Automatic scraping device, automatic scraping method, information processing device, processing instruction data generation method, and processing instruction data generation program

Abstract

To provide a technique which is related to automatic scraping processing and accurately form a scraping processing surface matching a reference surface of a mating member.SOLUTION: An information processing device includes a processor which generates processing instruction data. The processor executes processing instruction data generation processing comprising: applying a surface inspection agent to any of a reference surface on a mating member and a processing object surface, and acquiring rubbing image data obtained by imaging the processing object surface after rubbing is performed; acquiring surface height data obtained by measuring the processing object surface with a three-dimensional shape measurement device; acquiring three-dimensional coordinates of a contact point based on the rubbing image data and the surface height data; generating surface height correction data by correcting the surface height data on the basis of the three-dimensional coordinates of the contact point; and generating processing point data for cutting a convex portion on the processing object surface on the basis of the surface height correction data.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for automatically performing scraping. [Background technology]

[0002] Scraping (also called "scraping") is performed on the sliding surfaces of machine tools and other devices with moving parts in order to increase their flatness and reduce the coefficient of sliding friction. Scraping is a type of metal processing, and traditionally, the work involves applying a surface inspection agent such as red lead or pigment to the surface of the workpiece to be processed, and then using a scraper with a wide, chisel-shaped (spatula-shaped) tip, the worker manually scrapes away any protruding parts while checking for differences in color.

[0003] The original purpose of scraping is to finish the sliding surface into a highly flat surface, but the minute micron-sized depressions formed on the sliding surface by this scraping process act as reservoirs for lubricating oil during sliding, improving the lubrication of the sliding surface and preventing ringing during sliding.However, manual scraping by an operator requires skill and is also very hard work.

[0004] In this regard, an automatic scraping device has also been proposed that scrapes the surface of a workpiece by automatically controlling the operation of a scraper (see, for example, Patent Documents 1 to 3).

[0005] For example, Patent Document 1 discloses an automatic scraping device that attaches a camera to a robot arm to capture images of a metal surface, processes the images obtained by the camera to detect the positions of uneven parts on the metal surface, and performs scraping based on the detection results.

[0006] Furthermore, Patent Document 2 discloses a technology in which a bright red pigment is applied to either the machining surface of the workpiece or the lapping surface plate, and by lapping the two together, the convex parts on the machining surface are identified by color, and then the convex parts are cut.

[0007] Furthermore, Patent Document 3 discloses a technique for measuring the three-dimensional shape of an object to be processed and cutting the object based on the measurement results. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Patent No. 6294248 [Patent Document 2] Japanese Patent Application Publication No. 05-123921 [Patent Document 3] Japanese Patent Application Laid-Open No. 2017-170548 Summary of the Invention [Problem to be solved by the invention]

[0009] However, as with conventional automatic scraping devices, simply cutting the convex parts of the surface to be machined that are determined from an image captured by a camera does not allow for accurate grasping of the height of the convex parts, and there is a risk that the precision when cutting the surface to be machined will be low. On the other hand, simply measuring the three-dimensional shape of the surface to be machined of the workpiece does not allow for cutting that takes into account the surface shape (inclination, etc.) of the reference surface of the mating member (for example, the guide gib or guide rail of a machine tool) against which the surface to be machined slides, and there is a risk that the sliding properties when the workpiece is slid against the mating member will be poor. do.

[0010] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a technology for automatic scraping, which automatically scrapes the surface to be processed of a workpiece, to accurately form a scraped surface that matches the reference surface of the mating member. [Means for solving the problem]

[0011] (Aspect 1) In order to solve the above-mentioned problems, an information processing device according to a first aspect of the present invention is an information processing device equipped with a processor that generates processing instruction data for controlling a processing robot that automatically scrapes the processing surface of a workpiece, and the processor executes a processing instruction data generation process that includes: applying a surface inspection agent to either a reference surface of a predetermined mating member or the processing surface, acquiring lapping image data by imaging the processing surface after lapping the reference surface and the processing surface; acquiring surface height data by measuring the processing surface with a three-dimensional shape measuring device; acquiring three-dimensional coordinates of the contact point where the processing surface abuts the reference surface during lapping based on the lapping image data and the surface height data; generating surface height correction data by correcting the surface height data based on the three-dimensional coordinates of the contact point; acquiring convex portions of the processing surface based on the surface height correction data, and generating processing point data for cutting the convex portions.

[0012] (Aspect 2) In the processing instruction data generation process according to the first aspect, the processor may obtain a contact plane, which is an approximate plane having the plurality of contact points as a point cloud, and correct the surface height data using the contact plane as a reference.

[0013] (Aspect 3) In the processing instruction data generation process according to the second aspect, the processor may correct the surface height data by performing coordinate transformation so that the contact plane overlaps with an XY plane perpendicular to the Z axis when the height coordinate axis on the surface to be processed is the Z axis.

[0014] (Aspect 4) The automatic scraping device according to aspect 4 of the present invention is an automatic scraping device that automatically scrapes the surface of a workpiece to be processed, and comprises a scraping robot that holds and operates a scraper having a cutting blade, and a control device that controls the scraping robot in accordance with processing instruction data generated by an information processing device according to any one of aspects 1 to 3.

[0015] (Aspect 5) The automatic scraping method according to aspect 5 of the present invention is an automatic scraping method executed by a control device of an automatic scraping device that automatically performs scraping on the surface to be processed of a workpiece when controlling a scraping robot, and the control device controls the scraping robot in accordance with processing instruction data generated by an information processing device according to any of aspects 1 to 3.

[0016] (Aspect 6) A sixth aspect of the present invention provides a method for generating processing instruction data, which is executed by a processor of an information processing device that generates processing instruction data for controlling a processing robot that automatically scrapes a surface to be processed of a workpiece, and the processor applies a surface inspection agent to either a reference surface of a predetermined mating member or the surface to be processed, acquiring lapping image data by capturing an image of the workpiece surface after lapping the reference surface and the workpiece surface; acquiring surface height data by measuring the workpiece surface with a three-dimensional shape measuring device; acquiring three-dimensional coordinates of the contact points where the workpiece surface abuts on the reference surface during lapping based on the lapping image data and the surface height data; generating surface height correction data by correcting the surface height data based on the three-dimensional coordinates of the contact points; acquiring convex portions of the workpiece surface based on the surface height correction data; and generating processing point data for cutting the convex portions. The processing instruction data generation process including the above is executed.

