Programming device

Abstract

The present disclosure pertains to a program creation device for creating an operating program for a robot for removal machining a workpiece having a machining surface, and a reference surface displaced from the machining surface. The robot for removal machining comprises a removal machining tool. The program creation device comprises: a positional information acquisition unit for acquiring positional information about a positional relationship between the machining surface and the reference surface of the workpiece; a tool information storage unit for storing tool information about the removal machining tool; and a program creation unit for creating, on the basis of the positional information about the workpiece and the tool information about the removal machining tool, the operating program for the robot for removal machining. The program creation unit selects a portion to be used of the removal machining tool so as to avoid interference between the removal machining tool and the reference surface of the workpiece.

Description

[Technical field]

[0001] The present disclosure relates to a program creation device, and more specifically, to a program creation device that creates an operation program for a robot for removal processing such as deburring. [Background technology]

[0002] Conventionally, in a deburring process using a robot, a visual sensor is used to detect the ridgeline as the deburring area, and a deburring trajectory is generated. The deburring is performed by moving a deburring tool along the deburring trajectory.

[0003] In such a deburring process using a robot, if there is a sufficient amount of displacement (e.g., a step) between the machining surface of the workpiece and a reference surface (e.g., the casting surface) displaced from the machining surface, deburring can be performed smoothly without interference such as contact between the deburring tool and the reference surface of the workpiece during deburring processing (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2009-175954 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, when there is not enough displacement between the processed surface of the workpiece and the reference surface, or when the displacement changes, depending on the positional relationship, the deburring tool may come into contact with the reference surface during deburring and damage the reference surface. Also, when the posture of the deburring tool does not match the shape of the workpiece, there is a risk that a part of the ridge line as the deburring area will not be deburred. The same applies to removal processes other than deburring. [Means for solving the problem]

[0006] The present disclosure relates to a program creation device that creates an operation program for a robot for removing processing a workpiece having a processing surface and a reference surface displaced from the processing surface, wherein the robot for removing processing is equipped with a removal processing tool, and the program creation device includes a position information acquisition unit that acquires position information regarding the positional relationship between the processing surface of the workpiece and the reference surface, a tool information holding unit that holds tool information regarding the removal processing tool, and a program creation unit that creates the operation program for the robot for removing processing based on the position information of the workpiece and the tool information of the removal processing tool, and the program creation unit selects a portion of the removal processing tool to avoid interference between the removal processing tool and the reference surface of the workpiece. Effect of the Invention

[0007] According to the present disclosure, an operating program for a robot for removing a workpiece can be created even when there is not enough displacement between the machining surface of the workpiece and the reference surface, or when the displacement amount changes. [Brief description of the drawings]

[0008] [Figure 1] 1 is a schematic diagram showing a configuration of a deburring system including a program creation device according to an embodiment of the present disclosure. [Figure 2A] 2 is a schematic diagram showing an example of a deburring tool used in the deburring system of FIG. 1. [Figure 2B] 2 is a schematic diagram showing an example of a deburring tool used in the deburring system of FIG. 1. [Figure 2C] 2 is a schematic diagram showing an example of a deburring tool used in the deburring system of FIG. 1. [Figure 2D] 2 is a schematic diagram showing an example of a deburring tool used in the deburring system of FIG. 1. [Diagram 3] 1 is a schematic diagram showing the positional relationship between the deburring tool and the workpiece when the workpiece processing surface and the reference surface are parallel to each other and there is a sufficient step between the workpiece processing surface and the reference surface. FIG. [Figure 4] 4 is a schematic diagram showing that interference between the deburring tool and the workpiece occurs when there is not a sufficient step between the processed surface of the workpiece and the reference surface of the workpiece in FIG. 3. [Diagram 5] 4 is a schematic diagram showing an example of how to avoid interference between the deburring tool and the workpiece when there is not a sufficient step between the processed surface of the workpiece and the reference surface of FIG. 3. FIG. [Figure 6] 5 is a schematic diagram showing another example for avoiding interference between the deburring tool and the workpiece when there is not a sufficient step between the processed surface of the workpiece and the reference surface of FIG. 3. FIG. [Figure 7] 1 is a schematic diagram showing the positional relationship between the deburring tool and the workpiece when the workpiece processing surface and the reference surface are perpendicular to each other and there is a sufficient step between the ridge line of the workpiece processing surface and the reference surface. FIG. [Figure 8] 8 is a schematic diagram showing that interference between the deburring tool and the workpiece occurs when there is not a sufficient step between the processed surface of the workpiece and the reference surface of the workpiece in FIG. 7. FIG. [Figure 9] 8 is a schematic diagram showing an example of how to avoid interference between the deburring tool and the workpiece when there is not a sufficient step between the processed surface of the workpiece and the reference surface of FIG. 7. FIG. [Figure 10] 8 is a schematic diagram showing another example for avoiding interference between the deburring tool and the workpiece when there is not a sufficient step between the processed surface of the workpiece and the reference surface of the workpiece in FIG. 7. FIG. [Figure 11] 13 is a flowchart for creating an operating program for avoiding interference between a deburring tool and a workpiece when there is not a sufficient step between the machined surface of the workpiece and a reference surface. [Figure 12] 1 is a schematic diagram showing detection of a step between a machined surface of a workpiece and a reference surface using a three-dimensional visual sensor; [Figure 13] FIG. 11 is a schematic diagram showing a portion where deburring is impossible based on a detected step. [Figure 14] 13 is a schematic diagram showing a workpiece having a protrusion or the like on a part of a step. FIG. [Figure 15] FIG. 15 is a schematic diagram showing a first example for deburring the workpiece in FIG. 14. [Figure 16]FIG. 15 is a schematic diagram showing a second example for deburring the workpiece in FIG. [Figure 17] FIG. 15 is a schematic diagram showing a third example for deburring the workpiece in FIG. 14. [Figure 18] FIG. 15 is a schematic diagram showing a fourth example for deburring the workpiece in FIG. [Figure 19] FIG. 15 is a schematic diagram showing a fifth example for deburring the workpiece in FIG. 14. [Figure 20] 15 is a schematic diagram showing a first portion when changing a portion of the deburring tool to be used for deburring the workpiece in FIG. 14. FIG. [Figure 21] 15 is a schematic diagram showing a second portion when changing a portion of the deburring tool used for deburring the workpiece in FIG. 14. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present disclosure will be described with reference to the drawings. Fig. 1 is a schematic diagram showing a configuration of a deburring system 1 including a program creation device 20 according to an embodiment of the present disclosure. The deburring system 1 is a system that performs deburring processing on a workpiece W1.

