Scraping device and its control method

Abstract

To provide a technique for automatically determining a machining objective surface of a workpiece and scraping a plurality of surfaces.SOLUTION: A scraping system includes: a machining robot configured to scrape a surface of a workpiece, by using a blade; a moving device configured to move the workpiece; a measuring device configured to measures the surface of the workpiece; a control device configured to control machining performed by the machining robot on the basis of measurement results of the measuring device; and reading devices each configured to read a mark provided on the surface of the workpiece. Therein, the control device analyzes an image of the mark read by the reading device to obtain a unique number that identifies the workpiece, distinguishes between a first side of the workpiece and a second side different from the first side on the basis of the unique number, and controls the moving device and the machining robot on the basis of machining point data associated with the unique number and managed using the unique number so that predetermined machining is performed on each of the first side and the second side.SELECTED DRAWING: Figure 4

Description

[Technical Field]

[0001] The present invention relates to a scraping device and a control method thereof. [Background technology]

[0002] The sliding surfaces of machine tools and other devices with moving parts are subjected to scraping (also called "scraping") to increase their flatness and reduce the coefficient of sliding friction. Scraping is a type of metalworking, and traditionally, workers would paint the surface of the workpiece (the surface to be machined) with red lead or a pigment, and then use a scraping tool with a wide, chisel-like tip (scraper) to manually scrape away any protrusions while observing the color difference. The scraping process creates a lubricating oil reservoir in the cutting pattern formed on the surface of the object, making it possible to achieve the desired sliding properties on the sliding surface.

[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 relation to this, proposals have been made to automate the scraping process. For example, a scraping device using a robot disclosed in Patent Document 1 processes image data captured by a visual sensor and determines the position where scraping should be performed in the processed image. Furthermore, by controlling the force applied to the tool during processing according to a predetermined program, it is possible to automate the scraping process. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Patent Publication No. 2021-058975 Summary of the Invention [Problem to be solved by the invention]

[0006] In recent years, the demand for labor saving has led to an increasing need for further automation of scraping processes. Here, we consider a case where scraping is required on multiple surfaces of a workpiece. For example, in the case of a sliding member whose front and back surfaces slide against other members, scraping must be performed on both surfaces. Therefore, even when scraping is automated using a robot, it is preferable to automate the processing of multiple surfaces of the workpiece as a series of processes. However, there has been no disclosure of a method for automatically identifying the multiple surfaces of a workpiece and performing appropriate scraping processes on each surface, which has been a problem in promoting automation.

[0007] The present invention has been made in view of the above-mentioned problems, and has as its object to provide a technique for automatically determining the surface to be worked on a workpiece and scraping a plurality of surfaces. [Means for solving the problem]

[0008] A scraping device according to a first aspect of the present invention includes a processing robot that performs scraping on the surface of a workpiece with a blade, a moving device that moves the workpiece, a measuring device that measures the surface of the workpiece, a control device that controls processing by the processing robot based on the measurement results of the measuring device, and a reading device that reads a mark provided on the surface of the workpiece, and the control device reads the mark read by the reading device. The image is analyzed to obtain a unique number that identifies the workpiece, and a first surface of the workpiece and a second surface different from the first surface are distinguished based on the unique number. The moving device and the processing robot are controlled based on processing point data that is linked to and managed by the unique number so that predetermined processing is performed on each of the first surface and the second surface.

