is a block diagram of a machine tool control unit in the first embodiment. Fig. Figure 4 is a flowchart of the processing of a main control unit in the robot control unit, which is used in the deburring device according to the first embodiment. Fig. Figure 5 illustrates the operation of the deburring device according to the first embodiment. Fig. Figure 6 illustrates the operation of a deburring device according to a first modification of the first embodiment. Fig. Figure 7 is a schematic front view of a deburring device according to a second modification of the first embodiment. Fig. Figure 8 is a block diagram of a machine tool control unit used in the deburring device according to the second modification of the first embodiment. Fig. Figure 9 is a flowchart of a processing of a main control unit in the machine tool control unit used in the deburring device according to the second modification of the first embodiment. Fig. Figure 10 illustrates the operation of the deburring device according to the second modification of the first embodiment. Fig. Figure 11 is a schematic front view of a deburring device according to a second embodiment of the present invention. Fig. Figure 12 is a block diagram of a robot control unit used in the deburring device according to the second embodiment. Fig. 13 is a flowchart of a processing of a main control unit in the robot control unit, which is used in the deburring device according to the second embodiment. DESCRIPTION OF THE EXECUTION FORMS

[0023] With reference to the drawings, a deburring device according to a first embodiment of the present invention is described below.

[0024] As in Fig. As shown in Figure 1, the deburring device includes a visual sensor 10 arranged in a machine tool 1, a motion device 20 as a relative motion means for moving the visual sensor 10 relative to a workpiece W, which is an object supported by a support 2 in the machine tool 1, a robot 30 supporting a deburring tool 50 and using the deburring tool 50 to deburr the workpiece W supported by the support 2, and a robot control unit 40 controlling the robot 30.

[0025] The machine tool 1 is a known machine tool that uses a cutting tool (such as a milling cutter, a drill, or a cutting tool) for cutting, for example, for flattening the workpiece W supported by the support 2. The support 2 can be a chuck that fixes the workpiece W using several jaws, a chuck that fixes the workpiece using a magnetic force or air suction, or other support mechanisms that support the workpiece W for cutting.

[0026] The visual sensor 10 includes an imaging device 11 that captures images of the workpiece W on the support 2, an image processing unit 12 that performs predefined image processing on images captured by the imaging device 11 and sends information based on the processed images to the robot control unit 40, and a memory 13 (see Fig. 2).

[0027] The image processing unit 12 contains a computer which has a CPU, RAM and the like, performs a generally known image processing such as static binarization or dynamic binarization for the captured images, stores the processed images in the memory 13, and sends the information based on the processed images to the robot control unit 40.

[0028] The image processing unit 12 can send the processed image, or the information based on the processed images, to the robot control unit 40. Alternatively, it can send position information of characteristic points of each workpiece W that appear in the processed images (for example, position data of the points forming a raised outer circumferential edge of the workpiece W) to the robot control unit 40. Hereinafter, the position data of the points forming the raised outer circumferential edge of the workpiece W will sometimes be referred to as "position data of the raised area in the processed image".

[0029] As in Fig. As shown in Figure 1, the motion device 20 comprises a first base 21, which is attached to an upper wall or the like of the machine tool 1; a rail 21a, which is arranged on the first base 21 and extends in an X-axis direction as a horizontal direction; a second base 22, which is supported by the rail 21a and is movable along the rail 21a; a rail 22a, which is arranged on the second base 22 and extends in a Y-axis direction as a horizontal direction; and a third base 23, which is supported by the rail 22a and is movable along the rail 22a. Here, the X-axis is perpendicular to the Y-axis, and a Z-axis is perpendicular to both the X-axis and the Y-axis.

[0030] The first base 21, for example, has a servomotor 21b as a drive unit that moves the second base 22 along the rail 21a, and the second base 22, for example, has a servomotor 22b as a drive unit that moves the third base 23 along the rail 22a. The servomotors 21b and 22b are connected to the robot control unit 40 (see Fig. 2) The servomotors 21b, 22b each contain an operating position detection device, such as an encoder, which detects an operating position of the servomotor, and a detection value from the operating position detection device is sent to the robot control unit 40.

