Removal processing method and removal processing device

Abstract

To provide a removal processing method and a removal processing device with which a position of removal processing is visualized by a removal tool contour, even when a removal tool is displaced from a focal position of an imaging part.SOLUTION: A grindstone real image Tg of a grindstone 35 and a workpiece real image of a workpiece W are displayed in a display, and the workpiece W is ground using the grindstone 35 while an operator watches the grindstone real image Tg and the workpiece real image. In the processing method, as a first step, contour data of the grindstone 35 is created. As a second step, a contour A1 (A2) based on the contour data is displayed in the display in a state that the contour is overlapped with the grindstone real image Tg, when grinding the workpiece W using the grindstone 35.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to a removal processing method and a removal processing apparatus. [Background technology]

[0002] Conventionally, in grinding processing by an NC grinding machine, a series of operations related to the grinding processing is programmed in advance based on numerical information such as the position, speed, etc., regarding the relative motion between the workpiece (workpiece) and the grinding wheel. Then, the NC grinding machine executes grinding processing on the workpiece according to commands from this program (see Patent Document 1 and Patent Document 2).

[0003] In precision forming grinding using such NC grinding machines, rough machining is usually performed first, followed by finish machining. In rough machining, it is sometimes performed manually in order to remove as much material as possible in a short period of time.

[0004] For example, manual grinding is performed on a workpiece to obtain a scooped shape as shown in Fig. 11. As shown in Fig. 11, a workpiece W having a scooped shape has a groove Wa extending downward from its upper end. The upper part of the groove Wa has an opening W1 that is open to the upper end surface of the workpiece W. On the other hand, the lower part of the groove Wa does not have an opening on the lower end surface of the workpiece W, and is ground from the side of the workpiece W to form a closed end W2.

[0005] As shown in FIG. 10(c), the NC grinding machine holds the workpiece W with a workpiece holding mechanism (not shown). In addition, the NC grinding machine has an imaging unit 100 and an illumination device 110 arranged above and below the workpiece W so as to sandwich the workpiece W. That is, the illumination device 110 is configured to illuminate the workpiece W and the grindstone from below. In addition, the focal position of the camera of the imaging unit 100 (hereinafter simply referred to as the focal position of the imaging unit) is set to the position of the upper end surface of the workpiece W where the workpiece image is most clear. The imaging unit 100 images the upper end surface of the workpiece W by coaxial epi-illumination. Note that, if the upper surface of the workpiece W is flat, the illumination light of the coaxial epi-illumination is reflected by the flat surface toward the imaging unit. For this reason, the coaxial epi-illumination has the advantage that the contour of the workpiece image (image of the upper surface) acquired by the imaging unit 100 is clear.

[0006] If the top surface of the workpiece W has a flat portion and a non-flat portion, the illumination light of the coaxial epi-illumination is reflected toward the imaging unit at the flat portion. However, at the non-flat portion, the illumination light of the coaxial epi-illumination is not reflected toward the imaging unit, but is reflected in another direction that is not directed toward the imaging unit. For this reason, in the workpiece image acquired by the imaging unit 100, the flat portion is clear, but the non-flat portion is not accurately imaged.

[0007] The groove Wa of the workpiece W is ground by manually moving the grindstone in the X and Y directions by a moving mechanism (not shown) and swinging it in the Z direction (up and down direction) within a predetermined swing range. During this grinding, the worker performs the grinding while checking the images of the grindstone and the workpiece W displayed on the display.

[0008] 10(a) shows the grindstone being oscillated in the vertical direction. In the figure, T0 is attached to the grindstone located at the focal position of the imaging unit 100. T1 is attached to the grindstone located above the focal position of the imaging unit 100. T2 is attached to the grindstone located below the focal position of the imaging unit 100. Images of the grindstone oscillating in the vertical direction and the workpiece W fixed and held in place captured by the imaging unit 100 are displayed on a display (not shown). [Prior art documents] [Patent documents]

[0009] [Patent Document 1] JP 2008-105119 A [Patent Document 2] JP 2009-214289 A Summary of the Invention [Problem to be solved by the invention]

[0010] When the grinding wheel T0 (see FIG. 10(a)) is positioned at the focal position of the imaging unit 100, the image of the grinding wheel T0, together with the image of the top surface of the workpiece W positioned at the focal position, has a clear contour, making it easier to grasp the positional relationship between the two. In other words, it becomes easier for the operator to manually check the position of the grinding wheel. An example of the image at this time is shown in FIG. 10(c). This figure shows the top surface image Wg and actual grinding wheel image Tg displayed on the display. For ease of explanation, in this figure, the contour of the actual grinding wheel image Tg is drawn with a thick line to exaggerate its clarity.

[0011] In addition, in Figure 10 (c), the point cloud area around the upper end surface image Wg (excluding the actual grinding wheel image Tg) is a blurred area because the illumination light from the illumination device 110 is blocked by the closed end W2 side of the workpiece W, making it a dim or dark area and not located at the focal position.

[0012] On the other hand, when the grinding wheel is located above or below the focal position of the imaging unit 100, the image Wg of the upper end surface of the workpiece W located at the focal position is clear, but the images of the grinding wheels T1 and T2 (see Figure 10(a)) are blurred and the contours are unclear, as shown in Figure 10(b).

[0013] Furthermore, the dark point cloud area around the upper end surface image Wg (excluding the actual grinding wheel image Tg) and the actual grinding wheel image Tg with a blurred outline become unclear, and the boundary between them becomes unclear. For this reason, in the past, when an operator manually operates the grinding machine in the XY directions to perform cutting processing, if the grinding wheel deviates from the focal position of the imaging unit in the Z direction, it was necessary to perform the cutting processing in a state where it was difficult to confirm the grinding wheel on the display.

[0014] In the above, an example of grinding a workpiece with a scooped shape has been described. However, if the grindstone is out of focus of the imaging unit, the same problem occurs when grindstone images are blurred for workpieces other than scooped shapes.

[0015] Furthermore, in the above-mentioned conventional example, a grindstone that oscillates is the subject of the study, but even in the case of a grindstone that does not oscillate, if it becomes displaced from the focal position of the imaging unit for some reason, the same problem occurs. An object of the present invention is to provide a removal processing method and removal processing apparatus that can visualize the position of the removal tool by the removal tool contour even if the removal tool is out of focus of the imaging unit. [Means for solving the problem]

[0016] In order to solve the above problems, the removal processing method of the present invention is a removal processing method in which an actual removal tool image of the removal tool and an actual workpiece image of the workpiece, acquired by an imaging unit, are displayed on a display while an operator removes a part of the workpiece with the removal tool while looking at the actual removal tool image and the actual workpiece image, and includes a first step of creating removal tool contour data for the removal tool, and a second step of displaying on the display a removal tool contour based on the removal tool contour data superimposed on the actual removal tool image when removing a part of the workpiece with the removal tool (Claim 1).

