Scraping device and scraping method

Abstract

To provide a technique of improving the plane accuracy at cutting a machining object surface in a scraping apparatus that performs scraping on the machining object surface of a workpiece.SOLUTION: A scraping apparatus includes: a machining robot that holds a scraper; and a control device that executes leveling machining. The leveling machining is machining which sequentially cuts a machining area layer of a machining object surface from an upper layer side, and in which, reference values for a downward pushing amount of the scraper and a stroke resistance force are determined according to a cutting depth at cutting each machining area layer. The control device performs pushing amount adjustment control that adjusts the downward pushing amount of the scraper on the basis of a δ-f characteristic which indicates a relationship between the downward pushing amount of the scraper at cutting an immediately-above machining area layer and a stroke resistance force measured by a force sensor at cutting the cutting object machining area layer.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a scraping device and a scraping method. [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, a 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 Document 1). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2020-199611 Summary of the Invention [Problem to be solved by the invention]

[0006] However, conventional scraping devices have room for improvement in terms of improving the flatness accuracy when cutting the surface to be processed of the workpiece.

[0007] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a technique for improving the flatness accuracy when cutting a surface to be processed in a scraping device that performs scraping on the surface to be processed of a workpiece. [Means for solving the problem]

[0008] (Aspect 1) A first aspect of the present invention is a scraping device for scraping a surface of a workpiece, the scraping device comprising: a processing robot that holds and operates a scraper having a cutting blade; a control device that controls the processing robot to execute a flattening process in which the scraper is pressed downward against the surface of the workpiece while stroking the scraper in a predetermined stroke direction along the surface of the workpiece, thereby cutting convex portions of the surface of the workpiece with the cutting blade; and a force sensor that detects a stroke resistance force that the cutting blade receives from the surface of the workpiece during the stroke in a direction opposite to the stroke advance direction during the flattening process. The flattening process is a process in which a plurality of processing area layers that divide the convex portions of the surface of the workpiece in the height direction are sequentially cut from the upper layer side, and reference values ​​for the downward pressing amount of the scraper and the stroke resistance force are set according to the cutting depth during cutting of each processing area layer. When cutting a cutting target processing area layer, which is a processing area layer to be cut, the control device detects a force sensor that detects a stroke resistance force that the cutting blade receives from the surface of the workpiece during the stroke in a direction opposite to the stroke advance direction during the flattening process. A push-in amount adjustment control is performed to adjust the control value of the downward push-in amount of the scraper in the cutting target cutting area layer based on the δ-f characteristic that shows the relationship between the control value of the downward push-in amount of the scraper when cutting the immediately-overlapping cutting area layer, which is the cutting target cutting area layer, and the measured value of the stroke resistance force measured by the force sensor.

[0009] (Aspect 2) In the above-mentioned first aspect, the control device may cut an uppermost machining area layer that is the uppermost machining area layer, using a reference value of a downward push amount of the scraper in the flattening process.

[0010] (Aspect 3) The control device of the scraping device according to the above-mentioned aspect 1 or 2 may, in the push-in amount adjustment control, adjust a control value of the downward push-in amount of the scraper when cutting each of the second and subsequent machining area layers in sequence based on the δ-f characteristic in the immediately-overlapping machining area layer.

[0011] (Aspect 4) The control device of the scraping device according to any one of the above aspects 1 to 3 may, in the push-in amount adjustment control, acquire the δ-f characteristic for each divided area obtained by dividing the planar area of ​​the directly-overlying processing area layer into a plurality of areas, and adjust the control value of the downward push-in amount of the scraper when cutting an area of ​​the cutting target processing area layer that overlaps vertically with the divided area in the directly-overlying processing area layer based on the δ-f characteristic of the divided area corresponding to that area.

[0012] (Aspect 5) A fifth aspect of the present invention is a scraping method for scraping a surface of a workpiece, the scraping method using a scraping device including: a processing robot that holds and operates a scraper having a cutting blade; a control device that controls the processing robot to execute a flattening process in which the scraper is pressed downward against the surface of the workpiece while stroking the scraper in a predetermined stroke direction along the surface of the workpiece, thereby cutting off convex portions of the surface of the workpiece with the cutting blade; and a force sensor that detects a stroke resistance force that the cutting blade receives from the surface of the workpiece during the stroke in a direction opposite to the stroke advance direction during the flattening process, and The extrusion processing is a process of sequentially cutting multiple machining area layers that divide the convex portions of the machining surface in the height direction, starting from the upper layer, and respective reference values ​​for the downward push amount of the scraper and the stroke resistance force are set according to the cutting depth when cutting each machining area layer.When cutting the machining area layer to be cut, which is the machining area layer to be cut, the control device performs push amount adjustment control to adjust the control value of the downward push amount of the scraper in the machining area layer to be cut, based on the δ-f characteristic that shows the relationship between the control value of the downward push amount of the scraper when cutting the machining area layer directly above the machining area layer to be cut, which is the machining area layer located directly above the machining area layer to be cut, and the measured value of the stroke resistance force measured by the force sensor.

[0013] (Aspect 6) In the above-mentioned fifth aspect, the control device may cut an uppermost machining area layer that is the uppermost machining area layer, using a reference value of a downward push amount of the scraper in the flattening process.

[0014] (Aspect 7) In the scraping method according to the fifth or sixth aspect, the control device adjusts a control value of a downward push-in amount of the scraper when cutting each of the second and subsequent machining area layers based on the δ-f characteristic of the immediately-overlying machining area layer in the push-in amount adjustment control. Good too.