[0031] The robot 30 contains several movable sections and several servomotors 31, each of which controls the several movable sections (see Fig. 2) Various types of servomotors can be used as the servomotors 31, such as a rotary motor or a linear motor. Each servomotor 31 contains an operating position detection device, such as an encoder, which detects an operating position of the servomotor, and detection values ​​from the operating position detection devices are sent to the robot control unit 40.

[0032] A deburring tool 50 is supported at a distal end of the robot 30. In this embodiment, the deburring tool 50 is a grinder that rotates a grinding wheel, but it can also be a tool used for deburring, and a cutter that rotates a cutting tool can also be used.

[0033] The robot control unit 40 includes, for example, a main control unit 41, which has a CPU, RAM and the like, a display device 42, a storage device 43, which has non-volatile memory, ROM or the like, a learning field 44, which is operated when an operating program of the robot 30 is created, several servo controllers 45, which are arranged in the robot 30 according to the servo motors 31, and several servo controllers 46, which are arranged in the motion device 20 according to the servo motors 21b, 22b (see Fig. 2) In this embodiment, the motion device 20 is controlled as an additional axis.

[0034] The storage device 43 stores a system program 43a, and the system program 43a provides a basic function of the robot control unit 40. The storage device 43 also stores at least one deburring operating program 43b, which is created using the teach-in field 44, and at least one visual sensor relative motion program 43c, which is created using the teach-in field 44. The storage device 43 further stores a relative motion creation program 43d.

[0035] For example, the main control unit 41 is operated by the system program 43a, reads the deburring operating program 43b stored in the storage device 43 and temporarily stores the deburring operating program 43b in the RAM and sends control signals to the servo controllers 45 according to the read deburring operating program 43b, thereby controlling the servo amplifiers of the servo motors 31.

[0036] The main control unit 41 reads the visual sensor relative motion program 43c stored in the storage device 43 and temporarily stores the visual sensor relative motion program 43c in the RAM and sends control signals to the servo controller 46 according to the read visual sensor relative motion program 43c, thereby controlling the servo amplifiers of the servo motors 21b, 22b.

[0037] The machine tool 1 includes a machine tool control unit 60. For example, the machine tool control unit 60 includes a control unit 61, which has a CPU, RAM and the like, a display device 62, a storage device 63, which has non-volatile memory, ROM or the like, an operator panel 64, which is operated when an operating program of the machine tool 1 is created, and a servo control unit 65, which is arranged in the machine tool 1 according to a servo motor (see Fig. 3) The machine tool control unit 60 is connected to the robot control unit 40.

[0038] With reference to Fig. Section 4 below describes an exemplary operation of the main control unit 41 of the robot control unit 40 of the deburring device configured in this way.

[0039] First, the main control unit 41 receives, for example, a machining completion signal indicating that the cutting of workpiece W is finished, from the machine tool control unit 60 (step S1-1). Then, based on the relative motion creation program 43d, the main control unit 41 creates the visual sensor relative motion program 43c and stores the visual sensor relative motion program 43c in the storage device 43 (step S1-2). At this point, the main control unit 41 serves as a visual sensor program creation device.

[0040] For example, the main control unit 41 receives three-dimensional data indicating the shape and position of the workpiece W, which is supported by the support 2 and cut by the machine tool control unit 60. The three-dimensional data can include data indicating the shape and position of an outer circumferential edge (a section to be deburred) of a flattened plane of the workpiece W. Alternatively, two-dimensional data indicating the shape and position of the outer circumferential edge (of the section to be deburred) of the flattened plane of the workpiece W can be used. In this embodiment, the three-dimensional and two-dimensional data are extracted from CAD data and stored for cutting by the machine tool 1, but other data indicating the shape and position of the workpiece W can also be used.

[0041] The main control unit 41 uses the three-dimensional data received from the machine tool control unit 60 and the information regarding the field of view of the imaging device 11 to create the visual sensor relative motion program 43c for moving the imaging device 11 along a point corresponding to the section to be deburred, so that the section to be deburred lies, for example, within the field of view of the imaging device 11, as shown in Fig. 5 shown. If the field of view of the imaging device 11 has a certain size, the visual sensor relative motion program 43c can be created without using the information regarding the field of view of the imaging device 11.

