JP7592863B2 - Deburring device and deburring unit - Google Patents

Description

The present disclosure relates to a deburring device, and more particularly to a technique for adjusting the position of a tool in a deburring device.

A technology is known in which measurements are performed using a laser displacement meter or the like on workpieces with large variations in shape, and the processing trajectory of the tool of a deburring device is determined based on the measurement results.

Regarding deburring technology, for example, JP 2013-082019 A (Patent Document 1) discloses a deburring method that includes a measurement process for measuring the shape of the burr on a workpiece, a root calculation process for calculating both side root positions at a predetermined root calculation point along the length of the burr based on the measurement values obtained in the measurement process, a trajectory calculation process for calculating the trajectory of the deburring tool based on the root positions obtained in the root calculation process, and a deburring process for performing deburring processing while moving the deburring tool according to the trajectory obtained in the trajectory calculation process (see [Abstract]).

JP 2013-082019 A

According to the technology disclosed in Patent Document 1, the burr measurement process, the trajectory calculation process for the deburring tool, and the deburring process must be performed separately, which may lengthen the deburring process time. Therefore, there is a need for a technology to shorten the time required for deburring.

This disclosure has been made in light of the above-mentioned background, and in one aspect, the objective is to provide a technique for shortening the time required for deburring processing.

According to one embodiment, a deburring device is provided. The deburring device includes a deburring unit for removing burrs from a surface of a workpiece and a robot for moving the deburring unit along the workpiece. The deburring unit includes a first measuring device for reading the distance to the workpiece, a tool for removing the burrs, an actuator for adjusting the distance between the tool and the workpiece based on the measurement result of the first measuring device, and a control unit for controlling the deburring unit. The first measuring device is disposed at a position preceding the tool in the direction of travel of the deburring unit, and the actuator is a single-axis actuator.

According to an embodiment, it is possible to reduce the time required for the deburring process.
The above and other objects, features, aspects and advantages of the present disclosure will become apparent from the following detailed description of the disclosure taken in conjunction with the accompanying drawings.

1 is a diagram showing an example of the appearance of a deburring device 100 according to an embodiment. FIG. 2 is a diagram showing an example of a circuit configuration of the deburring device 100. 5A to 5C are diagrams illustrating an example of the operation of the deburring unit 101. 11A and 11B are diagrams illustrating an example of the operation of the deburring unit 101 when the moving direction of the deburring unit 101 is misaligned with the workpiece. 11A to 11C are diagrams illustrating an example of the operation of the deburring unit 101 when the workpiece is curved. FIG. 13 is a diagram showing an example of the deburring unit 601 during learning. FIG. 2 is a diagram showing an example of the configuration of a deburring device 700. 1A to 1C are diagrams illustrating a first example of the operation of the deburring device 700. 11A to 11C are diagrams illustrating a second example of the operation of the deburring device 700. 1 is a diagram showing an example of the configuration of a deburring device 1000. FIG. FIG. 1 is a diagram showing an example of the configuration of a deburring device 1100. FIG. 12 is a diagram showing an example of the configuration of a deburring device 1200.

Hereinafter, an embodiment of the technical concept of the present disclosure will be described with reference to the drawings. In the following description, identical parts are given the same reference numerals. Their names and functions are also the same. Therefore, detailed descriptions thereof will not be repeated.

<A. Hardware configuration of the deburring device>
First, the appearance, operation overview, circuit configuration, etc. of the deburring device according to the present embodiment will be described with reference to Figs.

(a. Appearance of the deburring device)
Fig. 1 is a diagram showing an example of the appearance of a deburring device 100 according to the present embodiment. The configuration of the deburring device 100 will be described with reference to Fig. 1. The deburring device 100 includes a robot 1 and a deburring unit 101. The deburring unit 101 includes a base mounting plate 2, a single-axis actuator 3, a spindle 4, a rotating tool 5, and a measuring instrument 6.

The robot 1 is composed of multiple motors (drive units). The robot 1 has a deburring unit 101 attached to its tip, and can move the deburring unit 101 along the workpiece. In some aspects, the robot 1 may be a vertical articulated robot, a horizontal articulated robot, an orthogonal robot, or any other robot.

The deburring unit 101 is a unit for removing burrs from the workpiece (base material) and is equipped with measuring instruments, tools, etc. for this purpose.