[0017] With the above configuration, even if the tip of the removal tool is out of focus with the imaging unit, the position of the removal tool is visualized by the removal tool contour. In addition, in the method, in the second stage, the removal tool contour may be displayed on the display in a color different from at least one of the color of the actual removal tool image and the color of the actual workpiece image (Claim 2).

[0018] With the above configuration, the removal tool contour is a color different from at least one of the colors of the actual removal tool image and the actual workpiece image, making the removal tool contour clear and making the position of the removal tool clear.

[0019] The removal processing device of the present invention is equipped with an imaging unit that images a removal tool and a workpiece facing the removal tool, and a display that displays an actual image of the removal tool and an actual image of the workpiece acquired by the imaging unit, and is further equipped with a memory unit that stores removal tool contour data, and a display control unit that displays on the display a removal tool contour based on the removal tool contour data superimposed on the actual image of the removal tool (Claim 3).

[0020] With the above configuration, even if the tip of the removal tool is out of focus with the imaging unit, the position of the removal tool is visualized by the removal tool contour. The removal processing device may include a removal tool contour creation unit that creates the removal tool contour data based on a removal mark image of the removal mark of the removal tool transferred to a dummy workpiece or an captured image of the removal tool, and the memory unit may be configured to store the removal tool contour created by the removal tool contour creation unit (Claim 4).

[0021] With the above configuration, the removal tool contour is created based on the removal trace of the removal tool transferred to the dummy work by the removal tool contour creation unit. Then, the removal tool contour created based on the removal trace of the removal tool is displayed and controlled by the display control unit in a state where the removal tool contour is superimposed so as to be linked to the operation of the actual removal tool image of the removal tool, thereby visualizing the position of the removal tool.

[0022] In the removal processing device, it is preferable that the imaging section obtains the removal trace image by imaging the removal trace at a focal position (claim 5). With the above configuration, the removal tool contour creating section can create an accurate removal tool contour based on the removal mark image captured by the imaging section at the focal position.

[0023] It is preferable that the removal processing device includes a moving mechanism unit that moves the removal tool in X direction, Y direction, and Z direction, a manual operation unit that operates to move the moving mechanism unit in the X direction and Y direction, an operation amount detection unit that detects an amount of movement operation in the X direction and Y direction by the manual operation unit, and a control unit that controls the moving mechanism unit to move the removal tool in the X direction and Y direction based on the amount of movement operation, and the display control unit displays on the display a state in which the removal tool contour is superimposed on the actual removal tool image based on the amount of movement operation (claim 6).

[0024] With the above configuration, the display control unit causes the display to display the removal tool contour superimposed on the actual removal tool image based on the amount of movement operation, thereby visualizing the position of the removal tool.

[0025] In the removal processing device, the control unit may grind the workpiece with the removal tool by swinging the removal tool in the Z direction regardless of the movement operation of the manual operation unit in the X direction and the Y direction (claim 7).

[0026] With the above configuration, the removal tool is swung in the Z direction regardless of the movement operation of the manual operation unit in the X and Y directions. As a result, the display control unit displays the removal tool contour on the display in a state where it is superimposed on the actual image of the removal tool based on the amount of movement operation, so that the position of the removal tool is visualized even when the removal tool is swung in the Z direction.

[0027] It is preferable that the display control unit displays the removal tool contour on the display in a color different from at least one of the color of the actual removal tool image and the color of the actual workpiece image (claim 8).

[0028] With the removal processing device configured as described above, the removal tool contour is a color different from at least one of the colors of the actual removal tool image and the actual workpiece image, making the removal tool contour clear and making the position of the removal tool clear. Effect of the Invention

[0029] According to the present invention, even if the removal tool moves away from the focal position of the imaging unit in the Z direction, the position of the removal tool can be visualized by the removal tool contour that is linked to the movement of the image of the removal tool in the XY directions on the display. [Brief description of the drawings]

[0030] [Figure 1] FIG. 1 is an overall schematic diagram of an NC grinding device. [Diagram 2] 13 is a flowchart for creating a grindstone profile. [Diagram 3] (a) is an explanatory diagram of the state in which the grinding wheel is approaching the workpiece, (b) is an explanatory diagram of the state in which the workpiece is being cut by the grinding wheel, and (c) is an explanatory diagram of the buttons that are operated when obtaining the grinding wheel shape transfer position. [Figure 4] 13A is an explanatory diagram of a right β degree inclination angle, FIG. 13B is an explanatory diagram of a left β degree inclination angle, FIG. 13C is an explanatory diagram of both Vβ degree inclination angles, and FIG. 13D is an explanatory diagram of a turning angle. [Diagram 5] 4(a) and 4(b) are explanatory diagrams of the grinding wheel profile when it is created by an approximation circle formula. [Figure 6] 4(a) and (b) are explanatory diagrams of the grinding wheel profile when it is created by the multi-point method. [Figure 7] 13A is an explanatory diagram of a grindstone contour generation button, and FIG. 13B is an explanatory diagram of a state in which the grindstone contour is superimposed on an actual image of the grindstone. [Figure 8] (a) is an explanatory diagram of the grindstone display ON button, (b) is an explanatory diagram of the actual image of the grindstone when the grindstone display ON button is not turned on, and (c) is an explanatory diagram of the actual image of the grindstone when the grindstone display ON button is turned on. [Figure 9] 1A is an explanatory diagram of the positional relationship between the workpiece, grinding wheel, imaging unit, and lighting device; (b) is an explanatory diagram of an actual image of the grinding wheel when the grinding wheel is positioned closer to the focal position of the imaging unit; (c) is an explanatory diagram of the state in which the grinding wheel contour is superimposed on the actual image of the grinding wheel when the grinding wheel is positioned closer to the focal position of the imaging unit; (d) is an explanatory diagram of the actual image of the grinding wheel when the grinding wheel is positioned at the focal position of the imaging unit; (e) is an explanatory diagram of the state in which the grinding wheel contour is superimposed on the actual image of the grinding wheel when the grinding wheel is positioned at the focal position of the imaging unit; (f) is an explanatory diagram of the actual image of the grinding wheel when the grinding wheel is positioned farther from the focal position of the imaging unit; and (g) is an explanatory diagram of the state in which the grinding wheel contour is superimposed on the actual image of the grinding wheel when the grinding wheel is positioned farther from the focal position of the imaging unit. [Figure 10] 1A is an explanatory diagram of the positional relationship between the workpiece, grinding wheel, imaging unit, and lighting device; FIG. 1B is an explanatory diagram of an actual image of the grinding wheel and an actual image of the workpiece when the grinding wheel is moved away from the focal position of the imaging unit; and FIG. 1C is an explanatory diagram of an actual image of the grinding wheel and an actual image of the workpiece when the grinding wheel is located at the focal position of the imaging unit. [Figure 11] FIG. 1 is a perspective view showing an example of a workpiece having a raised shape. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] (Embodiment) DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A removal processing method and a removal processing device according to one embodiment of the present invention will now be described with reference to FIGS.

