Deburring device

Abstract

To shorten time taken for deburring.SOLUTION: A deburring device (100) includes: a deburring unit (101) for removing burrs on a surface of a workpiece; and a robot (1) for moving the deburring unit (101) along the workpiece. The deburring unit (101) has a first measuring instrument (6) for reading a distance to a workpiece, a tool (5) for removing burrs, an actuator (3) for adjusting a distance between the tool (5) and the workpiece on the basis of a measurement result of the first measuring instrument (6), and a control section for controlling the deburring unit (101). The first measuring instrument (6) is arranged at a position preceding the tool (5) in an advancing direction of the deburring unit (101). The actuator (3) is a single axis actuator.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a deburring device, and more particularly to a technique for adjusting the position of a tool of a deburring device. [Background technology]

[0002] There is known a technique for measuring workpieces having large variations in shape using a laser displacement meter or the like, and determining the processing trajectory of a tool of a deburring device based on the measurement results.

[0003] Regarding deburring technology, for example, JP 2013-082019 A (Patent Document 1) discloses a deburring method that "includes a measurement process for measuring the shape of the burr on a workpiece, a root calculation process for calculating both side root positions at a predetermined root calculation point along the length of the burr based on the measurement values ​​obtained in the measurement process, a trajectory calculation process for calculating a trajectory of a deburring tool based on the root positions obtained in the root calculation process, and a deburring process for performing deburring processing while moving the deburring tool according to the trajectory obtained in the trajectory calculation process" (see [Abstract]). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2013-082019 A Summary of the Invention [Problem to be solved by the invention]

[0005] According to the technology disclosed in Patent Document 1, the burr measurement process, the trajectory calculation process of the deburring tool, and the deburring process must be performed separately, which may lengthen the deburring process time. Therefore, a technology for shortening the time required for deburring is needed.

[0006] The present disclosure has been made in consideration of the above-described background, and an object of one aspect of the present disclosure is to provide a technique for shortening the time required for deburring processing. [Means for solving the problem]

[0007] According to one embodiment, there is provided a deburring device. The deburring device includes a deburring unit for removing burrs from a surface of a workpiece, and a robot for moving the deburring unit along the workpiece. The deburring unit includes a first measuring device for reading a distance to the workpiece, a tool for removing the burrs, an actuator for adjusting a distance between the tool and the workpiece based on a measurement result of the first measuring device, and a control unit for controlling the deburring unit. The first measuring device is disposed at a position preceding the tool in the traveling direction of the deburring unit, and the actuator is a single-axis actuator. Effect of the Invention

[0008] According to an embodiment, it is possible to reduce the time required for the deburring process. The above and other objects, features, aspects and advantages of the present disclosure will become apparent from the following detailed description of the disclosure taken in conjunction with the accompanying drawings. [Brief description of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an example of the appearance of a deburring device 100 according to an embodiment. [Diagram 2] 2 is a diagram showing an example of a circuit configuration of the deburring device 100. FIG. [Diagram 3] 5A to 5C are diagrams illustrating an example of the operation of the deburring unit 101. [Figure 4] 11A and 11B are diagrams illustrating an example of the operation of the deburring unit 101 when the moving direction of the deburring unit 101 is misaligned with the workpiece. [Diagram 5] 11A to 11C are diagrams illustrating an example of the operation of the deburring unit 101 when the workpiece is curved. [Figure 6] This is a diagram showing an example of the deburring unit 601 during learning. [Figure 7] This is a diagram showing an example of the configuration of the deburring device 700. [Figure 8] This is a diagram showing a first example of the operation of the deburring device 700. [Figure 9] This is a diagram showing a second example of the operation of the deburring device 700. [Figure 10] This is a diagram showing an example of the configuration of the deburring device 1000. [Figure 11] This is a diagram showing an example of the configuration of the deburring device 1100. [Figure 12] This is a diagram showing an example of the configuration of the deburring device 1200.

Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments of the technical idea according to the present disclosure will be described with reference to the drawings. In the following description, the same parts are denoted by the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

[0011] <A. Hardware Configuration of Deburring Device> First, with reference to FIGS. 1 and 2, the appearance, operation outline, circuit configuration, etc. of the deburring device according to the present embodiment will be described.