The base mounting plate 2 is connected to the robot 1. In addition, as an example, a single-axis actuator 3 and a measuring instrument 6 are attached to the base mounting plate 2.

The single-axis actuator 3 adjusts the distance between the spindle 4 and the workpiece to be deburred by moving the spindle 4 using a drive unit such as a motor. The single-axis actuator 3 operates independently of each motor of the robot 1. In one aspect, the single-axis actuator 3 may be a linear motion mechanism combining a servo motor and a ball screw, a linear motion mechanism using a linear motor, a ROBO cylinder, or any linear motion mechanism capable of position control.

The spindle 4 rotates a rotary tool 5 attached to the tip of the spindle 4. The spindle 4 may include any mechanical component such as, for example, a DC (Direct Current) motor, a spindle, a collet, a chuck, etc.

The rotating tool 5 is a tool for deburring the workpiece. The rotating tool 5 can remove burrs from the workpiece by rotating at high speed using a DC motor or the like of the spindle 4. In some aspects, the deburring unit 101 can use equipment capable of deburring, such as nichrome wire, a laser processing machine, or a non-rotating cutting tool, as a deburring tool instead of the rotating tool 5.

The measuring device 6 measures the distance from the measuring device 6 to the workpiece. The measuring device 6 is also positioned ahead of the rotating tool 5 in the direction of travel of the deburring unit 101. The position or range of the burr may vary depending on the shape of the workpiece. Therefore, the measuring device 6 is configured to be adjustable in position on the base mounting plate 2. As an example, the base mounting plate 2 may be provided with multiple holes for screwing the measuring device 6. In one aspect, the measuring device 6 may be a laser displacement meter. In this case, the measuring device 6 may be a one-dimensional laser displacement meter or a two-dimensional laser displacement meter. In another aspect, the measuring device 6 may be any measuring device other than a laser displacement meter. The same applies to the measuring devices 7 and 9 described later.

It is desirable that the irradiation direction of the laser or the like of the measuring device 6 and the operating axis direction of the single-axis actuator 3 are as parallel as possible. For this reason, the deburring unit 101 may be configured to ensure the mounting accuracy of the measuring device 6 and the single-axis actuator 3 to the base mounting plate 2 by using pins, reamer bolts, etc.

The base mounting plate 2 may also be configured with guides or the like to ensure mounting accuracy relative to the robot 1.

Furthermore, the measuring device 6 may be configured to be mounted not only in a position leading the rotating tool 5 in the direction of travel of the deburring unit 101, but also in a position lagging (rearward) behind the rotating tool 5. In this way, the measuring device 6 can be ahead of the rotating tool 5 even when the deburring unit 101 moves in the opposite direction.

Other components included in the deburring unit 101, such as the base mounting plate 2, the single-axis actuator 3, the spindle 4, the rotating tool 5, and the measuring instrument 6, can be configured to be removable.

(b. Overview of operation of the deburring device)
Next, an outline of the operation of the deburring device 100 will be described. The robot 1 moves the deburring unit 101 along a workpiece along a predetermined path in accordance with a program or the like.

As the deburring unit 101 moves along the workpiece, the measuring instrument 6 measures the distance from the measuring instrument 6 to the workpiece ahead of the rotating tool 5. The measuring instrument 6 outputs the measurement results to the deburring unit controller 202 (see FIG. 2). Based on the measurement results of the measuring instrument 6, the deburring unit controller 202 drives the single-axis actuator to adjust the positions of the spindle 4 and the rotating tool 5 relative to the workpiece. Next, the rotating tool 5, whose position has been adjusted, cuts off the burr from the workpiece.

The rotating tool 5 is always positioned behind the measuring device 6 in the direction of travel of the deburring unit 101. Therefore, the deburring unit 101 can perform three processes by simply moving near the workpiece once: measurement by the measuring device 6, position adjustment of the rotating tool 5, and deburring by the rotating tool 5.

When adjusting the position of the rotating tool 5, the deburring unit controller 202 can determine how many seconds (or milliseconds) after the measurement result of the measuring instrument 6 is obtained to drive the single-axis actuator 3 based on the distance between the measuring instrument 6 and the rotating tool 5 and the moving speed of the deburring unit 101.