[0032] (1. Schematic configuration of NC grinding device 10) As shown in FIG. 1, an NC grinding device 10 serving as a removal processing device includes a control device 11, a display 12, a console 14, input devices such as a mouse 16, and a grinding unit 30.

[0033] (2. Control device 11) The control device 11 is made up of a computer and has a CPU (Central Processing Unit) 22, and a storage unit 24 equipped with a ROM, a RAM, a hard disk, etc. The NC program is stored in the storage unit 24, and is read and executed during automatic grinding. The storage unit 24 also stores a grindstone contour creating program as a removal tool contour creating program and a grindstone contour display program as a removal tool contour display program. The CPU 22 executes the grindstone contour creating program, whereby the CPU 22 functions as an image processing unit 27 and a grindstone contour creating unit 28 as a removal tool contour creating unit. The CPU 22 functions as an NC control unit 29 based on the NC program.

[0034] Furthermore, the display control unit 25 executes the grindstone contour display program to perform superimposed display in which the grindstone contour as the removal tool contour is superimposed on the actual image of the grindstone captured by the imaging unit 39 .

[0035] The RAM is a working memory. The hard disk stores removal tool contour data in a writable and readable manner. The actual grindstone image corresponds to the actual removal tool image. The removal tool contour data is contour line data of the tip of the grindstone created by the grindstone contour creation unit 28. The contour line data of the tip of the grindstone is obtained by extracting the grindstone contour from a grindstone contour image obtained by capturing grinding marks on a dummy workpiece ground with a grindstone by edge detection or the like in image processing, and then linearizing the data. The grinding marks correspond to removal marks.

[0036] (3. Display 12) The display 12 is a liquid crystal display device, an organic EL display device, a CRT, or the like, and is capable of color display. The display 12 is a touch panel display. As shown in Fig. 1, the screen 13 of the display 12 has an image display area 13a, a button display area 13b, and the like.

[0037] (4. Input Device) The console 14 is an input device for inputting numerical values, characters, etc. to the CPU 22. The mouse 16 is an input device for moving a mouse pointer (not shown) on the screen 13 shown in Fig. 1, etc. The X-axis operation device 17 is equipped with a manual handle 17a and an encoder 17b. When the manual handle 17a is operated, the encoder 17b outputs an operation signal corresponding to the operation to the CPU 22 of the control device 11. The NC control unit 29 drives and controls an X-axis motor 37 (described later) based on the operation signal, thereby moving the grindstone 35 in the X direction. The grindstone 35 corresponds to a removal tool.

[0038] Based on the operation signal, the display control unit 25 of the CPU 22 moves the grinding wheel contour displayed in the image display area 13a of the screen 13 in the X-axis direction of the machine coordinate system shown in Fig. 1. The machine coordinate system is the machine coordinate system of the NC grinding device 10.

[0039] The Y-axis operation device 18 includes a manual handle 18a and an encoder 18b. When the manual handle 18a is operated, the encoder 18b outputs an operation signal to the CPU 22 of the control device 11 in accordance with the operation.

[0040] When the manual handle 18a is operated, the encoder 18b outputs an operation signal corresponding to the operation to the CPU 22 of the control device 11. The NC control unit 29 drives and controls a Y-axis motor 38, which will be described later, based on the operation signal, thereby moving the grindstone 35 in the Y direction.

[0041] 1. Furthermore, the display control unit 25 of the CPU 22 moves the grindstone contour displayed in the image display area 13a of the screen 13 in the Y-axis direction of the machine coordinate system shown in FIG. 1 based on the operation signal. The manual handle 17a of the X-axis operating device 17 and the manual handle 18a of the Y-axis operating device 18 correspond to a manual operating unit. The encoder 17b of the X-axis operating device 17 and the encoder 18b of the Y-axis operating device 18 correspond to an operation amount detection unit.

[0042] (5. Grinding section 30) As shown in FIG. 1, the grinding unit 30 includes a grinding mechanism 31, a workpiece holding mechanism 32, a moving mechanism 33, and an imaging unit 39.

[0043] The grinding mechanism 31 is equipped with a disk-shaped grindstone 35, and grinds the workpiece W held by the workpiece holding mechanism 32. The grinding mechanism 31 rotates the grindstone 35 during grinding. The workpiece holding mechanism 32 detachably holds the workpiece W. The workpiece holding mechanism 32 can also detachably hold a dummy workpiece (not shown) instead of the workpiece W.

[0044] The grinding mechanism 31 is provided in a moving mechanism 33, and moves the grindstone 35 relative to the workpiece W. The moving mechanism 33 is equipped with an X-axis motor 37, a Y-axis motor 38, and a Z-axis motor 36. The NC control unit 29 controls the rotation of the X-axis motor 37 and the Y-axis motor 38, so that the moving mechanism 33 can move the grindstone 35 in the X and Y directions. In addition, the driving of the Z-axis motor 36 allows the grindstone 35 to oscillate within a predetermined range in the vertical direction (Z direction).

[0045] The imaging unit 39 is disposed above the workpiece W or the dummy workpiece held by the workpiece holding mechanism 32. The imaging unit 39 is composed of a CMOS camera or a CCD camera, and has a focal position at the height position of the upper end surface of the workpiece W or the dummy workpiece. An illumination device 34 is disposed below the workpiece W, and illumination light is irradiated toward the imaging unit 39 from below the workpiece W. The imaging unit 39 transmits to the image processing unit 27 a video of the workpiece W being cut by the grindstone 35, or a still image of the grinding marks on the dummy workpiece cut by the grindstone 35.