[0010] The deburring system 1 of this embodiment includes a robot 2, a deburring tool 3 held at the tip of the robot 2, a force sensor 4 provided between the robot 2 and the deburring tool 3, a three-dimensional visual sensor 5 (see FIG. 12), and a robot control device 10 that controls the robot 2. The program creation device 20 constitutes a part of the robot control device 10.

[0011] As the robot 2, a vertical articulated robot is typically used, but there is no particular limitation, and for example, a scalar robot, a parallel link robot, an orthogonal coordinate robot, etc. may also be used.

[0012] For example, a grinder, a reamer, etc. can be used as the deburring tool 3. The shape of the deburring tool 3 can be appropriately selected from, for example, a cylindrical type, a tapered type, a bullet type, a cone type, etc. This will be described later.

[0013] The force sensor 4 is a sensor that measures three-axis forces and torques. That is, the force sensor 4 can detect the force acting on the deburring tool 3 as a three-dimensional vector.

[0014] The three-dimensional visual sensor 5 detects and acquires a step W14 between the machined surface W11 of the workpiece W1 and a reference surface W13.

[0015] The robot control device 10 controls the deburring process in which the robot 2 moves the deburring tool 3 along the ridge of the workpiece W1 to remove burrs from the workpiece W1. The deburring process is an example of a removing process. Another example is chamfering.

[0016] The robot control device 10 according to this embodiment includes a robot control unit 11, a position information acquisition unit 12, a tool information storage unit 13, a pressing force acquisition unit 14, a progress speed acquisition unit 15, and a program creation unit 16. The position information acquisition unit 12, the tool information storage unit 13, the pressing force acquisition unit 14, the progress speed acquisition unit 15, and the program creation unit 16 constitute a program creation device 20.

[0017] The robot controller 10 can be realized by installing an appropriate operating program in one or more computer devices having a CPU, memory, etc. The components of the robot controller 10 described above are merely classifications of the functions of the robot controller 10, and do not necessarily have to be clearly distinguishable in terms of their physical structure and program structure. The robot controller 10 may also have further components that realize other functions.

[0018] The robot control unit 11 operates the robot 2 according to the teaching data, thereby moving the deburring tool 3 along the ridgeline of the workpiece W1.

[0019] The position information acquisition unit 12 acquires the positional relationship (for example, a step as a displacement amount) between the machining surface W11 of the workpiece W1 and the reference surface W13. Specifically, the step is calculated from shape information (CAD information, etc.) of the workpiece W1, or is detected by using a three-dimensional visual sensor.

[0020] The tool information holding unit 13 holds information such as the shape of the deburring tool 3. The shape is a concept including the size. Specifically, the tool information holding unit 13 holds, for each shape of the deburring tool 3, a length L1 along the axis from the tool middle part 3C to the tool tip 3E, a length L2 along the axis from the tip part 3D to the tool tip 3E, a length L4 along the axis from the tool middle part 3C to the tool rear end 3A, and a length L5 along the axis from the tool rear part 3B to the tool rear end 3A, as described later. For each shape of the deburring tool 3, the tool information holding unit 13 calculates and holds a vertical component L3 of the length L1 along the axis from the tool middle part 3C to the tool tip 3E, a horizontal component L6 of the length L4 along the axis from the tool middle part 3C to the tool rear end 3A, and the like, in accordance with the inclination of the posture of the deburring tool 3.

[0021] The pressing force acquisition unit 14 acquires the pressing force of the deburring tool 3 against the workpiece W1. The pressing force acquired by the pressing force acquisition unit 14 is preferably vector data including direction information. The pressing force acquisition unit 14 may be configured to acquire the pressing force of the deburring tool 3 from a force sensor 4 provided on the robot 1, for example.