[0042] The main control unit 41 then sends control signals to the servo controller 46 according to the created visual sensor relative motion program 43c, thereby controlling the servo amplifiers of the servo motors 21b, 22b in the motion device 20 (step S1-3). This control moves the imaging device 11 along the area corresponding to the section to be deburred.

[0043] The main control unit 41 then receives, for example, the position data of the points that form the elevation of the outer circumferential edge of the workpiece W (position data of the elevation of the processed image), as information based on the processed image that was sent by the image processing unit 12 (step S1-4). The main control unit 41 then acts as a deburring operation program creation tool, uses the received information based on the processed image to create the deburring operation program 43b, and stores the deburring operation program 43b in the storage device 43 (step S1-5).

[0044] For example, in the case where an outer circumferential edge of a top surface of the machined workpiece W supported by the support 2 is the section to be deburred and the main control unit 41 has received information about a height position of the top surface from the machine tool control unit 60, a series of control signals (robot operating commands) are generated for moving the grinding stone of the deburring tool 50 along a point that is shifted by 1 mm inwards in the workpiece W relative to the position data of the elevation of the processed image, and the series of control signals are stored as the deburring operating program 43b.

[0045] Then the main control unit 41 sends control signals to the servo controllers 45 according to the created deburring operating program 43b, thereby controlling the servo amplifiers of the servo motor 31 in the robot 30 (step S1-6).

[0046] In this embodiment, the workpiece W, which is supported by the support 2 in the machine tool 1, is cut, and then the robot 30 uses the deburring tool 50 to deburr the workpiece W supported by the support 2. The workpiece W is not moved from the support 2 in the machine tool 1 for deburring, thus reducing the deburring time.

[0047] Since the workpiece W is deburred while supported by the support 2 in the machine tool, the position and shape information of the workpiece W stored in the machine tool 1 can also be used in step S1-2 to efficiently create the visual sensor relative motion program 43c to detect the increase of the workpiece W.

[0048] In this embodiment, the control signals in steps S1-3 can be sent to the servo controller 46 according to the visual sensor relative motion program 43c previously stored in the storage device 43, without step S1-2 being executed. If the positions and shapes of the sections to be deburred in the workpiece W do not vary to a relatively large extent with respect to the field of view of the imaging device 11, CAD data, for example, can be used to create the visual sensor relative motion program 43c beforehand and to store the visual sensor relative motion program 43c in the storage device 43.

[0049] In this embodiment, if the main control unit 41 receives a signal from the machine tool control unit 60 as step S1-1 indicating that the cutting of the workpiece W has reached a previously defined stage, for example, a machining start signal indicating that a machining tool T has begun machining the outer circumferential edge of the workpiece W for the last pass, then the main control unit 41 can create the visual sensor relative motion program 43c in step S1-2 to initiate a movement of the imaging device 11 along the area corresponding to the sections to be deburred while the machining is being carried out using the machining tool T, as shown in Fig. 6 shown.

[0050] In this embodiment, it is permitted that the main control unit 41 does not create the visual sensor relative motion program 43c in step S1-2, but rather the control unit 61 in the machine tool control unit 60 creates the visual sensor relative motion program 43c, and the main control unit 41 receives the visual sensor relative motion program 43c created by the control unit 61 in step S1-2.

[0051] Furthermore, it is permitted that the main control unit 41 does not create the deburring operating program 43b in step S1-5, but rather the control unit 61 in the machine tool control unit 60 receives the position data of the increase of the processed image from the image processing unit 12, uses the received position data of the increase of the processed image to create the deburring operating program 43b, and the main control unit 41 receives the deburring operating program 43b created by the control unit 61 in step S1-5.

[0052] In this embodiment, a motion device control unit can be provided to control the motion device 20, and the motion device control unit can control the motion device 20 instead of the control process in which the robot control unit 40 controls the motion device 20 in step S1-3. Alternatively, the control unit 61 in the machine tool control unit 60 can control the motion device 20.