[0015] (Aspect 8) In the scraping method according to any one of the above aspects 5 to 7, the control device, in the push-in amount adjustment control, may acquire the δ-f characteristic for each divided area obtained by dividing the planar area of ​​the directly-overlying processing area layer into a plurality of areas, and adjust the control value of the downward push-in amount of the scraper when cutting an area of ​​the cutting target processing area layer that overlaps vertically with the divided area in the directly-overlying processing area layer based on the δ-f characteristic of the divided area corresponding to that area. [Effects of the Invention]

[0016] According to the present invention, it is possible to provide a technique for improving the flatness accuracy when cutting a surface to be processed in a scraping device that performs scraping on the surface to be processed of a workpiece. [Brief explanation of the drawings]

[0017] [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 showing the surface of the workpiece to be machined. [Figure 7] FIG. 7 is a diagram for explaining surface height information of the surface to be processed. [Figure 8] FIG. 8 is a diagram schematically showing the shape of the convex portion on the surface to be processed. [Figure 9] FIG. 9 is a diagram showing the surface height of the surface to be machined in the form of contour lines, with the height of each machining plane being used as a contour line. [Figure 10]FIG. 10 is a diagram for explaining the processed region layer distribution information. [Figure 11] FIG. 11 is a diagram for explaining the processing point data. [Figure 12] FIG. 12 is a diagram illustrating the cutting conditions information table. [Figure 13] FIG. 13 is a diagram illustrating the depression amount setting information table. [Figure 14] FIG. 14 is a flowchart executed by the processor of the control device. [Figure 15] FIG. 15 is a diagram illustrating the δ-f characteristics associated with the depression amount adjustment control. [Figure 16] FIG. 16 is a diagram illustrating a division pattern for dividing a planar area of ​​a surface to be machined into a plurality of divided areas. [Figure 17] FIG. 17 is a diagram showing a schematic and partial view of the cutting target division area of ​​each machining area layer. DETAILED DESCRIPTION OF THE INVENTION

[0018] 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.

[0019] <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.

[0020] The automatic scraping device 1 is configured to scrape a surface 11 to be processed of a workpiece 10. This is a device that automatically performs scraping (scraping) on ​​a workpiece 10. The workpiece 10 may be, for example, a metal sliding member that constitutes a machine tool, and its sliding surface may be 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, but in order to prevent the wringing phenomenon that occurs when the sliding surface slides, the scraping finishing process forms many tiny micron-sized depressions on the sliding surface as reservoirs for lubricating oil, thereby improving the lubricity of the sliding surface.

[0021] 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.

[0022] 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 (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 of the cutting blade 24 and the radius of curvature (tip radius of the cutting edge), can be attached to the robot hand 210.

[0023] 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.

[0024] 3 is a side view of the scraping process in which the cutting blade 24 of the scraper 22 is used to cut the workpiece surface 11 of the workpiece 10. In scraping, the cutting blade 24 is placed at an angle against the workpiece surface 11, and the scraper 22 (robot hand 210) is driven in the -Z direction to stroke the scraper 22 along the workpiece surface 11 (parallel to the XY plane) while pushing the scraper 22 downward (in the -Z direction) relative to the workpiece surface 11 (hereinafter, this direction (white arrow in FIG. 3) will be referred to as the "stroke direction"). This causes the cutting blade 24 to cut the workpiece surface 11 in increments of micron- or submicron-order thickness. When cutting the workpiece surface 11, the amount of push (amount of displacement in the -Z direction) when the scraper 22 is pushed downward against the workpiece surface 11 while the cutting blade 24 is pressed against the workpiece surface 11 will be referred to as the "downward push-in amount δz."

[0025] The robot arm 200 controls the amount of downward pressure δz of the scraper 22 against the surface 11 to be processed, so that the cutting blade 24 moves The cutting depth ΔDS of the workpiece surface 11 (hereinafter referred to as the "stroke cutting depth") can be adjusted. Here, the downward depression amount δz of the scraper 22 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. Since the scraper body 23 of the scraper 22 is flexible as described above, the workpiece surface 11 is cut while the scraper body 23 is bent. Therefore, while the cutting depth of the workpiece surface 11 is on the order of microns or submicrons, the downward depression amount Δz of the scraper 22 during cutting can be set as a displacement amount on the order of millimeters.

[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 also includes a force sensor 220. The force sensor 220 detects the resistance (load, reaction force) acting on the scraper 22 during scraping. The force sensor 220 is, for example, a three-axis force sensor, and can detect the resistance (load, reaction force) received from the X, Y, and Z directions when cutting the workpiece surface 11. The control device 100 of the automatic scraping device 1 monitors the load state output by the force sensor 220 during scraping and, as necessary, can perform feedback control based on the strength of the load. Note that 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 automatically scrape the workpiece surface 11 of the workpiece 10 by operating the scraper it holds.

[0030] 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 processing 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. In other words, the control device 100 functions as a device for controlling the robot arm 200, and also functions as a device for controlling the robot arm 200. The control device 100 functions 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 according to the acquired processing instruction data. Note that the transmission of the processing instruction data from the information processing device (processing instruction data generating device) to the control device 100 may be performed by either wired communication or wireless communication.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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 above-mentioned functional units. 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 performs processing on the processing instruction data. The robot arm 200 is controlled accordingly.

[0038] 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.

[0039] 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.

[0040] Fig. 6 is a diagram showing the processing target surface 11 of the workpiece 10 according to embodiment 1. In the example shown in Fig. 6, the processing target surface 11 of the workpiece 10 has a rectangular plane, but of course, the shape, size, and other aspects of the processing target surface 11 are not particularly limited. Here, for convenience, the long side direction (X direction in Fig. 6) of the plane (XY plane) of the processing target surface 11 will be referred to as the length direction, and the short side direction (Y direction in Fig. 6) will be referred to as the width direction.