If the distance between the measuring device 6 and the rotating tool is sufficiently long, the deburring unit controller 202 can also perform deburring on workpieces that cannot be cut by pressing the rotating tool 5 against them. Workpieces that cannot be cut by pressing the rotating tool 5 against them can include, for example, soft materials such as foam materials, or materials that tend to crumble or generate powder when the workpiece (base material) is cut.

When the measuring instrument 6 is a one-dimensional laser displacement meter, the measuring instrument 6 measures the burr root position (the distance from the measuring instrument 6 to the workpiece) of the workpiece (base material). When the measuring instrument 6 is a two-dimensional laser displacement meter, the measuring instrument 6 may also measure the burr shape of the workpiece. In some aspects, the two-dimensional laser displacement meter may measure either or both of the burr root position and the burr shape of the workpiece. The deburring unit controller 202 may identify the position and shape of the workpiece by data processing based on the measurement results of the measuring instrument 6, and control the single-axis actuator 3 based on the results of the data processing.

It is desirable that the distance between the measuring instrument 6 and the rotating tool 5, and the operating speed of the robot 1, etc. be determined taking into account the time required for data processing by the deburring unit controller 202.

In addition, the deburring unit 101 may be provided with an air nozzle (not shown) for removing burr powder and the like generated by the deburring process. By providing the air nozzle, the deburring unit 101 can prevent powder from adhering to the measuring instrument 6 and the like, thereby preventing the accuracy of the measurement results by the measuring instrument 6 from decreasing. In some aspects, the blowing direction of the air nozzle may be shifted from the traveling direction of the deburring unit 101 so that the measuring instrument 6 is not affected by the powder. For example, the blowing direction of the air nozzle may be opposite to the traveling direction of the deburring unit 101. This can prevent powder blown up by the air nozzle from adhering to the measuring instrument 6.

As described above, the deburring device 100 according to this embodiment can perform three processes, namely, measurement by the measuring device 6, position adjustment of the rotating tool 5, and deburring processing by the rotating tool 5, by simply moving near the workpiece once. As a result, the deburring device 100 can remove burrs from the workpiece in a shorter time than conventional deburring devices.

Furthermore, because the deburring device 100 can process the workpiece immediately after the measuring device 6 measures the distance to the workpiece, it can deburr the workpiece with high precision regardless of the processing distance, even on materials such as foamed materials whose shape gradually expands immediately after molding.

Figure 2 is a diagram showing an example of the circuit configuration of the deburring device 100. The deburring device 100 includes, as a control circuit, a robot controller 201 and a deburring unit controller 202.

The robot controller 201 controls the robot 1. More specifically, the robot controller 201 can adjust the number of rotations, rotation speed, torque, etc. of the servo motors of each axis of the robot 1. In one aspect, the robot controller 201 can include a processor (not shown), a main memory (not shown), a storage unit (not shown), and multiple servo motor controllers (not shown). In this case, the processor can load a program for controlling the robot 1 read from the storage unit into the main memory and execute the program. The processor can also control the servo motors of each axis of the robot 1 via the multiple servo motor controllers.

The deburring unit controller 202 acquires the measurement results of the measuring instrument 6, and drives the single-axis actuator 3 to adjust the position of the rotary tool 5 based on the measurement results. The deburring unit controller 202 can control the single-axis actuator 3 independently of the control of the robot 1 by the robot controller 201. The robot controller 201 and the deburring unit controller 202 operate independently, but may exchange various information. As an example, the robot controller 201 can transmit information on the tip speed of the robot 1 and the timing of deburring to the deburring unit controller 202. In a certain aspect, the deburring unit controller 202 may include a processor (not shown), a main memory (not shown), a storage unit (not shown), and a controller (not shown) for the single-axis actuator 3. In this case, the processor can load a program for controlling the single-axis actuator 3 read from the storage unit into the main memory and execute the program. The processor can also control the single-axis actuator 3 via the controller of the single-axis actuator 3.

The "tip speed of the robot 1" is the moving speed of the deburring unit 101. The deburring unit 101 can determine the timing to control the single-axis actuator 3 based on the acquired tip speed of the robot 1 and the distance between the measuring device 6 and the rotating tool 5. For example, if the distance between the measuring device 6 and the rotating tool 5 is 50 mm and the tip speed of the robot 1 is 50 mm/s, the rotating tool 5 will pass the measurement point on the workpiece one second after the measuring device 6 measures the distance to the workpiece. In this case, the deburring unit controller 202 controls the single-axis actuator 3 so that the rotating tool 5 can remove the burr at the measurement point one second after the measuring device 6 measures the distance to the workpiece.