[0012] (a. Appearance of Deburring Device) FIG. 1 is a diagram showing an example of the appearance of the deburring device 100 according to the present embodiment. The configuration of the deburring device 100 will be described with reference to FIG. 1. The deburring device 100 includes a robot 1 and a deburring unit 101. The deburring unit 101 includes a base mounting plate 2, a uniaxial actuator 3, a spindle 4, a rotary tool 5, and a measuring instrument 6.

[0013] The robot 1 is composed of multiple motors (drive units). The robot 1 has a deburring unit 101 attached to its tip, and can move the deburring unit 101 along a workpiece. In a certain aspect, the robot 1 may be a vertical articulated robot, a horizontal articulated robot, a Cartesian robot, or any other robot.

[0014] The deburring unit 101 is a unit for removing burrs from a workpiece (base material), and is provided with measuring instruments, tools, etc. for that purpose.

[0015] The base mounting plate 2 is connected to the robot 1. In addition, a single-axis actuator 3 and a measuring instrument 6 are attached to the base mounting plate 2, for example.

[0016] The single-axis actuator 3 adjusts the distance between the spindle 4 and the workpiece to be deburred by moving the spindle 4 using a driving unit such as a motor. The single-axis actuator 3 operates independently of each motor of the robot 1. In one aspect, the single-axis actuator 3 may be a linear motion mechanism combining a servo motor and a ball screw, a linear motion mechanism using a linear motor, a ROBO Cylinder, or any linear motion mechanism capable of position control.

[0017] The spindle 4 rotates a rotary tool 5 attached to the tip of the spindle 4. The spindle 4 may include any mechanical parts such as, for example, a DC (Direct Current) motor, a spindle, a collet, and a chuck.

[0018] The rotating tool 5 is a tool for deburring a workpiece. The rotating tool 5 can remove burrs from the workpiece by rotating at high speed using a DC motor or the like of the spindle 4. In a certain aspect, the deburring unit 101 can use, instead of the rotating tool 5, a device capable of deburring, such as a nichrome wire, a laser processing machine, or a non-rotating cutting tool, as a deburring tool.

[0019] The measuring device 6 measures the distance from the measuring device 6 to the workpiece. The measuring device 6 is disposed in a position (forward) preceding the rotating tool 5 in the traveling direction of the deburring unit 101. The position or range of the burr may vary widely depending on the shape of the workpiece. Therefore, the measuring device 6 is configured to be adjustable in position on the base mounting plate 2. As an example, the base mounting plate 2 may be provided with a plurality of holes for screwing the measuring device 6. In one aspect, the measuring device 6 may be a laser displacement meter. In this case, the measuring device 6 may be a one-dimensional laser displacement meter or a two-dimensional laser displacement meter. In another aspect, the measuring device 6 may be any measuring device other than the laser displacement meter. The same applies to the measuring device 7 and the measuring device 9 described later.

[0020] It is desirable that the irradiation direction of the laser or the like of the measuring device 6 and the operation axis direction of the single-axis actuator 3 are as parallel as possible. For that reason, the deburring unit 101 may be configured so that the mounting accuracy of the measuring device 6 and the single-axis actuator 3 to the base mounting plate 2 is guaranteed by using pins, reamer bolts, etc.

[0021] Furthermore, the base mounting plate 2 may be configured so that the mounting accuracy with respect to the robot 1 is guaranteed by a guide or the like.

[0022] Furthermore, the measuring device 6 may be configured to be attachable not only to a position leading the rotating tool 5 in the moving direction of the deburring unit 101, but also to a position lagging (rearward) behind the rotating tool 5. In this way, the measuring device 6 can be ahead of the rotating tool 5 even when the deburring unit 101 moves in the opposite direction.

[0023] Other components included in the deburring unit 101, such as the base mounting plate 2, the single-axis actuator 3, the spindle 4, the rotating tool 5, and the measuring instrument 6, can be configured to be detachable.

[0024] (b. Overview of operation of deburring device) Next, a description will be given of an outline of the operation of the deburring device 100. The robot 1 moves the deburring unit 101 along a workpiece on a predetermined path in accordance with a program or the like.