[0017] (Aspect 7) A processing instruction data generation program according to a seventh aspect of the present invention causes a processor of an information processing device that generates processing instruction data for controlling a processing robot that automatically scrapes the surface of a workpiece to execute a processing instruction data generation process, the processing instruction data generation process including: applying a surface inspection agent to either a reference surface of a specified mating member or the surface to be processed, and capturing an image of the surface to be processed after the reference surface and the surface to be processed are brought together; acquiring surface height data of the surface to be processed using a three-dimensional shape measuring device; acquiring three-dimensional coordinates of the contact points where the surface to be processed contacts the reference surface during the contacting, based on the contact image data and the surface height data; generating surface height correction data by correcting the surface height data based on the three-dimensional coordinates of the contact points; acquiring convex portions of the surface to be processed based on the surface height correction data; and generating processing point data for cutting the convex portions. [Effects of the Invention]

[0018] According to the present invention, a technique can be provided for automatic scraping, which automatically scrapes the surface to be processed of a workpiece, to accurately form a scraped surface that matches the reference surface of the mating member. [Brief explanation of the drawings]

[0019] [Figure 1] FIG. 1 is a diagram showing a schematic configuration of an automatic scraping device according to the first embodiment. [Figure 2] FIG. 2 is a diagram showing a scraper unit held by a robot hand. [Figure 3] FIG. 3 is a side view of the scraper cutting blade cutting the workpiece surface. [Figure 4] FIG. 4 is a block diagram showing an example of the configuration of the control device. [Figure 5] FIG. 5 is a block diagram illustrating an example of a functional configuration of the control device. [Figure 6] FIG. 6 is a diagram for explaining the surface height data of the surface to be processed. [Figure 7] FIG. 7 is a diagram illustrating the aligned image data. [Figure 8] FIG. 8 is a diagram illustrating the hit area extraction image data. [Figure 9] FIG. 9 is a schematic diagram in which the impact points corresponding to the respective impact regions are plotted on the XYZ orthogonal coordinate axes. [Figure 10] FIG. 10 is a diagram illustrating the contact plane. [Figure 11] FIG. 11 is a diagram comparing the surface height data before correction with the surface height corrected data. [Figure 12] FIG. 12 is a diagram illustrating a plurality of processing region layers in a convex portion of the processing target surface. [Figure 13] FIG. 13 is a diagram for explaining the processed region layer distribution data. [Figure 14] FIG. 14 is a diagram for explaining the planar distribution and height distribution of each processing region layer in the region shown in the enlarged view A of FIG. 13, and the cutting procedure of each processing region layer. [Figure 15] FIG. 15 is a diagram for explaining the cutting conditions information table. [Figure 16] FIG. 16 is a diagram for explaining plane division pattern data. [Figure 17] FIG. 17 is a diagram showing a schematic diagram of a divisional area to be cut. [Figure 18] 18 is a diagram for explaining processing point list data. [Figure 19] FIG. 19 is a flowchart executed by the processor of the control device. [Figure 20] FIG. 20 is a diagram for explaining an outline of a flattening process according to a comparative example. [Figure 21] FIG. 21 is a diagram for explaining an outline of the flattening process according to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that each configuration and their combinations in the embodiments are merely examples, and additions, omissions, substitutions, and other modifications of the configurations are possible as appropriate within the scope of the gist of the present invention. The present invention is not limited to the embodiments, but is limited only by the claims.

[0021] <Embodiment 1> (Schematic configuration of processing device) Fig. 1 is a diagram showing a schematic configuration of an automatic scraping device 1 according to embodiment 1. As shown in Fig. 1, the automatic scraping device 1 includes a control device 100, a robot arm 200, a three-dimensional shape measuring device 300, a camera 400, and the like.

[0022] The automatic scraping device 1 is a device that automatically performs scraping on a workpiece surface 11 of a workpiece 10, which is an object to be processed. The workpiece 10 may be, for example, a metal sliding member that constitutes a machine tool or the like, and its sliding surface may serve as the workpiece surface 11. Scraping is a type of metal processing in which a scraper, which is a scraping tool (cutting tool), is used to scrape off convex portions of the workpiece surface 11, thereby increasing the flatness of the workpiece surface 11 and reducing the coefficient of sliding friction. The original purpose of scraping is to finish the sliding surface into a highly flat surface. However, in order to prevent the wringing phenomenon that occurs when the sliding surface slides, the scraping finishing process also forms numerous micron-sized depressions on the sliding surface as reservoirs of lubricating oil, thereby improving the lubricity of the sliding surface.

[0023] The robot arm 200 is, for example, a six-axis articulated robot arm, and is controlled by the control device 100. The robot arm 200 has a robot hand 210 at its tip end, and is capable of detachably holding (grasping) the scraper unit 20 and the hand chuck 30 on the robot hand 210. In other words, the scraper unit 20 and the hand chuck 30 can be selectively attached to the robot arm 200. The robot arm 200 can move the robot hand 210 to any position in an XYZ three-dimensional Cartesian coordinate system by driving each joint (for example, the first to sixth axes) with a servo motor or the like.

[0024] FIG. 2 is a diagram showing a scraper unit 20 held by a robot hand 210. The scraper unit 20 is an attachment including a holder 21 detachably attached to the robot hand 210 and a scraper 22, which is a scraping tool (cutting tool) integrally provided with the holder 21. The scraper 22 includes a scraper body 23 having a generally strip-like shape and made of a flexible metal material, and a cutting blade 24 attached to the tip of the scraper body 23. The cutting blade 24 is made of, for example, a cemented carbide alloy and is capable of cutting the workpiece surface 11 of the workpiece 10, which is made of, for example, a cast metal. The symbol W in the figure indicates the width of the cutting blade 24. The symbol 25 indicates the cutting edge of the cutting blade 24. Although the cutting edge 25 shown in FIG. 2 has a circular (rounded) shape, the shape of the cutting edge 25 is not particularly limited. For example, the cutting edge 25 may have a linear shape. Of course, when using a cutting edge 25 having an arc shape, the radius of curvature (radius of the cutting edge) is not particularly limited. For example, the robot hand 210 may have a width dimension W of the cutting blade 24 (cutting edge 25), a radius of curvature (radius of the cutting edge), and a length W of the cutting edge 25. It is possible to replace the scraper unit 20 with one having a different size (radius, etc.).

[0025] The scraping of the surface 11 to be machined of the workpiece 10 is performed, for example, by fixing the workpiece 10 to a processing stand C1 shown in Fig. 1 and controlling the robot arm 200 with the scraper unit 20 held by the robot hand 210. The surface of the processing stand C1 is formed in a flat shape parallel to the XY plane.

[0026] 3 is a side view of the situation in which the cutting blade 24 of the scraper 22 is cutting the surface 11 to be machined of the workpiece 10. In scraping, the cutting edge 25 of the cutting blade 24 is placed at an angle against the surface 11 to be machined, and the robot hand 210 is driven in the -Z direction to press the cutting blade 24 against the surface 11 to be machined, and then the robot hand 210 is stroked parallel to the XY plane (hereinafter, this direction (white arrow in FIG. 3) will be referred to as the "stroke direction"), thereby cutting the surface 11 to a thickness on the order of microns or submicrons.

[0027] The symbol θ in FIG. 3 is the angle between the cutting blade 24 and the XY plane when the cutting blade 24 cuts the workpiece surface 11 (hereinafter referred to as the "tool angle"). The robot arm 200 can adjust the cutting depth ΔDS and cutting width WC of the workpiece surface 11 per stroke of the scraper 22 by, for example, using the tool angle θ during scraping and the vertical push-in amount (displacement amount in the -Z direction) δz of the robot hand 210 as control parameters. Here, the vertical push-in amount (displacement amount in the -Z direction) δz of the robot hand 210 is set, for example, using the height of a reference point on the workpiece surface 11 measured by the three-dimensional shape measuring device 300 as the reference height (zero point). The position (XY coordinates) of the reference point on the workpiece surface 11 is not particularly limited. For example, a corner of the workpiece surface 11 may be set as the reference point, and the surface height of that point may be used as the reference height. As described above, the scraper body 23 of the scraper 22 is flexible, and therefore the scraper body 23 is bent when cutting the surface 11 to be processed. Therefore, while the cutting depth of the surface 11 to be processed is on the order of microns or submicrons, the vertical push-in amount δz of the robot hand 210 during cutting can be set as a displacement amount on the order of millimeters.