[0046] (Operation of the embodiment) Next, the operation of the NC grinding device 10 will be described. <1.1. Creation of grinding wheel contour data as removal tool contour data> 2 is a flowchart of grindstone profile creation, which is executed when an operator starts a grindstone profile creation program in the CPU 22 when machining a dummy workpiece with the grindstone. Note that, before the grindstone profile creation program is executed, the operator inputs the specifications of the grindstone 35 into the console 14, so that the specifications are stored in the storage unit 24. As shown in Figs. 4(a) to 4(d), these specifications include the direction of the side surface of the grindstone, its inclination angle β, and the turning angle γ with respect to the workpiece.

[0047] The orientation of the side of the grinding wheel 35 includes "right inclination", "left inclination", and "both V". The right β degree shown in FIG. 4(a) indicates that the orientation of the right side of the grinding wheel 35 is "right inclined" when viewed from the workpiece side, and is inclined at an inclination angle β. The left β degree shown in FIG. 4(b) indicates that the orientation of the left side of the grinding wheel 35 is "left inclined" when viewed from the workpiece side, and is inclined at an inclination angle β. The both V, β degrees shown in FIG. 4(c) indicate that the orientation of both the left and right side of the grinding wheel 35 is "V-shaped inclined" when viewed from the workpiece side, and both the left and right side surfaces are inclined at an inclination angle β. The turning angle γ shown in FIG. 4(d) indicates how much the grinding wheel 35 turns to the right or left with the turning angle γ when viewed from the workpiece side.

[0048] (S102) In S102, grinding is performed with the grindstone 35 on a dummy workpiece Wp (see FIG. 3(a)) held by the workpiece holding mechanism 32 shown in FIG. 1. This dummy workpiece is processed by an operator operating the manual handles 17a, 18a. The movement operation amounts of the manual handles 17a, 18a are detected by the encoders 17b and 18b and transmitted to the CPU 22. The NC control unit 29 drives the X-axis motor 37 and the Y-axis motor 38 based on the movement operation amount, and the grindstone 35 is moved in the X and Y directions by the grinding mechanism 31. The CPU 22 also updates the XY coordinates of the grindstone 35 based on the movement operation amounts of the grindstone 35 in the X and Y directions.

[0049] 3(b), the grinding marks Wc of the dummy workpiece Wp by the grindstone 35 are captured by the imaging unit 39, and the grinding mark image, which is a still image, is transmitted to the image processing unit 27. The grinding mark image corresponds to the removal mark image.

[0050] (S103) In S103, the operator touches the grindstone shape transfer position button 13c (see FIG. 3(c)) displayed in the button display area 13b shown in FIG. 1 to capture the XY coordinates of the grindstone 35 upon completion of the formation of the grinding marks.

[0051] These XY coordinates, that is, the X coordinate value and the Y coordinate value, are the XY coordinates of the grindstone profile A1 (A2) to be created later. The XY coordinates of the grinding wheel contour A1 (A2) are updated in response to the operation of the manual handles 17a, 18a so as to be equal to the XY coordinates of the grinding wheel 35, which are updated each time the grinding wheel 35 moves in the X and Y directions in response to the operation of the manual handles 17a, 18a.

[0052] (S104) In S104, the image processing unit 27 performs edge detection and other image processing on the still image of the grinding marks of the grinding wheel 35 of the dummy workpiece. The contour is extracted by this processing, and the grinding wheel contour A (see FIG. 5(a)) is obtained. The edge of this grinding wheel contour A has coordinate data for each pixel.

[0053] In the edge detection of the image processing, edges that match the specifications of the grindstone 35 stored in advance in the storage unit 24 are detected. When this edge detection is completed, the display control unit 25 causes the grindstone contour generation button 13d (see FIG. 7(a)) in the button display area 13b to flash, thereby prompting the user to operate the grindstone contour generation button 13d.

[0054] (S106) In S106, when the operator touches the grinding wheel profile generation button 13d (see FIG. 7(a)), the image processor 27 displays selection buttons (not shown) on the screen 13 of the display 12. The selection buttons are used to allow the operator to select whether the grinding wheel profile generation process is to be performed using the approximate circle method or the multipoint method.

[0055] If the operator selects the approximation circle type, the process proceeds to S108. If the operator selects the multi-point type, the process proceeds to S120. (S108) In S108, the grindstone contour creating unit 28 performs the following grindstone contour creating process on the grindstone contour A (see FIG. 5(a)) acquired by the image processing.

[0056] <1.2. Approximate circular grinding wheel contour creation process> 5(a) and 5(b) are explanatory diagrams of the grindstone profile creation process of the approximate circle type. As shown in Fig. 5(a), the grindstone profile creation unit 28 equally divides the tip shape of the grindstone profile A into a plurality of shapes by a preset division number n.

[0057] The tip shape here refers to the shape of the tip of the grindstone 35 that contributes to grinding the dummy workpiece Wp. The range of the tip shape is set in advance, and is equally divided within this range.

[0058] FIG. 5(a) illustrates the case of "n=3". In the following, the case of "n=3" will be described. In the figure, θ is the division angle when the wheel is divided equally. O is the center when the tip shape of the wheel profile A has a perfect circular arc. In FIG. 5(a), Aa, Ab, and Ac indicate the shapes of the divided parts constituting the tip shape of the wheel profile A. Please note that the parts Aa, Ab, and Ac may not be arcs when the wheel 35 is worn by grinding. E0, E1, E2, and E3 indicate the end points of the parts Aa, Ab, and Ac, respectively. In this example, the center O is aligned with the center of the perfect circle, but this is not limited thereto, and may be located near the center of the perfect circle, for example. Hereinafter, the center O may be referred to as the center of a virtual circle.

[0059] Next, as shown in FIG. 5(b), the grinding wheel contour creation unit 28 creates approximate arcs for each of the equally divided portions Aa, Ab, and Ac by the least squares method using the coordinate data of each portion, and obtains their centers of curvature and radii of curvature.

[0060] Specifically, in Fig. 5(b), Ka is an approximate arc created between the end points E0 and E1 of the portion Aa. The approximate arc Ka can be defined as a sector by a pair of dividing lines d1 and d2 extending in the radial direction with the center of curvature Oa as the center. In this way, the grindstone profile creating unit 28 obtains the center of curvature Oa and the radius of curvature ra of the approximate arc Ka.

