Processing method

Abstract

To extend life of a flap wheel.SOLUTION: A processing method includes a first step of pressing a flap wheel 2 having a plurality of abrasive cloth / paper 22 against a workpiece W to be processed while rotating the flap wheel in a first direction, and a second step of pressing the flap wheel 2 against a dresser 7 while rotating the flap wheel in a second direction opposite to the first direction.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to processing methods. [Background technology]

[0002] As an example of a processing method, there is a method using a flap wheel, as disclosed in Patent Document 1. The flap wheel has multiple abrasive cloths arranged radially. The surface of the workpiece is polished by pressing the flap wheel against the workpiece while rotating. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Utility Model Application Publication No. 7-11254 Summary of the Invention [Problem to be solved by the invention]

[0004] In the process of processing using a flap wheel, the cutting power of the flap wheel decreases as the tip side of the abrasive cloth wears. When the cutting power of the flap wheel decreases to a certain extent, it may become necessary to replace the flap wheel. Therefore, it is desirable to extend the life of the flap wheel.

[0005] An object of the present disclosure is to provide a processing method that allows for a longer life for flap wheels. [Means for solving the problem]

[0006] In order to solve the above problems, the processing method disclosed herein includes a first step of pressing a flap wheel having a plurality of abrasive cloths against a workpiece while rotating the flap wheel in a first direction, and a second step of pressing the flap wheel against a dresser while rotating the flap wheel in a second direction opposite to the first direction.

[0007] The method may further include a third step of pressing the flap wheel against an object other than the workpiece while rotating in the first direction.

[0008] The second step may be started at a preset timing.

[0009] In the second step, the flap wheel may be pressed against the dresser for a preset period of time.

[0010] The method may further include a fourth step of measuring the shape of the surface of the workpiece machined by the first step, and one or both of the start timing of the second step and the time for pressing the flap wheel against the dresser in the second step may be determined based on the measurement result in the fourth step.

[0011] The method may further include a fifth step of detecting a state of the flap wheel, and one or both of the start timing of the second step and the time for which the flap wheel is pressed against the dresser in the second step may be determined based on the detection result in the fifth step. Effect of the Invention

[0012] According to the present disclosure, the life of the flap wheel can be extended. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is a schematic diagram showing a processing device according to an embodiment of the present disclosure. [Diagram 2] FIG. 2 is a perspective view of a flap wheel according to an embodiment of the present disclosure. [Diagram 3] FIG. 3 is a schematic cross-sectional view showing a coated abrasive according to an embodiment of the present disclosure. [Figure 4] FIG. 4 is a flowchart showing a flow of a first processing example of the processing method according to the embodiment of the present disclosure. [Diagram 5] FIG. 5 is a diagram showing the appearance of a flap wheel in a processing step according to an embodiment of the present disclosure. [Figure 6] FIG. 6 is a diagram showing the state of the flap wheel in the dressing process according to an embodiment of the present disclosure. [Figure 7] FIG. 7 is a diagram showing a change in the shape of the tip of the coated abrasive before and after the dressing process according to an embodiment of the present disclosure. [Figure 8] FIG. 8 is a flowchart showing a flow of a second processing example of the processing method according to an embodiment of the present disclosure. [Figure 9] FIG. 9 is a diagram showing the appearance of a flap wheel in a deburring process according to an embodiment of the present disclosure. [Figure 10] FIG. 10 is a diagram showing a change in the shape of the tip of the coated abrasive before and after a deburring process according to an embodiment of the present disclosure. [Figure 11] FIG. 11 is a flowchart showing a flow of a third processing example of the processing method according to an embodiment of the present disclosure. [Figure 12] FIG. 12 is a flowchart showing a flow of a fourth processing example of the processing method according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present disclosure will be described with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values ​​shown in the embodiments are merely examples for ease of understanding, and do not limit the present disclosure unless otherwise specified. In this specification and drawings, elements having substantially the same functions and configurations are given the same reference numerals to avoid repeated explanations, and elements not directly related to the present disclosure are not illustrated.

