JP2014161980A - Deburring system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a deburring system capable of removing even a burr existing at a position separated from an edge portion of a work by using an imaging device without using a distance sensor at the same time.SOLUTION: A deburring system includes: a robot 10; an imaging device 20; a deburring device 30; and controlling means 40. A work W is disposed at a work initial position set in advance, and a burr WB which is a minute projection is on a burr surface WM of the work. The control means controls the robot to grip the work at the work initial position and move that to an imaging area while keeping an optical axis 21Z direction of the imaging device and the burr surface generally in parallel with each other. On the basis of image data from the imaging device, a virtual reference line 21Y is made to match the burr surface. In order to position the burr at a virtual reference point set on the virtual reference line, the burr surface is moved while keeping a matching state with the virtual reference line, and then by moving the work, the burr positioned at the virtual reference point is removed by the deburring device.

Description

  The present invention relates to a deburring system that automatically removes burrs formed on a workpiece using a robot and an imaging device.

2. Description of the Related Art Conventionally, a method of forming a workpiece using a mold has been generalized when mass-producing workpieces.
For example, in injection molding, a heated and melted resin is filled into a mold at high pressure from a gate, and a workpiece is obtained, but burrs are inevitably left in the portion of the gate.
In recent years, various deburring devices and deburring methods for automatically removing burrs formed on the surface of a workpiece have been proposed.
For example, in the prior art described in Patent Document 1, even if a workpiece is randomly arranged on a surface plate, the workpiece and the edge of the workpiece are recognized using the imaging means, and the coordinates of the edge of the workpiece are recognized. A method for finishing a workpiece, which obtains data, controls the position of the finishing tool based on the coordinate data of the edge, and performs finishing processing such as slag processing, deburring, chamfering and scale removal on the edge of the workpiece, and An apparatus is disclosed.
In addition, in the prior art described in Patent Document 2, the deviation of the deburring surface of the workpiece is measured using both the image sensor and the distance sensor, and the deviation at the time of positioning the workpiece and the deviation of the casting mold is corrected. A casting deburring position correction method for performing deburring is disclosed.

JP 2010-82749 A JP 2004-58242 A

In the prior art described in Patent Document 1, it is possible to recognize and remove burrs at the edge portion of the workpiece based on the shooting data using the imaging means, but recognize burrs that exist at a position away from the edge portion. And cannot be removed.
Moreover, in the prior art described in Patent Document 2, both an image sensor (imaging device) and a distance sensor are required, and control is complicated.
The present invention was devised in view of such points, and uses an imaging device without using a distance sensor, and removes even burrs that exist at a position away from the edge portion of the workpiece. It is an object of the present invention to provide a deburring system that can be used.

In order to solve the above problems, the deburring system according to the present invention takes the following means.
First, a first invention of the present invention is a robot having gripping means capable of gripping a workpiece, moving means for moving the gripping means in a work space, and turning means for turning the gripping means in a predetermined direction. An image pickup device that outputs image data obtained by picking up the workpiece and the gripping means that have been moved to the image pickup area in the work space by the robot, and can be disposed in the work space to remove burrs on the work. A deburring system comprising: a deburring device, and a control unit that captures image data from the imaging device and can control the operation of the robot, and the workpiece is placed at a preset initial position of the workpiece. The burr surface that is a predetermined plane of the workpiece has a burr that is a minute protrusion protruding from the burr surface.
The control means controls the robot so that the work placed at the initial position of the work is gripped by the gripping means, and the work gripped by the gripping means is optical axis of the imaging apparatus. The direction is moved to the imaging area so that the burr plane is substantially parallel, and the gripping is performed so that the virtual reference line set in advance matches the burr plane based on the image data from the imaging apparatus. Based on the image data from the imaging device, the position of the burr existing on the burr surface of the workpiece is recognized, and the recognized burr is positioned at the virtual reference point set on the virtual reference line. The gripping hand is moved so that the burr located at the virtual reference point is removed by the burr removing device by moving the gripping means while maintaining a state where the burr surface coincides with the virtual reference line. Moving the removing burrs of the workpiece being gripped by the gripping means.

According to the first aspect of the present invention, a burr that is a minute protrusion is recognized based on image data from the imaging device, the burr position is aligned with the virtual reference point, and the burr positioned at the virtual reference point is detected. Remove with removal device.
Thereby, even if it is a burr | flash which exists in the position away from the edge part of a workpiece | work using an imaging device, without using a distance sensor together, it can remove.