[0061] As shown in Fig. 5(b), Kb is an approximated arc created between the end points E1 and E2 of the portion Ab. For the approximated arc Kb, a sector shape can be defined by a pair of dividing lines e1 and e2 extending in the radial direction with the center of curvature Ob as the center. In this way, the grindstone profile creating unit 28 obtains the center of curvature Ob and the radius of curvature rb.

[0062] Kc is an approximation arc created between the end points E2 and E3 of the portion Ac. For the approximate arc Kc, a sector shape can be defined by a pair of dividing lines f1 and f2 extending in the radial direction with the center of curvature Oc as the center. As a result, the grindstone profile creating unit 28 obtains the center of curvature Oc and the radius of curvature rc in the same manner as for the approximate arc Ka.

[0063] In this way, grindstone contour creation unit 28 obtains data for the grindstone contour (grindstone contour data) having a tip shape in which the end points E0 and E1 are approximated as an arc Ka, the end points E1 and E2 are approximated as an arc Kb, and the end points E2 and E3 are approximated as an arc Kc. Note that, since the shape adjacent to the tip shape is a straight edge, grindstone contour creation unit 28 includes it in the grindstone contour data as data for drawing a straight line.

[0064] In the grindstone contour data, the grindstone contour A1 and the grindstone contour A have end points E0, E1, E2, and E3 that are common points in the tip shape. In the above, the tip shape of the grindstone profile A is equally divided by "n=3", but the number of equal divisions is not limited to "n=3" and may be another value.

[0065] After acquiring the grindstone contour data of the grindstone contour A1, the grindstone contour creation unit 28 proceeds to S110 and causes the display control unit 25 to display a selection button for no correction and a selection button for correction (neither of which are shown) in the image display area 13a of the display 12.

[0066] (S110) In S110, if the worker selects, by a touch operation, a selection button for "no correction" (not shown) displayed in the image display area 13a of the display 12, the process proceeds to S114. If the worker selects, by a touch operation, a selection button for "with correction" (not shown) displayed on the screen of the display 12, the process proceeds to S112.

[0067] (S112) In S112, various tool buttons (not shown) for manual fine adjustment are displayed on the screen 13 of the display 12. The operator performs touch operations on the various tool buttons to finely adjust the grindstone contour data of the grindstone contour A1. This fine adjustment includes, for example, changing the division angle. If the angle is changed, the grindstone contour data of the grindstone contour A1 is created with the new division angle after the adjustment. After this fine adjustment is completed, the process proceeds to S114.

[0068] (S114) In S114, the operator touches a registration button (not shown) displayed on the screen 13 of the display 12. This causes the grindstone contour creation unit 28 to store in the memory unit 24 the grindstone contour data of the finely adjusted grindstone contour A1 if fine adjustment has been made, or the grindstone contour data without fine adjustment if fine adjustment has not been made, with an attribute indicating that it is an approximate circle.

[0069] For a grindstone profile created using a multi-point method (described later), the grindstone profile creation unit 28 stores the grindstone profile in the storage unit 24 with an attribute indicating that it is created using a multi-point method. (S120) In S120, the grindstone contour creating unit 28 performs the following grindstone contour creating process on the grindstone contour A (see FIG. 6(a)) acquired by the image processing.

[0070] <1.3. Multi-point grinding wheel contour creation process> 6(a) and 6(b) are explanatory diagrams of a multi-point grindstone profile creation process. As shown in Fig. 6(a), the grindstone profile creation unit 28 equally divides the tip shape of the grindstone profile A at a preset angle α. The angle α is not limited, but is preferable because a smaller angle increases the number of intersections of the edges of the tip shape of the grindstone profile A, which will be described later.

[0071] FIG. 6(a) shows an example in which the tip shape of the grindstone contour A has an arc of a perfect circle (virtual circle), and is divided at an angle α (=10 degrees) by a dividing line g extending from the center O of the virtual circle. In this example, the center O is set to coincide with the center of the perfect circle, but this is not limited thereto, and may be located, for example, near the center of the perfect circle. As shown in FIG. 6(b), the grindstone contour creation unit 28 obtains intersection points F0 to Fm between each dividing line g and the edge of the tip shape of the grindstone contour A. That is, the grindstone contour creation unit 28 obtains the position coordinates of the intersection points F0 to Fm of the edge of the tip shape of the grindstone contour A. m is a positive integer.

[0072] The grindstone contour having the coordinate data of the intersection points F0 to Fm is hereinafter referred to as the grindstone contour A2. The grindstone contour A2 and the grindstone contour A have intersection points F0 to Fm that are common points in the tip shape.

[0073] In this way, the grindstone contour creating unit 28 acquires the data for the grindstone contour that becomes the grindstone contour A2, and then proceeds to S122. Note that, since the shape adjacent to the tip shape is a straight line edge ε (see FIG. 6(b)), the grindstone contour creating unit 28 includes it in the grindstone contour data as data for drawing a straight line.

[0074] Before proceeding to S122, the display control unit 25 causes the display 12 to display a selection button for no correction (not shown) and a selection button for correction (not shown). (S122) In S122, if the worker selects, by a touch operation, a selection button for "no correction" (not shown) displayed on the screen of the display 12, the process proceeds to S114. If the worker selects, by a touch operation, a selection button for "with correction" (not shown) displayed on the screen of the display 12, the process proceeds to S124.

[0075] (S124) In S124, various tool buttons (not shown) for manual fine adjustment are displayed on the screen 13 of the display 12. The operator performs touch operations on the various tool buttons to finely adjust the grindstone contour data of the grindstone contour A2. This fine adjustment includes, for example, changing the angle α. If the angle is changed, the grindstone contour data of the grindstone contour A2 is created with a new division angle after the adjustment. After this fine adjustment is completed, the process proceeds to S114.

[0076] The color of the grindstone contour A1 (A2) when displayed is set in advance. The color of the grindstone contour A1 (A2) when displayed may be set to be different from the color of the actual grindstone image Tg. Alternatively, the color of the grindstone contour A1 (A2) when displayed may be set to be different from the color of the actual workpiece image. Furthermore, the color of the grindstone contour A1 (A2) when displayed may be set to be different from both the color of the actual grindstone image Tg and the color of the actual workpiece image.

[0077] For example, when the actual grindstone image Tg and the actual workpiece image are black and white images, the grindstone contour A1 (A2) is displayed in different colors such as yellow, red, or blue. The colors of the grindstone contour A1 (A2) are merely examples and are not limiting.

[0078] <2. Displaying or hiding the grinding wheel contour> When performing manual rough machining on the workpiece W, the operator wishes to display the grindstone contour superimposed on the actual grindstone image Tg.