[0041] When generating the planarization processing instruction data, the processing instruction data generation unit 110 acquires surface height information (three-dimensional shape data) of the processing target surface 11 based on the measurement data of the three-dimensional shape measuring instrument 300. FIG. 7 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. For convenience, FIG. 7 shows the surface height information of a portion of the processing target surface 11.

[0042] The processing instruction data generation unit 110 acquires the 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, parts that are relatively raised with respect to the position where the height (Z coordinate) of the processing target surface 11 is the lowest.

[0043] Then, the processing instruction data generating unit 110 divides the convex portion of the processing target surface 11 in its height direction (Z-axis direction) by processing planes parallel to the XY plane, and sets a plurality of processing region layers CR.

[0044] FIG. 8 is a diagram schematically showing the shape of the convex portion S3 of the processing target surface 11 on Y=Y1 (Y1 is the coordinate on the Y axis). The symbol S0 in FIG. 8 is an imaginary plane that passes through the highest position (vertex point) of the convex portion S3 on the processing target surface 11 in height (Z coordinate) and is parallel to the XY plane. The symbol VP in FIG. 8 is an imaginary plane (shown by a dashed line in FIG. 8) that divides the convex portion S3 in the height direction and is called a "processing plane." The processing plane VP is set parallel to the imaginary plane S0 (i.e., parallel to the XY plane). In the example shown in FIG. 8, the convex portion S3 is divided in the height direction (Z-axis direction) by processing planes VP1 to VP6, and the range in the height direction (Z-axis direction) assigned to each processing region layer CR is defined by the processing planes VP1 to VP6. In the example shown in Fig. 8, the first machining area layer CR1 to the sixth machining area layer CR6 are assigned from the apex side (uppermost layer side) of the convex portion S3. The height dimension assigned to each machining area layer CR may or may not be constant. The two-dot chain line shown in Fig. 8 indicates the end position in the length direction of the machining surface 11.

[0045] FIG. 9 shows the contour lines of the height of each machining plane VP, and the contour lines of the surface height on the machining target surface 11. 9 is a diagram showing the plane area of ​​the surface 11 to be machined linearly. In the example shown in Fig. 9, the planar area of ​​the surface 11 to be machined is divided into a first area A1 to a seventh area A7 by contour lines (machining planes VP1 to VP6). The contour lines shown in Fig. 9 coincide with the outline of the cut edge when the convex portion S3 of the surface 11 to be machined is virtually cut by each machining plane VP.

[0046] The processing instruction data generation unit 110 generates processing area layer distribution information that indicates the planar distribution area of ​​each processing area layer CR within the planar area of ​​the processing target surface 11. The planar distribution area of ​​the processing area layer CR can be said to be the area corresponding to the cut edge when the convex portion S3 of the processing target surface 11 is virtually cut by each processing plane VP. For example, the distribution area of ​​the first processing area layer CR1 corresponds to the area occupied by the first area A1 within the planar area of ​​the processing target surface 11. The distribution area of ​​the second processing area layer CR2 corresponds to the sum of the areas occupied by the first area A1 and the second area A2 within the planar area of ​​the processing target surface 11. In other words, the distribution area of ​​the Nth processing area layer (N is a natural number greater than or equal to 2) corresponds to the sum of the areas occupied by the first area to the Nth area within the planar area of ​​the processing target surface 11.

[0047] FIG. 10 is a diagram illustrating machining area layer distribution information. In FIG. 10, the areas other than the black areas indicate the planar distribution areas of each machining area layer CR. In the flattening process of this embodiment, the convex portion S3 of the machining target surface 11 is divided into multiple machining area layers CR in the height direction, and the multiple machining area layers CR are cut sequentially from the top layer side. In the example shown in FIG. 10, the convex portion S3 is cut sequentially from the top layer side, from the top first machining area layer CR1 to the bottom sixth machining area layer CR6.

[0048] 8 indicates the allocation height of the machining area layer CR. The allocation height HL of each machining area layer CR is set to a dimension corresponding to the stroke cutting depth ΔDS, which is achieved by the cutting blade 24 of the scraper 22 cutting the convex portion S3 of the workpiece surface 11 per stroke. In other words, when cutting the convex portion S3 of the workpiece surface 11 in the flattening process, the downward push amount Δz of the scraper 22 relative to the workpiece surface 11 is set so that the cutting blade 24 of the scraper 22 obtains a stroke cutting depth ΔDS corresponding to the allocation height HL of the machining area layer CR per stroke.

[0049] For example, the processing instruction data generating unit 110 may set the allocation height HL of each processing area layer CR to a predetermined fixed value (for example, approximately 3 μm to 5 μm). Alternatively, the allocation height HL of the processing area layer CR may be set according to the maximum height difference of the convex portion S3 (the difference in height in the Z-axis direction between the lowest and highest points of the height (Z coordinate) of the processing target surface 11). Also, the allocation height HL does not need to be the same for each processing area layer CR, and different values ​​may be set as the allocation height HL for each layer. For example, the allocation height HL 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).

[0050] Furthermore, the processing instruction data generating unit 110 may set the allocation height HL of each processing area layer CR using a value specified 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 input / output device 103, and input information (setting information) including the allocation height HL may be stored in the storage device 102. Of course, the processing instruction data generating unit 110 may automatically set the allocation height HL of each processing area layer CR.