"Information on the timing of deburring execution" indicates the timing at which the deburring unit 101 performs deburring. For example, assume that the section from point A to point B on the workpiece is the section where deburring is performed, and the section from point B to point C on the workpiece is the section where deburring is not performed. In this case, the deburring unit controller 202 controls the single-axis actuator 3 while the rotating tool 5 passes from point A to point B on the workpiece. Conversely, the deburring unit controller 202 does not need to control the single-axis actuator 3 while the rotating tool 5 passes from point B to point C on the workpiece.

However, in reality, there is a slight time lag between when the deburring unit controller 202 outputs a control signal and when the rotary tool 5 moves to the target position. Therefore, the deburring unit controller 202 may control the single-axis actuator 3 while the rotary tool 5 passes from point A to point B on the workpiece and for a few seconds before and after that.

<B. Operation of the Deburring Unit>
Next, the operation procedure of the deburring unit 101 and cases where it is necessary to adjust the position of the rotary tool 5 by the deburring unit 101 will be described with reference to FIGS.

Figure 3 is a diagram showing an example of the operation of the deburring unit 101. The basic operation of the deburring unit 101 will be described with reference to Figure 3. The deburring unit 101 shown in Figure 3 is a top view of the deburring unit 101 shown in Figure 1. The workpiece 300 is the target for deburring by the deburring unit 101, and burrs 310 exist on the surface of the workpiece 300.

The travel direction 340 of the deburring unit 101 is parallel to the workpiece 300 to be deburred. The travel direction 330 of the single-axis actuator 3 is perpendicular to the travel direction of the deburring unit 101. The measuring device 6 always precedes the rotating tool 5 in the travel direction of the deburring unit 101. Therefore, by controlling the single-axis actuator 3 based on the measuring device 6, the deburring unit 101 can both measure and deburr the workpiece 300 or burr 310 in a single movement.

As an example, the measuring device 6 obtains a measurement result of point A of the workpiece 300. In this case, the measuring device 6 transmits the measurement result of point A to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring device 6 and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that the distance between the rotating tool 5 and the workpiece 300 at point A is a predetermined distance. In other words, the deburring unit controller 202 moves the rotating tool 5 to a position at point A where the burr 310 can be removed without damaging the workpiece 300. In a certain aspect, the deburring unit controller 202 may obtain information on the distance between the measuring device 6 and the rotating tool 5 in advance. In this case, the deburring unit controller 202 uses the information on the distance between the measuring device 6 and the rotating tool 5 to control the single-axis actuator 3.

As described above, the deburring unit controller 202 repeatedly controls the single-axis actuator 3 in the section where deburring is required. This allows the deburring unit controller 202 to remove the burr 310 while always keeping the distance between the rotating tool 5 and the workpiece 300 constant, even if the workpiece 300 is distorted, for example.

Figure 4 is a diagram showing an example of the operation of the deburring unit 101 when the moving direction of the deburring unit 101 is misaligned with the workpiece. Unlike the example in Figure 3, the example shown in Figure 4 shows a situation in which the deburring unit 101 is tilted and the moving direction 440 of the deburring unit 101 is not parallel to the workpiece 300. Even in such a case, the deburring unit 101 can remove the burr 310 from the workpiece 300 by the control described with reference to Figure 3.

As an example, the measuring instrument 6 has obtained measurement results of points A and B of the workpiece 300. In this case, the measuring instrument 6 first transmits the measurement result of point A to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point A and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that a predetermined distance is maintained between the rotating tool 5 and the workpiece 300 at point A.

Next, the measuring instrument 6 transmits the measurement result of point B to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point B and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that a predetermined distance is maintained between the rotating tool 5 and the workpiece 300 at point B.

The direction of travel 440 of the deburring unit 101 is the direction away from the workpiece 300. Therefore, the measurement result at point B (the distance from the measuring device 6 to the workpiece 300 at point B) is greater than the measurement result at point A (the distance from the measuring device 6 to the workpiece 300 at point A). Therefore, the deburring unit 101 feeds back the difference between the measurement results at points A and B to the travel distance of the single-axis actuator 3. That is, the travel distance of the single-axis actuator 3 at point B is greater than the travel distance of the single-axis actuator 3 at point A. As a result, even if the deburring unit 101 is tilted or the travel direction 440 of the deburring unit 101 is not parallel to the workpiece 300, the deburring unit 101 can remove the burr 310 while always keeping the distance between the rotating tool 5 and the workpiece 300 constant.

