Automatic scraping device and automatic scraping method

Abstract

To provide a technique which is related to automatic scraping processing that automatically performs scraping processing to a processing object surface of a workpiece and smoothly finishes a cutting mark.SOLUTION: An automatic scraping processing device comprises: a scraping processing robot which is operated while holding a scraper that has a cutting blade; and a control device which executes scraping processing control of controlling the scraping processing robot such that the cutting blade strokes along a processing path in such a state that a blade tip of the cutting blade is pressed against the processing object surface according to the processing instruction data. The control device strokes the cutting blade in such a state that the blade tip is inclined with respect to the processing path direction at the time of scraping processing control.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 metalworking, and traditionally, the work involves painting the surface of the workpiece to be machined with red lead or a pigment, and then using a scraping tool with a wide, chisel-like tip (spatula-like) the worker manually scrapes away any protruding parts while checking the color difference.

[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 been proposed that scrapes the surface of a workpiece by automatically controlling a processing robot that holds a scraper with a cutting blade (see, for example, Patent Documents 1 to 4). This type of automatic scraping device usually scrapes the surface of the workpiece by stroking the scraper (cutting blade) along a processing path while pressing the cutting blade against the surface of the workpiece. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2010-240809 [Patent Document 2] Patent No. 6294248 [Patent Document 3] Japanese Patent Application Publication No. 05-123921 [Patent Document 4] Japanese Patent Application Publication No. 10-58285 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in conventional automatic scraping devices, when the cutting blade is stroked with its cutting edge perpendicular to the direction of the cutting path, the resistance that the cutting edge receives from the surface of the workpiece increases, which can cause the cutting edge to get caught on the surface of the workpiece during the stroke. As a result, a smooth stroke is hindered, which can lead to a rough surface of the cutting marks (scrape marks).

[0007] 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 of a workpiece to be processed, and for smoothly finishing cutting marks. [Means for solving the problem]

[0008] (Aspect 1) In order to solve the above problems, an automatic scraping device according to a first aspect of the present invention is an automatic scraping device that automatically scrapes a surface of a workpiece to be processed, and includes a scraping robot that holds and operates a scraper having a cutting blade, and a scraping machine that strokes the cutting blade along a processing path in a state where the cutting edge of the cutting blade is pressed against the surface of the workpiece in accordance with processing instruction data. and a control device that executes scraping control to control the scraping robot so that the scraping robot strokes the cutting blade while tilting the cutting edge with respect to the machining path direction during scraping control.

[0009] (Aspect 2) In the above-mentioned aspect 1, the control device may stroke the cutting blade during cutting edge inclination stroke control so that a predetermined reference point on the cutting edge passes through the machining path, and so that the cutting edge inclination angle formed by the normal direction at the reference point on the cutting edge and the machining path direction is an acute angle.

[0010] (Aspect 3) In the above-mentioned aspect 2, when performing a flattening process in which the convex portion of the surface to be machined is divided into multiple machining area layers and cut in stages, the control device may set the cutting edge inclination angle during cutting to different angles between any one machining area layer and at least any other machining area layer.

[0011] (Aspect 4) In the above-described third aspect, the control device may set the cutting edge inclination angle during cutting to different angles between one machining area layer and the machining area layers positioned immediately below the one machining area layer.

[0012] (Aspect 5) In the above-mentioned aspect 3 or 4, the control device may set the cutting edge inclination angle to a positive angle when cutting at least one machining area layer, with the machining path direction as the starting line, and may set the cutting edge inclination angle to a negative angle when cutting at least any other machining area layer.

[0013] (Aspect 6) In the above-mentioned aspect 5, the control device may set the cutting edge inclination angle to a positive angle when cutting one of the one machining area layer and the machining area layer located directly below the one machining area layer, and set the cutting edge inclination angle to a negative angle when cutting the other one.