[0028] Next, the hand chuck 30 will be described. The hand chuck 30 is an attachment for gripping the workpiece 10 when moving the workpiece 10 between the pedestals, and is detachable from the robot hand 210. In the layout shown in Fig. 1, the hand chuck 30 is used, for example, when moving the workpiece 10 between the processing pedestal C1, the measurement pedestal C2, and the lapping pedestal C3. That is, the robot arm 200 can freely move the workpiece 10 between the pedestals by gripping the workpiece 10 with the hand chuck 30 attached to the robot hand 210.

[0029] The measurement stand C2 is equipped with a three-dimensional shape measuring instrument 300 and a camera 400, and is a stand on which the workpiece 10 is placed when measuring the processing target surface 11 using the three-dimensional shape measuring instrument 300 and the camera 400. The surface of the measurement stand C2 is also formed into a flat surface parallel to the XY plane.

[0030] The three-dimensional shape measuring instrument 300 is a measuring device for measuring the three-dimensional shape of the surface 11 to be machined of the workpiece 10. The three-dimensional shape measuring instrument 300 is, for example, a measuring instrument using a white light interferometer, and is capable of acquiring three-dimensional shape data (uneven shape data) of the surface 11 to be machined with high precision. However, the three-dimensional shape measuring instrument 300 is not particularly limited as long as it can measure the uneven shape data (surface height data) of the surface 11 to be machined, and for example, a three-dimensional laser scanner or the like may be used. Furthermore, the three-dimensional shape measuring instrument 300 may be a "non-contact" measuring instrument that acquires uneven shape data of the surface 11 to be machined without contact, or a "contactless ... by bringing a probe or the like into contact with the surface 11 to be machined. The measuring instrument may be a "contact type" measuring instrument that acquires data on the uneven shape of the processing target surface 11 by measuring the surface.

[0031] The camera 400 is an imaging device that captures an image of the surface 11 to be machined of the workpiece 10.

[0032] The lapping stand C3 is a stand on which a mating member 12 (e.g., a guide gib or guide rail of a machine tool) can be placed, along which the workpiece surface 11 of the workpiece 10 slides. In this embodiment, the workpiece surface 11 of the workpiece 10 is scraped to match the shape of a reference surface 13 of the mating member 12, so the workpiece surface 11 of the workpiece 10 and the reference surface 13 of the mating member 12 are scraped together on the lapping stand C3. Note that the surface of the lapping stand C3 may be formed as the reference surface 13, and the workpiece surface 11 of the workpiece 10 may be scraped against the reference surface 13. In this case, the lapping stand C3 itself serves as the mating member against which the workpiece surface 11 of the workpiece 10 is scraped. The automatic scraping device 1 may also include a tool mounting stand C4 for mounting the scraper unit 20, a hand chuck mounting stand C5 for mounting the hand chuck 30, etc.

[0033] The robot arm 200 is further equipped with a force sensor 220. The force sensor 220 is a sensor that detects the load (resistance) acting on the scraper 22 during scraping. The control device 100 of the automatic scraping device 1 monitors the load state during scraping output by the force sensor 220, and can perform feedback control based on the strength of the load as necessary.

[0034] The above-described robot arm 200 is an example of a scraping robot according to the present invention, and scraping robots are not limited to the robot arm 200. The scraping robot according to the present invention is not particularly limited as long as it is configured to be able to automatically perform scraping on the processing target surface 11 of the workpiece 10 by operating the scraper it holds.

[0035] Next, the control device 100 of the automatic scraping device 1 will be described. The control device 100 controls the robot arm 200 in accordance with the processing instruction data, and as a result, scraping is performed on the processing target surface 11 of the workpiece 10 in accordance with the processing instruction data. The control device 100 also generates processing instruction data for controlling the robot arm 200. That is, the control device 100 functions not only as a device for controlling the robot arm 200 but also as an information processing device (processing instruction data generating device) for generating processing instruction data used to control the robot arm 200. However, the processing instruction data for controlling the robot arm 200 may be generated by an information processing device (processing instruction data generating device) separate from the control device 100. In this case, the control device 100 acquires the processing instruction data generated by the information processing device (processing instruction data generating device), and controls the robot arm 200 in accordance with the acquired processing instruction data. The processing instruction data may be transmitted from the information processing device (processing instruction data generating device) to the control device 100 via either wired communication or wireless communication.

[0036] 4 is a block diagram showing an example of the configuration of the control device 100. The control device 100 is, for example, a general-purpose computer. The computer constituting the control device 100 includes a communication interface (communication I / F) 101, a storage device 102, an input / output device 103, and a processor 104, which are connected via a communication bus 105.

[0037] The communication I / F 101 may be, for example, a network card or a communication module, and communicates with other computers, devices, etc. based on a predetermined protocol. For example, the control device 100 receives three-dimensional shape information of the processing target surface 11 of the workpiece 10 from the three-dimensional shape measuring device 300 via the communication I / F 101.

[0038] The storage device 102 includes, for example, a primary storage device such as a random access memory (RAM) or a read-only memory (ROM), and an auxiliary storage device (secondary storage device) such as a hard-disk drive (HDD), a solid-state drive (SSD), or a flash memory. The primary storage device temporarily stores programs read by the processor 104 and information exchanged with other computers, and also secures a working area for the processor 104. The auxiliary storage device stores programs executed by the processor 104 and information exchanged with other computers. The auxiliary storage device may also include removable media (portable recording media). Removable media is, for example, a USB memory, an SD card, or a disc recording media such as a CD-ROM, a DVD disc, or a Blu-ray disc. The storage device 102 (e.g., the auxiliary storage device) stores an operating system (OS), various programs, various information tables, and the like.

[0039] The input / output device 103 is a user interface, such as an input device such as a keyboard or a mouse, an output device such as a monitor, or an input / output device such as a touch panel.

[0040] The processor 104 is an arithmetic processing device such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), and executes a program to perform the functions of the present embodiment. For example, the processor 104 loads a program stored in the auxiliary storage device of the storage device 102 into the main storage device and executes it, thereby realizing various processes such as processing instruction data generation processing for generating processing instruction data as described below.

[0041] The control device 100 does not necessarily have to be realized by a single physical configuration, but may be configured by a plurality of computers that cooperate with each other.

[0042] Next, the functional configuration of the control device 100 will be described with reference to FIG. 5. FIG. 5 is a block diagram showing an example of the functional configuration of the control device 100. The control device 100 has a processing instruction data generation unit 110 and a control unit 111 as functional units. The processor 104 of the control device 100 loads a program stored in the auxiliary storage device of the storage device 102 into the main storage device and executes it, thereby realizing each of the functional units described above. The processing instruction data generation unit 110 executes a processing instruction data generation process that generates processing instruction data. The control unit 111 acquires the processing instruction data generated by the data generation unit 110 and controls the robot arm 200 in accordance with the processing instruction data.

[0043] Next, each process related to scraping by the automatic scraping device 1 will be described. Here, as an example of scraping on the workpiece 10, a planarizing process is performed to cut convex portions of the workpiece surface 11 so that the flatness of the workpiece surface 11 satisfies a predetermined target flatness, and a finishing process is performed to form depressions for oil reservoirs on the workpiece surface 11 after the planarizing process. In this way, when scraping on the workpiece surface 11 of the workpiece 10, the processing efficiency can be improved by performing the planarizing process and the finishing process separately.

[0044] Here, a process (flat surface processing instruction data generation process) for generating processing instruction data (hereinafter referred to as "flat surface processing instruction data") used when the control device 100 executes flat surface processing will be described.