[0051] Next, the processing instruction data generating unit 110 generates processing point data for each processing area layer CR, which stores data defining a processing path PT, which is a path along which the cutting blade 24 of the scraper 22 strokes when cutting the convex portion S3 of the processing target surface 11 with the cutting blade 24 of the scraper 22 during flattening processing. For example, the processing point data stores data relating to the processing path PT for each processing point number. , and can be generated based on the machining area layer distribution information described in FIG. 10. The machining point number is, for example, the 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 specifies the machining start point and machining end point of the machining path PT, and 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 machining start point coordinates (XY coordinates) and machining end point coordinates (XY coordinates) of the machining path PT may be specified as data related to the machining path PT.

[0052] 11 is a diagram for explaining machining point data. In this embodiment, the specific setting mode of the machining path PT in each machining area layer CR is not particularly limited.

[0053] Here, the storage device 102 of the control device 100 stores a cutting condition information table as shown in FIG. 12. The cutting condition information table is data that stores the correspondence between the stroke cutting depth ΔDS, the reference downward push-in amount δzb, and the reference stroke resistance force fsb during flattening processing. The specific numerical values ​​registered in the fields for the stroke cutting depth ΔDS, the reference stroke resistance force fsb, and the reference downward push-in amount δzb are examples. The cutting condition information table may be a so-called database table, or may be a file in a predetermined format such as CSV (Comma Separated Values).

[0054] Here, the reference downward push-in amount δzb is a reference value of the downward push-in amount δz corresponding to the stroke cutting depth ΔDS. As described above, in this embodiment, the required value of the stroke cutting depth ΔDS is determined according to the allocated height HL of the machining area layer CR, and the reference value of the downward push-in amount δz is determined as the reference downward push-in amount δzb according to this stroke cutting depth ΔDS. In other words, the reference downward push-in amount δzb is a reference value set for the downward push-in amount δz corresponding to the allocated height HL (stroke cutting depth ΔDS).

[0055] Furthermore, the reference stroke resistance force fsb is a reference value set for the stroke resistance force fs, which is the resistance force that the cutting blade 24 receives from the workpiece surface 11 in the direction opposite to the stroke progression direction during the stroke of the scraper 22 in the flattening process. As described above, the automatic scraping device 1 is equipped with the force sensor 220, and can measure the stroke resistance force fs that the cutting blade 24 receives from the workpiece surface 11 in the direction opposite to the stroke progression direction during the cutting stroke of the workpiece surface 11 based on the detection signal of the force sensor 220. The magnitude of the reference stroke resistance force fsb is determined according to the combination of the stroke cutting depth ΔDS and the reference downward depression amount δzb.

[0056] The correspondence relationship between the stroke cutting depth ΔDS, the reference downward push-in amount δzb, and the reference stroke resistance force fsb can be determined in advance, for example, by performing test cutting. For example, a test workpiece is prepared, and a test flattening process is performed on the surface of the test workpiece using the automatic scraping device 1. At that time, test cutting is performed using the downward push-in amount δz of the scraper 22 as a parameter (variable) while measuring the stroke resistance force fs with the force sensor 220, and the cutting depth of the test workpiece is measured after the test, thereby determining the correspondence relationship between the above three parameters.

[0057] The processing instruction data generating unit 110 determines a basic control value of the downward push-in amount δz for each machining area layer CR based on the cutting condition information table stored in the storage device 102 and the allocated height HL of each machining area layer CR. Specifically, it reads out the reference downward push-in amount δzb corresponding to the allocated height HL of each machining area layer CR from the cutting condition information table, and generates a push-in amount setting information table in which the reference downward push-in amount δzb is associated with each machining area layer CR. Figure 13 is a diagram showing an example of the push-in amount setting information table. Push-in amount setting information table may be a so-called database table, or a file in a predetermined format such as CSV (Comma Separated Values). The specific numerical values ​​shown in FIG. 13 are merely examples. As shown in FIG. 13, the reference downward push-in amount δzb of each processing region layer CR does not need to be set to the same value. Of course, the reference downward push-in amount δzb of each processing region layer CR may be set to the same value.

[0058] As described above, the processing instruction data generating unit 110 of the control device 100 generates processing instruction data for flattening including processing point data for each processing area layer CR and a push-in amount setting information table, and stores the data in the storage device 102.

[0059] <Scraping processing flow> Next, we will explain the scraping process flow executed by the control device 100. Fig. 14 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.

[0060] 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.

[0061] Next, in step S102, the control unit 111 acquires planarization processing instruction data from the storage device 102. The robot arm 200 is then controlled in accordance with the acquired planarization processing instruction data to execute planarization processing on the workpiece surface 11 of the workpiece 10. The planarization processing is, as described above, a process of cutting a plurality of machining area layers CR that divide the convex portion S3 of the workpiece surface 11 in the height direction, sequentially from the top layer. In the example described with reference to FIG. 8 , cutting is performed in this order from the first machining area layer CR1 to the sixth machining area layer CR6, in accordance with the planarization processing instruction data. The planarization processing instruction data includes a push-in amount setting information table that defines the relationship between the reference downward push-in amount δzb and the reference stroke resistance force fsb according to the stroke cutting depth ΔDS, as described above. The reference downward push-in amount δzb corresponding to the assigned height HL (stroke cutting depth ΔDS) of each machining area layer CR is used as the basic control value of the downward push-in amount δz when cutting each machining area layer CR.