[0009] A second aspect of the present invention provides a method for controlling a scraping device, which includes a processing robot that performs scraping on the surface of a workpiece using a blade, a moving device that moves the workpiece, a measuring device that measures the surface of the workpiece, a control device that controls the processing by the processing robot based on the measurement results of the measuring device, and a reading device that reads marks on the surface of the workpiece, and is characterized by having the following steps: a step in which the reading device reads the surface of the workpiece; a step in which the control device analyzes the image read by the reading device to obtain a unique number that identifies the workpiece; a step in which the control device distinguishes between a first side of the workpiece and a second side different from the first side based on the unique number; and a step in which the control device controls the moving device and the processing robot based on processing point data linked and managed by the unique number so that predetermined processing is performed on each of the first side and the second side. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a technique for automatically determining the surface to be processed of a workpiece and performing scraping on a plurality of surfaces. [Brief explanation of the drawings]

[0011] [Figure 1] Overall diagram showing the schematic configuration of the scraping device [Figure 2] A block diagram showing an example of the physical configuration of a control device. [Figure 3] A block diagram showing an example of the functional configuration of a control device. [Figure 4] Schematic diagram showing the workpiece configuration [Figure 5] Flowchart showing scraping processing [Figure 6] Schematic diagram showing the configuration of a workpiece according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, with reference to the drawings, a detailed description will be given of an embodiment of the present invention. Note that the dimensions, materials, shapes, and relative positions of the components described in the embodiment may be changed as appropriate depending on the configuration of the device to which the invention is applied and various conditions. In other words, the scope of the present invention is not limited to the following embodiment.

[0013] The present invention is suitable for a scraping apparatus that automatically performs scraping on a workpiece. The present invention can also be understood as a control method for a scraping apparatus executed by a control device or information processing device provided in the scraping apparatus or capable of communicating with the scraping apparatus. The present invention can also be understood as a program for executing the control method for a scraping apparatus, or a storage medium for storing the program. The storage medium may be a non-transitory storage medium readable by an information processing device.

[0014] Example 1 (Scrap processing equipment 100) 1 is a schematic diagram showing an overall image of the schematic configuration of a scraping apparatus 100 according to this embodiment. The scraping apparatus 100 includes a robot arm 20 that holds and operates a scraper 10, a control device 30 that controls the robot arm 20 in accordance with instruction data, a three-dimensional shape measuring device 70, and a workpiece rotation mechanism 80.

[0015] The scraping device 100 is a device that automatically performs scraping on the surface to be machined (the surface to be machined) of a workpiece 90, which is a workpiece to be machined. The workpiece 90 is, for example, a metal sliding member that constitutes a machine tool, and its sliding surface is the surface to be machined in the scraping process. Scraping is a type of metal processing in which a scraper 10, a scraping tool, is used to remove convex portions of the surface to be machined, improving the flatness of the surface to be machined and achieving straightness. Furthermore, the provision of depressions for oil reservoirs reduces the coefficient of sliding friction. In the present invention, two or more surfaces of the workpiece 90 are subjected to scraping. In this embodiment, scraping is performed on two opposing surfaces of the workpiece 90. Hereinafter, one of the two surfaces to be machined will be referred to as the first surface (front surface) and the other as the second surface (back surface).

[0016] The surfaces to be processed by scraping are generally flat surfaces with a certain degree of flatness, such as cut surfaces, ground surfaces, and cast surfaces, and have minute irregularities. The original purpose of scraping is to finish the sliding surface into a highly accurate flat surface. Furthermore, in order to prevent the ringing phenomenon from occurring when the sliding surface slides, scraping finish processing forms many minute micron-sized depressions on the sliding surface as reservoirs for lubricating oil, improving the lubricity of the sliding surface.

[0017] The scraping device 100 in this embodiment performs a flattening process to remove convex portions from the surface to be machined so that the surface meets a predetermined target flatness, and a finishing process to form recesses for oil reservoirs on the surface to be machined after the flattening process. Each process generally uses different cutting conditions and scraping tools to improve precision and efficiency.