[0022] The travel speed acquisition unit 15 acquires the travel speed of the deburring tool 3 by the robot 2. The travel speed acquisition unit 15 can be configured to acquire the travel speed of the deburring tool 3 by the robot 2 from the robot control unit 11, for example.

[0023] The program creation unit 16 creates an operation program for the robot control unit 11 to operate the robot 2, based on information such as the position information acquired by the position information acquisition unit 12, the tool information held by the tool information holding unit 13, the pressing force acquired by the pressing force acquisition unit 14, and the traveling speed acquired by the traveling speed acquisition unit 15. The program creation unit 16 will be described later.

[0024] Figures 2A to 2D show different shapes of deburring tools 3, with Figure 2A showing a cylindrical deburring tool 3-1, Figure 2B showing a tapered deburring tool 3-2, Figure 2C showing a bullet-shaped deburring tool 3-3, and Figure 2D showing a cone-shaped deburring tool 3-4.

[0025] The deburring tool 3 will be described using a cone-shaped deburring tool 3-4 as an example in the following embodiment, but the other deburring tools 3-1 to 3-3 can be described in the same manner. The deburring tool 3 has three regions in the axial direction from the base to the tip: a tool rear portion 3B close to the rear end 3A of the tool, a tool middle portion 3C which is the middle part of the tool, and a tool tip portion 3D close to the tip 3E of the tool. The tool rear portion 3B has a diameter D1, the tool middle portion 3C has a diameter D2, and the tool tip portion 3D has a diameter D3. Usually, the deburring process is performed using the tool middle portion 3C.

[0026] The deburring process of the first type of workpiece W1 will be described with reference to Fig. 3 to Fig. 6. The workpiece W1 has a processing surface W11 and a reference surface (e.g., a casting surface) W13 displaced from the processing surface W11. Specifically, the processing surface W11 having a ridgeline W12 is parallel to the reference surface (e.g., a casting surface) W13 and protrudes from the reference surface W13 by a step W14.

[0027] Deburring of such a stepped workpiece W1 is usually performed as follows using a standard type 1 operating program created by the program creation unit 16, in which the tool center portion 3C of the deburring tool 3 is used as the part in use.

[0028] Specifically, as shown in FIG. 3, the posture of the deburring tool 3 (for example, the conical deburring tool 3-4) is maintained such that the axis of the deburring tool 3 is perpendicular to the machining surface W11 of the workpiece W1. The tool middle part 3C of the deburring tool 3 is brought into contact with the ridge line W12 of the machining surface W11. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced along the ridge line W12 of the machining surface W11 and around the periphery of the machining surface W11.

[0029] However, for such deburring, it is necessary that the workpiece W1 has a sufficient step W14 (W14 > L1) that exceeds the length L1 along the axis from the tool middle part 3C to the tool tip 3E of the deburring tool 3.

[0030] As shown in FIG. 4, when the step W14 of the workpiece W1 is smaller than the length L1 along the axis from the tool middle part 3C to the tool tip 3E of the deburring tool 3 (W14 < L1), the tool tip 3E of the deburring tool 3 interferes with the reference surface W13. Therefore, with the operation program of the standard type 1, deburring cannot be performed.

[0031] In such a case, FIG. 5 shows a first example for avoiding interference between the deburring tool 3 and the workpiece W1. In FIG. 5, with the operation program of the tip-using type created by the program creation unit 16, which uses the tool tip part 3D of the deburring tool 3 as the used part, deburring is performed as follows.

[0032] Specifically, as shown in FIG. 5, the posture of the deburring tool 3 is maintained such that the axis of the deburring tool 3 is perpendicular to the machining surface W11 of the workpiece W1. The tool tip part 3D of the deburring tool 3 is brought into contact with the ridge line W12 of the machining surface W11. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced along the ridge line W12 of the machining surface W11 and around the periphery of the machining surface W11.

[0033] Thereby, deburring can be performed even in a range where the length L2 along the axis from the tool tip part 3D to the tool tip 3E of the deburring tool 3 is shorter than the step W14 (W14 > L2).

[0034] A second example for avoiding interference between the deburring tool 3 and the workpiece W1 is shown in Fig. 6. In Fig. 6, the deburring process is performed as follows by an inclined type 1 operation program created by the program creation unit 16, in which the axis direction of the deburring tool 3 is inclined and the tool middle part 3C of the deburring tool 3 is used as the part in use.

[0035] Specifically, as shown in Fig. 6, the deburring tool 3 is held in such a position that its axis is inclined from perpendicular to the machined surface W11 of the workpiece W1. The tool center portion 3C of the deburring tool 3 is brought into contact with the ridgeline W12 of the machined surface W11. While rotating the deburring tool 3 around its axis, the deburring tool 3 is caused to move around the machined surface W11 along the ridgeline W12 of the machined surface W11.

[0036] This allows deburring to be performed even in a range where the vertical component L3 of the length L1 along the axis from the tool middle part 3C to the tool tip 3E of the deburring tool 3 is shorter than the step W14 (W14>L3).