[0045] When generating the planarization processing instruction data, the processing instruction data generation unit 110 acquires the surface height data of the processing target surface 11 based on the measurement data of the three-dimensional shape measuring instrument 300. FIG. 6 is a diagram for explaining the surface height data of the processing target surface 11. The surface height data is a height (Z coordinate) corresponding to each coordinate (each measurement point) in the planar direction (XY plane direction) of the processing target surface 11. The measurement of the surface height of the processing target surface 11 by the three-dimensional shape measuring instrument 300 can be performed in advance on a measurement stand C2 on which the workpiece 10 is placed, and the surface height data obtained thereby can be stored in the storage device 102. The processing instruction data generation unit 110 can obtain the surface height data by reading it out from the storage device 102.

[0046] Furthermore, the processing instruction data generating unit 110 acquires lapping image data based on the measurement data of the camera 400. This lapping image data is image data obtained by applying a surface inspection agent to either the reference surface 13 of the counterpart member 12 shown in Fig. 1 or the processing target surface 11, and then capturing an image of the processing target surface 11 by the camera 400 after lapping the reference surface 13 and the processing target surface 11 together. Fig. 7 is a diagram for explaining the lapping image data.

[0047] When the workpiece 10 and the mating member 12 are brought into contact with each other, for example, a surface inspection agent such as red lead or a pigment is applied to the reference surface 13 of the mating member 12, and then the workpiece surface 11 of the workpiece 10 is brought into contact with the reference surface 13. As a result, the surface inspection agent adheres to the area of ​​the workpiece surface 11 that comes into contact with the reference surface 13 through the contact (hereinafter referred to as the "contact area"). In this way, by capturing an image of the workpiece surface 11 after being brought into contact with the reference surface 13 using the camera 400, a contact image can be obtained in which the surface inspection agent adheres to the contact area of ​​the workpiece surface 11. In other words, the contact image is an image that distinguishes, by color, the contact area of ​​the workpiece surface 11 that comes into contact with the reference surface 13 of the mating member 12 when the workpiece surface 11 is slid against the reference surface 13 from other areas (areas that do not come into contact with the reference surface 13).

[0048] On the other hand, in this embodiment, when performing the above-mentioned lapping, the surface inspection agent may be applied to the processing target surface 11 of the workpiece 10, rather than to the reference surface 13 of the mating member 12. In this state, when the processing target surface 11 is rubbed against the reference surface 13, the surface inspection agent applied to the processing target surface 11 is removed only from the contact area. In other words, in this case, the surface inspection agent peels off from the contact area on the processing target surface 11, while the surface inspection agent remains in other areas. When the processing target surface 11 after such lapping is imaged by the camera 400, a lapping image can be obtained in which the surface inspection agent is not attached only to the contact area of ​​the processing target surface 11.

[0049] The lapping image in Fig. 7 was obtained by imaging the workpiece surface 11 after applying a surface inspection agent to the reference surface 13 of the mating member 12 and performing lapping. That is, the dark areas in Fig. 7 correspond to the contact areas of the workpiece surface 11.

[0050] Note that the image of the processing target surface 11 after lapping using the camera 400 can be taken in advance on the measurement stand C2 on which the workpiece 10 after lapping is placed, and the lapping image data obtained thereby can be stored in the storage device 102. The processing instruction data generation unit 110 can acquire the lapping image data by reading it out from the storage device 102.

[0051] In the flattening process of the workpiece surface 11, convex portions of the workpiece surface 11 are obtained from surface height data, and the convex portions are cut to increase the flatness of the workpiece surface 11. However, as described above, the surface height data obtained based on the measurement data of the three-dimensional shape measuring instrument 300 is information indicating the height (Z coordinate) of each point on the workpiece surface 11 in an XYZ three-dimensional Cartesian coordinate system. Therefore, no matter how accurately the workpiece surface 11 is cut into a target plane parallel to the XY plane, the target plane does not necessarily match the surface shape (slope, etc.) of the reference surface 13 of the mating member 12. In other words, in order to improve the sliding properties between the workpiece surface 11 of the workpiece 10 and the reference surface 13 of the mating member 12 after scraping, it is important to finish the workpiece surface 11 into a flat plane that matches the uneven shape (slope, etc.) of the reference surface 13.

[0052] Therefore, the flattening processing instruction data generation process in this embodiment is characterized in that flattening processing instruction data is generated taking into consideration the surface shape (inclination, etc.) of the reference surface 13 of the mating member 12 against which the processing target surface 11 of the workpiece 10 is to be ground. Details thereof will be described below.

[0053] Based on the acquired lapping image data and surface height data, the processing instruction data generation unit 110 acquires the three-dimensional coordinates of the contact point where the processing target surface 11 abuts on the reference surface 13 when the processing target surface 11 and the reference surface 13 are lapping together. Specifically, the processing instruction data generation unit 110 first performs image processing such as contour detection on the lapping image data, and extracts the contact area of ​​the processing target surface 11, thereby generating contact area extracted image data as shown in Fig. 8. The black area shown in Fig. 8 is a schematic representation of the contact area 14.

[0054] Then, the processing instruction data generating unit 110, for example, overlaps the contact area extraction image data with the surface height data, calculates the centroid plane coordinates (x, y) and average height (z) of each contact area 14, and defines the point specified by the three-dimensional coordinates (x, y, z) as the "contact point." The center of gravity mentioned above means the geometric center of gravity, and can be specified as the point where the sum of the first moments in each contact area 14 (inside the outline) is zero. Also, the average height (z) is calculated by dividing the height data at each measurement point included in each contact area 14 (inside the outline). The processing instruction data generating unit 110 calculates the centroid plane coordinates (x, y) and the average height (z) of the hit area 14 in the hit area extraction image data based on the surface height data. It can be calculated based on this.

[0055] FIG. 9 is a schematic diagram in which the contact points 15 corresponding to each contact area 14 are plotted on the XYZ orthogonal coordinate axes. The processing instruction data generation unit 110 acquires a contact plane AP, which is an approximate plane having the plurality of contact points 15 obtained as described above as a point cloud. FIG. 10 is a diagram illustrating the contact plane AP. For convenience of drawing, in FIG. 8, only some of the contact areas are labeled with the reference numeral 14. Similarly, in FIGS. 9 and 10, only some of the contact points are labeled with the reference numeral 15.

[0056] The method for calculating the contact plane AP using each contact point 15 as a point cloud is not particularly limited, but one example is a calculation method using the least squares method. The processing instruction data generation unit 110 can acquire as the contact plane AP a least-squares plane calculated using the least squares method with each contact point 15 as a point cloud. The contact plane AP acquired in this way is a plane that reflects the three-dimensional distribution of the contact points 15 on the processing target surface 11, and can also be said to be a plane that reflects the surface shape (slope, etc.) of the reference surface 13 to which the processing target surface 11 is to be fitted.

[0057] The processing instruction data generation unit 110 generates corrected surface height data by correcting the surface height data based on the three-dimensional coordinates (x, y, z) of each contact point 15. Specifically, the processing instruction data generation unit 110 corrects the surface height data using the contact plane AP described above as a reference. More specifically, the surface height data is corrected by performing coordinate transformation so that the XY plane perpendicular to the Z axis, where the height coordinate axis on the workpiece surface 11 of the workpiece 10 is the Z axis, overlaps with the contact plane AP. In other words, the corrected height data corresponding to each plane coordinate on the workpiece surface 11 (hereinafter referred to as "corrected height data") can be obtained as the Z'-axis coordinate value when the XYZ three-dimensional orthogonal coordinate system is transformed into an X'Y'Z' three-dimensional orthogonal coordinate system in which the contact plane AP is the X'-Y' plane. In this way, the processing instruction data generation unit 110 generates corrected surface height data by correcting the height data related to the original surface height data using the contact plane AP as a reference.