[0053] Instead of using the three-dimensional or two-dimensional data stored in the machine tool 1 in step S1-2, this embodiment can also use information about a machining location, such as training points used when the machine tool 1 cuts the workpiece W, or information about an actual machining location obtained from detection values ​​by the operating position detection device of servomotors in the machine tool 1 while the machine tool 1 is cutting the workpiece W, to create the visual sensor relative motion program 43c. Furthermore, the three-dimensional or two-dimensional data and the machining location information can be used to create the visual sensor relative motion program 43c.

[0054] Instead of using the three-dimensional or two-dimensional data stored in the machine tool 1 in step S1-2, in this embodiment the main control unit 41 can also obtain data showing the actual shape of the cut workpiece W from the visual sensor 10 or the like and use the data and information regarding the field of view of the visual sensor 10 to create the visual sensor relative motion program 43c. In this case, the information regarding the actual shape of the cut workpiece W is obtained, thereby improving the precision of the visual sensor relative motion program 43c for detecting the elevation even for workpieces W that have different shapes and sizes.

[0055] In this embodiment, the visual sensor relative motion program 43c for the motion device 20 is created in step S1-2 to bring about a relative motion between the workpiece W supported by the support 2 and the imaging device 11, and the motion device 20 moves the imaging device 11 in step S1-3.

[0056] On the other hand, as in Fig. As shown in Figure 7, the imaging device 11 can be attached to the upper wall or the like of the machine tool 1 without the motion device 20, and a motion device 3 that moves the support 2 can be provided.

[0057] In this case, the motion device 3 includes a servo motor 3a and a motion mechanism (not shown) as a drive unit that moves the support 2 in the X-axis direction, a servo motor 3b and a motion mechanism (not shown) as a drive unit that moves the support 2 in the Y-axis direction, and a servo motor 3c and a rotary mechanism (not shown) as a drive unit that rotates the support 2 about the Z-axis (see Fig. 8) The servomotors 3a, 3b, 3c each contain an operating position detection device, such as an encoder, which detects an operating position of the servomotor, and a detection value from the operating position detection device is sent to the machine tool control unit 60. The servomotors 3a, 3b, 3c in the motion device 3 are each controlled by servo controllers 66, 67, 68 via the control unit 61 in the machine tool control unit 60.

[0058] With reference to Fig. 9 below describes an example of the operation of the control unit 61 in the machine tool control unit 60 of the deburring device in this case.

[0059] First, the control unit 61 receives, for example, a machining completion signal indicating that the cutting of the workpiece W in the machine tool 1 has finished (step S2-1). Then, the control unit 61 works on the basis of a creation program for a relative motion 63a, which is stored in the storage device 63, to create a visual sensor relative motion program 63b and to store the visual sensor relative motion program 63b in the storage device 63 (step S2-2).

[0060] For example, the control unit 61 creates the visual sensor relative motion program 63b to move the support 2 in the X-axis direction and the Y-axis direction using the servomotors 3a, 3b such that, for example, the outer circumferential edge (the section to be deburred) of the workpiece W lies within the field of view of the imaging device 11, as shown in Fig. 10 shown, and to rotate the support 2 around the Z-axis using the servomotor 3c, based on the three-dimensional data showing the shape and position of the workpiece W supported by the support 2 and cut.

[0061] The control unit 61 then sends control signals to the servo controllers 66, 67, 68 according to the created visual sensor relative motion program 63b, thereby controlling the servo amplifiers of the servo motors 3a, 3b, 3c in the motion device 3 (step S2-3). This control moves the imaging device 11 along the location corresponding to the deburring section.

[0062] The control unit 61 then receives the position data of the points that form the elevation of the workpiece W's outer circumference (position data of the processed image elevation), as information based on the processed image sent by the image processing unit 12. The control unit 61 then combines the received position data of the processed image elevation with the detection values ​​from the operating position detection devices in the servomotors 3a, 3b, 3c and sends the data to the main control unit 41 in the robot control unit 40 (steps S2-4).

[0063] In this case, the main control unit 41 can use the data in step S2-4, which was sent by the control unit 61, to execute steps S1-4 to S1-6.