[0079] In this case, the operator touches the grindstone contour display ON button 13e in the button display area 13b shown in Fig. 8(a) . Then, the display control unit 25 shown in Fig. 1 reads out the grindstone contour data created by the approximate circle method or the multipoint method stored in the storage unit 24.

[0080] Then, as shown in Fig. 7(b) or Fig. 8(c), the display control unit 25 displays the grindstone contour A1 (A2) based on this data by superimposing it on the contour of the actual grindstone image Tg displayed in the image display area 13a of the display 12. In this case, the display control unit 25 superimposes the grindstone contour A1 (A2) on the contour of the actual grindstone image Tg for each frame of the video.

[0081] When the display control unit 25 enlarges or reduces the actual grindstone image Tg on the screen of the display 12, it also enlarges or reduces the grindstone contour A1 (A2) at the same magnification. For convenience of explanation, in FIG. 7(b) and FIG. 8(c), it is assumed that the grindstone profile A1 is displayed based on the grindstone profile data of the approximation formula.

[0082] In addition, in Fig. 7(b), the actual grindstone image Tg is an image when the grindstone 35 is located at the focal position of the imaging unit 39 described later. Here, for convenience of explanation, the entire actual grindstone image Tg of the grindstone 35 is drawn with thick hatching lines to clearly indicate that the grindstone 35 is located at the focal position. Note that these hatching lines and the thin hatching lines described in (e) do not indicate cross-sectional views. In Fig. 8(c), in the actual grindstone image Tg of the grindstone 35 that is not located at the focal position, the blurred area of ​​the unclear outline is shown by a point cloud, and the area other than the outline is drawn with thin hatching lines.

[0083] Furthermore, when the grindstone contour A1 (A2) is displayed superimposed on the actual grindstone image Tg as described above, to cancel the superimposed display, the operator touches the grindstone contour display ON button 13e. This touch operation causes the display control unit 25 to stop displaying the grindstone contour A1 (A2) as shown in FIG. 8(b). FIG. 8(b) shows the actual grindstone image Tg in a state where the grindstone contour A1 (A2) is hidden, as opposed to the superimposed display state of FIG. 8(c). In this way, by operating the grindstone contour display ON button 13e, the display and non-display of the grindstone contour A1 (A2) can be performed with a single touch.

[0084] <3. Displaying or hiding the grinding wheel contour for workpieces with raised shapes> 9(a) to 9(g) show an example of rough machining performed on a workpiece W having a raised shape.

[0085] As shown in Figure 9(a), the grinding wheel 35 located at the focal position is designated as T0, the grinding wheel 35 closer to the imaging unit 39 than the focal position of the imaging unit 39 is designated as T1, and the grinding wheel 35 farther from the focal position of the imaging unit 39 is designated as T2.

[0086] That is, the grindstone 35 (T1) is located closer to the imaging unit 39 than the focal position of the imaging unit 39 in the Z direction. Also, the grindstone 35 (T2) is located farther from the imaging unit 39 than the focal position of the imaging unit 39 in the Z direction.

[0087] 9(b) shows an actual grindstone image Tg when the tip of the grindstone 35 (T1) is grinding in the groove Wa, and an upper end surface image Wg of the workpiece W, in which the grindstone contour A1 (A2) is not displayed. The upper end surface image Wg corresponds to the actual workpiece image.

[0088] Figure 9(c) shows an actual image Tg of the grinding wheel 35 (T1) when the tip of the grinding wheel 35 (T1) is performing grinding processing within the groove Wa, and an image Wg of the upper end surface of the workpiece W, in which the grinding wheel contour A1 (A2) is displayed superimposed on the actual grinding wheel image Tg.

[0089] Figure 9(d) shows an actual image Tg of the grinding wheel 35 (T0) when the tip of the grinding wheel 35 (T0) is performing grinding processing within the groove Wa, and an image Wg of the upper end surface of the workpiece W, in which the grinding wheel contour A1 (A2) is not shown.

[0090] Figure 9(e) shows an actual image Tg of the grinding wheel 35 (T0) when the tip of the grinding wheel 35 (T0) is performing grinding processing within the groove Wa, and an image Wg of the upper end surface of the workpiece W, in which the grinding wheel contour A1 (A2) is displayed superimposed on the actual grinding wheel image Tg.

[0091] Comparing Fig. 9(d) and Fig. 9(e), the actual grindstone image Tg has the grindstone 35 (T0) at the focal position, so the area at the focal position is a clear image. Therefore, even if the grindstone contour A1 (A2) is not superimposed on the actual grindstone image Tg, the operator can still manually perform rough machining of the workpiece. And, when the grindstone contour A1 (A2) is superimposed on the actual grindstone image Tg as shown in Fig. 9(e), the tip of the actual grindstone image Tg can be made even clearer.

[0092] Figure 9(f) shows an actual image Tg of the grinding wheel 35 (T2) when the tip of the grinding wheel 35 (T2) is performing grinding processing within the groove Wa, and an image Wg of the upper end surface of the workpiece W, in which the grinding wheel contour A1 (A2) is not shown.

[0093] Figure 9(g) shows an actual image Tg of the grinding wheel 35 (T2) when the tip of the grinding wheel 35 (T2) is performing grinding processing within the groove Wa, and an image Wg of the upper end surface of the workpiece W, in which the grinding wheel contour A1 is displayed superimposed on the actual grinding wheel image Tg.

[0094] Compare Figures 9(b) and 9(f) with Figures 9(c) and 9(g). In Figures 9(b) and 9(f), the grinding wheel 35 is located above or below the focal position of the imaging unit 100, so the image Wg of the upper surface of the workpiece W located at the focal position is clear, but the images of the grinding wheels T1 and T2 are blurred and the contours are unclear.

[0095] Furthermore, the point cloud area around the upper end surface image Wg (excluding the actual grindstone image Tg) is a dark area where the illumination light from the illumination device 34 is blocked by the closed end W2 (see FIG. 11) side of the workpiece W, and is also a blurred area because it is not located at the focal position. This makes it difficult to check the grindstone on the display 12.

[0096] FIG. 9(c) and FIG. 9(g) show a state in which the grindstone contour A1 (A2) is displayed superimposed on the actual grindstone image Tg. As shown in the figure, the point cloud area around the upper end surface image Wg (excluding the actual grindstone image Tg) is a dark area because the illumination light from the illumination device 34 is blocked by the closed end W2 (see FIG. 11) side of the workpiece W. Even in this case, the tip of the actual grindstone image Tg is clear due to the grindstone contour A1 (A2).