[0058] FIG. 11 is a diagram comparing the surface height data before correction with the surface height correction data. The left side shows the surface height data before correction, and the right side shows the surface height correction data. The surface height data (null) represents the height of each point on the workpiece surface 11 when the XY plane is used as a reference. On the other hand, the surface height correction data represents the height of each point on the workpiece surface 11 when the contact plane AP is used as a reference. Comparing the figures before and after correction, it can be seen that the height data has been corrected to be lower in the area surrounded by the dashed circle A (upper left). Conversely, it can be seen that the height data has been corrected to be higher in the area surrounded by the dashed circle B (lower right). While FIG. 11 is an example, in this embodiment, the height data of the workpiece surface 11 can be converted into height data based on the contact plane AP, which reflects the surface shape (slope, etc.) of the reference surface 13 of the mating member 12.

[0059] The processing instruction data generation unit 110, which has generated the surface height correction data as described above, acquires convex portions of the processing target surface 11 based on the surface height correction data. The convex portions of the processing target surface 11 are portions that are relatively raised based on the lowest position of the height data (Z coordinate) included in the surface height correction data. The processing instruction data generation unit 110, for example, models the shape of the processing target surface 11 before the flattening processing based on the surface height correction data and acquires this as an initial shape S1. Then, the difference shape between this initial shape S1 and a target plane (target shape) S2 of the processing target surface 11 to be formed after the flattening processing may be acquired as a convex portion S3 of the processing target surface 11 (a portion to be cut in the flattening processing). The target plane S2 of the processing target surface 11 may be set as a planar shape that passes through the lowest position of the height (Z coordinate) of the processing target surface 11 and is parallel to the XY plane.

[0060] The processing instruction data generating unit 110 divides the convex portion S3 on the processing target surface 11 in the height direction by processing planes parallel to the XY plane, and sets a plurality of processing region layers CR.

[0061] FIG. 12 is a diagram illustrating multiple machining region layers CR in the convex portion S3 of the machining target surface 11. FIG. 12 schematically shows the shape of the convex portion S3 of the machining target surface 11 on X=X1 (X1 is the coordinate on the X axis). Symbol S0 in FIG. 12 is an imaginary plane that passes through the highest position (Z coordinate) of the convex portion S3 on the machining target surface 11 and is parallel to the XY plane. Symbol VP in FIG. 12 is an imaginary machining plane that divides the convex portion S3 in the height direction. The machining plane VP is parallel to the imaginary plane S0 and the target plane S2 (i.e., parallel to the XY plane) and is set at an interval between these planes S0 and S2. FIG. 12 illustrates an example in which the convex portion S3 is divided into five machining region layers CR1 to CR5 by four machining planes VP.

[0062] Next, the processing instruction data generation unit 110 generates processing area layer distribution data that shows the planar distribution of each processing area layer CR on the processing target surface 11 in the form of contour lines. FIG. 13 is a diagram illustrating the processing area layer distribution data. In FIG. 13, for drawing purposes, the distribution of each processing area layer CR is shown in the form of contour lines for only a portion of the processing target surface 11 (see enlarged view A). The contour lines shown by solid lines in enlarged view A of FIG. 13 indicate the boundary positions between each processing area layer CR1 to CR5 and the boundary position between the processing area layer CR5 located at the bottom and the target plane S2. In other words, the contour lines shown in enlarged view A coincide with the cut edges when the convex portion S3 of the processing target surface 11 is virtually cut by each processing plane VP and the target plane S2.

[0063] 14 is a diagram illustrating the planar distribution of each machining area layer CR in the area shown in the enlarged view A of FIG. 13, the corresponding height distribution, and the cutting procedure for each machining area layer CR. (A) shows the planar distribution of each machining area layer CR, and (B) shows the height distribution of each machining area layer CR. Also, (C) shows the cutting range of the machining area layer CR1, and (D) shows the cutting range of the machining area layer CR2. The black part in (C) represents the area outside the cutting range of the machining area layer CR1. The black part in (D) represents the area outside the cutting range of the machining area layer CR2. The flattening processing according to this embodiment involves moving the convex portion S3 of the machining target surface 11 from the machining area layer CR located at the top layer (machining area layer CR1 in the example shown in FIG. 12 and FIG. 14) to the machining area layer CR located at the bottom layer (machining area layer CR1 in the example shown in FIG. 12 and FIG. 14). 14, cutting is performed sequentially for each machining area layer CR in this order up to the machining area layer CR5. Therefore, the machining instruction data generating unit 110 generates planarizing machining instruction data for use in cutting the convex portion S3 of the machining target surface 11 for each machining area layer CR.

[0064] 12 and 14 indicates an allocation height when dividing the convex portion S3 of the work surface 11 into a plurality of machining area layers CR. For example, the allocation height ΔH of each machining area layer CR is set to a dimension corresponding to the cutting depth ΔDS per stroke of the scraper 22. As a result, when cutting the convex portion S3 in the flattening process, a thickness equivalent to one machining area layer CR can be cut with each stroke of the scraper 22.

[0065] For example, the processing instruction data generating unit 110 may set the allocated height ΔH of each processing area layer CR to a predetermined fixed value (for example, about 1 μm). Alternatively, the allocated height ΔH of each processing area layer CR may be set uniformly according to the maximum height difference of the convex portion S3 (the height difference in the Z-axis direction between the lowest and highest points of the height (Z coordinate) of the processing target surface 11). However, it is not necessary to set the allocated height ΔH of each processing area layer CR to the same value, and different values ​​may be set as the allocated height ΔH of each layer. For example, the allocated height ΔH of each processing area layer CR may be set to gradually decrease from the upper side (+Z direction side) of the convex portion S3 to the lower side (-Z direction side).

[0066] Furthermore, the processing instruction data generating unit 110 may set an allocation height ΔH when dividing the convex portion S3 in the height direction using a value designated by the user. In this case, for example, before the start of the scraping process, an input operation by the user may be accepted via the output device 103, and input information (setting information) including the allocation height ΔH may be stored in the storage device 102. Of course, the processing instruction data generating unit 110 may automatically set the allocation height ΔH of each processing area layer CR.

[0067] As described above, the cutting depth ΔDS per stroke of the scraper 22 correlates with the relationship between the tool angle θ and the vertical plunge depth δz. Therefore, the processing instruction data generation unit 110 may automatically set the allocated height ΔH of each machining area layer CR based on a cutting condition information table such as that shown in FIG. 15. The cutting condition information table contains data indicating the relationship between the tool angle θ, the vertical plunge depth δz, the cutting width WC, and the cutting depth ΔDS. The cutting width WC and cutting depth ΔDS fields contain values ​​of the cutting width WC and the cutting depth ΔDS corresponding to the combination of the tool angle θ and the vertical plunge depth δz. The cutting condition information table may be a database table or a file in a predetermined format such as CSV (Comma Separated Values). Such a cutting condition information table may be stored in advance in the storage device 102. The processing instruction data generation unit 110 may read the cutting condition information table, extract the value registered in the cutting depth ΔDS field of the cutting condition information table, and set the extracted value as the allocated height ΔH of each machining area layer CR.