[0018] The scraper 10 has a blade portion 11, a blade holder 12 that holds the blade portion 11, and a handle portion 13 that connects to the blade holder 12. The handle portion 13 is connected to an adapter 21 and is held by a robot arm 20 via the adapter 21. The blade portion 11 is formed, for example, from a cemented carbide alloy and is capable of cutting the surface of a workpiece 90, for example, made of metal. The handle portion 13 is generally strip-shaped and made of a flexible metal material, and the blade portion 11 is held at one longitudinal end by the blade holder 12. The blade holder 12 is, for example, a tip holder that holds the blade portion 11 with a screw part, and detachably holds the blade portion 11. When the blade portion 11 wears out and reaches the end of its life, or when a blade portion 11 with a different cutting edge width or curvature radius is used, a new blade portion 11 can be attached to the handle portion 13. The structure of the scraper is not limited to that described above, and may be, for example, one in which the blade portion is inseparable from the handle portion, or one in which the blade portion and the handle portion are integrally formed.

[0019] The robot arm 20 is, for example, a six-axis articulated robot arm, and is a processing robot controlled by the control device 30. The robot arm 20 has a robot hand 23 at its tip end. The robot hand 23 can detachably hold (grasp) an adapter 21 attached to the scraper 10 or the like. That is, the robot arm 20 can hold not only the scraper 10 but also other jigs via the adapter 21. The robot arm 20 can move the robot hand 23 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. That is, the scraper 10 and other jigs held by the robot hand 23 can be freely operated by the robot arm 20.

[0020] The robot arm 20 also includes a force sensor (not shown). The force sensor is a sensor that detects the load (resistance) acting on the scraper 10 and the like during scraping. The control device 30 monitors the load state during scraping output by the force sensor, and, if necessary, can perform feedback control based on the strength of the load and determine whether the operation is normal. The robot arm 20 is an example of a processing robot, The processing robot is not limited to the robot arm 20. The processing robot according to the present invention is not particularly limited as long as it is configured to be able to automatically perform scraping by operating the scraper 10 or the like that it holds.

[0021] The scraping process for the workpiece surface of the workpiece 90 is performed by fixing the workpiece 90 to the processing stand 50 and controlling the robot arm 20 with the robot hand 23 holding the scraper 10. In this embodiment, the scraping process is performed with the workpiece surface facing upward. Therefore, when processing the first side of the workpiece 90, the first side faces upward, and when processing the second side after processing the first side, the workpiece 90 is reversed so that the back side faces upward. In addition, the processing stand 50 is provided with a camera 55 as a reading device that reads marks on the surface of the workpiece 90. In this embodiment, the reading device includes two cameras 55a and 55b that capture images of different sides of the workpiece 90 fixed to the processing stand 50. Image data obtained by capturing images using these first and second reading devices is transmitted to the control unit 30.

[0022] Furthermore, in scraping, three-dimensional shape data (convexo-concave shape data) of the surface to be processed is acquired in advance by a three-dimensional shape measuring instrument 70 serving as a measuring device. The three-dimensional shape measuring instrument 70 may be of either a contact type or a non-contact type, but since measurement accuracy has a significant effect on the finished surface accuracy, it is preferable that highly accurate three-dimensional shape data be acquired. In this embodiment, the three-dimensional shape measuring instrument 70 is also provided with cameras 75 (75a, 75b), which photograph marks on the surface of the workpiece 90 and send image data to the control device 30.

[0023] The workpiece rotation mechanism 80 is a mechanism for rotating the workpiece 90 to change the orientation of multiple surfaces to be machined. The workpiece rotation mechanism 80 may be configured to include, for example, a clamping unit for clamping both longitudinal ends of the workpiece 90, a rotation drive unit for rotating the clamped workpiece 90 by driving the clamping unit to rotate, and a support unit for supporting the workpiece 90 so that the workpiece 90 is positioned within the operating range of the clamping unit. Note that instead of providing the workpiece rotation mechanism 80, a mechanism for changing the surfaces to be processed of the workpiece 90 may be provided on the processing stand 50. Note that the workpiece rotation mechanism 80 is not limited to the above-described one, as long as it is possible to change the orientation of multiple surfaces to be machined of the workpiece 90.