[0037] A third example for avoiding interference between the deburring tool 3 and the workpiece W1 will be described. By replacing the deburring tool 3 with a small deburring tool 3 that is one size smaller (smaller in size) and therefore the length along the axial line from the tool middle part 3C to the tool tip 3E is shorter than the step W14, deburring processing can be performed. Such a tool is, for example, the deburring tool 3 shown on the right side of FIG.

[0038] 7 to 10, the deburring process of the second type of workpiece W2 will be described. The workpiece W2 has a processed surface W21 and a reference surface (e.g., a casting surface) W23 displaced from the processed surface W21. Specifically, the processed surface W21 is perpendicular to the reference surface (e.g., a casting surface) W23, and the ridge line W22 of the processed surface W21 protrudes from the reference surface W23 by a step W24.

[0039] The deburring process of such a stepped workpiece W2 is usually performed as follows by the operation program of standard type 2 created by the program creation unit 16, using the tool middle part 3C of the deburring tool 3 as the working part.

[0040] Specifically, as shown in FIG. 7, the posture of the deburring tool 3 is maintained so that the axis of the deburring tool 3 (for example, the conical deburring tool 3-4) is perpendicular to the machining surface W21 of the workpiece W2. The tool middle part 3C of the deburring tool 3 is brought into contact with the ridge line W22 of the machining surface W21. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced along the ridge line W22 of the machining surface W21 around the periphery of the machining surface W21.

[0041] However, for such deburring processing, it is necessary for the workpiece W1 to have a sufficient step W24 (W24 > L4) that exceeds the length L4 along the direction perpendicular to the axis from the tool middle part 3C to the tool rear end 3A of the deburring tool 3.

[0042] As shown in FIG. 8, when the step W24 of the workpiece W2 is smaller than the length L4 along the direction perpendicular to the axis from the tool middle part 3C to the tool rear end 3A of the deburring tool 3 (W24 < L4), the tool rear end 3A of the deburring tool 3 interferes with the reference surface W23. Therefore, the deburring process cannot be performed with the operation program of standard type 2.

[0043] In such a case, FIG. 9 shows a first example for avoiding interference between the deburring tool 3 and the workpiece W2. In FIG. 9, the deburring process is performed as follows by the operation program of the rear part use type created by the program creation unit 16, using the tool rear part 3B of the deburring tool 3 as the working part.

[0044] Specifically, as shown in Fig. 9, the deburring tool 3 is held in a position such that the axis of the deburring tool 3 is perpendicular to the machined surface W21 of the workpiece W2. The tool rear part 3B of the deburring tool 3 is brought into contact with the ridge line W22 of the machined surface W21. While rotating the deburring tool 3 around its axis, the deburring tool 3 is caused to move around the machined surface W21 along the ridge line W22 of the machined surface W21.

[0045] This allows deburring to be performed even in a range where the length L5 perpendicular to the axis from the tool rear part 3B to the tool rear end 3A of the deburring tool 3 is shorter than the step W24 (W24>L5).

[0046] A second example for avoiding interference between the deburring tool 3 and the workpiece W2 is shown in Fig. 10. In Fig. 10, the deburring process is performed as follows by an inclined type 2 operation program created by the program creation unit 16, in which the axial direction of the deburring tool 3 is inclined and the tool middle part 3C of the deburring tool 3 is used as the part in use.

[0047] Specifically, as shown in Fig. 10, the deburring tool 3 is held in a position such that the axis of the deburring tool 3 is inclined from the perpendicular to the machined surface W21 of the workpiece W2. The tool center portion 3C of the deburring tool 3 is brought into contact with the ridgeline W22 of the machined surface W21. While rotating the deburring tool 3 around its axis, the deburring tool 3 is caused to move around the machined surface W21 along the ridgeline W22 of the machined surface W21.

[0048] This allows deburring processing to be performed even in a range where the horizontal component L6 of the length L4 perpendicular to the axis from the tool center 3C to the tool rear end 3A of the deburring tool 3 is shorter than the step W24 (W24>L6).

[0049] A third example for avoiding interference between the deburring tool 3 and the workpiece W2 will be described. By replacing the deburring tool 3 with a smaller deburring tool 3 that is one size smaller (smaller in size) and therefore has a length from the tool middle part 3C to the tool rear end 3A in the direction perpendicular to the axis shorter than the step W24, deburring processing can be performed. An example of such a tool is the deburring tool 3 shown on the right side of FIG. 17.

[0050] The program creation unit 16 creates each of the above types of operation programs. The creation includes correcting and changing existing operation programs. Figure 11 shows a flowchart related to the creation of an operation program by the program creation unit 16. The program creation unit 16 determines the operation program to be standard type 1, front use type and inclined type 1, or standard type 2, rear use type and inclined type 2, depending on the level of the step of the workpiece.

[0051] Specifically, in the case of the workpiece W1, the program creation unit 16 sequentially determines whether W14>L1, W14>L2, or W14>L3 based on the step W14, the length L1 along the axis from the tool center 3C to the tool tip 3E of the deburring tool 3, the length L2 along the axis from the tip 3D to the tool tip 3E, and the vertical component L3 of the length L1 along the axis from the tool center 3C to the tool tip 3E, as shown in Figure 11.