[0015] Fig. 1 is a schematic diagram showing a processing device 1 according to this embodiment. As shown in Fig. 1, the processing device 1 includes a flap wheel 2, a robot arm 3, a spindle motor 4, a force sensor 5, a camera 6, a dresser 7, a deburring member 8, a measuring device 9, and a control device 10.

[0016] The processing device 1 is a device that performs surface processing of a workpiece W using a flap wheel 2. Details of the flap wheel 2 will be described later. The workpiece W is held on a holding table or the like. Various parts can be used as the workpiece W. For example, the workpiece W can be a mold or an engine component. The processing device 1 is particularly suitable for processing a workpiece W having a curved surface. The following mainly describes a case where the workpiece W is polished as the surface processing. However, the processing device 1 may also perform processing other than polishing, such as deburring the workpiece W.

[0017] The robot arm 3 adjusts the position and posture of the flap wheel 2. The robot arm 3 has a plurality of link parts 31, 32, 33, 34, a plurality of joint parts 35, 36, 37, and a base member 38. The link parts 31, 32, 33, 34 are rod-shaped members. The link part 31 extends in the vertical direction. The base end of the link part 31 is attached to the upper surface of the base member 38. The base member 38 is installed on the ground. The link part 31 is provided so as to be rotatable around the central axis of the link part 31. The tip of the link part 31 is connected to the base end of the link part 32 via the joint part 35. The joint part 35 is provided so as to be rotatable around a horizontal axis. The rotational movement of the joint part 35 causes the link part 32 to rotate around the rotation axis of the joint part 35.

[0018] A tip of the link portion 32 is connected to a base end of the link portion 33 via a joint portion 36. The joint portion 36 is provided so as to be rotatable about a horizontal axis. The rotational movement of the joint portion 36 causes the link portion 33 to rotate about the rotational axis of the joint portion 36. The link portion 33 is provided so as to be rotatable about the center line of the link portion 33. A tip of the link portion 33 is connected to a base end of the link portion 34 via a joint portion 37. The joint portion 37 is provided so as to be rotatable about a horizontal axis. The rotational movement of the joint portion 37 causes the link portion 34 to rotate about the rotational axis of the joint portion 37. The link portion 34 is provided so as to be rotatable about the center line of the link portion 34.

[0019] A spindle motor 4 is attached to the tip of the link portion 34. A flap wheel 2 is attached to the tip side of the spindle motor 4. The spindle motor 4 rotates the flap wheel 2. However, instead of the spindle motor 4, other components capable of rotating the flap wheel 2 may be used. For example, instead of the spindle motor 4, components in which the spindle and the motor are provided separately may be used.

[0020] FIG. 2 is a perspective view showing the flap wheel 2. As shown in FIGS. 1 and 2, the flap wheel 2 has a shaft 21 and a plurality of abrasive sheets 22. The proximal end of the shaft 21 is attached to the spindle motor 4. The plurality of abrasive sheets 22 are attached to the tip side of the shaft 21. Each abrasive sheet 22 extends from the outer peripheral surface of the shaft 21 radially outward of the shaft 21. Each abrasive sheet 22 also extends in the axial direction of the shaft 21. The plurality of abrasive sheets 22 are arranged at intervals in the circumferential direction of the shaft 21. For example, the plurality of abrasive sheets 22 are arranged at equal intervals in the circumferential direction of the shaft 21.

[0021] FIG. 3 is a schematic cross-sectional view showing the abrasive sheet 22. As shown in FIG. 3, the abrasive sheet 22 has a base material 22a and an abrasive grain layer 22b. The base material 22a is formed of cloth or paper. The abrasive grain layer 22b is formed on one side of the base material 22a. The abrasive grain layer 22b includes abrasive grains 22b1 and an adhesive 22b2. The abrasive grains 22b1 are fixed by the adhesive 22b2 applied to one side of the base material 22a. In the flap wheel 2, in each abrasive sheet 22, the abrasive grain layer 22b is formed on the same side in the circumferential direction of the shaft 21. Therefore, when the flap wheel 2 is pressed against the workpiece W in a rotated state, for any of the abrasive sheets 22, the abrasive grain layer 22b can contact the workpiece W. By the rotational operation of the spindle motor 4 shown in FIG. 1, the flap wheel 2 rotates about the central axis of the shaft 21. In that state, when the flap wheel 2 is pressed against the workpiece W, the workpiece W is polished.