[0025] When the deburring unit 101 moves along the workpiece, the measuring instrument 6 measures the distance from the measuring instrument 6 to the workpiece ahead of the rotating tool 5. The measuring instrument 6 outputs the measurement result to a deburring unit controller 202 (see FIG. 2). Based on the measurement result of the measuring instrument 6, the deburring unit controller 202 drives the single-axis actuator to adjust the positions of the spindle 4 and the rotating tool 5 relative to the workpiece. Next, the rotating tool 5, whose position has been adjusted, cuts off the burr of the workpiece.

[0026] The rotating tool 5 is always positioned behind the measuring instrument 6 in the moving direction of the deburring unit 101. Therefore, the deburring unit 101 can execute three processes, namely, measurement by the measuring instrument 6, position adjustment of the rotating tool 5, and deburring by the rotating tool 5, by moving near the workpiece only once.

[0027] When adjusting the position of the rotating tool 5, the deburring unit controller 202 can determine how many seconds (or milliseconds) after the measurement result of the measuring instrument 6 is obtained to drive the single-axis actuator 3 based on the distance between the measuring instrument 6 and the rotating tool 5 and the moving speed of the deburring unit 101.

[0028] If the distance between the measuring device 6 and the rotating tool is sufficiently long, the deburring unit controller 202 can also perform deburring processing on a workpiece that cannot be cut by pressing the rotating tool 5 against it. Workpieces that cannot be cut by pressing the rotating tool 5 against it can include, for example, soft objects such as foamed materials, or materials that easily crumble or generate powder when the workpiece (base material) is cut.

[0029] When the measuring instrument 6 is a one-dimensional laser displacement meter, the measuring instrument 6 measures the burr root position (the distance from the measuring instrument 6 to the workpiece) of the workpiece (base material). When the measuring instrument 6 is a two-dimensional laser displacement meter, the measuring instrument 6 may also measure the burr shape of the workpiece. In some aspects, the two-dimensional laser displacement meter may measure either or both of the burr root position and the burr shape of the workpiece. The deburring unit controller 202 may identify the position and shape of the workpiece by data processing based on the measurement results of the measuring instrument 6, and control the single-axis actuator 3 based on the results of the data processing.

[0030] It is desirable to determine the distance between the measuring device 6 and the rotary tool 5, the operating speed of the robot 1, etc., taking into consideration the time required for the deburring unit controller 202 to process data.

[0031] In addition, the deburring unit 101 may include an air nozzle (not shown) for removing burr powder and the like generated by the deburring process. By including the air nozzle, the deburring unit 101 can prevent powder from adhering to the measuring instrument 6 and the like, thereby preventing the accuracy of the measurement result by the measuring instrument 6 from decreasing. In a certain aspect, the blowing direction of the air nozzle may be shifted from the traveling direction of the deburring unit 101 so that the measuring instrument 6 is not affected by the powder. For example, the blowing direction of the air nozzle may be opposite to the traveling direction of the deburring unit 101. This can prevent powder blown up by the air nozzle from adhering to the measuring instrument 6.

[0032] As described above, the deburring device 100 according to this embodiment can execute three processes, namely, measurement by the measuring device 6, position adjustment of the rotating tool 5, and deburring processing by the rotating tool 5, by simply moving once near the workpiece. As a result, the deburring device 100 can remove burrs from the workpiece in a shorter time than conventional deburring devices.

[0033] Furthermore, since the deburring device 100 can process the workpiece immediately after the measuring device 6 measures the distance to the workpiece, it can deburr the workpiece with high accuracy regardless of the processing distance, even for materials such as foamed materials whose shape gradually expands immediately after molding.

[0034] 2 is a diagram showing an example of a circuit configuration of the deburring device 100. The deburring device 100 includes a robot controller 201 and a deburring unit controller 202 as a control circuit.

[0035] The robot controller 201 controls the robot 1. More specifically, the robot controller 201 can adjust the number of rotations, rotation speed, torque, etc. of the servo motors of each axis of the robot 1. In one aspect, the robot controller 201 can include a processor (not shown), a main memory (not shown), a storage unit (not shown), and multiple servo motor controllers (not shown). In this case, the processor can load a program for controlling the robot 1 read from the storage unit into the main memory and execute the program. The processor can also control the servo motors of each axis of the robot 1 via the multiple servo motor controllers.