[0014] (Aspect 7) Furthermore, the automatic scraping method according to aspect 7 of the present invention is an automatic scraping method executed by a control device of an automatic scraping device when controlling a scraping robot that holds and operates a scraper having a cutting blade, and when executing scraping control to control the scraping robot so that the cutting blade strokes along a processing path while pressing the cutting edge of the cutting blade against the surface to be processed of the workpiece in accordance with processing instruction data, the control device strokes the cutting blade with the cutting edge inclined relative to the processing path direction. [Effects of the Invention]

[0015] According to the present invention, a technique can be provided for automatic scraping, which automatically scrapes the surface of a workpiece to be processed, and for smoothly finishing cutting marks. [Brief explanation of the drawings]

[0016] [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 illustrating the blade tip inclination stroke. [Figure 7] FIG. 7 is a diagram illustrating the blade tip inclination stroke. [Figure 8] FIG. 8 is a diagram illustrating the trajectory of the cutting edge during the cutting edge tilt stroke. [Figure 9] FIG. 9 is a diagram for explaining surface height information of the surface to be processed. [Figure 10]FIG. 10 is a diagram illustrating a plurality of processing region layers in a convex portion on a processing target surface. [Figure 11] FIG. 11 is a diagram for explaining the processed region layer distribution information. [Figure 12] FIG. 12 is a diagram illustrating the cutting conditions information table. [Figure 13] FIG. 13 is a diagram illustrating the control parameter information. [Figure 14] FIG. 14 is a diagram showing a first setting example of the cutting edge inclination angles corresponding to the cutting area layers. [Figure 15] FIG. 15 is a diagram showing a second setting example of the cutting edge inclination angles corresponding to the cutting area layers. [Figure 16] FIG. 16 is a flowchart executed by the processor of the control device. DETAILED DESCRIPTION OF THE INVENTION

[0017] 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.

[0018] <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, and the like.

[0019] 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.

[0020] 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.

[0021] FIG. 2 is a diagram showing the scraper unit 20 held by the robot hand 210. The scraper unit 20 comprises a holder portion 21 that is detachably attached to the robot hand 210, and a The attachment includes a scraper 22, which is a scraping tool (cutting tool) integrally formed with a handle portion 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 a workpiece 10 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. The cutting edge 25 is a corner of a cutting edge surface 26 formed as the tip surface of the cutting blade 24 that is pressed against the workpiece surface 11 when cutting the workpiece surface 11. While 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 (tip radius of the cutting edge) is not particularly limited. For example, the scraper unit 20 having different sizes, such as the width dimension W and radius of curvature (tip radius of the cutting edge 25), of the cutting blade 24 can be attached to the robot hand 210.

[0022] The scraping of the workpiece surface 11 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 plane parallel to the XY plane. Therefore, the workpiece 10 on the processing stand C1 is placed along the XY plane.

[0023] 3 is a side view of the situation in which the cutting blade 24 of the scraper 22 is cutting the workpiece surface 11 of the workpiece 10. In scraping, the cutting edge 25 of the cutting blade 24 is placed obliquely against the workpiece surface 11, and the robot hand 210 is driven in the -Z direction to press the cutting blade 24 against the workpiece surface 11. With the cutting blade 24 pressed against the workpiece surface 11, the robot hand 210 and the cutting blade 24 attached to the scraper 22 are stroked parallel to the XY plane (hereinafter, this direction (white arrow in FIG. 2) will be referred to as the "stroke direction"), thereby cutting the workpiece surface 11 by a thickness on the order of microns or submicrons. The robot arm 200 is controlled by a control device 100, as will be described later. The processing instruction data used by the control device 100 to control the robot arm 200 specifies a processing path indicating the path along which the cutting edge 25 of the cutting blade 24 is stroked along the XY plane, and during scraping processing, the control is performed so that a reference point in the width direction of the cutting edge 25 passes on the processing path. In this embodiment, the center position 25A in the width direction of the cutting edge 25 (hereinafter referred to as the "width center position") is set as the reference point, and during scraping processing, the control is performed so that the center part in the width direction of the cutting edge 25 passes on the processing path.

[0024] Note that the symbol θ1 shown 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 θ1 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 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.

[0025] The robot arm 200 also has a joint that allows the robot hand 210 holding the scraper 22 (scraper unit 20) to rotate around the Z axis, and the yawing angle of the scraper 22 around the Z axis can be freely changed.

[0026] 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 and the measurement pedestal C2. That is, the robot arm 200 can freely move the workpiece 10 between the processing pedestal C1 and the measurement pedestal C2 by gripping the workpiece 10 with the hand chuck 30 attached to the robot hand 210.

[0027] The measurement stage C2 is a stage on which the workpiece 10 is placed when measuring the three-dimensional shape of the processing target surface 11 of the workpiece 10 using the three-dimensional shape measuring instrument 300. The surface of the measurement stage C2 is also formed into a flat surface parallel to the XY plane.