[0062] However, the machinability of the workpiece 10 varies from piece to piece. Therefore, if the flattening process is performed with the downward push-in amount δz of the scraper 22 simply set to the reference downward push-in amount δzb without considering the machinability of the workpiece 10, the error between the actual cutting depth in each machining region layer CR and its required value may become large depending on the machinability of the workpiece 10. This may result in a deterioration in the flatness accuracy of the workpiece surface 11. Therefore, in this embodiment, the flattening process is performed on the workpiece surface 11 while taking the machinability of the workpiece 10 into consideration by executing the push-in amount adjustment control described below. The above-mentioned machinability refers to the ease with which the workpiece 10 can be cut. Good machinability means that the workpiece 10 is easy to cut, while poor machinability means that the workpiece 10 is difficult to cut.

[0063] The push-in amount adjustment control according to this embodiment is executed by the control device 100. In summary, when cutting a cutting target machining area layer CRt, which is a machining area layer to be cut, the push-in amount adjustment control adjusts the control value of the downward push-in amount δz of the scraper 22 in the cutting target machining area layer CRt based on the δ-f characteristic showing the relationship between the control value of the downward push-in amount δz of the scraper 22 when cutting an immediately above machining area layer CRu located immediately above the cutting target machining area layer CRt and the measured value of the stroke resistance force fs measured by the force sensor 220. This is a control.

[0064] Here, the uppermost machining area layer CRum (first machining area layer CR1 in the example shown in FIG. 8), which is the machining area layer located at the top among the multiple machining area layers CR, is cut using the value of the reference downward push-in amount δzb. Then, the control device 100 acquires the δ-f characteristic of the uppermost machining area layer CRum (first machining area layer CR1) based on the stroke resistance force fs measured by the force sensor 220 in the process of cutting the uppermost machining area layer CRum (first machining area layer CR1) in accordance with the planarization machining instruction data and the control value of the downward push-in amount δz (here, the reference downward push-in amount δzb) during cutting of the uppermost machining area layer CRum (first machining area layer CR1). The δ-f characteristic will be described in detail later.

[0065] When cutting the next layer, the second machining area layer CR2, as the cutting target machining area layer CRt, the control device 100 adjusts the control value of the downward push-in amount δz based on the δ-f characteristic of the immediately-overlying machining area layer CRu (here, the first machining area layer CR1) located immediately above the second machining area layer CR2, which is the cutting target machining area layer CRt. Specifically, the control device 100 compares the stroke resistance force fs obtained when cutting the first machining area layer CR1 with the reference stroke resistance force fsb corresponding to the control value of the downward push-in amount δz (here, the reference downward push-in amount δzb), and adjusts the control value of the downward push-in amount δz in the next layer, the second machining area layer CR2, based on the comparison result. For example, if the stroke resistance force fs obtained during cutting of the first machining area layer CR1 is greater than the reference stroke resistance force fsb, the machinability of the first machining area layer CR1 is determined to be better than standard, and the control value of the downward push-in amount δz in the next layer, the second machining area layer CR2, is corrected to a value smaller than the reference downward push-in amount δzb set for the second machining area layer CR2. On the other hand, if the stroke resistance force fs obtained during cutting of the first machining area layer CR1 is smaller than the reference stroke resistance force fsb, the machinability of the first machining area layer CR1 is determined to be worse than standard, and the control value of the downward push-in amount δz in the next layer, the second machining area layer CR2, is corrected to a value larger than the reference downward push-in amount δzb set for the second machining area layer CR2.

[0066] Then, even when cutting the third machining area layer CR3 as the cutting target machining area layer CRt, the control value of the downward push-in amount δz is adjusted based on the δ-f characteristic in the second machining area layer CR2 located immediately above the third machining area layer CR3. In this way, the push-in amount adjustment control according to this embodiment adjusts the control value of the downward push-in amount δz when cutting each machining area layer from the second layer onwards, based on the δ-f characteristic in the immediately-overlying machining area layer CRu located immediately above the cutting target machining area layer CRt.

[0067] Next, a method for adjusting the downward depression amount δz based on the δ-f characteristic will be described. Fig. 15 is a diagram illustrating the δ-f characteristic related to depression amount adjustment control. The lower diagram is an enlarged view of the area surrounded by a square in the upper graph.

[0068] 15 is a graph showing the relationship between stroke resistance force fs and downward displacement δz, with the vertical axis representing stroke resistance force fs and the horizontal axis representing downward displacement δz, and showing stroke resistance force fs as a function of downward displacement δz. For ease of explanation, the relationship between stroke resistance force fs and downward displacement δz is shown here as a linear function (fs=a*δz) passing through the origin, but this relationship may also be expressed using other functions.

[0069] The straight line Lb shows the relationship between the reference downward displacement δzb and the reference stroke resistance force fsb. For illustrative purposes only, the relation between the reference downward displacement δzb and the reference stroke resistance force fsb is shown in FIG. 15 as a linear function fs=5*δz.

[0070] The straight line L1 shown in FIG. 15 represents the δ-f characteristic of the first processed region layer CR1 (hereinafter referred to as the “first layer δ-f A straight line L2 indicates the δ-f characteristics of the second processed region layer CR2 (hereinafter referred to as "second layer δ-f characteristics").

[0071] For example, in the case where the stroke cutting depth ΔDS (allocated height HL) set for each machining area layer CR in the machining instruction data for flattening is 3.5 μm, as explained in the cutting condition information table of Fig. 12, the reference downward push-in amount Δzb for each machining area layer CR is set to 5.0 mm, and the corresponding reference stroke resistance force fsb is 25 N. When the first machining area layer CR1 is cut under these machining conditions, if the machinability of the first machining area layer CR1 is standard, the stroke resistance force measured during cutting of the first machining area layer CR1 (hereinafter referred to as "first layer stroke resistance force fs1") will be 25 N. However, depending on the machinability of the first machining area layer CR1, the measured first layer stroke resistance force fs1 will be a value that deviates from the reference stroke resistance force fsb.