Figure 5 is a diagram showing an example of the operation of the deburring unit 101 when the workpiece is curved. The example shown in Figure 5 shows a situation in which the surface of the workpiece 400 is curved, unlike the examples in Figures 3 and 4. Even in such a case, the deburring unit 101 can remove the burr 410 of the workpiece 400 by the control described with reference to Figure 3. The traveling direction 540 of the deburring unit 101 is assumed to be parallel to the non-curved surface of the workpiece 400 (the surface without the burr 410).

As an example, the measuring instrument 6 has obtained measurement results for points A, B, and C of the workpiece 400. In this case, the measuring instrument 6 first transmits the measurement result for point A to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point A and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that a predetermined distance is maintained between the rotating tool 5 and the workpiece 400 at point A.

Next, the measuring instrument 6 transmits the measurement result of point B to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point B and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that a predetermined distance is maintained between the rotating tool 5 and the workpiece 400 at point B.

Similarly, the measuring instrument 6 transmits the measurement result of point C to the deburring unit controller 202. The deburring unit controller 202 controls the deburring unit controller 202 based on the measurement result of the measuring instrument 6 at point C and the tip speed of the robot 1 (the moving speed of the deburring unit 101), and controls the single-axis actuator 3 so that a predetermined distance is maintained between the rotating tool 5 and the workpiece 400 at point C.

Since the workpiece 400 is curved, the deburring unit 101 moves away from the workpiece 400 at points A and C, and approaches the workpiece 400 at point B. Therefore, the measurement result at point B (the distance from the measuring device 6 to the workpiece 400 at point B) is smaller than the measurement result at points A and C (the distance from the measuring device 6 to the workpiece 400 at points A and C). The deburring unit 101 feeds back the difference between the measurement results at each point to the movement distance of the single-axis actuator 3. In other words, the movement distance of the single-axis actuator 3 at point B is smaller than the movement distance of the single-axis actuator 3 at points A and C. As a result, the deburring unit 101 can remove the burr 410 while always keeping the distance between the rotating tool 5 and the workpiece 400 constant, even if the surface of the workpiece 400 is curved.

Figure 6 is a diagram showing an example of the deburring unit 601 during learning. The deburring unit 601 is configured to allow the deburring device 100 to learn the deburring operation. The deburring unit 601 collects learning data to reduce the effects on deburring caused by curvature or distortion of the workpiece, and deviation in the traveling direction of the actual deburring unit 101. After collecting the learning data, the configuration of the tip of the deburring device 100 is returned to the deburring unit 101.

Deburring unit 601, unlike deburring unit 101, is equipped with measuring instrument 6 and measuring instrument 7. Measuring instrument 6 is attached to the base mounting plate 2 at a position preceding rotating tool 5 in the direction of travel of deburring unit 601. Measuring instrument 7 is attached to the base mounting plate 2 at the same position as rotating tool 5 in the direction of travel of deburring unit 601. For example, measuring instrument 7 is attached to base mounting plate 2 via expansion part 8.

For example, if the direction of travel of the deburring unit 601 is not along the workpiece, or if the workpiece is distorted or curved, controlling the single-axis actuator 3 solely based on the measurement results of the measuring instrument 6 preceding the rotating tool 5 may result in a decrease in the machining accuracy of the workpiece due to deviations in the trajectory of the deburring unit 601, etc.

Therefore, the deburring device 100 measures the workpiece with the two measuring devices 6 and 7 attached to the deburring unit 601, thereby learning about the curvature of the workpiece or the deviation of the trajectory of the deburring unit 601. Note that the number of learning steps may be any number of times. After the learning process is completed, the configuration of the tip of the deburring device 100 is returned to the deburring unit 101.

In one aspect, the deburring unit controller 202 may offset (adjust) the movement amount (drive amount) of the single-axis actuator 3 based on the learning data. In another aspect, the robot controller 201 may offset (adjust) the movement amount (rotation amount) of each axis of the robot 1 based on the learning data acquired from the deburring unit controller 202. In another aspect, the deburring unit 601 during the learning process may not be equipped with a spindle 4.