[0052] In the case of workpiece W2, the program creation unit 16 sequentially determines whether W24>L4, W24>L5, or W24>L6 based on the step W24, the length L4 perpendicular to the axis from the tool center 3C to the tool rear end 3A of the deburring tool 3, the length L5 perpendicular to the axis from the tool rear end 3B to the tool rear end 3A, and the horizontal component L6 of the length L4 perpendicular to the axis from the tool center 3C to the tool rear end 3A.

[0053] 11, the program creation unit 16 judges whether W14>L1 or W24>L4, and if YES, the process proceeds to step S2. Step S2 performs the operation of standard type 1 or standard type 2. If NO, the process proceeds to step S3.

[0054] In step S3, the program creation unit 16 judges whether W14>L2 or W24>L5, and if YES, the process proceeds to step S4. In step S4, the operation of the front use type or the rear use type is performed. If NO, the process proceeds to step S5.

[0055] In step S5, the program creation unit 16 judges whether W14>L3 or W24>L6, and if YES, the process proceeds to step S6. Step S6 performs the operation of the slope type 1 or slope type 2. If NO, the process ends.

[0056] In the present disclosure, when a protrusion is detected on the reference surface of the workpiece in the shape information of the workpiece or the position information acquired by the three-dimensional visual sensor, the position information acquisition unit 12 may acquire by calculation a portion on the processing surface of the workpiece that is impossible or difficult to remove due to the protrusion, as described in detail below.

[0057] An example of a method for detecting a step in a workpiece will be described. As shown in Fig. 12, a three-dimensional visual sensor 5 is used to detect the presence or absence of a step W14 in the workpiece W1 and the dimensions of the step W14. The presence or absence of a step W14 in the workpiece W1 and the dimensions of the step W14 may also be calculated from shape information (CAD information) of the workpiece W1. The same applies to the step W24 in the workpiece W2.

[0058] 13 shows a third type of workpiece W3. The workpiece W3 has a machined surface W31 and a reference surface (e.g., a casting surface) W33 displaced from the machined surface W31. Specifically, the machined surface W31 having a ridgeline W32 is parallel to the reference surface (e.g., a casting surface) W33 and protrudes from the reference surface W33 by a step W34.

[0059] The workpiece W3 further has a protruding portion W35 protruding from the reference surface W33. The protruding portion W35 protrudes from the reference surface W33 by a height W36. The protruding height W36 of the protruding portion W35 is similar to the step W34 between the processing surface W31 and the reference surface W33. In other words, in the ridge line W32 of the processing surface W31, a portion W320 adjacent to the protruding portion W35 has almost no step between it and the upper surface (protruding surface) W37 of the protruding portion W35.

[0060] Therefore, in the case of the workpiece W3, of the ridgeline W32 that runs around the entire circumference of the machining surface W31, a portion W320 of the ridgeline W32 that is adjacent to the protrusion W35 cannot be deburred. On the other hand, the remaining ridgeline W32 excluding the portion W320 can be deburred by the deburring tool 3. The portion W320 of the ridgeline W32 that is adjacent to the protrusion W35 is an example of a "portion that is impossible or difficult to remove on the machining surface of the workpiece due to the protrusion."

[0061] The presence or absence of such parts that cannot be deburred can also be detected using a three-dimensional visual sensor 5, as shown in Fig. 12. In addition, the presence or absence of parts of the workpiece W3 that cannot be deburred may be calculated from shape information (CAD information) of the workpiece W3.

[0062] The deburring process of the workpiece W1 having such an undeburrable portion is performed by a standard type 1 operating program created by the program creation unit 16, in which the tool center portion 3C of the deburring tool 3 is used as the portion in use, and only the portion that can be deburred is performed as shown in FIG. 3, for example.

[0063] Further, when a portion where removal machining is difficult is obtained in a machining region of a machining surface corresponding to a protruding surface having a second displacement amount of the protruding portion due to the fact that the second displacement amount between the machining surface of the workpiece and the protruding surface parallel to the reference surface in the protruding portion is smaller than the first displacement amount between the machining surface of the workpiece and the reference surface, the program creation unit 16 may change the use portion of the removal machining tool 3, change the posture of the removal machining tool 3, or change the shape of the removal machining tool 3 according to the magnitude of the difference between the first displacement amount and the second displacement amount in the portion where removal machining is difficult. This will be described in detail below.

[0064] FIG. 14 shows a fourth type of workpiece W4. The workpiece W4 has a machining surface W41 and a reference surface (for example, a casting surface) W43 displaced from the machining surface W41, and further has a protruding portion W45 protruding from the reference surface W43. Different from the workpiece W3 in FIG. 13, the workpiece W4 has a step W46 between the upper surface (protruding surface) W47 of the protruding portion W45 and the machining surface W41. This step W46 is smaller than the step W44 between the machining surface W41 and the reference surface W43 (W46 < W44). "W46 < W44" is an example of "the second displacement amount between the machining surface of the workpiece and the protruding surface parallel to the reference surface in the protruding portion is smaller than the first displacement amount between the machining surface of the workpiece and the reference surface". The "protruding surface W47 of the protruding portion W45" is an example of "the protruding surface having the second displacement amount of the protruding portion".