  Next, a second invention of the present invention is the deburring system according to the first invention, wherein the control means moves the gripping means to the imaging area while gripping a workpiece, Before the virtual reference line and the burr surface coincide with each other, the gripping means is moved so that a mark provided on the gripping means is imaged at a predetermined position in image data from the imaging device.

According to the second aspect of the present invention, the position of the workpiece in the image data can be set to an appropriate position before the virtual reference line and the burr face edge line are matched.
This makes it possible to appropriately execute the work to be performed next, the work for matching the virtual reference line and the burr face edge line.

  Next, a third invention of the present invention is the deburring system according to the first invention or the second invention, wherein the control means is configured to match the virtual reference line with the burr surface when A first virtual line and a second virtual line parallel to the virtual reference line are set, and a workpiece imaged in the image data from the imaging device is virtually sandwiched between the first virtual line and the second virtual line The gripping means is moved and turned so that the distance between the first imaginary line and the second imaginary line is minimized so that the virtual reference line and the burr surface are parallel, and the burr surface is the virtual reference line. The gripping means is moved so as to overlap.

According to the third aspect of the present invention, the virtual reference line and the burr surface edge are obtained by moving and turning the gripping means so that the distance between the first virtual line and the second virtual line that virtually sandwich the workpiece is minimized. The gripping means is moved so that the line is parallel to the burr face edge line and the virtual reference line.
Thereby, a virtual reference line and a burr | flash surface edge line can be made to correspond relatively easily and in a comparatively short time.

Next, a fourth invention of the present invention is the deburring system according to the first invention or the second invention, wherein the control means has a rectangular shape that can accommodate the workpiece so as to circumscribe the workpiece. A virtual circumscribed rectangle and a burr surface inclination angle that is an inclination angle of the burr surface with respect to the virtual circumscribed rectangle are stored.
The control means sets a first virtual line and a second virtual line that are parallel to the virtual reference line when the virtual reference line and the burr plane are matched, and is captured by the image data from the imaging device. The virtual circumscribed rectangle is swung so that the existing workpiece is in contact with the virtual circumscribed rectangle, and the virtual circumscribed rectangle is superimposed on the image of the work, and is superimposed on the image captured from the image data from the imaging device The virtual circumscribed rectangle is virtually sandwiched between the first virtual line and the second virtual line, and the gripping means is moved and turned so that the distance between the first virtual line and the second virtual line is minimized. The virtual circumscribed rectangle is moved and swiveled together with the work so that the virtual reference line and one side of the virtual circumscribed rectangle are parallel to each other, and the gripping means is swung by the burr surface inclination angle to rotate the burr surface and the virtual reference. After parallel the door, burrs surface moving said gripping means so as to overlap with the virtual reference line.

  According to the fourth aspect of the present invention, as shown in FIGS. 9 and 10, for example, as shown in FIG. 9 and FIG. The burr surface and the virtual reference line can be appropriately overlapped.

  Next, a fifth invention of the present invention is the deburring system according to any one of the first to fourth inventions, wherein the control means is present on the burr surface of the workpiece. When recognizing the position of the burr, the workpiece image captured in the reference line coincidence image data, which is image data from the imaging device in a state where the virtual reference line and the burr plane coincide with each other, and the reference line coincidence image The burrs are obtained from the difference between the workpiece image captured in the data and the microprojection-removed work image, which is an image obtained by removing the microprojections using the morphological operation, and the obtained burr position is recognized.

  According to the fifth aspect, by using the morphological operation, burrs that are minute protrusions in the image data can be recognized relatively easily.

  Next, a sixth invention of the present invention is the deburring system according to any one of the first to fifth inventions, wherein the control means grips the workpiece. Is moved to the burr removing device to remove the burr, and then the gripping means holding the workpiece is moved to the imaging area, and whether or not the burr has been removed based on the image data from the imaging device. Determine whether.

  According to the sixth aspect of the invention, since it is confirmed that the burrs that should have been removed are surely removed, even if a defective product that fails to remove burrs occurs, the defective product flows out. Can be prevented.