[0064] In step S1-5, the deburring operating program 43b can be created to contain a series of control signals (robot operating commands) for the servo control unit 45, which cause the robot 30 to move the deburring tool 50 to a previously defined position and stop the deburring tool 50 at that position, as well as a series of control signals (machine tool operating commands) for the servo controllers 66, 67, 68 for moving the grinding wheel of the deburring tool 50 along the location based on the position data of the elevation of the processed image. In this case, the machine tool operating commands are sent to the machine tool control unit 60 in step S1-6.

[0065] A deburring device according to a second embodiment of the present invention is described with reference to the drawings.

[0066] As in the Fig. 11 and Fig. As shown in Figure 12, the deburring device according to the second embodiment is configured such that the robot 30 supports the imaging device 11 without providing the motion device 20 as in the first embodiment. More precisely, the robot 30 serves as a relative motion means for performing a relative movement between the visual sensor 10 and the workpiece W, which is supported by the support 2. The same configurations as in the first embodiment are designated with the same reference numerals, and their description is omitted.

[0067] With reference to Fig. Section 13 below describes an example of the operation of the main control unit 41 in the robot control unit 40 of the deburring device configured in this way.

[0068] For example, the main control unit 41 receives a machining completion signal indicating that the cutting of the workpiece W is finished from the machine tool control unit 60 (step S3-1). Then, based on the creation program for a relative motion 43d, the main control unit 41 creates the visual sensor relative motion program 43c and stores the visual sensor relative motion program 43c in the storage device 43 (step S3-2).

[0069] For example, the main control unit 41 uses the three-dimensional data received from the machine tool control unit 60 and the information regarding the field of view of the imaging device 11 to create the visual sensor relative motion program 43c for moving the imaging device 11 along the location corresponding to the deburring section, such that, for example, the section to be deburred lies within the field of view of the imaging device 11, as shown in Fig. 5 shown.

[0070] The main control unit 41 then sends a control signal to the servo controllers 45 according to the created visual sensor relative motion program 43c, thereby controlling the servo amplifiers of the servo motors 31 in the robot 30 (step S3-3). This control moves the imaging device 11 along the location corresponding to the deburring section.

[0071] Then the main control unit 41 performs steps S3-4 to S3-6, which are the same or similar to steps S1-4 to S1-6 in the first embodiment.

[0072] Furthermore, in the second embodiment, the workpiece W, which is supported by the support 2 in the machine tool 1, is cut, and then the robot 30 uses the deburring tool 50 to deburr the workpiece W supported by the support 2. The workpiece W is not moved from the support 2 in the machine tool 1 for deburring, thus reducing the deburring time.

[0073] Furthermore, the increase in workpiece height W is detected by the visual sensor 10 during the relative movement between the imaging device 11 of the visual sensor 10 and the workpiece W. This means that even if, for example, the workpiece W is large and the increase in workpiece height W cannot be detected with high precision when the entire workpiece W is brought into the field of view, the detection precision of the increase in workpiece height W can be adjusted to meet the required deburring precision.

[0074] Furthermore, because the workpiece W is deburred while supported by the support 2 in the machine tool 1, the position and shape information of the workpiece W stored in the machine tool 1 can be used in step S3-2 to efficiently create the visual sensor relative motion program 43c to detect the increase of the workpiece W.

[0075] In the second embodiment, the control signal to the servo controllers 45 can be sent in step S3-3 according to the visual sensor relative motion program 43c previously stored in the storage device 43, without step S3-2 being executed. If the position and shape of the section to be deburred in the workpiece W do not vary over a relatively wide range with respect to the field of view of the imaging device 11, CAD data, for example, can be used to create the visual sensor relative motion program 43c beforehand and to store the visual sensor relative motion program 43c in the storage device 43.

[0076] In the second embodiment, if the main control unit 41 receives a signal from the machine tool control unit 60 indicating that the cutting of the workpiece W has reached a previously defined stage, for example, if a machining start signal indicating that the machining tool T has started machining the outer circumferential edge of the workpiece W for the last pass is received as step S3-1, then the control unit 41 can create the visual sensor relative motion program 43c in step S3-2 to start the movement of the imaging device 11 along the location corresponding to the deburring section while the machining is being carried out using the machining tool T.