[0068] Next, the processing instruction data generation unit 110 generates plane division pattern data in which the planar area (XY plane area) of the processing target surface 11 is divided by a predetermined division pattern DP. Fig. 16 is a diagram illustrating the plane division pattern data. The division pattern shown in Fig. 16 is an example, and the planar area of ​​the processing target surface 11 is divided by a grid pattern (shown by chain lines in the figure) in which a large number of rectangular areas are arranged in a grid pattern. The individual areas assigned by dividing the planar area of ​​the processing target surface 11 by the division pattern DP are called divided areas RA.

[0069] As shown in Fig. 16, a stroke path PS (shown by a dashed line in the figure) of the cutting blade 24 is set in each divided area RA. The stroke path PS is a planar path through which the center position in the width direction of the cutting blade 24 passes when the cutting blade 24 strokes along the XY plane during cutting of the surface 11 to be machined. In other words, when cutting the surface 11 to be machined, the cutting edge of the cutting blade 24 With the cutting blade 25 pressed against the surface 11 to be machined, the cutting blade 24 is stroked along the stroke path PS so that the widthwise center position of the cutting blade 24 passes through, thereby cutting the corresponding divided area RA. As will be described later, when cutting the surface 11 to be machined, the cutting blade 24 may stroke along the entire section of the stroke path PS, or may stroke along only a portion of the section. There are no particular restrictions on how the stroke paths PS are set in each divided area RA, but in the example shown in Figure 16, they are all oriented in the same direction. There are also no particular restrictions on the pattern in which the division pattern DP divides the planar area of ​​the surface 11 to be machined.

[0070] The stroke path PS set for each segmented area RA starts at one end of the segmented area RA in the long side direction and ends at the other end. The stroke path PS is set at a position that passes through the center of the short side (width direction) of each segmented area RA. The width of each segmented area RA may be set to the same dimension as the width W (see FIG. 2) of the cutting blade 24 used in the flattening process.

[0071] Furthermore, when cutting is performed using a cutting blade 24 having an arc-shaped cutting edge 25, a stroke may be performed in which the end region of the cutting edge 25 in the width direction does not contact (is floating from) the workpiece surface 11. In such cases, the cutting width WC when the cutting blade 24 cuts the workpiece surface 11 may be smaller than the width dimension W of the cutting blade 24. Therefore, the width dimension of the segmented region RA may be set smaller than the width dimension W of the cutting blade 24. Of course, even when the cutting edge 25 of the cutting blade 24 has an arc-shaped cutting edge, the cutting width WC during cutting may be substantially equal to the width dimension W of the cutting blade 24 depending on the cutting conditions. For example, when the vertical depression amount δz during cutting of the workpiece surface 11 is large, the cutting width WC during cutting is likely to be substantially equal to the width dimension W of the cutting blade 24. Furthermore, the size of each segmented region RA is not particularly limited, but may be, for example, a width of several millimeters and a length (long side dimension) perpendicular to the width dimension of approximately 10 mm. In FIG. 16, each divided area RA is shown schematically, and the size of each divided area RA shown relative to the processing surface 11 differs from the actual size.

[0072] As described above, in the flattening process according to this embodiment, cutting is performed in units of machining area layers CR, starting from the uppermost machining area layer CR. Therefore, as described below, among the segmented areas RA allocated to the planar area of ​​the machining surface 11, a cutting target segmented area RB (described in detail later) to be cut for each machining area layer CR is identified, and the cutting target segmented area RB is cut for each machining area layer CR. When cutting the cutting target segmented area RB, the cutting blade 24 strokes along the stroke path PS described above. However, the cutting blade 24 does not necessarily stroke the entire section from the start point to the end point of the stroke path PS. For example, if the entire cutting target segmented area RB overlaps with the machining area layer CR to be cut, a stroke section (machining path PT, described below) is set so that the cutting blade 24 strokes the entire section of the stroke path PS in the cutting target segmented area RB. On the other hand, if only a portion of the cutting target segmented area RB overlaps with the machining area layer CR to be cut, a stroke section is set so that the cutting blade 24 strokes only a portion of the stroke path PS in the cutting target segmented area RB.

[0073] The processing instruction data generation unit 110 sets a cutting target segmented region RB corresponding to each processing area layer CR based on the processing area layer distribution data and plane division pattern data generated as described above. Specifically, the processing instruction data generation unit 110 acquires the planar distribution range (forming range) of each processing area layer CR on the processing target surface 11 from the processing area layer distribution data. Then, the processing instruction data generation unit 110 sets the cutting target segmented region RB based on the planar distribution range (forming range) of each processing area layer CR and the plane division pattern data.

[0074] When specifying the cutting target division area RB corresponding to each machining area layer CR, the machining instruction data The data generation unit 110 superimposes the planar distribution range of each machining area layer CR on the machining target surface 11 with the divided areas RA allocated to the planar area of ​​the machining target surface 11. Then, for each machining area layer CR, the divided area RA that overlaps with the machining area layer CR in plan view is identified as the cutting target divided area RB corresponding to the machining area layer CR. Here, "overlapping in plan view" does not mean that the entire individual divided area RA needs to overlap with the target machining area layer CR in plan view, but it is sufficient that at least a part of the area overlaps with the machining area layer CR in plan view.

[0075] 17 is a diagram showing a schematic diagram of a cutting target segmented region RB corresponding to an arbitrary machining area layer CR. The grid-like chain lines shown in FIG. 17 indicate the division positions where the planar region of the machining target surface 11 is divided into a grid by the division pattern DP, and each rectangular region divided by the division pattern DP corresponds to a segmented region RA. The solid curve in the figure indicates the boundary between the machining area layer CR (herein described as machining area layer CR1) that is the target for identifying the cutting target segmented region RB, and another machining area layer CR (herein described as machining area layer CR2). In FIG. 17, the right side of the boundary line is the area within the machining area layer CR1, and the left side is the area outside the range of the machining area layer CR1.

[0076] 17, the hatched portion of the divided area RA corresponds to the divided area RA that does not overlap in plan with the target cutting area layer CR1, and is illustrated as the non-cutting target divided area RC. On the other hand, the non-hatched portion of the divided area RA overlaps at least partially with the target cutting area layer CR1 in plan, and is therefore set as the cutting target divided area RB.

[0077] When cutting the cutting area layer CR1, the non-cutting target segmented area RC shown in FIG. 17 is not cut, and one or all sections of the cutting target segmented area RB are cut. In this embodiment, for each cutting target segmented area RB, a cutting (cutting) start point Ps, which is the start point of the cutting path PT followed by the cutting blade 24 during cutting, and a cutting (cutting) end point Pe, which is the end point, are set on the stroke path PS (shown by dashed lines in the figure). In FIG. 17, the cutting paths PT are indicated by arrows, and the start point (circle in the figure) of each arrow corresponds to the cutting start point Ps, and the end point (tip of the arrow in the figure) corresponds to the cutting end point Pe. The cutting path PT is a line connecting the cutting start point Ps and the cutting end point Pe set on the stroke path PS, and therefore is naturally set on the stroke path PS. The cutting path PT corresponds to the section on the stroke path PS along which the cutting blade 24 strokes when cutting the cutting target segmented area RB.