  Next, a seventh invention of the present invention is the deburring system according to any one of the first to sixth inventions, wherein the virtual reference line is defined by the imaging device in the image data. The virtual reference point is a point indicating the optical axis of the imaging device in the image data, the burr is orthogonal to the burr surface, and the burr surface is a line that is perpendicular to the optical axis. It is a plane in contact with the connection point of the workpiece.

  According to the seventh aspect of the present invention, it is possible to appropriately set the virtual reference line and the virtual reference point from the viewpoint of high accuracy and efficiency, and even if the surface where the burr exists is a curved surface or the like The burr surface can be set appropriately.

It is a perspective view explaining the example of the whole structure of the deburring system of this invention. It is the front view (A), right side view (B), and perspective view (C) explaining the example of the shape of the object workpiece | work, the position and shape of a burr | flash. It is a flowchart explaining the example of the process sequence of a control means. (A) is a perspective view explaining a state in which a work placed at an initial position of the work is gripped by a gripping part (grip means) of the robot, and (B) is a perspective view of the work gripped by the gripping part of the imaging apparatus. It is a figure explaining a mode that it moved to the imaging area. (A) is an example of image data obtained by imaging the workpiece and the gripper moved to the imaging area of the imaging device, and (B) is a mark (marker) of the gripper at a predetermined position (the position of the optical axis) in the image data. (C) is an example of image data in a state where the burr surface of the work is matched with the virtual reference line. It is a figure explaining the example of the concrete method of a mode that the burr | flash surface of a workpiece | work is matched with a virtual reference line. This is image data for explaining a state in which burrs of a workpiece imaged in image data are recognized and the recognized burrs are moved so as to coincide with a virtual reference point. It is a perspective view explaining a mode that the burr | flash matched with the virtual reference point is moved to a burr | flash removal apparatus, and is removed. (A) is a perspective view showing an example of the appearance of a workpiece in which a burr surface where burrs exist is not parallel to the main axis direction of the workpiece, and (B) to (D) are burrs of the workpiece. It is a figure explaining the procedure which makes a surface and a virtual reference line correspond. (A) is the perspective view which shows the example of the external appearance of the workpiece | work which the surface where a burr | flash exists is not a parallel to the main axis direction of a workpiece | work, and is a curved surface in this case, (B)-( FIG. 4D is a diagram illustrating a procedure for matching the (virtual) burr surface of the workpiece with the virtual reference line.

EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated using drawing. In the figure showing the X axis, Y axis, and Z axis, the X axis, Y axis, and Z axis are orthogonal to each other, the Z axis indicates vertically upward, and the X axis and Y axis are in the horizontal direction. Is shown.
● [Overall configuration of deburring system 1 (Fig. 1)]
As shown in FIG. 1, the deburring system 1 includes a robot 10, an imaging device 20, a deburring device 30, and a control means 40 (controller). The robot 10, the imaging device 20, and the deburring device 30. Is placed on the table 2.

The robot 10 includes, for example, a turning part 11 that can turn with respect to the table 2, a first arm part 12 that can turn with respect to the turning part 11, and a second arm part 13 that can turn with respect to the first arm part 12. And a gripping portion 14 (corresponding to a gripping means) that can turn with respect to the second arm portion 13 and hand portions 14R and 14L that are provided on the gripping portion 14 and can change the interval.
The robot 10 can hold the workpiece W with the hand parts 14R and 14L, and includes a turning part 11 for the table 2, a first arm part 12 for the turning part 11, a second arm part 13 for the first arm part 12, and a second arm part 12. By rotating each of the gripping portions 14 with respect to the arm portion 13, the hand portions 14 </ b> R and 14 </ b> L can be moved to arbitrary positions in the work space K on the table 2. By turning the grip 14, the grip 14 can be turned in a predetermined direction at the destination.
Therefore, the turning drive means (the turning drive means provided in the turning part 11, the first arm part 12, the second arm part 13, and the holding part 14) that moves the holding part 14 to an arbitrary position in the work space K is provided. Corresponding to the moving means (moving mechanism), the turning drive means (the second arm part 13 or the turning part provided in the holding part 14) for turning the holding part 14 moved to an arbitrary position in a predetermined direction at the moving destination position. The driving means (a turning driving means different from the moving means or the same turning driving means) corresponds to the turning means (the turning mechanism).
Note that the robot 10 uses an existing robot, and detailed description of a moving unit, a turning unit, various sensors for detecting an operation state, and the like is omitted.