[0077] Instead of using the three-dimensional or two-dimensional data stored in machine tool 1 in step S3-2, the second embodiment can also use information about a machining location, such as training points used when machine tool 1 cuts workpiece W, or information about an actual machining location obtained from detection values ​​by the operating position detection devices of the servo motors in machine tool 1 while machine tool 1 is cutting workpiece W, to create the visual sensor relative motion program 43c. Furthermore, the three-dimensional or two-dimensional data and the machining location information can be used to create the visual sensor relative motion program 43c.

[0078] Instead of using the three-dimensional or two-dimensional data stored in the machine tool 1 in step S3-2, in this embodiment the main control unit 41 can also serve as an actual shape information repository for obtaining data indicating the actual shape of the cut workpiece W from the visual sensor 10 or the like, and can use the data and information regarding the field of view of the visual sensor 10 to create the visual sensor relative motion program 43c. In this case, the information regarding the actual shape of the cut workpiece W is obtained, thereby improving the precision of the visual sensor relative motion program 43c for detecting the elevation even for workpieces W that have different shapes and sizes.

[0079] In the second embodiment, the visual sensor relative motion program 43c for the robot 30 is created in step S3-2 to bring about a relative movement between the workpiece W, supported by the support 2, and the imaging device 11, and the robot 30 moves the imaging device 11 in step S3-3. Alternatively, the motion device 3, shown in the modification of the first embodiment, can move the support 2 while the robot 30 fixes the imaging device 11 in a previously defined position.

[0080] It is permissible for a force sensor to be arranged in the deburring tool 50 or the robot 30. The force sensor detects a force applied during deburring, and / or the visual sensor 10 performs a detection during or after deburring, and the main control unit 41 serves as a machining correctness determination means to determine the correctness of the deburring based on the detection result.

[0081] Furthermore, it is permissible for a force sensor to be arranged in the support 2 in the machine tool 1. The force sensor detects a force applied during deburring, and / or the visual sensor 10 performs a detection during or after deburring, and the main control unit 41 serves as a machining correctness determination device to determine the correctness of the deburring based on the detection result. LIST OF REFERENCE MARKS 1 machine tool 2nd edition 10 visual sensors 11 Imaging device 20 Motion device 30 robots 40 Robot control unit 50 deburring tools 60 machine tool control unit W workpiece