[0072] Here, we will explain an example where the first-layer stroke resistance force fs1 measured during cutting of the first machining area layer CR1 is 30 N. In this case, the first-layer δ-f characteristic (straight line L1 in FIG. 15) passing through the origin and the coordinates (δzb, fs1) ​​is obtained, and based on this first-layer δ-f characteristic, the downward push-in amount (hereinafter referred to as the "second-layer downward push-in amount δz2") corresponding to the reference stroke resistance force fsb (here, 25 N) set for the next layer, the second machining area layer CR2, is obtained. In the example shown in FIG. 15, the second-layer downward push-in amount δz2 is obtained as 4.17 mm.

[0073] The second-layer downward push-in amount δz2 can be calculated as follows: The slope a of the line L1 (linear function fs = a*δz) corresponding to the first-layer δ-f characteristics is calculated as 30 / 5 = 6 by substituting 30 and 5 for fs and δz, respectively. This gives the relational expression corresponding to the first-layer δ-f characteristics as fs = 6*δz. By substituting the reference stroke resistance force fsb (here, 25 N) set for the second machining area layer CR2 into this, the second-layer downward push-in amount δz2 is calculated as 25 / 6 ≒ 4.17 mm.

[0074] When cutting the second machining area layer CR2, the second-layer downward push-in amount δz2 calculated as above is adopted as the control value of the downward push-in amount δz. That is, the control value of the downward push-in amount δz in the second machining area layer CR2 is corrected based on the δ-f characteristic (first-layer δ-f characteristic) in the immediately-overlying machining area layer CRu (here, the first machining area layer CR1). Note that if the first-layer stroke resistance force fs1 in the first machining area layer CR1 is equal to the reference stroke resistance force fsb, the control value of the downward push-in amount δz in the second machining area layer CR2 is not corrected, and the reference downward push-in amount δzb set in the push-in amount setting information table in FIG. 13 is adopted as the control value.

[0075] Next, let us consider an example in which the stroke resistance measured during cutting of the second machining region layer CR2 (hereinafter referred to as the "second-layer stroke resistance force fs2") is 23 N when the downward push-in amount δz is set to the second-layer downward push-in amount δz2. In this case, the second-layer δ-f characteristic (the straight line L2 in FIG. 15) passing through the origin and the coordinates (δzb, fs2) is calculated, and based on this second-layer δ-f characteristic, the downward push-in amount (hereinafter referred to as the "third-layer downward push-in amount δz3") corresponding to the reference stroke resistance force fsb (here, 25 N) set for the next layer, the third machining region layer CR3, is obtained. In the example shown in FIG. 15, the third-layer downward push-in amount δz3 is obtained as 4.53 mm. Specifically, the slope a of the straight line L2 (linear function fs=a*δz) corresponding to the second layer δ-f characteristics is calculated as 23 / 4.17≒5.52 by substituting 23 and 4.17 for fs and δz, respectively. As a result, the relational expression corresponding to the second layer δ-f characteristics is obtained as fs=5.52*δz, and by substituting the reference stroke resistance force fsb (here, 25N) set for the third machining area layer CR3 into this, the second layer downward push-in amount δz2 is calculated as 255.52≒4.53mm. The third layer downward push-in amount δz3 is used as the control value of the downward push-in amount δz, and the third machining area layer CR3 is cut.

[0076] Similarly, for the third machining area layer CR3 and subsequent layers, the control value of the downward push-in amount δz during cutting is sequentially corrected based on the δ-f characteristic of the immediately above machining area layer CRu. That is, the control value of the downward push-in amount δz during cutting of the (N+1)th machining area layer CR is sequentially corrected based on the δ-f characteristic obtained during cutting of the immediately above Nth machining area layer CR. For example, in this embodiment, the control value of the downward push-in amount δz during cutting for the second machining area layer CR2 to the sixth machining area layer CR6, excluding the first machining area layer CR1 located at the top, among the first machining area layer CR1 to the sixth machining area layer CR6, is corrected based on the δ-f characteristic of the first machining area layer CR1 to the fifth machining area layer CR5, respectively. Note that for the sixth machining area layer CR6 located at the bottom, there is no need to measure the stroke resistance force fs during cutting.

[0077] Furthermore, in the push-in amount adjustment control, a representative value (average value, median value, etc.) of the detection data related to the stroke resistance force fs detected by the force sensor 220 during cutting of the machining area layer CR may be used as the measured value of the stroke resistance force fs during cutting of the machining area layer CR. The number of detection data items for which the force sensor 220 detects the stroke resistance fs during cutting of the machining area layer CR is not particularly limited. In this embodiment, as described with reference to FIG. 11 , a machining path PT for stroking the cutting blade 24 during cutting of each machining area layer CR is set for each machining area layer CR. Therefore, for example, the force sensor 220 may detect the stroke resistance force fs during each stroke (each stroke) of the cutting blade 24 according to the machining path PT. The representative value of the detection results thus obtained may be used as the stroke resistance force fs for the corresponding machining area layer CR. Furthermore, the δ-f characteristic may be obtained for each divided area obtained by dividing the planar area of ​​the machining target surface 11 into a plurality of areas, and the control value of the downward push-in amount δz during cutting of the next layer may be adjusted.