[0078] In the example shown in FIG. 17, only a portion of each cutting target segmented region RB overlaps with the target machining area layer CR (here, machining area layer CR1). In this case, as shown in FIG. 17, a machining path PT is set only in a partial section of the stroke path PS in each cutting target segmented region RB. The section of the stroke path PS in which the machining path PT is set corresponds to the section in which each cutting target segmented region RB overlaps with the target machining area layer CR (here, machining area layer CR1) in a plan view. In other words, a machining start point Ps and a machining end point Pe are set on the stroke path PS so that the machining path PT is set in the section in which each cutting target segmented region RB overlaps with the target machining area layer CR (here, machining area layer CR1) in a plan view. Note that when the entire cutting target segmented region RB overlaps with the machining area layer CR (included in the region of the machining area layer CR), a machining path PT is set in the entire section of the stroke path PS in that cutting target segmented region RB. In the example shown in FIG. 17, the cutting target sectional region RB corresponding to the machining area layer CR1 has been described, but the corresponding cutting target sectional regions RB are set in the same manner for the other machining area layers CR.

[0079] After the cutting target divided area RB is specified for each cutting area layer CR in the above manner, the processing instruction data generating unit 110 generates control parameter information for each cutting area layer CR. The control parameter information is generated by the robot arm 200 of the automatic scraping device 1 in accordance with the convexity of the processing target surface 11. The control value of each control parameter when cutting the portion S3 for each machining region layer CR is included, and can be generated for each machining region layer CR.

[0080] The control parameter information includes, for example, control values ​​for the tool angle θ and the vertical plunge depth δz, as well as machining point list data, and is generated for each machining area layer CR. As described above, the combination of the tool angle θ and the vertical plunge depth δz correlates with the cutting depth ΔDS and cutting width WC per stroke of the scraper 22. Therefore, when generating the control parameter information for each machining area layer CR, the machining instruction data generator 110 may use the allocated height ΔH and the width dimensions of the partitioned area RA set for the target machining area layer CR as the required cutting depth ΔDS and cutting width WC, respectively, and set the combination of the tool angle θ and vertical plunge depth δz that meets the conditions for the cutting depth ΔDS and cutting width WC as the tool angle θ and vertical plunge depth δz for each machining point. In this case, the combination of the tool angle θ and the vertical plunge depth δz that meets the conditions for the cutting depth ΔDS and cutting width WC can be obtained from the cutting condition information table described in FIG. 15.

[0081] Next, the machining point list data will be described. FIG. 18 is a diagram illustrating the machining point list data. The machining point list data is data that lists data related to the machining path PT in association with each machining point number, and is generated for each machining area layer CR. The machining point number is a serial number of the machining path PT included in the target machining area layer CR, and corresponds to the total number of strokes of the cutting blade 24 when cutting the machining area layer CR. The data related to the machining path PT is data that defines the machining start point Ps and machining end point Pe of the machining path PT, and may define, for example, the machining start point coordinates (XY coordinates), machining path direction DT, and machining path length LT at each machining point. Of course, the machining start point coordinates (XY coordinates) and machining end point coordinates (XY coordinates) of the machining path PT may also be defined as data related to the machining path PT.

[0082] As described above, the processing instruction data generation unit 110 generates control parameter information including processing point list data and the control values ​​of the tool angle θ and vertical push-in amount δz for each processing area layer CR, thereby generating processing instruction data for flattening including the control parameter information of each processing area layer CR and storing it in the memory device 102.

[0083] <Scraping processing flow> Next, we will explain the scraping process flow executed by the control device 100. Fig. 19 is a flowchart executed by the processor 104 of the control device 100. The scraping process flow is started, for example, when the control device 100 receives a scraping start request from the user via the input device of the input / output device 103.

[0084] First, in step S101, the processing instruction data generation unit 110 executes the above-described flat surface processing instruction data generation process to generate flat surface processing instruction data. The flat surface processing instruction data generated by the processing instruction data generation unit 110 is stored in the storage device 102.

[0085] Next, in step S102, the control unit 111 acquires processing instruction data for flattening from the storage device 102. Then, in accordance with the acquired processing instruction data for flattening, the control unit 111 controls the robot arm 200 to execute flattening processing on the processing target surface 11 of the workpiece 10. That is, the control unit 111 controls the cutting blade 24 of the scraper 22 to cut the convex portion S3 of the processing target surface 11.

[0086] Here, the flattening process in this embodiment will be explained in comparison with a comparative example. FIG. 20 is a diagram for explaining an outline of the flattening process according to the comparative example. As shown in FIG. 20(A), the reference surface 13 of the mating member 12 is inclined relative to the surface 11 to be machined of the workpiece 10. Here, for ease of explanation, it is assumed that convex portions 11A and 11B are formed on the processing target surface 11. Also, (B) shows the state after flattening processing of the processing target surface 11 is completed. (C) shows the state after flattening processing of the processing target surface 11 is completed and rubbed against the reference surface 13 of the mating member 12.

[0087] In the comparative example, the workpiece surface 11 is cut without considering the surface shape (slope, etc.) of the reference surface 13 against which the workpiece surface 11 is to be rubbed, so the workpiece area layer CR is divided as shown by the chain line in (A), and the workpiece surface 11 is cut from the top to bottom workpiece area layer CR. As a result, the convex portions 11A and 11B are removed, and the workpiece surface 11 is finished smoothly as shown in (B), but this finished surface does not take into account the surface shape of the reference surface 13. Therefore, the finished surface of the workpiece surface 11 after the flattening process does not match the surface of the reference surface 13, and when the workpiece surface 11 and the reference surface 13 are rubbed together, the two surfaces do not fit together, which may result in poor sliding properties.

[0088] FIG. 21 is a diagram illustrating an outline of the flattening process according to the embodiment. Similar to FIG. 20A, FIG. 21A illustrates a state in which the reference surface 13 of the mating member 12 is inclined relative to the workpiece surface 11 of the workpiece 10. In this embodiment, as described above, the height data of the workpiece surface 11 is converted into height data based on the contact plane AP, which reflects the surface shape (such as the inclination) of the reference surface 13 of the mating member 12. FIG. 21B schematically illustrates the surface shape of the workpiece surface 11 after correction based on the plane AP. In this embodiment, convex portions of the workpiece surface 11 are identified based on surface height correction data obtained by correcting the height data based on the plane AP, and each machining region layer CR, demarcated by the dashed lines shown in FIG. 21C, is cut from the top layer to the bottom layer. As a result, in the flattening process, the workpiece surface 11 can be cut so that the scraped surface of the workpiece surface 11 precisely matches the surface shape of the reference surface 13. In this manner, in this embodiment, the workpiece surface 11 can be cut taking into account the surface shape of the reference surface 13 of the mating member 12. Therefore, when the surface 11 to be processed and the reference surface 13 are rubbed together after the flattening process, the two surfaces fit together well, and excellent sliding properties can be obtained.

[0089] In step S102, when cutting of all the machining area layers CR is completed, the flattening process ends and the process proceeds to step S103. In step S103, the control unit 111 acquires surface height data of the machining target surface 11 after the flattening process and determines whether the flatness of the machining target surface 11 after the flattening process satisfies a predetermined target flatness. The surface height data of the machining target surface 11 is acquired based on measurement data from the three-dimensional shape measuring instrument 300. The "flatness" here can be defined as "the magnitude of deviation from a geometrically correct plane (geometric plane) of a planar shape" as specified in, for example, JIS B 0621 "Definition and Display of Geometric Deviation." Then, in the machining target surface 11 after the flattening process, if the difference in height (Z coordinate) in the Z axis direction between the highest point (most protruding point) and the lowest point (most recessed point) is equal to or less than a predetermined threshold, it may be determined that the flatness of the machining target surface 11 satisfies the predetermined target flatness.