[0022] The force sensor 5 in FIG. 1 is attached to the base end of the spindle motor 4. The force sensor 5 is a sensor that detects a force acting on the flap wheel 2. As the force sensor 5, for example, a six-axis sensor that can measure forces in three orthogonal axial directions and torque around each axis is used. In this case, the force sensor 5 can detect forces with six degrees of freedom acting on the flap wheel 2 and torque around the three axes. However, the force sensor 5 is not limited to this example as long as it can detect a force acting on the flap wheel 2.

[0023] The camera 6 is attached to the link section 34. The camera 6 captures an image of the tip side of the coated abrasive 22 of the flap wheel 2. The tip side of the coated abrasive 22 means the radially outer side of the shaft 21 of the coated abrasive 22. Even if the posture of the robot arm 3 changes, the relative positional relationship between the flap wheel 2 and the link section 34 does not change. Therefore, the relative positional relationship between the flap wheel 2 and the camera 6 does not change. Therefore, even if the posture of the robot arm 3 changes, the tip side of the coated abrasive 22 of the flap wheel 2 can be stably captured by the camera 6. However, the camera 6 may be attached to a part of the robot arm 3 other than the link section 34. The camera 6 does not have to be attached to the robot arm 3.

[0024] The dresser 7 is a member against which the flap wheel 2 is pressed in a dressing process to be described later. The dresser 7 will be described in detail later. The dresser 7 is disposed within the movable range of the robot arm 3.

[0025] The deburring member 8 is a member against which the flap wheel 2 is pressed in a deburring process described below. The deburring member 8 will be described in detail later. The deburring member 8 is disposed within the movable range of the robot arm 3.

[0026] The measuring device 9 measures the shape of the surface of the workpiece W. For example, a contact measuring device is used as the measuring device 9. For example, a contact measuring device is a measuring device that brings a stylus into contact with the surface of the workpiece W, moves the stylus, and measures the shape of the surface of the workpiece W by detecting the up and down movement of the stylus. In this case, the measuring device 9 may be attached to the tip of the robot arm 3, or may not be attached to the robot arm 3. In addition, a non-contact measuring device may be used as the measuring device 9. For example, an optical measuring device that irradiates a laser onto the surface of the workpiece W to measure the shape of the surface is exemplified. In this case, the measuring device 9 may be attached to the tip of the robot arm 3, or may not be attached to the robot arm 3.

[0027] The control device 10 includes a central processing unit (CPU), a ROM in which programs and the like are stored, a RAM as a work area, and the like, and controls the entire processing device 1. The control device 10 controls the operation of the robot arm 3. The control device 10 acquires information from the force sensor 5, the camera 6, and the measuring device 9. The information acquired from the force sensor 5, the camera 6, and the measuring device 9 is used for various processes described later.

[0028] The control device 10 is electrically connected to the robot arm 3. The control device 10 controls the rotational operations of the joints 35, 36, 37 and the link units 31, 33, 34 by outputting control signals to the joints 35, 36, 37 and the link units 31, 33, 34. This controls the position and attitude of the flap wheel 2. The control device 10 is electrically connected to the spindle motor 4. The control device 10 controls the rotational operation of the spindle motor 4 by outputting a control signal to the spindle motor 4. This controls the rotation speed of the flap wheel 2.

[0029] The control device 10 controls the robot arm 3 so that the flap wheel 2 is pressed against the workpiece W with a set pressing force. The actual pressing force of the flap wheel 2 is input to the control device 10 by a detection signal from the force sensor 5, so that feedback control of the pressing force is possible. The control device 10 also controls the robot arm 3 so that the flap wheel 2 moves along a target trajectory set in the polishing range of the workpiece W. By such force control and position control, even if the surface of the workpiece W is curved, the flap wheel 2 can be moved along the surface of the workpiece W while being pressed with a set pressing force. Therefore, polishing of the workpiece W having a curved surface can be stably performed along the target trajectory.