<C. Variations of Deburring Devices>
Next, variations of the deburring device will be described with reference to Figures 7 to 12. The functions of the deburring device 100 in Figure 1 and the functions of each deburring device described below can be used in appropriate combination.

Figure 7 is a diagram showing an example of the configuration of the deburring device 700. The deburring device 700 includes the deburring unit 601 shown in Figure 6 as a configuration for actual use. By including the measuring devices 6 and 7, the deburring device 700 can correct the travel distance of the single-axis actuator 3 in consideration of the attitude of the unit relative to the workpiece based on the difference in measurement information from the two laser displacement meters in real time even during processing of the workpiece (when removing burrs). The measuring device 6 is attached to the base mounting plate 2 so that it is positioned ahead of the rotating tool 5 in the direction of travel of the deburring unit 601. In addition, the measuring device 7 is attached to the base mounting plate 2 via the extension part 8 so that it is positioned at the same position as the rotating tool 5 in the direction of travel of the deburring unit 701.

For example, in a situation such as that shown in Figures 8 and 9 described below, the deburring device 700 can offset (adjust) the travel distance of the single-axis actuator 3 based on the difference between the measurement results of the measuring instruments 6 and 7.

Figure 8 is a diagram showing a first example of the operation of the deburring device 700. In the example shown in Figure 8, the traveling direction 880 of the deburring unit 601 is not parallel to the workpiece 300, but is a direction away from the workpiece 300.

Figure 9 is a diagram showing a second example of the operation of the deburring device 700. In the example shown in Figure 9, the deburring unit 601 is inclined with respect to the workpiece 300.

In the situation of FIG. 8 or FIG. 9 above, a difference occurs in the measurement results of the measuring instruments 6 and 7. Therefore, the deburring device 700 offsets (adjusts) the travel distance of the single-axis actuator 3 based on the difference in the measurement results of the measuring instruments 6 and 7. As a result, the deburring device 700 can remove the burr 310 while always keeping the distance between the rotating tool 5 and the workpiece 300 constant, even if the traveling direction 880 of the deburring unit 601 is not parallel to the workpiece 300 or the deburring unit 601 is inclined relative to the workpiece 300.

Figure 10 is a diagram showing an example of the configuration of a deburring device 1000. The deburring device 1000 is a deburring device 100 to which a measuring device 9 for measuring the processing state after deburring has been added. The measuring device 6 is attached to a position on the base mounting plate 2 ahead of the rotating tool 5 in the direction of travel of the deburring unit 1001. The measuring device 9 is attached to a position on the base mounting plate 2 behind the rotating tool 5 in the direction of travel of the deburring unit 1001. For example, the measuring device 9 is attached to the base mounting plate 2 via an expansion part 10.

As with the deburring device 100, the deburring device 1000 controls the single-axis actuator 3 based on the measurement results of the measuring device 6. The measuring device 9 measures the distance to the workpiece after the rotary tool 5 has performed the deburring process. The deburring unit controller 202 determines whether the deburring result is acceptable or not based on the measurement results obtained from the measuring device 9. If the deburring result is unacceptable, the deburring device 1000 may perform the deburring process again or may classify the workpiece as defective.

Figure 11 is a diagram showing an example of the configuration of a deburring device 1100. The deburring device 1100 is a deburring device 100 to which a roller 11 that contacts the workpiece and a force sensor 12 are attached instead of the measuring device 6.

The deburring device 1100 includes a deburring unit 1101. The deburring unit 1101 includes a base mounting plate 2, a single-axis actuator 3, a spindle 4, a rotating tool 5, a mounting plate 13, a force sensor 12, a roller 11, and a roller mounting part 14.

The mounting plate 13 is attached to the spindle 4. Furthermore, the force sensor 12 is attached to the mounting plate 13, and the roller 11 is attached to the force sensor 12 via a roller mounting part 14. The roller 11 and the force sensor 12 are arranged in the traveling direction of the deburring unit 1101 at approximately the same position as the rotating tool 5 or at a position slightly ahead of it. Furthermore, the roller 11 is configured so that the rotation direction of the roller 11 approximately coincides with the traveling direction of the deburring unit 1101.