[0028] 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 workpiece surface 11 with high accuracy. However, the three-dimensional shape measuring instrument 300 is not particularly limited as long as it can measure the uneven shape data (height data) of the workpiece surface 11, 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 the uneven shape data of the workpiece surface 11 without contact, or a "contact" measuring instrument that acquires the uneven shape data of the workpiece surface 11 by contacting a probe or the like with the workpiece surface 11. In addition, the automatic scraping device 1 may also be equipped with a tool mounting stand C3 for mounting the scraper unit 20, a hand chuck stand C4 for mounting the hand chuck 30, etc.

[0029] 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.

[0030] 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.

[0031] 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 as a device for controlling the robot arm 200, and also functions as an information processing device (processing instruction data generating device) for generating processing instruction data used when controlling 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 is transmitted from the information processing device (processing instruction data generating device) to the control device 100 via either wired communication or wireless communication. This may be done by:

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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 for generating processing instruction data as described below.

[0037] 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.

[0038] 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 processing instruction data generation processing to generate processing instruction data. The control unit 111 acquires the processing instruction data generated by the processing instruction data generation unit 110, and controls the robot arm 200 in accordance with the processing instruction data, thereby executing scraping control to automatically perform scraping on the processing target surface 11 of the workpiece 10.

[0039] Next, we will explain the scraping control of the automatic scraping device 1. During scraping control, the control device 100 is characterized by performing a cutting edge tilt stroke in which the cutting edge 25 of the cutting blade 24 is tilted relative to the direction of the machining path, and the cutting edge 25 is moved in this state. Hereinafter, this type of stroke will be referred to as the "cutting edge tilt stroke."

[0040] Figures 6 and 7 are diagrams illustrating the inclined stroke of the cutting edge. Figure 6 shows the inclined stroke of the cutting edge when a cutting blade 24 having a linear cutting edge 25 is used, and Figure 7 shows the inclined stroke of the cutting edge when a cutting blade 24 having an arc-shaped cutting edge 25 is used.

[0041] The symbol PT denotes a machining path when scraping the workpiece surface 11 of the workpiece 10. The machining path PT is a path followed by the reference point of the cutting blade 24 (here, the above-mentioned width center position 25A is used as the reference point) when the cutting blade 24 pressed against the workpiece surface 11 is stroked as described in FIG. 3. In the machining path PT, the starting point of the arrow (circle in the figure) is the machining start point Ps, and the end point (tip of the arrow in the figure) is the machining end point Pe. The direction of the arrow from the machining start point Ps to the machining end point Pe in the machining path PT corresponds to the direction of the machining path PT (hereinafter referred to as the "machining path direction Dp"). Note that FIGS. 6 and 7 show the workpiece surface 11 (XY plane) as viewed from above. The stroke direction described in FIG. 3 coincides with the machining path direction Dp.

[0042] In this embodiment, the cutting blade 24 is controlled so that the width center position 25A of the cutting edge 25 passes over the machining path PT during the stroke. In the inclined cutting edge stroke employed in this embodiment, the cutting blade 24 is stroked with the cutting edge 25 of the cutting blade 24 inclined with respect to the machining path direction Dp.

[0043] In this specification, a state in which the cutting edge 25 of the cutting blade 24 is inclined with respect to the machining path direction Dp refers to a state in which, in the XY plane, the width direction (hereinafter referred to as the "cutting edge width direction") Dw of the cutting edge 25 is not perpendicular to the machining path direction Dp. Furthermore, the cutting edge width direction Dw can be defined as a direction in the XY plane that is parallel to a tangent (hereinafter referred to as the "width center position tangent") Lc that passes through the width center position 25A of the cutting edge 25. Therefore, a state in which, in the XY plane, the direction of the width center position tangent Lc of the cutting edge 25 is not perpendicular to the machining path direction Dp can be said to be a state in which the cutting edge 25 is inclined with respect to the machining path direction Dp.