[0036] The deburring unit controller 202 acquires the measurement result of the measuring instrument 6, and drives the single-axis actuator 3 to adjust the position of the rotary tool 5 based on the measurement result. The deburring unit controller 202 can control the single-axis actuator 3 independently of the control of the robot 1 by the robot controller 201. The robot controller 201 and the deburring unit controller 202 operate independently, but may exchange various information. As an example, the robot controller 201 can transmit information on the tip speed of the robot 1 and the execution timing of deburring to the deburring unit controller 202. In a certain aspect, the deburring unit controller 202 can include a processor (not shown), a main memory (not shown), a storage unit (not shown), and a controller (not shown) of the single-axis actuator 3. In this case, the processor can load a program for controlling the single-axis actuator 3 read from the storage unit into the main memory and execute the program. The processor can also control the single-axis actuator 3 via the controller of the single-axis actuator 3.

[0037] The "tip speed of the robot 1" is the moving speed of the deburring unit 101. The deburring unit 101 can determine the timing to control the single-axis actuator 3 based on the acquired tip speed of the robot 1 and the distance between the measuring instrument 6 and the rotating tool 5. For example, if the distance between the measuring instrument 6 and the rotating tool 5 is 50 mm and the tip speed of the robot 1 is 50 mm / s, the rotating tool 5 will pass the measurement point on the workpiece one second after the measuring instrument 6 measures the distance to the workpiece. In this case, the deburring unit controller 202 controls the single-axis actuator 3 so that the rotating tool 5 can remove the burr at the measurement point one second after the measuring instrument 6 measures the distance to the workpiece.

[0038] The "information on the execution timing of deburring" indicates the timing at which the deburring unit 101 performs deburring. For example, assume that the section from point A to point B on the workpiece is the section where deburring is performed, and the section from point B to point C on the workpiece is the section where deburring is not performed. In this case, the controller 202 for the deburring unit controls the uniaxial actuator 3 while the rotary tool 5 passes from point A to point B on the workpiece. Conversely, the controller 202 for the deburring unit may not control the uniaxial actuator 3 while the rotary tool 5 passes from point B to point C on the workpiece.

[0039] However, in reality, there is a certain time lag from when the controller 202 for the deburring unit outputs a control signal until the rotary tool 5 moves to the target position. Therefore, the controller 202 for the deburring unit may control the uniaxial actuator 3 while the rotary tool 5 passes from point A to point B on the workpiece and for several seconds before and after that.

[0040] <B. Operation of Deburring Unit> Next, with reference to FIGS. 3 to 6, the operation procedure of the deburring unit 101 and cases where adjustment of the position of the rotary tool 5 by the deburring unit 101 is necessary will be described.

[0041] FIG. 3 is a diagram showing an example of the operation of the deburring unit 101. With reference to FIG. 3, the basic operation of the deburring unit 101 will be described. The deburring unit 101 shown in FIG. 3 is a view of the deburring unit 101 shown in FIG. 1 from above. The workpiece 300 is the object of deburring by the deburring unit 101, and burrs 310 exist on the surface of the workpiece 300.

[0042] A traveling direction 340 of the deburring unit 101 is parallel to the workpiece 300 that is the target of deburring. A traveling direction 330 of the single-axis actuator 3 is perpendicular to the traveling direction of the deburring unit 101. The measuring device 6 always precedes the rotating tool 5 in the traveling direction of the deburring unit 101. Therefore, the deburring unit 101 can perform both measurement of the workpiece 300 or burrs 310 and deburring processing in one movement by controlling the single-axis actuator 3 based on the measuring device 6.

[0043] As an example, the measuring device 6 obtains a measurement result of point A of the workpiece 300. In this case, the measuring device 6 transmits the measurement result of point A to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring device 6 and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that the distance between the rotating tool 5 and the workpiece 300 at point A is a predetermined distance. In other words, the deburring unit controller 202 moves the rotating tool 5 to a position at point A where the burr 310 can be removed without damaging the workpiece 300. In a certain aspect, the deburring unit controller 202 may obtain information on the distance between the measuring device 6 and the rotating tool 5 in advance. In this case, the deburring unit controller 202 uses the information on the distance between the measuring device 6 and the rotating tool 5 to control the single-axis actuator 3.