[0065] Referring to FIGS. 15 to 19, the deburring process of the fourth type of workpiece W4 will be described. In the first embodiment of the deburring process of the workpiece W4, as shown in FIG. 15, the same machining portion of the deburring tool 3 is selected at all portions of the ridge line W42 in accordance with the smallest step (in this case, the step W46 of the portion of the protruding portion W45).

[0066] The deburring process of the first embodiment of the workpiece W4 as described above is performed as follows by an operation program of the tip use type created by the program creation unit 16 using the tool tip portion 3D of the deburring tool 3 as the use portion.

[0067] Specifically, to prevent the deburring tool 3 shown on the right side of Fig. 15 from interfering with the protrusion W45, the deburring tool 3 is held in a position such that its axis is perpendicular to the machined surface W41 of the workpiece W4, following the example of Fig. 5. The tool tip 3D of the deburring tool 3 is brought into contact with the ridgeline W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced around the periphery of the machined surface W41 along the ridgeline W42 of the machined surface W41. This allows the entire ridgeline W42 to be deburred using one deburring tool 3.

[0068] In the second embodiment of the deburring process for the workpiece W4, as shown in FIG. 16, the same tool posture is selected in accordance with the smallest step (in this case, the step W46 at the protruding portion W45).

[0069] The deburring processing of such a workpiece W4 in the second embodiment is performed as follows by an operating program of tilt type 1 created by the program creation unit 16, in which the axis direction of the deburring tool 3 is tilted and the tool center part 3C of the deburring tool 3 is used as the part in use.

[0070] Specifically, to prevent the deburring tool 3 shown on the right side of Fig. 16 from interfering with the protrusion W45, the deburring tool 3 is held in a position such that its axis is inclined from perpendicular to the machined surface W41 of the workpiece W4, following the example of Fig. 6. The tool center portion 3C of the deburring tool 3 is brought into contact with the ridgeline W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced around the periphery of the machined surface W41 along the ridgeline W42 of the machined surface W41. This allows the entire ridgeline W42 to be deburred using one deburring tool 3.

[0071] In a third embodiment of the deburring processing of the workpiece W4, as shown in FIG. 17, a relatively small deburring tool 3 is selected for the area with a small step (in this case, the step W46 at the protrusion W45), and a relatively large deburring tool 3 is selected for the area with a large step (in this case, the step W44 at the area other than the protrusion W45).

[0072] The deburring processing of such a workpiece W4 in the third embodiment is performed as follows by the standard type 1 operating program created by the program creation unit 16, in which the tool center part 3C of the deburring tool 3 is used as the part in use.

[0073] Specifically, a relatively small deburring tool 3 is used for the portion with a small step so that the deburring tool 3 shown on the right side of Fig. 17 does not interfere with the protrusion W45. Following the example of Fig. 3, the orientation of the deburring tool 3 is maintained so that the axis of the deburring tool 3 is perpendicular to the machined surface W41 of the workpiece W4. The tool center portion 3C of the deburring tool 3 is brought into contact with the ridgeline W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced along a part of the periphery of the machined surface W41 (the portion with a small step) along the ridgeline W42 of the machined surface W41.

[0074] A relatively large deburring tool 3 is used for the large step portion shown on the left side of Fig. 17. Following the example of Fig. 3, the deburring tool 3 is held in a position such that its axis is perpendicular to the machined surface W41 of the workpiece W4. The tool center portion 3C of the deburring tool 3 is brought into contact with the ridgeline W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced along the ridgeline W42 of the machined surface W41 to the remaining portion around the periphery of the machined surface W41 (the large step portion).

[0075] In a fourth embodiment of the deburring processing of the workpiece W4, as shown in FIG. 18, the tip 3D of the deburring tool 3 is selected for the area with a small step (in this case, the step W46 at the protrusion W45), and the middle part 3C of the deburring tool 3 is selected for the area with a large step (in this case, the step W44 at the area other than the protrusion W45).

[0076] The deburring processing of such a workpiece W4 in the fourth embodiment is performed as follows, using a tip-use type operating program created by the program creation unit 16 in which the tool tip 3D of the deburring tool 3 is the part to be used for small step differences, and using a standard type 1 operating program created by the program creation unit 16 in which the tool middle part 3C of the deburring tool 3 is the part to be used for large step differences.

[0077] Specifically, in order to prevent the deburring tool 3 shown on the right side of Fig. 18 from interfering with the protrusion W45, in the portion with a small step, the posture of the deburring tool 3 is maintained so that the axis of the deburring tool 3 is perpendicular to the machined surface W41 of the workpiece W4, following the example of Fig. 5. The tool tip 3D of the deburring tool 3 is brought into contact with the ridgeline W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced along a part of the periphery of the machined surface W41 (the portion with a small step) along the ridgeline W42 of the machined surface W41.

[0078] In the portion with a large step shown on the left side of Fig. 18, the orientation of the deburring tool 3 is maintained so that the axis of the deburring tool 3 is perpendicular to the machined surface W41 of the workpiece W4, following the example of Fig. 3. The tool middle part 3C of the deburring tool 3 is brought into contact with the ridge line W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced along the ridge line W42 of the machined surface W41 to the remaining part around the periphery of the machined surface W41 (the portion with a large step).