[0078] As described above, in this embodiment, the control device 100 executes the push-in amount adjustment control, so that the flattening processing of the workpiece surface 11 can be performed while taking into consideration the machinability of the workpiece 10. Therefore, even if there are individual differences and variations in the machinability of the workpiece 10, it is possible to prevent the error of the actual cutting depth from the stroke cutting depth ΔDS set for each machining area layer CR from becoming large. This makes it possible to improve the accuracy of flattening the workpiece surface 11.

[0079] As described above, once the flattening process is completed, the process proceeds to step S103. In step S103, the control unit 111 acquires surface height information of the processing target surface 11 after the flattening process and determines whether the flatness of the processing target surface 11 after the flattening process satisfies a predetermined target flatness. The surface height information of the processing 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 of a planar feature from a geometrically correct plane (geometric plane)" as specified in, for example, JIS B 0621 "Definition and Display of Geometric Deviation." Specifically, the flatness of the processing target surface 11 can be understood as 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) of the processing target surface 11. That is, the larger the flatness value of the surface 11 to be processed, the greater the unevenness (undulations) in the planar shape of the surface 11 to be processed, and the smaller the flatness value of the surface 11 to be processed, the smaller the unevenness (undulations) in the planar shape of the surface 11 to be processed, meaning that the surface is smoother. The flatness of the surface 11 to be processed can also be said to be the maximum height difference of the uneven shape of the surface 11 to be processed. In this embodiment, if the maximum height difference of the uneven shape of the surface 11 to be processed after the flattening process is equal to or less than a predetermined threshold value, it may be determined that the flatness of the surface 11 to be processed satisfies a predetermined target flatness.

[0080] 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.

[0081] 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.

[0082] The processing instruction data generation unit 110 generates finishing processing instruction data so as to match the conditions of the parameters included in the input information entered by the user. The finishing processing instruction data may be data in the form of a list in which control parameters such as the processing path PT for forming an oil reservoir depression on the processing target surface 11 by the scraper 22 and the downward push-up amount δz are 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.

[0083] 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. As a result, a depression for oil reservoir is formed on the processing target surface 11 after the flattening processing. When the finishing processing on the processing target surface 11 is completed, the scraping processing flow ends.

[0084] 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.

[0085] <Embodiment 2> Next, the push-in amount adjustment control during the flattening process in embodiment 2 will be described. The push-in amount adjustment control in this embodiment is characterized by acquiring the δ-f characteristic for each divided area obtained by dividing the planar area of ​​the immediately-overlying processing area layer CRu, and adjusting the control value of the downward push-in amount δz during cutting of the cutting target processing area layer CRt located immediately below it. Note that here, the differences from embodiment 1 will be mainly described, and other aspects are basically the same as embodiment 1.

[0086] Fig. 16 is a diagram illustrating a division pattern for dividing the planar area of ​​the processing surface 11 into a plurality of divided areas RA. In the example shown in Fig. 16, a plurality of divided areas RA are arranged in a grid as rectangular areas on the planar area of ​​the processing surface 11. However, there are no particular limitations on the number, size, shape, and pattern of the divided areas RA for dividing the planar area of ​​the processing surface 11.

[0087] Here, the processing instruction data generating unit 110 of the control device 100 generates the processing instruction data for flattening. When generating the cutting path PT, the case will be explained as an example in which, among the divided areas RA assigned to the planar area of ​​the surface 11 to be machined, the divided areas that overlap with each machining area layer CR in plan view are identified as "cutting target divided areas RAt", and a machining path PT is set for each cutting target divided area RAt.

[0088] In this embodiment, as in embodiment 1, when cutting the cutting target machining area layer CRt, the control value of the downward push-in amount δz in the cutting target machining area layer CRt is adjusted (corrected) based on the δ-f characteristic obtained when cutting the directly above machining area layer CRu located directly above the cutting target machining area layer CRt.

[0089] 17 is a diagram showing a schematic partial view of the cutting target division area RAt of each machining area layer CR in the cross-sectional direction of the workpiece 10. Here, as an example, the third machining area layer CR3 is set as the cutting target machining area layer CRt, and the control value of the downward push-in amount δz during cutting of the third machining area layer CR3 is explained based on the δ-f characteristic of the second machining area layer CR2, which is the immediately above machining area layer CRu. In addition, in FIG. 17, among the areas located below the convex portion S3, the individual areas separated by vertical dashed lines schematically represent the cutting target division area RAt.

[0090] 17, the cutting target division areas RAt in the cutting target machining area layer CRt and the immediately above machining area layer CRu are hatched. Also, symbols RAt1, RAt2, and RAt3 in the figure are cutting target division areas RAt in the immediately above machining area layer CRu, and symbols RAt1', RAt2', RAt3', and RAt4' are cutting target division areas RAt in the cutting target machining area layer CRt.

[0091] In the push-in amount adjustment control of this embodiment, the control device 100 acquires the δ-f characteristics for each cutting target segmented region RAt of the immediately-overlapping machining region layer CRu. That is, in the example of Fig. 17, the δ-f characteristics of RAt1, RAt2, and RAt3 are acquired individually. Then, the control value of the downward push-in amount δz when cutting the regions (RAt1', RAt2', RAt3') of the cutting target machining region layer CRt that vertically overlap with the cutting target segmented regions RAt (RAt1, RAt2', RAt3) of the immediately-overlapping machining region layer CRu is adjusted based on the δ-f characteristics of each of the cutting target segmented regions RAt (RAt1, RAt2, RAt3) that correspond to (are located directly above) the regions (RAt1', RAt2', RAt3'). That is, the downward push-in amount δz in the cutting target divided areas RAt1', RAt2', RAt3' of the cutting target machining area layer CRt is adjusted based on the δ-f characteristics acquired for each of the cutting target divided areas RAt1, RAt2, RAt3 of the immediately-overlapping machining area layer CRu. Furthermore, when cutting an area RAt4' of the cutting target machining area layer CRt that does not vertically overlap with the cutting target divided area RAt of the immediately-overlapping machining area layer CRu, for example, the downward push-in amount δz may be adjusted based on the δ-f characteristics acquired using a representative value (average value, median value, etc.) of the detection data related to the stroke resistance force fs detected by the force sensor 220 when cutting the immediately-overlapping machining area layer CRu.