[0044] As described above, the deburring unit controller 202 repeatedly controls the single-axis actuator 3 in the section where deburring is required. As a result, the deburring unit controller 202 can remove the burrs 310 while always keeping the distance between the rotating tool 5 and the workpiece 300 constant, even if the workpiece 300 is distorted, for example.

[0045] Fig. 4 is a diagram showing an example of the operation of the deburring unit 101 when the moving direction of the deburring unit 101 is misaligned with the workpiece. Unlike the example of Fig. 3, the example shown in Fig. 4 shows a situation in which the deburring unit 101 is tilted and the moving direction 440 of the deburring unit 101 is not parallel to the workpiece 300. Even in such a case, the deburring unit 101 can remove the burr 310 from the workpiece 300 by the control described with reference to Fig. 3.

[0046] As an example, it is assumed that the measuring instrument 6 has obtained measurement results of points A and B of the workpiece 300. In this case, the measuring instrument 6 first transmits the measurement result of point A to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point A and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that the rotating tool 5 and the workpiece 300 are spaced a predetermined distance apart at point A.

[0047] Next, the measuring instrument 6 transmits the measurement result of point B to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point B and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that the rotating tool 5 and the workpiece 300 are spaced a predetermined distance apart at point B.

[0048] The moving direction 440 of the deburring unit 101 is a direction away from the workpiece 300. Therefore, the measurement result at point B (the distance from the measuring device 6 to the workpiece 300 at point B) is greater than the measurement result at point A (the distance from the measuring device 6 to the workpiece 300 at point A). Therefore, the deburring unit 101 feeds back the difference between the measurement results at points A and B to the moving distance of the single-axis actuator 3. That is, the moving distance of the single-axis actuator 3 at point B is greater than the moving distance of the single-axis actuator 3 at point A. As a result, even if the deburring unit 101 is tilted or the moving direction 440 of the deburring unit 101 is not parallel to the workpiece 300, the deburring unit 101 can remove the burr 310 while always keeping the distance between the rotating tool 5 and the workpiece 300 constant.

[0049] Fig. 5 is a diagram showing an example of the operation of the deburring unit 101 when the workpiece is curved. The example shown in Fig. 5 illustrates a situation in which the surface of the workpiece 400 is curved, unlike the examples in Figs. 3 and 4. Even in such a case, the deburring unit 101 can remove the burr 410 of the workpiece 400 by the control described with reference to Fig. 3. The traveling direction 540 of the deburring unit 101 is assumed to be parallel to the non-curved surface of the workpiece 400 (the surface without the burr 410).

[0050] As an example, it is assumed that the measuring instrument 6 has obtained measurement results of points A, B, and C of the workpiece 400. In this case, the measuring instrument 6 first transmits the measurement result of point A to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point A and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that the rotating tool 5 and the workpiece 400 are spaced a predetermined distance apart at point A.

[0051] Next, the measuring instrument 6 transmits the measurement result of point B to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point B and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that the rotating tool 5 and the workpiece 400 are spaced a predetermined distance apart at point B.

[0052] Similarly, the measuring instrument 6 transmits the measurement result of point C to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point C and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that the rotating tool 5 and the workpiece 400 are spaced a predetermined distance apart at point C.

[0053] Since the workpiece 400 is curved, the deburring unit 101 moves away from the workpiece 400 at points A and C, and approaches the workpiece 400 at point B. Therefore, the measurement result at point B (the distance from the measuring device 6 to the workpiece 400 at point B) is smaller than the measurement result at points A and C (the distance from the measuring device 6 to the workpiece 400 at points A and C). The deburring unit 101 feeds back the difference between the measurement results at each point to the moving distance of the single-axis actuator 3. That is, the moving distance of the single-axis actuator 3 at point B is smaller than the moving distance of the single-axis actuator 3 at points A and C. As a result, the deburring unit 101 can remove the burr 410 while always keeping the distance between the rotating tool 5 and the workpiece 400 constant, even if the surface of the workpiece 400 is curved.

[0054] 6 is a diagram showing an example of the deburring unit 601 during learning. The deburring unit 601 is a configuration for making the deburring device 100 learn the deburring operation. The deburring unit 601 collects learning data for reducing the influence on deburring caused by curvature or distortion of the workpiece, deviation in the moving direction of the actual deburring unit 101, and the like. After collecting the learning data, the configuration of the tip of the deburring device 100 is returned to the deburring unit 101.