[0024] The scraping apparatus 100 can move the workpiece 90 between the processing stand 50, the three-dimensional shape measuring device 70, and the workpiece rotation mechanism 80 using a moving device such as a robot moving device. With this configuration, the scraping apparatus 100 can perform scraping on multiple surfaces of the workpiece 90 by repeatedly measuring the workpiece 90 using the three-dimensional shape measuring device 70, performing scraping processing on the processing stand 50, and switching the workpiece surface to be processed using the workpiece rotation mechanism 80. The scraping apparatus 100 may also be equipped with an inspection device that inspects the workpiece 90 before and after scraping, a holder that organizes and holds the workpieces after processing, and the like.

[0025] (Control device 30) The control device 30 controls the robot arm 20 in accordance with the processing point data, and performs scraping on the surface to be processed of the workpiece 90. The control device 30 also generates processing point data for controlling the robot arm 20. That is, the control device 30 functions as a device that controls the robot arm 20, and also functions as an information processing device for generating processing point data used when controlling the robot arm 20. Each step of the control method performed by the scraping device 100 of the present invention is executed by the processor 34 of the control device 30 processing information in accordance with instructions from a program loaded in memory, and controlling each component of the scraping device 100.

[0026] 2 is a block diagram showing an example of the physical configuration of the control device 30. The control device 30 is, for example, a general-purpose computer. The computer constituting the control device 30 includes a communication interface (communication I / F) 31, a storage device 32, an input / output device 33, and a processor 34, which are connected via a communication bus 35.

[0027] The communication I / F 31 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 30 receives, via the communication I / F 31, the measurement results (three-dimensional shape information of the workpiece 90) from the three-dimensional shape measuring instrument 70 and image data captured by the camera 55.

[0028] The storage device 32 includes, for example, a main 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 main storage device temporarily stores programs read by the processor 34 and information exchanged with other computers, and secures a working area for the processor 34. The auxiliary storage device stores programs executed by the processor 34 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 32 (e.g., the auxiliary storage device) stores an operating system (OS), various programs, various information tables, and the like.

[0029] The input / output device 33 is a user interface, such as an input device such as a keyboard or a mouse, an output device such as a monitor, an input / output device such as a touch panel, etc. Through the input / output device 33, an operator can input control parameters for setting the machining path for scraping and for changing tools.

[0030] The processor 34 is an arithmetic processing device such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor), and performs various processes according to this embodiment by executing a program. For example, the processor 34 loads a program stored in an auxiliary storage device of the storage device 32 into a main storage device and executes the program, thereby realizing various processes according to the present invention. Note that the control device 30 does not necessarily have to be realized by a single physical configuration, and may be composed of multiple computers that cooperate with each other.

[0031] Next, the functional configuration of the control device 30 will be described with reference to FIG. 3. FIG. 3 is a block diagram showing an example of the functional configuration of the control device 30. The control device 30 has a processing point data generation unit 36, an image processing unit 37, and a control unit 38 as functional units. The processor 34 of the control device 30 loads a program stored in the auxiliary storage device of the storage device 32 into the main storage device and executes it to realize each of the above-mentioned functional units. The processing point data generation unit 36 ​​executes a processing process to generate processing point data as instruction data for the processing robot. The image processing unit 37 receives image data captured by the cameras 55 and 75 as reading devices and analyzes the marks. The control unit 38 controls the robot arm 20 according to the processing point data generated by the processing point data generation unit 36 ​​to perform scraping. The control unit 38 identifies the surface to be processed of the workpiece 90 based on the analysis results of the image processing unit 37 and performs a predetermined processing for each surface to be processed. That is, the control unit 38 performs scraping using processing point data appropriate for the currently processed surface.