The deburring device 1100 moves while pressing the roller 11 against the workpiece. The roller 11 rolls on the surface of the workpiece. The force sensor 12 measures the repulsive force received from the workpiece via the roller 11. The deburring unit controller 202 adjusts the movement amount (drive amount) of the single-axis actuator 3 based on the measurement results obtained from the force sensor 12 so that the repulsive force received from the workpiece falls within a certain value range. This allows the deburring device 1100 to both measure the repulsive force received from the workpiece and deburr the workpiece during one movement of the deburring unit 1101.

In addition, the vertical articulated robot can control the torque of each motor based on the load on the motor of each joint. However, if the weight of the deburring unit 1101 becomes large, the load on each motor of the robot 1 (the repulsive force from the workpiece) cannot be detected unless the rotating tool 5 is pressed against the workpiece with a certain degree of force.

Therefore, the deburring device 1100 can remove only the burrs from a workpiece made of a soft material by adjusting the driving amount of the single-axis actuator 3 based on the minute repulsive force acting on the force sensor 12.

In one aspect, the deburring unit controller 202 may adjust the driving amount of the single-axis actuator 3 using the force sensor 12 only in the section where deburring is performed, based on information on the timing of deburring execution received from the robot controller 201.

In another aspect, the deburring device 1100 may store, as control parameters of the deburring unit controller 202, settings of parameters such as the gain of the output value of the force sensor 12, settings of the speed at which the single-axis actuator 3 approaches the workpiece when the repulsive force detected by the force sensor 12 is zero, etc. Furthermore, these control parameters may be externally changeable as appropriate.

In another aspect, the deburring device 1100 may acquire the output result of the force sensor 12 when the roller 11 is slowly pressed against the workpiece, and automatically generate the control parameters based on the output result. The deburring device 1100 may also adjust the control parameters based on both the parameters manually set in the deburring unit controller 202 by the user and the output result of the force sensor 12.

Figure 12 is a diagram showing an example of the configuration of a deburring device 1200. The deburring device 1200 is a deburring device 100 to which a roller 11 that contacts the workpiece, a force sensor 12, and a spring 15 are attached instead of the measuring device 6.

The deburring device 1200 includes a deburring unit 1201. The deburring unit 1201 includes a base mounting plate 2, a single-axis actuator 3, a spindle 4, a rotary tool 5, a mounting plate 13, a force sensor 12, a roller 11, a roller mounting part 14, and a spring 15. The deburring unit 1201 may further include a damper 16.

As an example, the mounting plate 13 is connected to the robot 1 via the spring 15. As another example, the mounting plate 13 is connected to a part of the deburring unit 1201 fixed to the tip of the robot 1 via a spring. The spring 15 is compressed when the roller 11 is pressed against the workpiece. That is, the spring 15 absorbs part of the force that the deburring unit 1201 receives from the workpiece. As a result, the change in the signal of the force sensor 12 in the deburring device 1200 becomes gentler than the change in the signal of the force sensor 12 in a configuration without the spring 15 (the configuration of the deburring device 1100). In addition, since the change in the signal of the force sensor 12 becomes gentler, the feedback control of the single-axis actuator 3 based on the measurement value of the force sensor 12 in the deburring device 1200 also becomes gentler. In a certain aspect, the deburring unit 1201 may be provided with a guide such as a shaft so that the mounting plate 13 moves linearly in the direction in which the spring 15 is compressed. As an example, if the spring 15 is a coil spring, the guide may be located inside the spring 15 .

As described above, by providing the spring 15, the deburring device 1200 can reduce the required accuracy (responsiveness) for the feedback control of the single-axis actuator 3. As a result, the deburring unit controller 202 can perform feedback control of the single-axis actuator 3 in a shorter time. Because the time required for feedback control of the single-axis actuator 3 is shortened, the deburring device 1200 can operate the robot 1 at a higher speed to perform deburring work.

The deburring unit 1201 may also include a damper 16 to prevent vibration of the spring 15. By including the damper 16, the deburring unit 1201 can prevent or suppress vibration of the spring 15 when the roller 11 separates from the workpiece. The damper 16 is disposed at any position where vibration of the spring 15 can be suppressed. For example, the damper 16 may be disposed parallel to the spring 15. Note that if the vibration of the spring 15 when the roller 11 separates from the workpiece is small, the deburring unit 1201 may not need to include the damper 16.

As described above, the deburring device according to this embodiment is equipped with a measuring device (laser displacement meter, force sensor, etc.) that acquires information about the workpiece or burr ahead of the deburring tool in the direction of travel of the deburring unit. This allows the deburring device to complete measurement of the distance to the workpiece or the shape of the burr, adjustment of the position of the deburring tool, and deburring processing by simply moving the deburring unit once.