[0055] The deburring unit 601 is different from the deburring unit 101 in that a measuring instrument 6 and a measuring instrument 7 are attached to the deburring unit 601. The measuring instrument 6 is attached to a position preceding the rotating tool 5 on the base mounting plate 2 in the traveling direction of the deburring unit 601. The measuring instrument 7 is attached to the base mounting plate 2 in the same position as the rotating tool 5 in the traveling direction of the deburring unit 601. For example, the measuring instrument 7 is attached to the base mounting plate 2 via an extension part 8.

[0056] For example, if the direction of travel of the deburring unit 601 is not along the workpiece, or if the workpiece is distorted or curved, controlling the single-axis actuator 3 based only on the measurement results of the measuring instrument 6 preceding the rotating tool 5 may result in a decrease in the machining accuracy of the workpiece due to deviations in the trajectory of the deburring unit 601, etc.

[0057] Therefore, the deburring device 100 measures the workpiece in a general manner with the two measuring devices 6 and 7 attached to the deburring unit 601, thereby learning about the curvature of the workpiece or the deviation of the trajectory of the deburring unit 601. Note that the number of learning steps may be any number of times. After the learning process is completed, the configuration of the tip end of the deburring device 100 is returned to the deburring unit 101.

[0058] In a certain situation, the controller 202 for the deburring unit may offset (adjust) the moving amount (driving amount) of the single-axis actuator 3 based on the learning data. In another situation, the robot controller 201 may offset (adjust) the moving amount (rotation amount) of each axis of the robot 1 based on the learning data acquired from the controller 202 for the deburring unit. In another situation, the deburring unit 601 during the learning process may not include the spindle 4.

[0059] <C. Variations of the Deburring Device> Next, with reference to FIGS. 7 to 12, variations of the deburring device will be described. The functions of the deburring device 100 in FIG. 1 and the functions of each deburring device described hereinafter can be used in appropriate combinations.

[0060] FIG. 7 is a diagram showing an example of the configuration of the deburring device 700. The deburring device 700 includes the deburring unit 601 shown in FIG. 6 as a production configuration. By including the measuring instruments 6 and 7, the deburring device 700 can correct the moving distance of the single-axis actuator 3 in consideration of the posture of the unit with respect to the workpiece based on the difference in the measurement information of the two laser displacement meters in real time even during the processing of the workpiece (deburring). The measuring instrument 6 is attached to the base mounting plate 2 so as to be in a position ahead of the rotary tool 5 in the advancing direction of the deburring unit 601. The measuring instrument 7 is attached to the base mounting plate 2 via the extension part 8 so as to be in the same position as the rotary tool 5 in the advancing direction of the deburring unit 701.

[0061] For example, in the situations shown in FIGS. 8 and 9 described below, the deburring device 700 can offset (adjust) the moving distance of the single-axis actuator 3 based on the difference in the measurement results of the measuring instruments 6 and 7.

[0062] Fig. 8 is a diagram showing a first example of the operation of the deburring device 700. In the example shown in Fig. 8, the traveling direction 880 of the deburring unit 601 is not parallel to the workpiece 300, but is a direction away from the workpiece 300.

[0063] 9 is a diagram showing a second example of the operation of the deburring device 700. In the example shown in FIG.

[0064] 8 or 9, a difference occurs between the measurement results of the measuring instruments 6 and 7. Therefore, the deburring device 700 offsets (adjusts) the moving distance of the single-axis actuator 3 based on the difference between the measurement results of the measuring instruments 6 and 7. As a result, the deburring device 700 can remove the burr 310 while always keeping the distance between the rotating tool 5 and the workpiece 300 constant, even if the moving direction 880 of the deburring unit 601 is not parallel to the workpiece 300 or the deburring unit 601 is inclined with respect to the workpiece 300.