[0079] In a fifth embodiment of the deburring processing of the workpiece W4, as shown in FIG. 19, different postures of the deburring tool are selected for the area with a small step (in this case, the step W46 at the protrusion W45) and the area with a large step (in this case, the step W44 at the area other than the protrusion W45).

[0080] The deburring processing of the fifth embodiment of such a workpiece W4 is performed as follows: for small step portions, an inclined type 1 operation program created by the program creation unit 16 is used in which the axis of the deburring tool 3 is tilted and the tool center 3C of the deburring tool 3 is used as the part to be used; and for large step portions, an standard type 1 operation program created by the program creation unit 16 is used in which the tool center 3C of the deburring tool 3 is used as the part to be used.

[0081] Specifically, in order to prevent the deburring tool 3 shown on the right side of Fig. 19 from interfering with the protrusion W45, in the portion with a small step, the posture of the deburring tool 3 is maintained such that the axis of the deburring tool 3 is inclined from perpendicular to the machined surface W41 of the workpiece W4, following the example of Fig. 6. The tool middle part 3C of the deburring tool 3 is brought into contact with the ridge line W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced along a part of the periphery of the machined surface W41 (the portion with a small step) along the ridge line W42 of the machined surface W41.

[0082] In the portion with a large step shown on the left side of Fig. 19, the orientation of the deburring tool 3 is maintained so that the axis of the deburring tool 3 is perpendicular to the machined surface W41 of the workpiece W4, following the example of Fig. 3. The tool middle part 3C of the deburring tool 3 is brought into contact with the ridge line W42 of the machined surface W41. While rotating the deburring tool 3 around its axis, the deburring tool 3 is advanced along the ridge line W42 of the machined surface W41 to the remaining part around the periphery of the machined surface W41 (the portion with a large step).

[0083] In the present disclosure, when changing the use portion or shape of the removal tool 3 in the machining area of ​​the machining surface corresponding to the protruding surface having the second displacement amount of the protrusion, the program creation unit 16 may adjust the moving speed and pressing force of the removal robot 2 in the machining area and the moving speed and pressing force of the removal robot 2 in the remaining machining area excluding the machining area so that a uniform machining depth is obtained in the entire machining area of ​​the machining surface. This will be described in detail below.

[0084] 20 and 21, the adjustment of the advancing speed (V1, V2) or pressing force (F1, F2) of the deburring tool 3 by the robot 2 when changing the part of the deburring tool 3 in use, for example, as shown in FIG. 18, will be described.

[0085] The program creation unit 16 performs adjustment as follows, based on information on the advancing speed (V1, V2) of the deburring tool 3 obtained from the advancing speed acquisition unit 15 and information on the pressing force (F1, F2) of the deburring tool 3 against the workpiece obtained from the pressing force acquisition unit 14.

[0086] Figure 20 shows the deburring tool 3 when machining a portion with a large step as shown on the left side of Figure 18. The portion in use of this deburring tool 3 is the middle portion 3C, and therefore the operation program is based on the standard type 1. In addition, the travel speed of the deburring tool 3 by the robot 2 is V1, and the pressing force of the deburring tool 3 by the robot 2 is F1. This state is applied to all portions other than the protruding portion W45.

[0087] FIG. 21 shows the deburring tool 3 when machining a portion with a small step as shown on the right side of FIG. 18. The portion of the deburring tool 3 that is used is the tip 3D, and therefore the operating program is based on a tip-use type. The advancing speed of the deburring tool 3 by the robot 2 is V2, and the pressing force of the deburring tool 3 by the robot 2 is F2. This state is only applied to the ridgeline W42 of the workpiece W4 that corresponds to the portion between both ends of the protruding surface W47 of the protruding portion W45. The "ridgeline W42 of the workpiece W4 that corresponds to the portion between both ends of the protruding surface W47 of the protruding portion W45" is an example of the "machined area of ​​the machining surface that corresponds to the protruding surface having the second displacement amount of the protruding portion."

[0088] Diameter D2 (see Figure 2) of middle portion 3C, which is the use portion of deburring tool 3 in Figure 20, is larger than diameter D3 (see Figure 2) of tip portion 3D, which is the use portion of deburring tool 3 in Figure 21 (D2>D3), and therefore, the circumferential length of middle portion 3C is longer than the circumferential length of tip portion 3D.

[0089] In addition, when the deburring tool 3 rotates around the axis at a constant speed, the tip portion 3D of the deburring tool 3 in Fig. 21 also rotates once while the middle portion 3C of the deburring tool 3 in Fig. 20 rotates once. Therefore, the length of contact between the middle portion 3C and the edge line W42 of the workpiece W4 while the deburring tool 3 rotates once is longer than the length of contact between the tip portion 3D and the edge line W42 of the workpiece W4. In other words, the amount of processing performed by the middle portion 3C of the deburring tool 3 is greater than the amount of processing performed by the tip portion 3D.

[0090] Therefore, the program creation unit 16 adjusts the advancing speed (V1, V2) or pressing force (F1, F2) of the deburring tool 3 by the robot 2 so that the amount of machining is uniform when the middle part 3C of the deburring tool 3 is used and when the tip part 3D is used.