[0044] Furthermore, the symbol Ln in the drawings denotes a normal line to the width center position tangent line Lc (hereinafter referred to as the "width center position normal line") that passes through the width center position 25A of the cutting edge 25. In this embodiment, the angle θ2 formed between the width center position normal line Ln of the cutting edge 25 and the machining path direction Dp (hereinafter referred to as the "cutting edge inclination angle") is set to an acute angle, thereby realizing a cutting edge inclination stroke in which the cutting edge width direction Dw is inclined with respect to the machining path direction Dp. Note that in this specification, the cutting edge inclination angle θ2 is described with the machining path PT (machining path direction Dp) as the reference (start line) and a counterclockwise angle as a positive angle and a clockwise angle as a negative angle (positive and negative directions are illustrated in FIGS. 6 and 7). Therefore, in the examples shown in FIGS. 6 and 7, the cutting edge inclination angle θ2 is illustrated as a positive angle. Furthermore, when the cutting edge inclination angle θ2 is positive or negative, the cutting edge inclination angle θ2 being an acute angle means that 0°<θ2<90° or −90°<θ2<0°.

[0045] As described above, in this embodiment, the control device 100 controls the robot arm 200 so that a cutting edge inclination stroke is performed during scraping. FIG. 8 is a diagram illustrating the trajectory of the cutting edge 25 during the cutting edge inclination stroke. Specifically, the trajectory of the cutting edge 25 when the cutting blade 24 is subjected to a cutting edge inclination stroke along the machining path PT from the machining start point Ps to the machining end point Pe is shown. As described above, in the cutting edge inclination stroke, the cutting blade 24 is stroked from the machining start point Ps to the machining end point Pe so that the width center position 25A passes on the machining path PT, with the direction of the width center position normal Ln on the cutting edge 25 inclined with respect to the machining path direction Dp. In this way, by stroking the cutting blade 24 with the cutting edge 25 inclined with respect to the machining path direction Dp, a stroke (hereinafter referred to as "cutting edge inclination stroke") is performed with the cutting edge width direction Dw (direction of the width center position tangent Lc) of the cutting blade 24 perpendicular to the machining path direction Dp. Compared to the "orthogonal stroke" (referred to as the "inclined stroke"), the resistance that the cutting edge 25 receives from the workpiece surface 11 during the stroke can be reduced. This makes it less likely that the cutting edge 25 will catch on the workpiece surface 11 during the stroke along the machining path PT, achieving a smooth stroke. Therefore, the inclined stroke can prevent the surface of the cutting marks (scrape marks) left by the cutting blade 24 cutting the workpiece surface 11 from becoming rough. In other words, the cutting marks (scrape marks) on the workpiece surface 11 can be finished smoothly.

[0046] In the orthogonal stroke, the cutting edge 25 catches on the workpiece surface 11 during the stroke, which tends to leave horizontal lines in the cutting marks (scraping marks) that run perpendicular to the machining path direction Dp. In contrast, the inclined stroke of the cutting edge in this embodiment reduces resistance in the stroke direction, thereby preventing horizontal lines from forming in the cutting marks (scraping marks), resulting in a stable, high-quality scraped surface. Furthermore, by reducing the resistance experienced by the cutting edge 25 when cutting the workpiece surface 11, wear on the cutting edge 25 can be reduced compared to the orthogonal stroke. This allows the cutting edge 24 to last longer, reducing the frequency with which the cutting edge 24 (scraper 22) needs to be replaced.

[0047] The processing instruction data used when executing scraping processing control is generated by the processor 104 of the control device 100 executing a program stored in the storage device 102 and functioning as the processing instruction data generation unit 110.

[0048] In a processing instruction data generation process for generating processing instruction data, the processing instruction data generation unit 110 acquires surface height information of the processing target surface 11 based on measurement data from the three-dimensional shape measuring device 300, for example, to acquire convex portions of the processing target surface 11. Then, the processing instruction data generation unit 110 generates processing instruction data for cutting the convex portions based on the acquired convex portions of the processing target surface 11. The processing instruction data may store data indicating the processing path PT, the tool angle θ1, the cutting edge inclination angle θ2, the vertical push-in amount δz of the robot hand 210, etc. The data indicating the processing path PT included in the processing instruction data may be data indicating the processing start point coordinates (XY coordinates) and the processing end point coordinates (XY coordinates) of the processing path PT, or alternatively, data indicating the processing start point coordinates (XY coordinates), the processing path direction, and the processing path length.