[0097] In addition, the color of the grindstone contour A1 (A2) when displayed is set to a color different from at least one of the colors of the actual grindstone image Tg and the actual workpiece image. Therefore, the position of the actual grindstone image is clear even with this color display.

[0098] FIG. 9(d) shows a state in which the grindstone contour A1 (A2) is displayed superimposed on the actual grindstone image Tg. This embodiment has the following features.

[0099] (1) The removal processing method of this embodiment is a removal processing method in which an actual grinding wheel image Tg of the grinding wheel 35 and an actual workpiece image of the workpiece W are displayed on a display, and an operator grinds the workpiece W with the grinding wheel 35 while looking at the actual grinding wheel image Tg and the actual workpiece image.

[0100] In this processing method, as a first step, grindstone contour data including the tip shape of the grindstone 35 is created. As a second step, when grinding the workpiece W with the grindstone 35, the grindstone contour A1 (A2) based on the grindstone contour data is displayed on the display 12 in a state where it is superimposed on the actual grindstone image Tg.

[0101] With the above configuration, even if the tip of the grindstone 35 is out of focus on the imaging unit 39 and is not captured in the image of the grindstone, the position of the grindstone can be visualized by the outline of the grindstone. Furthermore, even if, for some reason, an obstacle is present between the removal tool and the imaging unit and the imaging unit is unable to obtain an image of the removal tool, the position of the removal tool can be visualized by the grinding wheel contour.

[0102] (2) In the method, in the second stage, the grindstone contour A1 (A2) is displayed on the display in a color different from at least one of the color of the actual grindstone image Tg and the color of the actual workpiece image.

[0103] With the above configuration, the grindstone contour A1 (A2) is a color different from at least one of the colors of the actual grindstone image Tg and the actual workpiece image, making the grindstone contour A1 (A2) clear and making the position of the grindstone clear.

[0104] (3) The NC grinding device (removal processing device) 10 of the present invention includes an imaging unit 39 and a display 12 that displays an actual grinding wheel image Tg of the grinding wheel 35 and an upper end surface image Wg (actual workpiece image) of the workpiece W acquired by the imaging unit 39. The NC grinding device 10 also includes a storage unit 24 that stores grinding wheel contour data (removal tool contour data) of the grinding wheel 35, and a display control unit 25 that causes the display 12 to display a grinding wheel contour A1 (A2) based on the grinding wheel contour data in a state where the grinding wheel contour A1 (A2) is superimposed on the actual grinding wheel image Tg.

[0105] With the above configuration, when the grindstone 35 moves out of focus of the imaging unit 39, the contour of the actual grindstone image Tg becomes blurred. However, the display control unit 25 controls the display so that the grindstone contour A1 (A2) is superimposed in conjunction with the movement of the actual grindstone image Tg of the grindstone 35 on the display 12, thereby making it possible to visualize the position of the grindstone.

[0106] This means that even if the tip of the grindstone 35 is out of the focal position of the imaging unit 39 and is not captured in the image of the grindstone, the position of the grindstone can be visualized by the grindstone contour. It also means that even if an obstacle is present between the removal tool and the imaging unit for some reason and the imaging unit is unable to obtain an image of the removal tool, the position of the removal tool can be visualized by the grindstone contour.

[0107] (4) The NC grinding device 10 includes a grindstone contour creating unit 28 that creates the grindstone contour data based on a grindstone trace image Wc of the grindstone 35 transferred to the dummy workpiece Wp. The memory unit 24 stores the grindstone contour A1 (A2) created by the grindstone contour creating unit 28.

[0108] With the above configuration, the grindstone contour A1 (A2) is created based on the grinding marks Wc of the grindstone 35 transferred to the dummy workpiece Wp by the grindstone contour creation unit 28. Then, the display control unit 25 controls the display of the grindstone contour A1 (A2) created based on the grindstone marks Wc of the grindstone 35 in a state where the actual grindstone image Tg of the grindstone 35 and the grindstone contour A1 (A2) are superimposed. This makes it possible to visualize the position of the grindstone.

[0109] (5) The imaging unit 39 of the NC grinding apparatus 10 captures an image of the grinding marks Wc at the focal position, thereby obtaining an image of the grinding marks. As a result, the grindstone profile creating section 28 can create an accurate grindstone profile A1 (A2) based on the grinding mark image captured by the imaging section 39 at the focal position.

[0110] (6) The NC grinding device 10 includes a moving mechanism 33 that moves the grindstone in the X, Y, and Z directions, and a manual operation unit (manual handles 17a, 18a) that moves the moving mechanism 33 in the X and Y directions. The NC grinding device 10 also includes an operation amount detection unit (encoders 17b, 18b) that detects the amount of movement operation in the X and Y directions by the manual operation unit (manual handles 17a, 18a), and an NC control unit 29 that controls the moving mechanism 33 based on the amount of movement operation. The NC control unit 29 controls the moving mechanism 33 to move the grindstone contour A1 in the X and Y directions. The display control unit 25 also displays the grindstone contour A1 (A2) on the display 12 in a state where it is superimposed on the actual image of the grindstone based on the amount of movement operation.

[0111] As a result, the position of the grindstone is visualized. (7) The NC control unit 29 of the NC grinding device 10 grinds the workpiece W with the grindstone 35 by oscillating the grindstone contour A1 (A2) in the Z direction regardless of the movement operation of the manual operation unit (manual handles 17a, 18a) in the X direction and Y direction.

[0112] As a result, the display control unit 25 displays the grindstone contour A1 (A2) on the display 12 superimposed on the actual grindstone image Tg based on the amount of movement operation, so that the position of the grindstone 35 can be visualized even when the grindstone 35 oscillates in the Z direction.

[0113] (8) The display control unit 25 causes the display 12 to display the grindstone contour A1 (A2) in a color different from at least one of the color of the actual grindstone image Tg and the color of the actual workpiece image. As a result, the grindstone contour A1 (A2) becomes a color different from at least one of the color of the actual grindstone image Tg and the color of the actual workpiece image, making the grindstone contour A1 (A2) clear and making the position of the grindstone clear.

[0114] This embodiment can be modified and implemented as follows. The present embodiment and the following modified examples can be implemented in combination with each other to the extent that no technical contradiction occurs.

[0115] In the above embodiment, the grindstone contour data of the grindstone contour A1 or the grindstone contour A2 in FIG. 2 is selectively generated, but it is also possible to generate only one of the grindstone contours.