The imaging device 20 includes a support member 22 fixed to the table 2 and an imaging means 21 (an imaging machine such as a CCD camera) held on the support member 22.
Further, the optical axis 21Z of the imaging means 21 is directed in the direction toward the table 2 so that unnecessary objects are not imaged. The optical axis 21Z is directed downward in parallel with the Z axis and can image the imaging area in the work space K. It is. The color of the table 2 is preferably a color that is different from the workpiece W and the grip portion 14 that grips the workpiece W, and can be easily removed as background from the image data.
A virtual reference line 21Y that is orthogonal to the optical axis 21Z and parallel to the Y axis is virtually set.
And the imaging device 20 images the workpiece | work W and the holding part 14 which were moved in the imaging area by the robot 10, and outputs the image data obtained by imaging.
The burr removing device 30 includes a removing unit 31A (in this case, a burr cutting router), a driving unit 31 (in this case, an electric motor) that drives the removing unit 31A, and a support member 32 that holds the driving unit 31. The supporting member 32 is fixed to the table 2.

The control means 40 is a personal computer, for example, and can capture image data from the imaging device 20 and control the operation of the robot 10.
The image capturing apparatus 20 may output image data when receiving an image request signal from the control unit 40, or may sequentially output images at predetermined time intervals without receiving an image request signal from the control unit 40. Data may be output. In the present embodiment, an example in which image data is output when an image request signal from the control means 40 is received will be described.
Further, the control means 40 takes in detection signals from various sensors of the robot 10 and outputs drive signals to various moving means and turning means, and the position of the gripping part 14 of the robot 10 in the work space K and the gripping part 14. Control the turning angle of the.
The deburring device 30 may drive the driving unit 31 based on the driving signal from the control unit 40, or may be always driven regardless of the driving signal from the control unit 40. In the present embodiment, an example in which the drive unit 31 is driven based on a drive signal from the control unit 40 will be described.

The workpiece W is placed in a predetermined direction at a workpiece initial position that is positioned by a simple jig 3 fixed on the table 2.
In the example of FIG. 1, the simple jig 3 has a linear rail shape, and a positioning member 3A for positioning the workpiece W is fixed in the vicinity of one end portion in the longitudinal direction.
The workpiece W is oriented in a predetermined direction, and is positioned and placed on the simple jig 3 at a workpiece initial position that contacts the positioning member 3A.
In the deburring system 1 of the present invention, since the burr is removed by recognizing the gripping state of the work W gripped by the gripping part 14 and the position of the burr on the work W, the accuracy of the initial position of the work is strict. Is not required. It suffices that the workpiece W be placed in a predetermined direction at a position that is accurate enough to be gripped by the grip portion 14.

● [Work shape, burr position and burr shape (Fig. 2)]
Next, an example of the shape of the workpiece W and an example of the position of the burr will be described with reference to FIGS. 2A is a front view, FIG. 2B is a right side view, and FIG. 2C is a perspective view of the workpiece W placed at the workpiece initial position.
The workpiece W is made of, for example, a resin molded by injection molding, and a burr WB that is a minute protrusion is formed at the position of the gate at the time of injection molding.
In addition, as shown in FIG. 2A, the workpiece W described in this embodiment is a burr surface WM having a flat front surface, and the right side of the burr surface WM is gripped by the hand portion 14R of the robot 10. The left side of the burr surface WM is the gripped surface WL gripped by the hand portion 14L of the robot 10. The gripped surface WR and the gripped surface WL are planes that are parallel to each other and orthogonal to the burr surface WM.
In addition, the workpiece W is a first jig contact surface WS that contacts the upper surface 3S (see FIG. 4A) of the simple jig 3, and a first surface that contacts the side surface 3V of the simple jig 3 (see FIG. 4A). 2 It has jig contact surface WV.
The burr WB protrudes in a direction substantially perpendicular to the burr surface WM of the workpiece W (X-axis direction in the example of FIG. 2B), and is a minute protrusion formed at a position away from the edge of the burr surface WM. It is.
When a plurality of workpieces W are formed by injection molding, the position where the burr WB is formed is substantially the same, but the diameter of the burr WB (in this case, the length in the Z-axis direction) and the protruding length of the burr WB (In this case, the length in the X-axis direction) is slightly different for each workpiece.