[0032] (Work 90) FIG. 4 is a schematic diagram showing the configuration of a workpiece 90 of this embodiment. FIG. 4(a) is a perspective view of the workpiece 90 as seen from a certain direction, and FIG. 4(b) is a perspective view showing the workpiece 90 turned upside down from the state of FIG. 4(a). Hereinafter, the state of FIG. 4(a) will also be referred to as the first posture of the workpiece 90, and the state of FIG. 4(b) will also be referred to as the second posture of the workpiece 90. FIG. 4(c) is a cross-sectional view of the workpiece 90 taken along line A-A' in FIG. 4(a). As shown, the workpiece 90 of this embodiment has the shape of a rectangular prism having a longitudinal direction, and the cross section in the direction perpendicular to the longitudinal direction is rectangular.

[0033] The workpiece 90 has two surfaces (a first surface to be machined 92a and a second surface to be machined 92b) that are to be machined by the scraping device 100, and two surfaces (a first machining exclusion surface 92c and a second machining exclusion surface 92d) that are not to be machined. The first machining exclusion surface 92a and the second machining exclusion surface 92b face each other and are in a front-to-back relationship. The first machining exclusion surface 92c and the second machining exclusion surface 92d also face each other.

[0034] The first machining exclusion surface 92c is provided with a first two-dimensional code 94a as a first mark in this embodiment, and the second machining exclusion surface 92d is provided with a second two-dimensional code 94b as a second mark. For example, a QR code (registered trademark) can be used as the two-dimensional code 94. In this embodiment, the first machining target surface 92a (first surface) and the first machining exclusion surface 92c form a pair, and the first two-dimensional code 94a stores a unique number for identifying the first machining target surface. Similarly, the second machining target surface 92b (second surface) and the second machining exclusion surface 92d form a pair, and the second two-dimensional code 94b stores a unique number for identifying the second machining target surface. Any information can be used as the unique number as long as it can identify the surface.

[0035] (Processing flow) The processing flow of this embodiment will be described with reference to FIG. 5. This flow starts when a workpiece 90, which is the object to be processed by the scraping apparatus 100, is loaded into the apparatus. In step S101, the workpiece 90 is placed on the three-dimensional shape measuring device 70. The three-dimensional shape measuring device 70 scans the surface of the workpiece 90 using a predetermined method, such as a probe or laser, to obtain surface shape information, which is then transmitted to the control device 30 as three-dimensional coordinate information. At the same time, the cameras 75a and 75b provided on the three-dimensional shape measuring device 70 each capture images of the side of the workpiece 90, generate image data, and transmit the image data to the control device 30. The workpiece 90 is placed so that the first two-dimensional code 94a and the second two-dimensional code 94b are within the imaging range of the cameras 75a and 75b. If the two-dimensional codes are not within the imaging range, the workpiece 90 may be re-installed.

[0036] In step S102, the control device 30 generates processing point data to be used for processing by the scraper 10 for each of the first processing target surface 92a and the second processing target surface 92b, based on the received three-dimensional coordinate information and the detailed scraping processing information input by the user. The detailed scraping processing information includes, for example, the processing width and processing shape of the recess cut by the scraper 10. The control device 30 further identifies the first processing target surface 92a and the second processing target surface 92b based on the images of the first two-dimensional code 94a and the second two-dimensional code 94b, and associates the processing point data with each processing target surface, storing them in the storage device 32.

[0037] More specifically, for example, the control device 30 identifies the first machining target surface 92a based on the positional relationship between the first machining exclusion surface 92c on which the first two-dimensional code 94a is provided and the first machining target surface 92a, and generates first machining point data based on three-dimensional coordinate information measured for the first machining target surface 92a.The first machining point data is then linked to a unique number read from the first two-dimensional code 94a and stored and managed in the storage device 32.Similarly, the control device 30 identifies the second machining exclusion surface 92d on which the second two-dimensional code 94b is provided and the second machining target surface 92a based on the three-dimensional coordinate information measured for the first machining target surface 92a. The second processing point data is generated based on the three-dimensional coordinate information measured for the second processing point surface 92b. The second processing point data is then associated with a unique number read from the second two-dimensional code 94b and stored and managed in the storage device 32.