The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present disclosure is indicated by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. Furthermore, the disclosure contents described in the embodiments and each modified example are intended to be implemented, as far as possible, either alone or in combination.

1 Robot, 2 Base mounting plate, 3 Single-axis actuator, 4 Spindle, 5 Rotating tool, 6, 7, 9 Measuring instrument, 8, 10 Expansion part, 11 Roller, 12 Force sensor, 13 Mounting plate, 14 Roller mounting part, 15 Spring, 16 Damper, 100, 700, 1000, 1100, 1200 Deburring device, 101, 601, 701, 1001, 1101, 1201 Deburring unit, 201 Robot controller, 202 Deburring unit controller, 300, 400 Workpiece, 310, 410 Burr, 330, 340, 440, 540, 880 Direction of travel.

Claims (9)

a deburring unit for removing burrs from a surface of the workpiece;
a robot for moving the deburring unit along a workpiece,
The deburring unit includes:
A first measuring device for reading a distance to the workpiece;
A tool for removing the burrs;
an actuator that adjusts a distance between the tool and the workpiece during a deburring operation based on a measurement result of the first measuring device;
A control unit for controlling the deburring unit ;
a second measuring device that is disposed at the same position as the tool and faces the moving direction of the deburring unit ;
the first measuring device is disposed at a position preceding the tool in a direction in which the deburring unit moves,
The control unit is
accumulating a difference between the measurement result of the first measuring device and the measurement result of the second measuring device as learning data;
The deburring device corrects the drive amount of the actuator based on the learning data . a deburring unit for removing burrs from a surface of the workpiece;
a robot for moving the deburring unit along a workpiece,
The deburring unit includes:
A first measuring device for reading a distance to the workpiece;
A tool for removing the burrs;
an actuator that adjusts a distance between the tool and the workpiece during a deburring operation based on a measurement result of the first measuring device;
A control unit for controlling the deburring unit ;
a second measuring device that is disposed at the same position as the tool and faces the moving direction of the deburring unit ;
the first measuring device is disposed at a position preceding the tool in a direction in which the deburring unit moves,
A deburring device , wherein the control unit adjusts the position of the tool by the actuator based on a difference between the measurement result of the first measuring instrument and the measurement result of the second measuring instrument . a deburring unit for removing burrs from a surface of the workpiece;
a robot for moving the deburring unit along a workpiece,
The deburring unit includes:
A first measuring device for reading a distance to the workpiece;
A tool for removing the burrs;
an actuator that adjusts a distance between the tool and the workpiece during a deburring operation based on a measurement result of the first measuring device;
A control unit for controlling the deburring unit ;
a second measuring device that is disposed behind the tool in a moving direction of the deburring unit ,
the first measuring device is disposed at a position preceding the tool in a direction in which the deburring unit moves,
The control unit determines whether or not the deburring of the workpiece has been successful based on the measurement results of the second measuring instrument . The deburring device according to claim 1 , wherein the actuator is a single-axis actuator. The deburring device according to claim 1 , wherein the moving direction of the deburring unit is parallel to the workpiece. The deburring device according to claim 1 , wherein the moving direction of the deburring unit is not parallel to the workpiece. The deburring device according to claim 1 , wherein the actuator operates independently of the robot based on the measurement result of the first measuring device. the deburring unit further includes an air nozzle for cleaning the deburring unit;
The deburring device according to any one of claims 1 to 7 , wherein the air nozzle is configured such that the direction in which the air is blown out of the air nozzle is shifted from a direction in which the deburring unit moves. A deburring unit attached to a tip of a robot,
a first measuring device for reading a distance to a workpiece;
A tool for removing the burrs;
an actuator that adjusts a distance between the tool and the workpiece during a deburring operation based on a measurement result of the first measuring device;
A control unit for controlling the deburring unit ;
a second measuring device that is disposed at the same position as the tool and faces the moving direction of the deburring unit ;
the first measuring device is disposed at a position preceding the tool in a direction in which the deburring unit moves,
The control unit is
accumulating a difference between the measurement result of the first measuring device and the measurement result of the second measuring device as learning data;
The deburring unit corrects the drive amount of the actuator based on the learning data .

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