Since the position of the burr WB is determined, the burr WB can be removed if the workpiece W is accurately moved to the position determined in a predetermined posture. However, if the burr of a plurality of workpieces is removed, The error of the robot gradually accumulates and it may become impossible to remove burrs before long, the positioning accuracy of the workpiece initial position, the accuracy of the workpiece placement state at the workpiece initial position, and the robot gripping part Since various types of accuracy such as the accuracy of the workpiece gripping position and gripping angle are very important, the problem is that accuracy management becomes complicated.
However, in the present application, since the error that causes the above problem is corrected using the image data obtained by the imaging device, there is no need to worry about accumulation of robot errors and fine accuracy management.

[Processing procedure of the control means 40 (FIG. 3) and details of each processing (FIGS. 4 to 8)]
Next, the processing procedure of the control means 40 will be described with reference to the flowchart shown in FIG. 3, and the details of the processing in each processing procedure will be described with reference to FIGS. FIGS. 5A to 5C, FIGS. 6A and 6B, and FIGS. 7A to 7C show examples of image data captured by the imaging device 20, and The vertical line in the center of the virtual reference line 21Y. The virtual reference line 21Y is a virtually set straight line that is parallel to the Y-axis direction orthogonal to the optical axis 21Z of the imaging device 20, as shown in FIG. The horizontal line in the center of the image is a virtual orthogonal line 21X, which is virtually set parallel to the X-axis direction orthogonal to both the optical axis 21Z and the virtual reference line 21Y as shown in FIG. It is a straight line. As shown in FIG. 4B, the optical axis 21Z is a straight line that passes through the center of the lens 21A of the imaging device 20 and is parallel to the Z-axis direction.
The intersection of the virtual reference line 21Y and the virtual orthogonal line 21X in the image data is the optical axis 21Z. A point indicating the optical axis 21Z in the image data corresponds to a virtual reference point.

In step S10 shown in FIG. 3, the control means 40 grips the workpiece W placed at the workpiece initial position by the gripper 14, and proceeds to step S15.
As shown in FIG. 4 (A), the control means 40 lowers the gripping portion 14 from the upper side to the lower side of the workpiece W placed at the workpiece initial position of the simple jig 3 to move the hand portions 14R, 14L. To sandwich the gripped surfaces WR and WL. Since the gripping surface 14RM of the hand portion 14R and the gripping surface 14LM of the hand portion 14L are set in parallel, and the gripped surface WR and the gripped surface WL are also parallel, the variability of the workpiece W with respect to the gripping surfaces 14RM and 14LM. The plane WM is orthogonal.
At this time, as long as the hand portions 14R and 14L sandwich the gripped surfaces WR and WL, any position of the gripped surfaces WR and WL may be sandwiched, and the gripping position accuracy is not required. In addition, if the burr surface WM is orthogonal to the gripping surface 14RM of the hand portion 14R (the gripping surface 14LM of the hand portion 14L), the longitudinal direction (protruding direction) of the hand portions 14R and 14L is shown in FIG. The burr surface WM of the workpiece W in A) may be in a state of turning at an arbitrary angle around the turning axis in the Y-axis direction (the image data D1 in FIG. 5A is relative to the longitudinal direction of the hand portion 14R). In this example, the burr surface WM is turning by an angle θ1).

In step S15, the control means 40 moves the gripping part 14 that grips the workpiece W to the imaging area of the imaging device 20, outputs an image request signal to the imaging device 20, acquires the image data D1 from the imaging device 20, and Proceed to step S20.
As shown in FIG. 4B, the control means 40 faces the mark 14M (marker) provided on the outside of the tip of the hand portion 14R toward the image pickup apparatus 20, and places the mark 14M in the image pickup area of the image pickup apparatus. Move so that is located. Since the surface of the mark 14M and the burr surface WM are set to be orthogonal to each other, the optical axis 21Z and the burr surface WM are substantially parallel.
FIG. 5A shows an example of the image data D1 acquired from the imaging device 20 in step S15. At this time, the mark 14M only needs to be imaged in the image data D1, and high accuracy is not required. In the example of FIG. 5A, it is indicated that the optical axis 21Z is shifted from the center of the ellipse of the mark 14M.
In the present embodiment, an example in which an ellipse is arranged in a quadrangle as the mark 14M is shown, but the shape of the mark 14M is not limited to this shape, and various shapes can be used.