[0090] If it is determined in step S103 that the flatness of the processing target surface 11 satisfies the target flatness, the process proceeds to step S104. On the other hand, if it is determined in step S103 that the flatness of the processing target surface 11 does not satisfy the target flatness, the process returns to step S101, and the flatness processing instruction data generation process and the flatness processing process are executed again. In other words, the flatness processing process is performed until the flatness of the processing target surface 11 satisfies the target flatness.

[0091] In step S104, the processing instruction data generating unit 110 executes a finishing processing instruction data generating process to generate finishing processing instruction data. The finishing processing instruction data is processing instruction data used when the control device 100 executes the finishing processing. The display data is generated based on, for example, input information input in advance by the user via the input device of the input / output device 103. The input information includes, for example, the contact area ratio and the number of contact points specified by the user. Here, the contact area ratio may be expressed as the ratio of the area of ​​the contact surfaces (convex portions) formed by the finish processing on the processing target surface 11 of the workpiece 10. Also, the number of contact points may be expressed as the number of contact surfaces (convex portions) formed by the finish processing on the processing target surface 11.

[0092] The processing instruction data generation unit 110 generates finishing processing instruction data that matches the conditions of the parameters included in the input information entered by the user. The finishing processing instruction data is a list of control parameters, such as the processing path PT, tool angle θ, vertical push-in amount δz, etc., used when cutting the workpiece surface 11 with the scraper 22, associated with each processing point number. The finishing processing instruction data generated by the processing instruction data generation unit 110 is stored in the storage device 102.

[0093] Next, in step S105, the control unit 111 acquires finishing processing instruction data from the storage device 102, controls the robot arm 200 in accordance with the acquired finishing processing instruction data, and executes finishing processing on the processing target surface 11 of the workpiece 10. That is, the processing target surface 11 after the flattening processing is cut by the scraper 22, and a depression for an oil reservoir is formed. When the finishing processing on the processing target surface 11 is completed, the scraping processing flow ends.

[0094] In the scraping processing flow described above, an example has been described in which the flattening processing instruction data generation process, the flattening processing process, the finishing processing instruction data generation process, and the finishing processing process are executed in a single flow, but the present invention is not limited to this. For example, the flattening processing instruction data generation process and the finishing processing instruction data generation process may be executed prior to the scraping processing flow and stored in the storage device 102 in advance.

[0095] <Other embodiments> The above-described embodiment and modifications are merely examples, and the present disclosure may be modified as appropriate within the scope of the present disclosure. Furthermore, the processes and means described in the present disclosure may be freely combined and implemented as long as no technical contradiction occurs.

[0096] Furthermore, a process described as being performed by one device may be shared and executed by multiple devices. Alternatively, a process described as being performed by different devices may be executed by a single device. In a computer system, the hardware configuration that realizes each function can be flexibly changed.

[0097] The present disclosure can also be realized by providing a computer program implementing the functions described in the above embodiments to a computer, and having one or more processors in the computer read and execute the program. Such a computer program may be provided to the computer via a non-transitory computer-readable storage medium connectable to the computer's system bus or via a network. Non-transitory computer-readable storage media include any type of medium suitable for storing electronic instructions, such as any type of disk, including magnetic disks (e.g., floppy disks, hard disk drives (HDDs), etc.), optical disks (e.g., CD-ROMs, DVDs, Blu-ray disks), read-only memory (ROM), random access memory (RAM), EPROM, EEPROM, magnetic cards, flash memory, or optical cards. [Explanation of symbols]

[0098] 1...Automatic scraping processing equipment 10. Work 11. Machining surface 100 Control device 104 Processor 110 Processing instruction data generation unit 111 Control unit 200···Robot arm 300...3D shape measuring instrument 400···Camera

Claims

1. An information processing device having a processor that generates processing instruction data for controlling a processing robot that automatically scrapes a surface to be processed of a workpiece, The processor: Applying a surface inspection agent to either a reference surface or the processing target surface of a predetermined counterpart member, and acquiring lapping image data by capturing an image of the processing target surface after lapping the reference surface and the processing target surface; acquiring surface height data obtained by measuring the surface to be processed with a three-dimensional shape measuring device; acquiring three-dimensional coordinates of a contact point where the processing surface contacts the reference surface during the lapping based on the lapping image data and the surface height data; generating surface height correction data by correcting the surface height data based on the three-dimensional coordinates of the impact point; acquiring a convex portion of the processing target surface based on the surface height correction data, and generating processing point data for cutting the convex portion; Execute a processing instruction data generation process including the Information processing device.

2. In the processing instruction data generation process, the processor acquires a contact plane, which is an approximate plane having the plurality of contact points as a point cloud, and corrects the surface height data based on the contact plane. The information processing device according to claim 1 .

3. In the processing instruction data generation process, the processor corrects the surface height data by performing coordinate transformation so that the contact plane overlaps with an XY plane perpendicular to a height coordinate axis on the surface to be processed, the Z axis being defined as the height coordinate axis on the surface to be processed. The information processing device according to claim 2 .

4. An automatic scraping device that automatically scrapes a surface to be processed of a workpiece, a scraping robot that holds and operates a scraper having a cutting blade; a control device that controls the scraping robot in accordance with processing instruction data generated by the information processing device according to any one of claims 1 to 3; Equipped with Automatic scraping processing equipment.

5. An automatic scraping method executed by a control device of an automatic scraping device that automatically scrapes a surface to be processed of a workpiece when controlling a scraping robot, comprising: The control device controls the scraping robot in accordance with processing instruction data generated by the information processing device according to any one of claims 1 to 3. Automatic scraping method.

6. A method for generating processing instruction data executed by a processor of an information processing device that generates processing instruction data for controlling a processing robot that automatically scrapes a surface to be processed of a workpiece, comprising: The processor: Applying a surface inspection agent to either a reference surface or the processing target surface of a predetermined counterpart member, and acquiring lapping image data by capturing an image of the processing target surface after lapping the reference surface and the processing target surface; acquiring surface height data obtained by measuring the surface to be processed with a three-dimensional shape measuring device; Based on the alignment image data and the surface height data, acquiring three-dimensional coordinates of a contact point where the surface to be machined contacts the reference surface; generating surface height correction data by correcting the surface height data based on the three-dimensional coordinates of the impact point; acquiring a convex portion of the processing target surface based on the surface height correction data, and generating processing point data for cutting the convex portion; Execute a processing instruction data generation process including the A method for generating processing instruction data.

7. A processor of an information processing device generates processing instruction data for controlling a processing robot that automatically scrapes a surface to be processed of a workpiece, Applying a surface inspection agent to either a reference surface or the processing target surface of a predetermined counterpart member, and acquiring lapping image data by capturing an image of the processing target surface after lapping the reference surface and the processing target surface; acquiring surface height data obtained by measuring the surface to be processed with a three-dimensional shape measuring device; acquiring three-dimensional coordinates of a contact point where the processing surface contacts the reference surface during the lapping based on the lapping image data and the surface height data; generating surface height correction data by correcting the surface height data based on the three-dimensional coordinates of the impact point; acquiring a convex portion of the processing target surface based on the surface height correction data, and generating processing point data for cutting the convex portion; Execute a processing instruction data generation process including the Processing instruction data generation program.

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