[0049] The processing instruction data generated as described above is stored in the storage device 102. Then, the control unit 111 of the control device 100 executes scraping processing control in accordance with the processing instruction data acquired from the storage device 102. In the scraping processing control, the workpiece surface 11 is cut by the cutting edge inclination stroke as described above. The control unit 111 controls the yawing angle of the scraper 22 about the Z axis in accordance with the instruction value of the cutting edge inclination angle θ2 included in the processing instruction data. This makes it possible to easily adjust the cutting edge inclination angle θ2 to a desired angle during scraping processing control.

[0050] In a typical embodiment, a plurality of machining points are set according to the distribution of convex portions on the machining surface 11, and the machining instruction data includes a machining path PT for each machining point. In this embodiment, it is not necessary to perform the inclined stroke of the cutting edge of the cutting blade 24 for all machining points, and an embodiment in which the inclined stroke of the cutting edge of the cutting blade 24 is performed for at least some of the machining points also falls within the scope of the present invention.

[0051] Furthermore, the automatic scraping device 1 may be provided with a camera that captures the image of the processing target surface 11 instead of the three-dimensional shape measuring device 300, and may detect convex portions of the processing target surface 11 based on the image data captured by the camera. In this case, the processing instruction data generation unit 110 can perform appropriate image processing on the image data acquired from the camera, obtain the planar positions and heights of the convex portions of the processing target surface 11, and generate processing instruction data.

[0052] <Embodiment 2> Next, a description will be given of embodiment 2. The schematic configuration of the automatic scraping device in embodiment 2 is the same as that of embodiment 1 described above.

[0053] In this embodiment, as an example of scraping control for the workpiece 10, an example will be described in which a flattening 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 then a finishing process is performed to form depressions for oil reservoirs in the workpiece surface 11. In this way, when performing scraping on the workpiece surface 11 of the workpiece 10, the processing efficiency can be improved by performing the flattening process and the finishing process separately.

[0054] 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.

[0055] When generating the planarization processing instruction data, the processing instruction data generation unit 110 acquires surface height information of the processing target surface 11 based on the measurement data of the three-dimensional shape measuring instrument 300. Fig. 9 is a diagram illustrating the surface height information of the processing target surface 11. The surface height information is information that indicates the height (Z coordinate) corresponding to each coordinate (each measurement point) in the planar direction (XY plane direction) of the processing target surface 11.

[0056] The processing instruction data generation unit 110 acquires convex portions of the processing target surface 11 based on the surface height information of the processing target surface 11. The convex portions of the processing target surface 11 are, for example, portions that are relatively raised with respect to the position where the height (Z coordinate) of the processing target surface 11 is lowest. For example, the processing instruction data generation unit 110 models the shape of the processing target surface 11 before the processing target surface 11 is subjected to the flattening processing based on the surface height information of the processing target surface 11, 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 position where the height (Z coordinate) of the processing target surface 11 is lowest and is parallel to the XY plane.

[0057] 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.

[0058] FIG. 10 is a diagram illustrating multiple machining region layers CR in a convex portion S3 on the machining target surface 11. FIG. 10 schematically shows the shape of the convex portion S3 on the machining target surface 11 on X=X1 (X1 is a coordinate on the X axis). Symbol S0 shown in FIG. 10 is a virtual 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 shown in FIG. 10 is a virtual machining plane that divides the convex portion S3 in the height direction. The machining plane VP is parallel to the virtual 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. 10 illustrates an example in which the convex portion S3 is divided into five machining region layers CR1 to CR5 by four machining planes VP.

[0059] Next, the processing instruction data generating unit 110 generates processing area layer distribution information that shows the planar distribution of each processing area layer CR on the processing target surface 11 in the form of contour lines. Fig. 11 is a diagram for explaining the processing area layer distribution information. In Fig. 10, for drawing purposes, the distribution of each processing area layer CR is shown in the form of contour lines for only a part of the processing target surface 11 (see enlarged view A). The contour lines shown by solid lines in enlarged view A of Fig. 10 indicate the boundary positions between each of the processing area layers CR1 to CR5, , which indicates the boundary position between the machining area layer CR5 located at the bottom layer and the target plane S2. In other words, the contour lines shown in the enlarged view A coincide with the cut edges when the convex portion S3 of the machining target surface 11 is virtually cut by each machining plane VP and the target plane S2.