[0092] The push-in amount adjustment control according to this embodiment makes it possible to adjust the downward push-in amount δz based on the δ-f characteristic, with each divided area being a unit obtained by dividing the planar area of ​​the processing target surface 11 into a plurality of areas. This makes it possible to more finely adjust the downward push-in amount δz during cutting of the cutting target processing area layer CRt, thereby further improving the accuracy of flattening in the flattening process.

[0093] <Other embodiments> The above-described embodiment is merely an example, 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.

[0094] 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.

[0095] 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]

[0096] 1...Automatic scraping processing equipment 10. Work 11. Machining surface 100 Control device 110 Processing instruction data generation unit 111 Control unit 200···Robot arm 300...3D shape measuring instrument

Claims

1. A scraping device that performs scraping on a surface to be processed of a workpiece, a processing robot that holds and operates a scraper having a cutting blade; a control device that controls the processing robot to execute a flattening process in which the scraper is pressed downward onto the processing target surface while stroking the scraper in a predetermined stroke direction along the processing target surface, thereby cutting off convex portions of the processing target surface with the cutting blade; and a force sensor that detects a stroke resistance force, which is a resistance force that the cutting blade receives from the surface of the object to be machined in a direction opposite to the stroke advancement direction during the execution of the flattening process; Equipped with The flattening process is a process of sequentially cutting a plurality of machining area layers that divide the convex portion of the machining surface in the height direction from the upper layer side, and reference values ​​for the downward pushing amount of the scraper and the stroke resistance force are determined according to the cutting depth when cutting each machining area layer, When cutting a cutting target machining area layer, which is a machining area layer to be cut, the control device performs a push-in amount adjustment control to adjust the control value of the downward push-in amount of the scraper in the cutting target machining area layer based on the relationship between the control value of the downward push-in amount of the scraper when cutting an immediately-overlying machining area layer, which is a machining area layer located immediately above the cutting target machining area layer, the reference value of the stroke resistance force, and the measured value of the stroke resistance force measured by the force sensor. Scraping processing equipment.

2. The control device, in the flattening process, cuts the uppermost machining area layer, which is the uppermost machining area layer, using a reference value of the downward push amount of the scraper. The scraping device according to claim 1.

3. In the push-in amount adjustment control, the control device adjusts the control value of the downward push-in amount of the scraper when cutting each of the second and subsequent machining area layers based on the relationship in the immediately above machining area layer. The scraping device according to claim 1 or 2.

4. In the push-in amount adjustment control, the control device acquires the relationship for each of a plurality of divided areas obtained by dividing a planar area of ​​the immediately-overlying processing area layer, A control value of a downward pushing amount of the scraper when cutting an area of ​​the cutting target machining area layer that vertically overlaps with the divided area in the immediately-overlapping machining area layer is adjusted based on the relationship of the divided area corresponding to the area. The scraping device according to claim 1 or 2.

5. A scraping method for scraping a surface to be processed of a workpiece, comprising: a processing robot that holds and operates a scraper having a cutting blade; a control device that controls the processing robot to execute a flattening process in which the scraper is pressed downward onto the processing surface of the workpiece while stroking the scraper in a predetermined stroke direction along the processing surface, thereby cutting off convex portions of the processing surface with the cutting blade; and a force sensor that detects a stroke resistance force, which is a resistance force that the cutting blade receives from the surface of the object to be machined in a direction opposite to the stroke advancement direction during the execution of the flattening process; A scraping method using a scraping device comprising: The flattening process is a process of sequentially cutting a plurality of machining area layers that divide the convex portion of the machining surface in the height direction from the upper layer side, and reference values ​​for the downward pushing amount of the scraper and the stroke resistance force are determined according to the cutting depth when cutting each machining area layer, When cutting a cutting target machining area layer, which is a machining area layer to be cut, the control device performs a push-in amount adjustment control to adjust the control value of the downward push-in amount of the scraper in the cutting target machining area layer based on the relationship between the control value of the downward push-in amount of the scraper when cutting an immediately-overlying machining area layer, which is a machining area layer located immediately above the cutting target machining area layer, the reference value of the stroke resistance force, and the measured value of the stroke resistance force measured by the force sensor. Scrape processing method.

6. The control device, in the flattening process, cuts the uppermost machining area layer, which is the uppermost machining area layer, using a reference value of the downward push amount of the scraper. The scraping method according to claim 5.

7. In the push-in amount adjustment control, the control device adjusts the control value of the downward push-in amount of the scraper when cutting each of the second and subsequent machining area layers based on the relationship in the immediately above machining area layer. The scraping method according to claim 5 or 6.

8. In the push-in amount adjustment control, the control device acquires the relationship for each of a plurality of divided areas obtained by dividing a planar area of ​​the immediately-overlying processing area layer, A control value of a downward pushing amount of the scraper when cutting an area of ​​the cutting target machining area layer that vertically overlaps with the divided area in the immediately-overlapping machining area layer is adjusted based on the relationship of the divided area corresponding to the area. The scraping method according to claim 5 or 6.

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