Claims

[1] Deburring device comprising the following: a robot (30) supporting a deburring tool (50) and using the deburring tool (50) to perform a deburring process on an object that is supported by a support (2) in a machine tool (1) and has been cut; a visual sensor (10), a relative motion means for initiating a relative movement between the visual sensor (10) and the object supported by the support (2), wherein the relative motion means a first base (21) which is attached to an upper wall or the like of the machine tool (1), a first rail (21a) which is arranged on the first base (21) and extends in an X-axis direction as a horizontal direction, a second base (22) which is supported by the first rail (21a) and is movable along the first rail (21a), a second rail (22a) which is arranged on the second base (22) and extends in a Y-axis direction as a horizontal direction, and a third base (23) which is supported by the second rail (22a) and is movable along the second rail (22a); a control unit that operates the relative motion means on the basis of a visual sensor relative motion program for controlling the operation of the relative motion means, such that the relative motion means moves the visual sensor relative to the object along a point corresponding to the section of the object to be deburred, and the object being partially within a field of view of the visual sensor, wherein the control unit is configured to operate the relative motion means in such a way that an increase in the object supported by the support (2) is detected by the visual sensor (10) during the relative movement; and a deburring operating program creation means that creates a deburring operating program using the detected elevation obtained by the visual sensor (10) when the relative motion means is operated based on the visual sensor relative motion program, wherein the deburring operating program is a program that operates the robot (30) and / or the machine tool (1) such that the deburring tool (50) moves along a location based on the detected elevation. [2] Deburring device according to claim 1, which further comprises a visual sensor program creation means which creates the visual sensor relative motion program using position and / or shape information which includes at least information about a position and shape of a section to be deburred in the cut object and information about a machining point along which a machining tool is moved during cutting in order to cause the relative movement after cutting such that the elevation is detected by the visual sensor (10). [3] Deburring device according to claim 1, further comprising: a means of preserving actual shape information for obtaining information about the actual shape of the cut object; and a visual sensor program creation means which creates the visual sensor relative motion program using the information regarding the actual shape obtained by the actual shape information preservation means and information about a field of view of the visual sensor (10) to cause the relative motion after cutting such that the increase is detected by the visual sensor (10). [4] Deburring device according to one of claims 1 to 3, wherein the visual sensor relative motion program serves to operate the relative motion means, such that the visual sensor (10) is moved relative to the object, the position and orientation of which are not changed, or such that the object is moved relative to the visual sensor (10), the position and orientation of which are not changed. [5] Deburring device according to any one of claims 1 to 4, wherein the deburring operating program includes robot operating commands to move the robot (30) supporting the deburring tool (50) relative to the object whose position and orientation are not changed. [6] Deburring device comprising the following: a robot (30) supporting a deburring tool (50) and using the deburring tool (50) to perform a deburring process on an object that is supported by a support (2) in a machine tool (1) and has been cut; a visual sensor (10), a relative motion means for initiating a relative movement between the visual sensor (10) and the object supported by the support (2), wherein the relative motion means a first base (21) which is attached to an upper wall or the like of the machine tool (1), a first rail (21a) which is arranged on the first base (21) and extends in an X-axis direction as a horizontal direction, a second base (22) which is supported by the first rail (21a) and is movable along the first rail (21a), a second rail (22a) which is arranged on the second base (22) and extends in a Y-axis direction as a horizontal direction, and a third base (23) which is supported by the second rail (22a) and is movable along the second rail (22a); a control unit that operates the relative motion means on the basis of a visual sensor relative motion program to control the operation of the relative motion means, such that an increase of the object supported by the support (2) is detected by the visual sensor (10) during the relative motion; and a deburring operating program creation means that creates a deburring operating program using the detected elevation obtained by the visual sensor (10) when the relative motion means is operated based on the visual sensor relative motion program, wherein the deburring operating program is a program that operates the robot (30) and / or the machine tool (1) such that the deburring tool (50) moves along a location based on the detected elevation, and wherein the deburring operating program contains machine tool operating commands to move the machine tool (1) to change the position and orientation of the object. [7] Deburring device comprising the following: a robot (30) supporting a deburring tool (50) and using the deburring tool (50) to perform a deburring process on an object that is supported by a support (2) in a machine tool (1) and has been cut; a visual sensor (10), a relative motion means for initiating a relative movement between the visual sensor (10) and the object supported by the support (2), wherein the relative motion means a first base (21) which is attached to an upper wall or the like of the machine tool (1), a first rail (21a) which is arranged on the first base (21) and extends in an X-axis direction as a horizontal direction, a second base (22) which is supported by the first rail (21a) and is movable along the first rail (21a), a second rail (22a) which is arranged on the second base (22) and extends in a Y-axis direction as a horizontal direction, and a third base (23) which is supported by the second rail (22a) and is movable along the second rail (22a); a control unit that operates the relative motion means on the basis of a visual sensor relative motion program to control the operation of the relative motion means, such that an increase of the object supported by the support (2) is detected by the visual sensor (10) during the relative motion; and a deburring operating program creation means that creates a deburring operating program using the detected elevation obtained by the visual sensor (10) when the relative motion means is operated based on the visual sensor relative motion program, wherein the deburring operating program is a program that operates the robot (30) and / or the machine tool (1) such that the deburring tool (50) moves along a location based on the detected elevation, and wherein the deburring device further comprises a machining correctness determination means which determines the correctness of the deburring process during or after the deburring process using a detection result from a force sensor arranged in the machine tool (1) and / or the visual sensor (10). [8] Deburring device according to any one of claims 1 to 6, which further comprises a processing correctness determination means that determines the correctness of the deburring process during or after the deburring process using a detection result from a force sensor arranged in the robot (30) and / or the visual sensor (10).

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