[0060] In the flattening processing according to this embodiment, the convex portion S3 of the processing target surface 11 is cut sequentially for each processing area layer CR, from the processing area layer CR located at the top layer (processing area layer CR1 in the example shown in FIG. 10) to the processing area layer CR located at the bottom layer (processing area layer CR5 in the example shown in FIG. 10). Therefore, the processing instruction data generating unit 110 generates flattening processing instruction data used when cutting the convex portion S3 of the processing target surface 11 for each processing area layer CR.

[0061] 10 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.

[0062] 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).

[0063] 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.

[0064] As described above, the cutting depth ΔDS per stroke of the scraper 22 correlates with the relationship between the tool angle θ1 and the vertical plunge amount 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. 12. The cutting condition information table contains data indicating the relationship between the tool angle θ1, the vertical plunge amount 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 θ1 and the vertical plunge amount 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.

[0065] Next, the processing instruction data generating unit 110 generates processing instruction data for cutting the processing target surface 11 for each processing area layer CR based on the above-mentioned processing area layer distribution information. For example, the processing instruction data generating unit 110 generates control parameters that store data indicating the processing path PT, tool angle θ1, cutting edge inclination angle θ2, vertical push-in amount δz, etc. for each processing point included in each processing area layer CR. The meter information is generated for each processing area layer CR.

[0066] FIG. 13 is a diagram illustrating control parameter information. The control parameter information shown in FIG. 13 includes data related to each control parameter, such as a machining point number, machining path PT, tool angle θ1, cutting edge inclination angle θ2, and vertical plunge amount δz. The machining point number is a serial number of the machining path 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 specifying the machining start point Ps and machining end point Pe of the machining path PT. For example, the machining start point coordinates (XY coordinates), machining path direction, and machining path length at each machining point may be specified. Of course, the data related to the machining path PT may also specify the machining start point coordinates (XY coordinates) and machining end point coordinates (XY coordinates) of the machining path PT. The machining instruction data generation unit 110 generates planarization machining instruction data including control parameter information for each machining area layer CR and stores the data in the storage device 102.

[0067] In the scraping control according to this embodiment, the cutting edge inclination stroke of the cutting blade 24 is also performed when cutting the workpiece surface 11. For example, during the flattening process, the control device 100 can set the cutting edge inclination angle θ2 during cutting to different angles for any one machining area layer CR and at least one other machining area layer CR. In this case, the control device 100 may set the cutting edge inclination angle θ2 during cutting to different angles for one machining area layer CR and the machining area layer CR located immediately below that one machining area layer CR. In other words, the cutting edge inclination angle θ2 during cutting may be set to different angles for any pair of machining area layers consecutive in the height direction.

[0068] Fig. 14 is a diagram showing a first setting example of the cutting edge inclination angle θ2 corresponding to each machining area layer CR. In the setting example of the cutting edge inclination angle θ2 shown in Fig. 14, the cutting edge inclination angle θ2 of the machining area layers CR1, CR3, and CR5 is set to +5°, and the cutting edge inclination angle θ2 of the machining area layers CR2 and CR4 is set to +20°. These cutting edge inclination angles θ2 are examples, but the cutting edge inclination angle θ2 of at least one machining area layer (for example, machining area layer CR1) is set to an angle different from the cutting edge inclination angle θ2 of at least any other machining area layer (in the example of Fig. 14, machining area layers CR2 and CR4).

[0069] By setting the cutting edge inclination angle θ2 of each machining area layer CR in this manner, the degree of inclination of the cutting edge 25 with respect to the machining path direction Dp can be made different when performing a cutting edge inclination stroke during cutting of each machining area layer CR. This makes it possible to prevent the degree of inclination of the cutting edge 25 with respect to the machining path direction Dp from becoming uniform in all strokes when cutting the same location in the planar area of ​​the machining target surface 11 multiple times.

[0070] As described in the first embodiment, the inclined cutting edge stroke according to the present disclosure reduces the resistance that the cutting edge 25 receives from the workpiece surface 11 compared to the orthogonal cutting edge stroke, thereby achieving a smoother stroke. However, because the cutting blade 24 is pressed against the workpiece surface 11 by the robot hand 210, the pressing force that presses the cutting blade 24 against the workpiece surface 11 may not be uniform in the cutting edge width direction Dw, strictly speaking. In other words, strictly speaking, it is thought that there may be some variation in the cutting depth in the cutting edge width direction Dw.