[0030] Hereinafter, a first processing example, a second processing example, a third processing example, and a fourth processing example will be described in this order as processing examples of a processing method using the processing device 1. Note that the first processing example, the second processing example, the third processing example, and the fourth processing example are merely examples of a processing method. As described later, various processing may be changed or added to the first processing example, the second processing example, the third processing example, and the fourth processing example described below.

[0031] FIG. 4 is a flowchart showing the flow of a first processing example of the processing method. The first processing example includes a processing step and a dressing step. The processing step corresponds to a first step of pressing the flap wheel 2 against the workpiece W while rotating the flap wheel 2 in a first direction. The processing step starts in step S102 or step S106 described later. The dressing step corresponds to a second step of pressing the flap wheel 2 against the dresser 7 while rotating the flap wheel 2 in a second direction opposite to the first direction. The dressing step is performed in step S105 described later.

[0032] 4 are basically performed automatically by the control device 10. However, step S101 may be performed manually by an operator.

[0033] In the first processing example, first, in step S101, mounting of the flap wheel 2 is performed. Specifically, the used flap wheel 2 is removed from the spindle motor 4, and a new flap wheel 2 is mounted to the spindle motor 4.

[0034] Next, in step S102, the control device 10 starts processing the workpiece W. That is, the processing process is started. FIG. 5 is a diagram showing the state of the flap wheel 2 in the processing process. As shown in FIG. 5, in the processing process, the flap wheel 2 is pressed against the workpiece W while rotating in the first direction D1. Specifically, in a state in which the central axis of the shaft 21 of the flap wheel 2 is approximately parallel to the surface of the workpiece W, the tip of the coated abrasive 22 is pressed against the surface of the workpiece W. The first direction D1 is the direction of the circumference of the shaft 21 that faces the side where the abrasive layer 22b is formed in each coated abrasive 22. Therefore, in the processing process, the tip side of the abrasive layer 22b of each coated abrasive 22 is pressed against the surface of the workpiece W in sequence. Thereby, the surface of the workpiece W is polished.

[0035] Next, in step S103 of Fig. 4, the control device 10 judges whether or not a set time has elapsed since the start of the processing process. The set time is set in advance, for example, taking into consideration the specifications of the flap wheel 2, the material of the workpiece W, and various processing conditions in the processing process. If it is judged that the set time has not elapsed (step S103 / NO), step S103 is repeated. On the other hand, if it is judged that the set time has elapsed (step S103 / YES), the process proceeds to step S104.

[0036] If the determination in step S103 is YES, in step S104, the control device 10 stops the processing of the workpiece W. That is, the processing process is stopped.

[0037] Next, in step S105, the control device 10 executes dressing of the flap wheel 2. That is, the dressing process is executed. FIG. 6 is a diagram showing the state of the flap wheel 2 in the dressing process. As shown in FIG. 6, in the dressing process, the flap wheel 2 is pressed against the dresser 7 while rotating in a second direction D2 opposite to the first direction D1. Specifically, in a state in which the central axis of the shaft 21 of the flap wheel 2 is approximately parallel to the surface of the dresser 7, the tip of the coated abrasive 22 is pressed against the surface of the dresser 7. The second direction D2 is a direction in the circumferential direction of the shaft 21 that faces the side on which the base material 22a is formed in each coated abrasive 22. Therefore, in the dressing process, the tip side of the base material 22a of each coated abrasive 22 is pressed against the surface of the dresser 7 in sequence.

[0038] The surface of the dresser 7 has a hardness and shape that allows it to scrape off the substrate 22a of the abrasive cloth 22. For example, the dresser 7 is made of a metal material, and hard particles such as diamond are sprayed onto the surface of the dresser 7. The surface shape of the dresser 7 is not particularly limited. For example, the surface shape of the dresser 7 may be flat or curved. In the dressing process, the tip side of the substrate 22a is pressed against the surface of the dresser 7, and scraped off.

[0039] Fig. 7 is a diagram showing the change in the tip shape of the coated abrasive 22 before and after the dressing process. Fig. 7 shows the coated abrasive 22 as viewed in the axial direction of the shaft 21. The left side in Fig. 7 is the tip side of the coated abrasive 22. In Fig. 7, the tip shape of the coated abrasive 22 after the dressing process is shown by a solid line, and the tip shape of the coated abrasive 22 before the dressing process is shown by a two-dot chain line.