[0038] In step S103, when the workpiece 90 is placed on the processing stand 50, cameras 55a and 55b each capture an image of the side of the workpiece 90, generate image data, and transmit the image data to the control device 30. Next, in step S104, the control device 30 analyzes the image data, obtains a unique number from the two-dimensional code, determines which surface of the workpiece 90 is currently facing upward, and performs scraping according to the surface. For example, when the workpiece 90 is in the first position as shown in FIG. 4(a), the first two-dimensional code 94a is within the imaging range of camera 55a, and the second two-dimensional code 94b is within the imaging range of camera 55b. Therefore, the control device 30 determines that the workpiece 90 is in the first position and the first surface 92a is facing upward. Then, based on the unique number read from the first two-dimensional code 94a, the control device 30 references the storage device 32, obtains first processing point data, and operates the robot arm 20 to perform scraping.

[0039] In step S105, the control device 30 determines whether processing has been completed for all surfaces to be machined. If unprocessed surfaces remain (S105=N), the robot device moves the workpiece 90 to the workpiece rotation mechanism 80, and rotates the workpiece 90 (upside down in this embodiment). Next, the process proceeds to step S103 again, where it is confirmed that the workpiece 90 is in a second orientation with the second surface to be machined 92b facing upward. Then, the process proceeds to step S104, where second processing point data managed in association with the unique number read from the second two-dimensional code 94b is acquired, and scraping processing is performed.

[0040] On the other hand, if all surfaces to be machined have been processed (S105=Y), the process proceeds to step S107, where the workpiece is ejected from the scraping device 100. While this flow shows an example in which scraping is performed once for each of the first and second surfaces, this is not limiting. For example, after step S105, the process may return to S101, where the workpiece shape is remeasured and reprocessed, thereby improving the machining accuracy. This flow may also be applied to both the flattening process and the finishing process. Furthermore, while this flow shows that the three-dimensional shape measurements of the first and second surfaces are performed together, it is also possible to perform a series of processes from three-dimensional shape measurement to scraping on the first surface, then flip the workpiece 90 over, and perform a series of processes from three-dimensional shape measurement to scraping on the second surface.

[0041] As described above, according to the configuration of this embodiment, the surface to be machined identified by the two-dimensional code provided on the workpiece 90 and the machining point data based on the three-dimensional shape measured by the three-dimensional shape measuring instrument 70 are linked and managed, so that scraping is performed using appropriate machining point data for each surface to be machined. Therefore, since it is possible to automatically identify and machine the surfaces of the workpiece 90 that has multiple surfaces to be machined, it is possible to further promote automation of the scraping device 100.

[0042] (Variation 1) In this embodiment, the number and arrangement of the two-dimensional codes 94 on the workpiece 90 can be modified in various ways. The present invention is not limited to the method of the above flow, as long as it is possible to identify the machining target surface of the workpiece 90 and manage the machining point data generated for each surface. FIG. 6 is a diagram showing one modified example of the workpiece 90. In the workpiece 90 of this modified example, a first two-dimensional code 94a is provided on the first machining exclusion surface 92c, but no two-dimensional code is provided on the second machining exclusion surface 92d. Even in such a configuration, the control device 30 can identify the first machining exclusion surface 92c, the first machining target surface 92a, and the second machining target surface 92d. It is possible to identify the surface of the workpiece 90 placed on the processing stand 50 based on the positional relationship with b. Therefore, the unique number read from the first two-dimensional code 94a can be linked to the first processing point data and the second processing point data and managed, and processing can be performed using appropriate data for each surface to be processed.

[0043] (Variation 2) Furthermore, various modifications can be made to the number and arrangement of the cameras 75 in the three-dimensional shape measuring instrument 70 and the cameras 55 in the processing stand 50. For example, if there is one mark on the workpiece 90 and one camera, the workpiece 90 should be installed so that the mark falls within the camera's field of view. If there is one mark on the workpiece 90 and two cameras, the mark can be included in the field of view regardless of whether the workpiece 90 is installed facing up or down. If there are two marks on the workpiece 90 and one camera, each processing surface can be identified based on the type of mark that falls within the camera's field of view.