[0071] On the other hand, when cutting the same location in a flat area of ​​the workpiece surface 11 multiple times, by performing a cutting edge inclination stroke with the degree of inclination of the cutting edge 25 relative to the machining path direction Dp changed, it is possible to level out the variation in cutting depth in the cutting edge width direction Dw. This makes it possible to perform cutting that further improves the flatness of the workpiece surface 11 in the flattening process. Also, by changing the degree of inclination of the cutting edge 25 in the cutting edge inclination stroke, the resistance that the cutting edge 25 receives from the workpiece surface 11 during the stroke is maximized. Since the position of the cutting edge in the cutting edge width direction Dw is changed, the cutting edge 25 is less likely to wear.

[0072] Furthermore, when cutting the same location on the planar region of the surface 11 to be machined multiple times, if the degree of inclination of the cutting edge 25 relative to the machining path direction Dp is the same for all cutting edge inclination strokes, it is thought that diagonal streaks along the cutting edge width direction Dw will be more likely to form in the cutting marks. However, there is also the advantage that the formation of such diagonal streaks can be suppressed by changing the degree of inclination of the cutting edge 25 relative to the machining path direction Dp.

[0073] Furthermore, according to the example of setting the cutting edge inclination angle θ2 shown in FIG. 14, the cutting edge inclination angle θ2 during cutting is set to a different angle between one machining area layer CR and the machining area layers CR located immediately below that one machining area layer CR. In other words, the cutting edge inclination angle θ2 during cutting is set to a different angle between any pair of machining area layers consecutive in the height direction. This allows the inclination degree of the cutting edge 25 relative to the machining path direction Dp during the cutting edge inclination stroke to be different between the machining area layers CR consecutive in the height direction when cutting the same location in the planar area of ​​the workpiece surface 11 multiple times. As a result, technical effects such as improved flatness of the workpiece surface 11 during flattening processing, suppression of oblique streaks in cutting marks, and suppression of wear of the cutting edge 25 can be more significantly achieved.

[0074] 14 is merely an example and is not limited to a specific example. Also, for example, the cutting edge inclination angles θ2 in all the machining region layers CR may be set to different angles.

[0075] In addition, the control device 100 can set the cutting edge inclination angle θ2 when cutting at least one machining area layer to a positive angle (for example, a counterclockwise angle with the machining path direction Dp as the starting line is a positive angle) using the machining path direction Dp as the starting line (reference), and can set the cutting edge inclination angle θ2 when cutting at least any other machining area layer to a negative angle (for example, a clockwise angle with the machining path direction Dp as the starting line is a negative angle).

[0076] Fig. 15 is a diagram showing a second setting example of the cutting edge inclination angle θ2 corresponding to each machining area layer CR. In the setting example of the cutting edge inclination angle θ2 shown in Fig. 15, the cutting edge inclination angles θ2 of the machining area layers CR1, CR3, and CR5 are set to positive angles, and the cutting edge inclination angles θ2 of the machining area layers CR2 and CR4 are set to negative angles.

[0077] This allows for a greater change in the position in the cutting edge width direction Dw at which the cutting edge 25 receives maximum resistance from the workpiece surface 11 during the cutting edge tilt stroke than when the cutting edge tilt angle θ2 is changed between positive angles (e.g., a combination of +α° and +β°) or between negative angles (e.g., a combination of -α° and -β°). Furthermore, when the cutting edge tilt angle θ2 is set to a positive angle, the cutting edge width direction Dw can be set to a positive inclination with respect to the machining path direction Dp. When the cutting edge tilt angle θ2 is set to a negative angle, the cutting edge width direction Dw can be set to a negative inclination with respect to the machining path direction Dp. Therefore, by setting the cutting edge tilt angle θ2 as in the second setting example, it is possible to achieve more significant technical effects, such as improved flatness of the workpiece surface 11 during flattening processing, suppression of oblique streaks in cutting marks, and suppression of wear on the cutting edge 25.

[0078] In particular, in the second setting example, the cutting edge inclination angle θ2 is set to a positive angle when cutting one of the machining area layer and the machining area layer located immediately below the one machining area layer, and set to a negative angle when cutting the other. In other words, the cutting edge inclination angle θ2 is set alternately to positive and negative from the machining area layer CR1 located at the top to the machining area layer CR5 located at the bottom. By doing so, the above technical effect can be made even more remarkable. In the example shown in Figure 15, the cutting area layers CR1 and CR Although the cutting edge inclination angles θ2 of the cutting area layers CR3 and CR5 are set to the same angle, it goes without saying that they may be set to different positive angles. Similarly, in the example shown in Figure 15, the cutting edge inclination angles θ2 of the cutting area layers CR2 and CR4 are set to the same angle, but they may be set to different negative angles.