[0116] In the above embodiment, the grinding wheel profile creation method is described using the approximate circle method and the multi-point method. However, these are merely examples. The method of creating the grinding wheel profile is not limited to these, and other methods may be used.

[0117] In S102, the grinding marks Wc on the dummy workpiece Wp were formed by the grinding wheel 35 by manual operation. In the following S103, the operator operates the grinding wheel shape transfer position button 13c to capture the XY coordinates of the grinding wheel 35 at the time when the grinding marks were formed. The XY coordinates are the machine coordinate system of the NC grinding device 10.

[0118] Alternatively, the formation of the grinding marks Wc on the dummy workpiece Wp may be performed automatically based on an NC program, and in S103, the XY coordinates at the time when the formation of the grinding marks Wc is completed may be captured by the program.

[0119] In the above embodiment, the workpiece has a raised shape, but the workpiece is not limited to a raised shape and may have other shapes. In the above embodiment, the removal device is embodied as an NC grinding device. Alternatively, the removal device may be embodied as a cutting device or a polishing device. In the cutting device, the removal tool may be a cutting tool. In the polishing device, the removal tool may be a polishing tool.

[0120] In the above embodiment, the grindstone contour creation unit 28 as the removal tool contour creation unit creates the removal tool contour data based on the grinding mark image as the removal mark image of the removal tool. Alternatively, the grindstone contour creation unit 28 may create the removal tool contour data based on an image captured by the imaging unit 39 of the tip of the grindstone as the removal tool. This allows the cutting edge shape of the removal tool and its position on the machine coordinate system to be grasped. Based on this, it becomes possible to create or correct the machining program.

[0121] Furthermore, the method of creating the removal tool contour data is not limited to the method of creating the data based on the removal mark image or the captured image of the tip of the removal tool. For example, a distance image sensor or a camera-integrated laser displacement sensor may be used as the imaging unit to measure the distance between the tip of the removal tool and the sensor, and the removal tool contour data may be created based on the measurement result. For example, a distance image obtained by a distance image sensor includes distance information for each pixel (the distance between the tip of the removal tool and the sensor). The distance image corresponds to a captured image.

[0122] Conventionally, the machining accuracy has been improved by measuring the workpiece that has been machined and modifying the machining program, but when an image of the tip of the removal tool is acquired as described above and removal tool contour data is created, it becomes possible to grasp the shape of the removal tool in real time, thereby improving the machining accuracy and the yield.

[0123] In the above embodiment, a part of the workpiece is removed by manual operation, but a part of the workpiece may be removed automatically instead of manually. Even in this case, even if the tip of the removal tool is out of focus of the imaging unit and is not captured in the image of the removal tool, the position of the removal tool can be visualized by the removal tool contour.

[0124] That is, in the case of automation, the operator does not usually need to see the entire removal process, but there are cases where the operator wants to see the state of the automated removal process. In this case, there is an effect that the position of the removal tool can be confirmed by visualizing the removal tool contour. [Explanation of symbols]

[0125] 10...NC grinding equipment (removal processing equipment) 11...Control device 12…Display 13…Screen 13a...Image display area 13b…Button display area 14. Console 16…Mouse 17...X-axis operating device 17a…Manual handle (manual operation part) 17b...Encoder (operation amount detection unit) 18...Y-axis operating device 18a…Manual handle (manual operation part) 18b...Encoder (operation amount detection unit) 20...Control device 22…CPU 24...Storage section 25...Display control unit 27...Image processing unit 28... Grindstone contour creating section (removal tool contour creating section) 29…NC control unit 30…Grinding section 31...Grinding mechanism 32...Work holding mechanism 33...Movement mechanism section 34…Lighting equipment 35...Grinding stone (removal tool) 36…Z-axis motor 37…X-axis motor 38…Y-axis motor 39…Imaging unit A…Wheel profile Aa, Ab, Ac…site A1…Wheel profile A2…Whetstone contour E0, E1, E2, E3...end points F0, F1, F2, Fm...intersection g…Dividing line Ka, Kb, Kc... Approximate arc O…center Oa, Ob, Oc…center of curvature ra, rb, rc...radius of curvature Tg…Actual image of grindstone W…Work Wp…Dummy work Wc: Grinding marks Wg…Top surface image (actual workpiece image)

Claims

1. A removal processing method in which an actual image of a removal tool and an actual image of a workpiece, which are acquired by an imaging unit, are displayed on a display, and an operator removes a part of the workpiece with the removal tool while viewing the actual image of the removal tool and the actual image of the workpiece, An image of the removal mark of the removal tool transferred to the dummy workpiece is taken, A first step of creating removal tool contour data of the removal tool based on a removal mark image of the removal mark of the removal tool; A removal processing method including a second step of displaying on the display a removal tool contour based on the removal tool contour data superimposed on the actual removal tool image when removing a portion of the workpiece with the removal tool.

2. The removal processing method according to claim 1 , wherein in the second stage, the removal tool contour is displayed on the display in a color different from at least one of the color of the actual removal tool image and the color of the actual workpiece image.

3. A removal processing apparatus including an imaging unit that images a removal tool and a workpiece facing the removal tool, and a display that displays an actual image of the removal tool and an actual image of the workpiece acquired by the imaging unit, a removal tool contour creation unit that creates removal tool contour data based on a removal mark image of the removal mark of the removal tool transferred to a dummy workpiece, the removal tool contour data being acquired by the imaging unit; a storage unit that stores the removal tool contour data; a movement mechanism for moving the removal tool in an X direction, a Y direction, and a Z direction; A manual operation unit that operates the movement mechanism unit to move in an X direction and a Y direction; an operation amount detection unit that detects the amount of movement operation in the X direction and the Y direction by the manual operation unit; a control unit that controls the movement mechanism unit based on the movement operation amount to move the removal tool in the X direction and the Y direction; a display control unit that causes the display to display a removal tool contour based on the removal tool contour data in a state where the removal tool contour is superimposed on the actual removal tool image based on the amount of movement operation.

4. The removal processing device according to claim 3 , wherein the imaging section obtains the removal trace image by imaging the removal trace at a focal position.

5. 5. The removal processing device according to claim 3, wherein the control unit grinds the workpiece with the removal tool by swinging the removal tool in the Z direction independently of the movement operation of the manual operation unit in the X direction and the Y direction.

6. The removal processing device according to claim 5 , wherein the display control unit causes the removal tool contour to be displayed on the display in a color different from at least one of the color of the actual removal tool image and the color of the actual workpiece image.

Images