[0044] (Variation 3) Even if the shape of the workpiece 90 is other than a rectangular prism or if it has three or more surfaces to be machined, by placing marks according to the workpiece 90, it is possible to machine each surface to be machined using appropriate data.

[0045] (Variation 4) In the above flow, a two-dimensional code is used as the mark on the workpiece 90 and a camera is used as the mark reader, but the present invention is not limited to this. For example, a one-dimensional barcode may be used as the mark and a laser barcode scanner as the reader. Alternatively, a method of reading letters, numbers, etc. with a camera may be used. Any method may be used as long as it can identify marks on surfaces of the workpiece 90 that are not to be processed. Furthermore, any method may be used to mark the workpiece 90, such as attaching a sticker, engraving, or printing. The two-dimensional code or other mark may be used to manage the workpiece 90. In this case, the control device 30 may associate the unique number read from the mark on the workpiece 90 with various information, such as processing point data used in processing the workpiece 90, and store the associated information in the storage device 32. [Explanation of symbols]

[0046] 10: scraper, 11: cutting part, 20: robot arm, 30: control device, 55: camera, 70: three-dimensional shape measuring device, 75: camera, 90: workpiece, 92: processing target surface, 94: two-dimensional code, 100: scraping device

Claims

1. a processing robot that scrapes the surface of the workpiece with a blade; a moving device that moves the workpiece; a measuring device for measuring the surface of the workpiece; a control device that controls the processing by the processing robot based on the measurement result by the measuring device; a reading device for reading a mark provided on the surface of the workpiece; Equipped with The control device analyzes the image of the mark read by the reading device to obtain a unique number that identifies the workpiece, distinguishes between a first surface of the workpiece and a second surface different from the first surface based on the unique number, and controls the moving device and the processing robot based on processing point data that are linked and managed by the unique number so that predetermined processing is performed on each of the first surface and the second surface. A scraping device characterized by:

2. The control device controls the moving device so that the workpiece assumes a first posture in which the first surface is machined by the machining robot and a second posture in which the second surface is machined by the machining robot.

2. The scraping device according to claim 1.

3. the first surface and the second surface of the workpiece are in a reverse relationship; The control device controls the movement device so that the workpiece takes the first posture and the second posture.

3. The scraping device according to claim 2.

4. the marks include a first mark indicating that the workpiece is in the first position and a second mark indicating that the workpiece is in the second position; The control device determines whether the workpiece is in the first attitude or the second attitude based on whether the mark included in the image read by the reading device is the first mark or the second mark.

3. The scraping device according to claim 2.

5. The reading device includes a first reading device disposed at a position where the mark can be photographed when the workpiece is in the first attitude, and a second reading device disposed at a position where the mark can be photographed when the workpiece is in the second attitude.

3. The scraping device according to claim 2.

6. The mark is provided on a surface of the workpiece that is not to be processed by the processing robot.

6. The scraping device according to claim 4 or 5.

7. The mark provided on the workpiece is a two-dimensional code.

7. The scraping device according to claim 6.

8. The reader is a camera.

7. The scraping device according to claim 6.

9. a processing robot that scrapes the surface of a workpiece using a blade, a moving device that moves the workpiece, a measuring device that measures the surface of the workpiece, a control device that controls processing by the processing robot based on the measurement results of the measuring device, and a reading device that reads a mark provided on the surface of the workpiece; A method for controlling a scraping device comprising: The reading device reads the surface of the workpiece; a step in which the control device analyzes the image read by the reading device and acquires a unique number that identifies the workpiece; The control device discriminates a first surface of the workpiece and a second surface different from the first surface based on the unique number; a step in which the control device controls the moving device and the processing robot based on processing point data linked and managed by the unique number so that predetermined processing is performed on each of the first surface and the second surface; A method for controlling a scraping device, comprising:

Images