[0079] <Scraping processing flow> Next, we will explain the scraping process flow executed by the control device 100. Fig. 16 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.

[0080] 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.

[0081] 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.

[0082] 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 information 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 information 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.

[0083] 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.

[0084] In step S104, the processing instruction data generation unit 110 executes a finishing processing instruction data generation process to generate finishing processing instruction data. The finishing processing instruction data is processing instruction data used by the control device 100 when executing the finishing processing. The finishing processing instruction data is generated based on input information input in advance by the user via the input device of the input / output device 103, for example. The input information includes, for example, a contact area ratio and a number of contact points specified by the user. Here, the contact area ratio may be expressed as a ratio of the area of ​​contact surfaces (convex portions) formed by the finishing processing on the processing target surface 11 of the workpiece 10. Furthermore, the number of contact points may be expressed as the number of contact surfaces (convex portions) formed by the finishing processing on the processing target surface 11.

[0085] The processing instruction data generating unit 110 generates the processing instruction data in accordance with the conditions of the parameters included in the input information input by the user. The finishing processing instruction data is generated so as to meet the requirements. The finishing processing instruction data is a list of control parameters such as the processing path PT, tool angle θ1, vertical push-in amount δz, cutting edge inclination angle θ2, 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.

[0086] 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.

[0087] In the scraping process flow described above, an example has been described in which the planarizing process instruction data generation process, the planarizing process, the finishing process instruction data generation process, and the finishing process are executed in a single flow, but this is not limiting. For example, the planarizing process instruction data generation process and the finishing process instruction data generation process may be executed prior to the scraping process flow and stored in advance in the storage device 102. Furthermore, in this embodiment, the cutting edge tilt stroke of the cutting blade 24 may also be performed in the above-mentioned finishing process.

[0088] <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.

[0089] 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.

[0090] 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]

[0091] 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

Claims

1. 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 executes scraping control to control the scraping robot in accordance with processing instruction data so that the cutting blade strokes along a processing path while pressing the cutting edge of the cutting blade against the surface to be processed; Equipped with the control device, during scraping control, strokes the cutting blade in a state in which the cutting edge is inclined with respect to a machining path direction when the surface to be machined is viewed from above; Automatic scraping processing equipment.

2. the control device, during cutting edge inclination stroke control, strokes the cutting blade so that a predetermined reference point on the cutting edge passes on the machining path, and so that a cutting edge inclination angle formed by a normal direction at the reference point on the cutting edge when the machining target surface is viewed from above and the machining path direction becomes an acute angle. The automatic scraping device according to claim 1.

3. When performing a flattening process in which the convex portion of the processing surface is divided into a plurality of processing area layers and cut in stages, the control device sets the cutting edge inclination angle during cutting to a different angle in any one processing area layer and at least any other processing area layer. The automatic scraping device according to claim 2.

4. The automatic scraping device according to claim 3, wherein the control device sets the cutting edge inclination angle during cutting to different angles between one machining area layer and the machining area layers located immediately below the one machining area layer.

5. The control device sets the cutting edge inclination angle to a positive angle when cutting at least one machining area layer, and sets the cutting edge inclination angle to a negative angle when cutting at least any other machining area layer, with the machining path direction as a starting line.

5. The automatic scraping device according to claim 3 or 4.

6. The control device sets the cutting edge inclination angle to a positive angle when cutting one of the one machining area layer and the machining area layer located immediately below the one machining area layer, and sets the cutting edge inclination angle to a negative angle when cutting the other. The automatic scraping device according to claim 5.

7. An automatic scraping method executed by a control device of an automatic scraping device when controlling a scraping robot that holds and operates a scraper having a cutting blade, When executing scraping control to control the scraping robot so that the cutting blade strokes along a machining path while pressing the cutting edge of the cutting blade against the surface to be machined of the workpiece in accordance with machining instruction data, the control device strokes the cutting blade while tilting the cutting edge with respect to the machining path direction when the surface to be machined is viewed from above. Automatic scraping method.

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