[0040] In the processing step, the abrasive layer 22b is consumed preferentially over the substrate 22a at the tip side of the coated abrasive 22. Therefore, when the processing step is performed for a certain period of time, the substrate 22a protrudes from the abrasive layer 22b at the tip side of the coated abrasive 22, as shown by the two-dot chain line. As a result, in the processing step, the abrasive layer 22b is less likely to come into contact with the surface of the workpiece W, and the cutting force of the flap wheel 2 decreases. Here, in the dressing step, the tip side of the substrate 22a is scraped off by the dresser 7. As a result, the tip position of the abrasive layer 22b and the tip position of the substrate 22a can be aligned, as shown by the solid line. Therefore, the cutting force of the flap wheel 2 is restored.

[0041] In the first processing example, the dressing time, which is the time during which the flap wheel 2 is pressed against the dresser in the dressing process, is set in advance. In this case, the dressing time is set in consideration of, for example, the specifications of the flap wheel 2, the material of the workpiece W, and various processing conditions in the processing process.

[0042] 4, the control device 10 restarts the machining of the workpiece W. That is, the machining process is restarted.

[0043] Next, in step S107, the control device 10 judges whether or not a termination condition for the machining process is satisfied. The termination condition is, for example, that the flap wheel 2 has finished moving along a set target trajectory. If it is judged that the termination condition is not satisfied (step S107 / NO), step S107 is repeated. On the other hand, if it is judged that the termination condition is satisfied (step S107 / YES), the process proceeds to step S108.

[0044] If the answer is YES in step S107, in step S108, the control device 10 ends the processing of the workpiece W. That is, the processing process ends. Then, the series of processing flows of the first processing example ends. For example, when multiple workpieces W are continuously processed in sequence, the series of processing flows shown in the flowchart of FIG. 4 are repeated.

[0045] As described above, the first processing example includes a dressing step corresponding to the second step of pressing the flap wheel 2 against the dresser 7 while rotating it in the second direction D2 opposite to the first direction D1. As a result, the tip side of the base material 22a that has been protruding from the abrasive grain layer 22b due to the processing step is scraped off by the dresser 7 in the dressing step. Therefore, the cutting force of the flap wheel 2 is restored. This makes it possible to prolong the life of the flap wheel 2.

[0046] In particular, when automating machining using the flap wheel 2, it is difficult to adjust the cutting force by adjusting the pressing force of the flap wheel 2 as in the case of manual work. Therefore, it is beneficial to recover the cutting force of the flap wheel 2 by the dressing process. Even in the case of manual work, there is a limit to the adjustment of the cutting force by adjusting the pressing force of the flap wheel 2, so it is beneficial to recover the cutting force of the flap wheel 2 by the dressing process.

[0047] As described above, in the first processing example, the dressing process starts at a preset timing. This suppresses variation in the start timing of the dressing process when multiple workpieces W are continuously processed. This suppresses variation in the timing at which the cutting force of the flap wheel 2 recovers. This suppresses variation in the processing dimensions between the workpieces W, stabilizing the processing dimensions.

[0048] As described above, in the first processing example, in the dressing process, the flap wheel 2 is pressed against the dresser 7 for a preset time. This suppresses variation in the dressing time when multiple workpieces W are continuously machined. This suppresses variation in the degree to which the cutting force of the flap wheel 2 is restored by the dressing process. This suppresses variation in the machining dimensions between the workpieces W, stabilizing the machining dimensions.

[0049] 8 is a flow chart showing the flow of a second processing example of the processing method. The second processing example further includes a deburring process in addition to the first processing example described above. The deburring process corresponds to a third process in which the flap wheel 2 is pressed against the deburring member 8 while rotating in the first direction D1. The deburring member 8 corresponds to an object different from the workpiece W.

[0050] As shown in FIG. 8, the second processing example is different from the above-described first processing example in that step S201 is added before step S102.