[0065] 10 is a diagram showing an example of the configuration of a deburring device 1000. The deburring device 1000 is obtained by adding a measuring device 9 for measuring the processing state after deburring to the deburring device 100. The measuring device 6 is attached to a position preceding the rotating tool 5 on the base mounting plate 2 in the traveling direction of the deburring unit 1001. The measuring device 9 is attached to a position lagging behind the rotating tool 5 on the base mounting plate 2 in the traveling direction of the deburring unit 1001. For example, the measuring device 9 is attached to the base mounting plate 2 via an expansion part 10.

[0066] Like the deburring device 100, the deburring device 1000 controls the single-axis actuator 3 based on the measurement results of the measuring device 6. The measuring device 9 measures the distance to the workpiece after the rotary tool 5 has performed the deburring process. The deburring unit controller 202 judges whether the deburring result is acceptable or not based on the measurement results obtained from the measuring device 9. If the deburring result is unacceptable, the deburring device 1000 may perform the deburring process again or may classify the workpiece as defective.

[0067] 11 is a diagram showing an example of the configuration of a deburring device 1100. The deburring device 1100 is configured by attaching a roller 11 that comes into contact with a workpiece and a force sensor 12 instead of the measuring device 6 to the deburring device 100.

[0068] The deburring device 1100 includes a deburring unit 1101. The deburring unit 1101 includes a base mounting plate 2, a single-axis actuator 3, a spindle 4, a rotating tool 5, a mounting plate 13, a force sensor 12, a roller 11, and a roller mounting part 14.

[0069] The mounting plate 13 is attached to the spindle 4. Furthermore, the force sensor 12 is attached to the mounting plate 13, and the roller 11 is attached to the force sensor 12 via a roller mounting part 14. The roller 11 and the force sensor 12 are disposed in a position substantially equal to or slightly ahead of the rotating tool 5 in the traveling direction of the deburring unit 1101. Furthermore, the roller 11 is configured so that the rotation direction of the roller 11 substantially coincides with the traveling direction of the deburring unit 1101.

[0070] The deburring device 1100 moves while pressing the roller 11 against the workpiece. The roller 11 rolls on the surface of the workpiece. The force sensor 12 measures the repulsive force received from the workpiece via the roller 11. The deburring unit controller 202 adjusts the movement amount (drive amount) of the single-axis actuator 3 based on the measurement result acquired from the force sensor 12 so that the repulsive force received from the workpiece falls within a certain value range. In this way, the deburring device 1100 can both measure the repulsive force received from the workpiece and deburr the workpiece during one movement of the deburring unit 1101.

[0071] In addition, the vertical articulated robot can control the torque of each motor based on the load on the motor of each joint. However, if the weight of the deburring unit 1101 becomes large, the load on each motor of the robot 1 (the repulsive force from the workpiece) cannot be detected unless the rotating tool 5 is pressed against the workpiece with some force.

[0072] Therefore, the deburring device 1100 can remove only the burrs from the workpiece made of a soft material by adjusting the driving amount of the single-axis actuator 3 based on the minute repulsive force acting on the force sensor 12.

[0073] In one aspect, the deburring unit controller 202 may adjust the driving amount of the single-axis actuator 3 using the force sensor 12 only in the section where deburring is performed, based on information on the timing of deburring execution received from the robot controller 201.

[0074] In another aspect, the deburring device 1100 may hold, as control parameters of the deburring unit controller 202, settings of parameters such as the gain of the output value of the force sensor 12, settings of the speed at which the single-axis actuator 3 approaches the workpiece when the repulsive force detected by the force sensor 12 is 0, etc. Furthermore, these control parameters may be externally changeable as appropriate.

[0075] In another aspect, the deburring device 1100 may obtain an output result of the force sensor 12 when the roller 11 is slowly pressed against the workpiece, and automatically generate control parameters based on the output result. The deburring device 1100 may also adjust the control parameters based on both the parameters manually set in the deburring unit controller 202 by the user and the output result of the force sensor 12.

[0076] 12 is a diagram showing an example of the configuration of a deburring device 1200. The deburring device 1200 is configured by attaching a roller 11 that comes into contact with a workpiece, a force sensor 12, and a spring 15 instead of the measuring device 6 to the deburring device 100.

[0077] The deburring device 1200 includes a deburring unit 1201. The deburring unit 1201 includes a base mounting plate 2, a single-axis actuator 3, a spindle 4, a rotating tool 5, a mounting plate 13, a force sensor 12, a roller 11, a roller mounting part 14, and a spring 15. The deburring unit 1201 may further include a damper 16.