[0091] Specifically, for example, when the pressing force F1 of the deburring tool 3 by the robot 2 when using the middle portion 3C of the deburring tool 3 is equal to the pressing force F2 of the deburring tool 3 by the robot 2 when using the tip portion 3D of the deburring tool 3 (F1=F2), the program is The forming portion 16 makes the advancing speed V1 of the deburring tool 3 by the robot 2 when the middle portion 3C of the deburring tool 3 is used greater than the advancing speed V2 of the deburring tool 3 by the robot 2 when the tip portion 3D of the deburring tool 3 is used (V1>V2).

[0092] In addition, when the moving speed V1 of the deburring tool 3 by the robot 2 when using the middle portion 3C of the deburring tool 3 is equal to the moving speed V2 of the deburring tool 3 by the robot 2 when using the tip portion 3D of the deburring tool 3 (V1=V2), the program creation unit 16 sets the pressing force F1 of the deburring tool 3 by the robot 2 when using the middle portion 3C of the deburring tool 3 to be smaller than the pressing force F2 of the deburring tool 3 by the robot 2 when using the tip portion 3D of the deburring tool 3 (F1 <F2)する。

[0093] In the embodiments of FIGS. 15 to 19, the fourth type of workpiece W4 shown in FIG. 14 was described. The fourth type of workpiece W4 is obtained by adding a protruding portion W45 to the first type of workpiece W1 shown in FIGS. 1 and 3. However, for the type of workpiece obtained by adding a protruding portion to the second type of workpiece W2 shown in FIG. 7, various embodiments can be considered in the same manner as in the embodiments of FIGS. 15 to 19.

[0094] In such a type of workpiece, when adjusting the advancing speed (V1, V2) or the pressing force (F1, F2) of the burr removal tool 3 by the robot 2 when changing the use part of one burr removal tool 3, the diameter D2 of the middle part 3C which is the use part of one burr removal tool 3 It goes without saying that the relationship (D2 < D1) with the diameter D1 of the rear part 3B which is the use part of the other burr removal tool 3 (see FIG. 2) is used.

[0095] In addition, in each of the above embodiments, the burr removal process of the workpiece was described. However, the present invention can be similarly applied to any removal process other than the burr removal process. The removal process is typically a removal process by contact, for example, cutting, grinding, and polishing.

Explanation of Signs

[0096] 1 Burr removal system 2 Robot 3 Burr removal tool (removal process tool) 4 Force sensor 5 Three-dimensional vision sensor 10 Robot control device 11 Robot control unit 12 Position information acquisition unit 13 Tool information holding unit 14 Pressing force acquisition unit 15 Advancing speed acquisition unit 16 Program creation unit 20 Program creation device W1, W2, W3, W4 Workpiece W11, W21, W31, W41 Machined surface W13, W23, W33, W43 Reference plane W14, W24, W34, W44, W46 steps W35, W45 protrusion W37, W47 protruding surface

Claims

1. A program creation device that creates an operation program for a robot for removing a workpiece having a processing surface and a reference surface displaced from the processing surface, The removal processing robot includes a removal processing tool, The program creation device includes: a position information acquiring unit that acquires position information regarding a positional relationship between the machining surface of the workpiece and the reference surface; a tool information storage unit that stores tool information including shape information and attitude information of the removal processing tool; a program creation unit that creates the operation program for the removal processing robot based on the position information of the workpiece and the tool information of the removal processing tool, the program creation unit selects a use portion and a posture of the removal tool so as to avoid interference between the removal tool and the reference surface of the workpiece; A program creation device that, when the workpiece has a protrusion protruding from the reference surface, determines whether the machining area of ​​the machining surface corresponding to the protrusion surface having the second displacement amount of the protrusion includes a portion that is difficult to remove due to a second displacement amount between the machining surface of the workpiece and a protrusion surface parallel to the reference surface of the protrusion being smaller than a first displacement amount between the machining surface of the workpiece and the reference surface.

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

3. The program creation device described in claim 2, wherein when a protrusion is detected on the reference surface of the workpiece in the shape information of the workpiece or the position information acquired by the three-dimensional visual sensor, the position information acquisition unit calculates and acquires parts of the machining surface of the workpiece that are impossible or difficult to remove due to the protrusion.

4. A program creation device as described in claim 3, wherein, when the calculation obtains a portion that is difficult to remove in the machining area of ​​the machining surface corresponding to the protruding surface having the second displacement amount of the protrusion, the program creation unit changes the portion of the removal processing tool used, changes the attitude of the removal processing tool, or changes the shape of the removal processing tool depending on the magnitude of the difference between the first displacement amount and the second displacement amount in the portion that is difficult to remove.

5. 2. The program creation device of claim 1, wherein when changing the location or shape of the removal processing tool in the processing area of ​​the processing surface corresponding to the protruding surface having the second displacement amount of the protrusion, the program creation unit adjusts the advancing speed and pressing force of the removal processing robot in the processing area and the advancing speed and pressing force of the removal processing robot in the remaining processing area excluding the processing area so that a uniform processing depth is obtained in the entire processing area of ​​the processing surface.

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