[0051] In the second processing example, following step S101, in step S201, the control device 10 executes deburring of the flap wheel 2. That is, a deburring process is executed. FIG. 9 is a diagram showing the state of the flap wheel 2 in the deburring process. As shown in FIG. 9, in the deburring process, the flap wheel 2 is pressed against the deburring member 8 while rotating in the first direction D1. Specifically, in a state in which the central axis of the shaft 21 of the flap wheel 2 is approximately parallel to the surface of the deburring member 8, the tip of the coated abrasive 22 is pressed against the surface of the deburring member 8. Therefore, in the deburring process, the tip side of the abrasive layer 22b of each coated abrasive 22 is pressed against the surface of the deburring member 8 in sequence.

[0052] The surface of the deburring member 8 has a hardness and shape that allows it to scrape off the abrasive layer 22b of the coated abrasive 22. The deburring member 8 is formed, for example, from the same material as the workpiece W. The surface shape of the deburring member 8 is not particularly limited. For example, the surface shape of the deburring member 8 may be flat or curved. In the deburring process, the tip side of the abrasive layer 22b is pressed against the surface of the deburring member 8, whereby it is scraped off.

[0053] Fig. 10 is a diagram showing the change in the tip shape of the coated abrasive 22 before and after the deburring process. Fig. 10 shows the coated abrasive 22 as viewed in the axial direction of the shaft 21. The left side in Fig. 10 is the tip side of the coated abrasive 22. In Fig. 10, the tip shape of the coated abrasive 22 after the deburring process is shown by a solid line, and the tip shape of the coated abrasive 22 before the deburring process is shown by a two-dot chain line.

[0054] The coated abrasive 22 attached to the flap wheel 2 is formed, for example, by cutting a long material. Therefore, as shown by the two-dot chain line, a burr B may be present at the tip of the abrasive layer 22b of a new coated abrasive 22. The burr B protrudes in the thickness direction of the coated abrasive 22 compared to other parts of the abrasive layer 22b. Therefore, if the processing step is started in a state where the burr B is present, the cutting force of the flap wheel 2 becomes temporarily large at the beginning of the processing step. Therefore, there is a risk that the processing accuracy of the workpiece W will decrease due to the large change in the cutting force of the flap wheel 2 during the processing step. Here, in the deburring step, the tip side of the abrasive layer 22b is scraped off by the deburring member 8. Thereby, the burr B at the tip of the abrasive layer 22b can be removed as shown by the solid line. Therefore, the cutting force of the flap wheel 2 is stabilized.

[0055] As described above, the second processing example further includes a deburring process corresponding to the third process of pressing the flap wheel 2 against the deburring member 8 while rotating the flap wheel 2 in the first direction D1. As a result, the burr B formed at the tip of the abrasive layer 22b is removed by the deburring member 8 in the deburring process. Therefore, the cutting force of the flap wheel 2 is suppressed from temporarily increasing in the early stage of the processing process, and the cutting force of the flap wheel 2 is stabilized.

[0056] 11 is a flow chart showing a flow of a third processing example of the processing method. The third processing example further includes a shape measurement step in addition to the first processing example described above. The shape measurement step corresponds to a fourth step of measuring a processed shape, which is the shape of the surface of the workpiece W processed by the first processing step.

[0057] As shown in FIG. 11, the third processing example differs from the first processing example described above in that step S103 is replaced by step S301 and step S302, and step S303 is added before step S105.

[0058] In the third processing example, following step S102, in step S301, the control device 10 causes the measuring device 9 to measure the processed shape of the workpiece W. That is, a shape measurement process is executed. Here, in step S301, the measuring device 9 measures the shape of the most recently processed portion of the surface of the workpiece W. Specifically, while step S301 is repeated after a NO determination is made in step S302 described below, the measuring device 9 sequentially measures the shape of the newly processed portion of the surface of the workpiece W.

[0059] After step S301, in step S302, the control device 10 determines whether or not dressing is necessary based on the measurement results in the shape measurement process. For example, the control device 10 determines that dressing is necessary when the measurement results obtained in the shape measurement process are significantly different from the expected results. If it is determined that dressing is not necessary (step S302 / NO), the process returns to step S301. On the other hand, if it is determined that dressing is necessary (step S302 / YES), the process proceeds to step S104, where the processing process is stopped.