[0078] As an example, the mounting plate 13 is connected to the robot 1 via a spring 15. As another example, the mounting plate 13 is connected to a part of the deburring unit 1201 fixed to the tip of the robot 1 via a spring. The spring 15 is compressed when the roller 11 is pressed against the workpiece. That is, the spring 15 absorbs a part of the force that the deburring unit 1201 receives from the workpiece. As a result, the change in the signal of the force sensor 12 in the deburring device 1200 becomes gentler than the change in the signal of the force sensor 12 in a configuration without the spring 15 (the configuration of the deburring device 1100). In addition, since the change in the signal of the force sensor 12 becomes gentler, the feedback control of the single-axis actuator 3 based on the measurement value of the force sensor 12 in the deburring device 1200 also becomes gentler. In a certain aspect, the deburring unit 1201 may be provided with a guide such as a shaft so that the mounting plate 13 moves linearly in a direction in which the spring 15 is compressed. As an example, if the spring 15 is a coil spring, the guide may be located inside the spring 15 .

[0079] As described above, by providing the deburring device 1200 with the spring 15, it is possible to lower the required accuracy (quick response performance) required for the feedback control of the single-axis actuator 3. As a result, the deburring unit controller 202 can perform the feedback control of the single-axis actuator 3 in a shorter time. Since the time required for the feedback control of the single-axis actuator 3 is shortened, the deburring device 1200 can operate the robot 1 at a higher speed to perform the deburring work.

[0080] Moreover, the deburring unit 1201 may include a damper 16 to prevent vibration of the spring 15. By including the damper 16, the deburring unit 1201 can prevent or suppress vibration of the spring 15 when the roller 11 separates from the workpiece. The damper 16 is disposed at any position where vibration of the spring 15 can be suppressed. For example, the damper 16 may be disposed in parallel with the spring 15. Note that, if the vibration of the spring 15 when the roller 11 separates from the workpiece is small, the deburring unit 1201 does not need to include the damper 16.

[0081] As described above, the deburring device according to this embodiment includes measuring devices (laser displacement meters, force sensors, etc.) that obtain information on the workpiece or burrs ahead of the deburring tool, facing the moving direction of the deburring unit. This allows the deburring device to complete the measurement of the distance to the workpiece or the shape of the burr, the adjustment of the position of the deburring tool, and the deburring process by moving the deburring unit just once.

[0082] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present disclosure is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. In addition, the disclosure contents described in the embodiments and each modified example are intended to be implemented, as far as possible, either alone or in combination. [Explanation of symbols]

[0083] 1 robot, 2 base mounting plate, 3 single-axis actuator, 4 spindle, 5 rotating tool, 6, 7, 9 measuring instrument, 8, 10 extension part, 11 roller, 12 force sensor, 13 mounting plate, 14 roller mounting part, 15 spring, 16 damper, 100, 700, 1000, 1100, 1200 deburring device, 101, 601, 701, 1001, 1101, 1201 deburring unit, 201 robot controller, 202 deburring unit controller, 300, 400 workpiece, 310, 410 burr, 330, 340, 440, 540, 880 travel direction.

Claims

1. a deburring unit for removing burrs from a surface of the workpiece; A robot for moving the deburring unit along a workpiece; A controller for controlling the deburring unit, The deburring unit includes: a laser displacement meter as a first measuring instrument for reading a distance to a burr root position of the workpiece; A rotary tool for removing the burrs; and an actuator that adjusts the distance between the rotary tool and the workpiece during deburring operation in a section where deburring is required based on a measurement result of the first measuring device, A deburring device, wherein the first measuring device is arranged at a position preceding the rotating tool in a traveling direction of the deburring unit.

2. The deburring unit further includes an air nozzle for removing burr powder generated by the deburring process; The deburring device according to claim 1 , wherein the air nozzle is configured such that a direction in which the air is blown out of the air nozzle is shifted from a direction in which the deburring unit moves.

3. The robot is composed of a plurality of drive units, The deburring device according to claim 1 , wherein the actuator is a single-axis actuator having an operating axis direction parallel to a laser beam emitted by the laser displacement gauge.

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