[0060] After step S104, in step S303, the control device 10 determines a dressing time, which is a time for which the flap wheel 2 is pressed against the dresser in the dressing process, based on the measurement result in the shape measurement process. After step S303, the process proceeds to step S105, where the dressing process is performed.

[0061] For example, the control device 10 increases the dressing time as the difference between the measurement result obtained in the shape measurement process and the expected result increases. Here, it can be expected that the greater the difference between the measurement result obtained in the shape measurement process and the expected result, the greater the length of the substrate 22a protruding from the abrasive layer 22b at the tip side of the coated abrasive 22, and the greater the reduction in the cutting force of the flap wheel 2. Therefore, by increasing the dressing time as the difference between the measurement result obtained in the shape measurement process and the expected result increases, the tip position of the abrasive layer 22b and the tip position of the substrate 22a can be appropriately aligned in the dressing process. Therefore, the cutting force of the flap wheel 2 is appropriately restored.

[0062] As described above, in the third processing example, the start timing of the dressing process is determined based on the measurement results in the shape measurement process, so that the dressing process can be started at the timing when the cutting force of the flap wheel 2 has decreased to a level at which dressing is required.

[0063] As described above, in the third processing example, the dressing time, which is the time during which the flap wheel 2 is pressed against the dresser in the dressing process, is determined based on the measurement results in the shape measurement process. As a result, the dressing time is optimized based on the measurement results in the shape measurement process, and the cutting force of the flap wheel 2 is appropriately restored by the dressing process.

[0064] The third processing example has been described above with reference to the flowchart of FIG. 11. However, the processing may be changed or added as appropriate to the third processing example described above. For example, the third processing example described above may be added with a step S201, which is a deburring process, before step S102, similarly to the second processing example. For example, the third processing example described above may be changed so that the dressing process starts at a preset timing. For example, the third processing example described above may be changed so that the flap wheel 2 is pressed against the dresser 7 for a preset time in the dressing process.

[0065] 12 is a flow chart showing the flow of a fourth processing example of the processing method. The fourth processing example further includes a state detection step in addition to the first processing example described above. The state detection step corresponds to a fifth step of detecting the state of the flap wheel 2.

[0066] As shown in FIG. 12, the fourth processing example differs from the first processing example described above in that step S103 is replaced by step S401 and step S402, and step S403 is added before step S105.

[0067] In the fourth processing example, following step S102, in step S401, the control device 10 detects the state of the flap wheel 2. That is, a state detection process is executed. For example, in the state detection process, the force acting on the flap wheel 2 is detected by the force sensor 5. For example, in the state detection process, the flap wheel 2 is imaged by the camera 6, and the control device 10 applies image processing to the image data, thereby detecting the shape of the tip end of the coated abrasive 22.

[0068] Next, in step S402, the control device 10 judges whether or not dressing is necessary based on the detection result in the state detection process. For example, when the control device 10 judges that the torque acting on the flap wheel 2 is excessively small compared to the assumed torque, it judges that dressing is necessary. For example, when the control device 10 judges that the length of the base material 22a protruding from the abrasive grain layer 22b is excessively long using the imaging data obtained by the camera 6, it judges that dressing is necessary. When it is judged that dressing is not necessary (step S402 / NO), it returns to step S401. On the other hand, when it is judged that dressing is necessary (step S402 / YES), it proceeds to step S104, and the processing process is stopped.

[0069] After step S104, in step S403, the control device 10 determines a dressing time, which is a time for which the flap wheel 2 is pressed against the dresser in the dressing process, based on the detection result in the state detection process. After step S403, the process proceeds to step S105, where the dressing process is performed.

[0070] For example, when the control device 10 judges that the torque acting on the flap wheel 2 is excessively small compared to the assumed torque, the greater the difference between the torque acting on the flap wheel 2 and the assumed torque, the longer the dressing time is. Here, the greater the difference between the torque acting on the flap wheel 2 and the assumed torque, the longer the length of the substrate 22a that overhangs the abrasive layer 22b at the tip side of the abrasive cloth 22, and the greater the reduction in the cutting force of the flap wheel 2 is expected to be. Therefore, by increasing the dressing time as the difference between the torque acting on the flap wheel 2 and the assumed torque becomes greater, the tip position of the abrasive layer 22b and the tip position of the substrate 22a can be appropriately aligned in the dressing process. Therefore, the cutting force of the flap wheel 2 is appropriately restored.

[0071] For example, when the control device 10 determines that the length of the base material 22a overhanging the abrasive grain layer 22b is excessively long, the longer the length of the base material 22a overhanging the abrasive grain layer 22b, the longer the dressing time is set. This also makes it possible to properly align the tip position of the abrasive grain layer 22b and the tip position of the base material 22a in the dressing process. Therefore, the cutting force of the flap wheel 2 is properly restored.

[0072] As described above, in the fourth processing example, the start timing of the dressing process is determined based on the detection result in the state detection process, so that the dressing process can be started at the timing when the cutting force of the flap wheel 2 has decreased to a level at which dressing is required.

[0073] As described above, in the fourth processing example, the dressing time, which is the time during which the flap wheel 2 is pressed against the dresser in the dressing process, is determined based on the detection result in the state detection process. As a result, the dressing time is optimized based on the detection result in the state detection process, and the cutting force of the flap wheel 2 is appropriately restored by the dressing process.

[0074] In the above, the fourth processing example has been described with reference to the flowchart of FIG. 12. However, the fourth processing example described above may be modified or added as appropriate. For example, in the fourth processing example described above, step S201, which is a deburring process, may be added before step S102, as in the second processing example. For example, in the fourth processing example described above, the processing may be modified so that the start timing of the dressing process is determined based on the measurement result in the shape measurement process in addition to the detection result in the state detection process. For example, in the fourth processing example described above, the processing may be modified so that the dressing process is started at a preset timing. For example, in the fourth processing example described above, the processing may be modified so that the dressing time is determined based on the measurement result in the shape measurement process in addition to the detection result in the state detection process. For example, in the fourth processing example described above, the processing may be modified so that the flap wheel 2 is pressed against the dresser 7 for a preset time in the dressing process.

[0075] Although the embodiments of the present disclosure have been described above with reference to the accompanying drawings, it goes without saying that the present disclosure is not limited to such embodiments. It is clear that a person skilled in the art can think of various modified or altered examples within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present disclosure.

[0076] In the above, an example has been described in which the robot arm 3 is used as the mechanism for adjusting the position and attitude of the flap wheel 2. However, a mechanism other than the robot arm 3 may be used as the mechanism for adjusting the position and attitude of the flap wheel 2.

[0077] In the above, the first processing example, the second processing example, the third processing example, and the fourth processing example have been described as examples in which the dressing process is performed once for one flap wheel 2. However, the dressing process may be performed two or more times for one flap wheel 2. [Explanation of symbols]

[0078] 2 Flap Wheels 7. Dresser 8 Deburring parts (object) 22 Abrasive cloth paper D1 1st direction D2 2nd direction W Workpiece

Claims

1. A first step of pressing a flap wheel having a plurality of coated abrasives against a workpiece while rotating the flap wheel in a first direction; a second step of rotating the flap wheel in a second direction opposite to the first direction and pressing the flap wheel against a dresser; Including, Processing method.

2. A third step of pressing the flap wheel against an object other than the workpiece while rotating the flap wheel in the first direction is further included. The processing method according to claim 1.

3. The second step is started at a preset timing. The processing method according to claim 1 or 2.

4. In the second step, the flap wheel is pressed against the dresser for a preset time. The processing method according to claim 1 or 2.

5. The method further includes a fourth step of measuring a shape of a surface of the workpiece machined by the first step, one or both of a start timing of the second step and a time for which the flap wheel is pressed against the dresser in the second step are determined based on a measurement result in the fourth step. The processing method according to claim 1 or 2.

6. A fifth step of detecting a state of the flap wheel is further included. a start timing of the second step and / or a time for which the flap wheel is pressed against the dresser in the second step are determined based on a detection result in the fifth step; The processing method according to claim 1 or 2.

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