In step S <b> 20, the control unit 40 moves the grip 14 so that the center of the mark 14 </ b> M coincides with the optical axis 21 </ b> Z (corresponding to a predetermined position), outputs an image request signal to the imaging device 20, and outputs from the imaging device 20. Image data D2 is acquired, and the process proceeds to step S25.
Based on the image data D1 (FIG. 5A) acquired in step S20, the control means 40 detects the deviation between the center of the ellipse of the mark 14M and the optical axis 21Z, and the center of the ellipse of the mark 14M and the light. The grip 14 is moved so that the axis 21Z coincides.
FIG. 5B shows an example of the image data D2 after the center of the ellipse of the mark 14M coincides with the optical axis 21Z.

In step S25, the control means 40 moves and turns the grip portion 14 so that the burr surface WM in the image data D2 coincides with the virtual reference line 21Y, and outputs an image request signal to the imaging device 20 to output the imaging device 20. The image data D3 is acquired from step S30, and the process proceeds to step S30.
At this time, since the burr surface WM is parallel to the optical axis 21Z, the burr surface WM appears to be linear in the image data. This linear burr surface WM is made to coincide with the virtual reference line 21Y.
Note that the image data in FIGS. 6A and 6B below is image data obtained by extracting the workpiece W from the image data from the imaging device.
The control means 40 extracts the workpiece W from the image data D2 shown in FIG. 5B, for example as shown in the image data D11 of FIG. 6A, and a first virtual line K1 parallel to the virtual reference line 21Y. The second virtual line K2 is set, and the extracted work W is sandwiched between the first virtual line K1 and the second virtual line K2 (the outer shape of the work W) (the first virtual line K1 and the second virtual line K2 are It is sandwiched by contacting the workpiece W without crossing it).
Then, the control means 40 turns the work W by turning the gripping part 14 around the turning axis parallel to the optical axis 21Z so that the interval W1 between the first virtual line K1 and the second virtual line K2 is minimized. Go. Then, as shown in the image data D12 in FIG. 6B, the burr surface WM of the workpiece W and the virtual reference line 21Y are parallel to each other at a position where the interval W1 is minimum (when the shape of the workpiece is special). except for).
And the control means 40 calculates | requires the distance of the burr | flash surface WM and the virtual reference line 21Y which became parallel, and moves the holding part 14 so that the virtual reference line 21Y and the burr | flash surface WM may overlap. The image data in this state is as shown in the image data D3 in FIG. 5C, and the image data D3 shown in FIG. 5C corresponds to the reference line matching image data.

In step S30, the control means 40 recognizes the position of the burr WB (position on the virtual reference line 21Y) based on the image data D3 acquired in step S25, and proceeds to step S35.
For example, as shown in FIG. 7A, the control means 40 creates two workpiece images D21 (with burrs) obtained by extracting the workpiece W from the image data D3 shown in FIG. 5C. Then, the control unit 40 applies a morphological operation to one work image to create a microprojection-removed work image from which microprojections (burrs) are removed. Note that a technique for removing minute protrusions from an image using a morphological operation is an existing technique, and a detailed description thereof will be omitted.
Then, as shown in FIG. 7B, the control means 40 extracts the burr extraction image D22 obtained by extracting the burr WB image in the image data from the difference between the other work image D21 having burr and the microprojection removal work image. The position of the burr WB on the virtual reference line 21Y is recognized, and the distance LY1 from the virtual orthogonal line 21X to the burr WB is obtained.

  In step S35, the control means 40 moves the gripping part 14 by the distance LY1 obtained in step S30 while maintaining the state where the virtual reference line 21Y and the burr surface WM coincide with each other, and the burr WB and the optical axis 21Z. (Corresponding to a virtual reference point) and the process proceeds to step S40. The image data in the state where the burr WB and the optical axis 21Z are matched in step S35 need not be acquired. If acquired, the control means 40 can acquire the image data D23 shown in FIG.

In step S40, as shown in FIG. 8, the control means 40 outputs a drive signal to the burr removing device 30, moves the gripping part 14 by a distance LX2 in the X-axis direction, and a distance LZ2 in the Z-axis direction, and moves the optical axis. The burr WB at the position of 21Z (virtual reference point) is removed at the removal point 31P of the removal unit 31A of the burr removal device 30, and the process proceeds to step S45.
The position of the removal point 31P is accurately set to a position at a distance LX2 in the X-axis direction from the optical axis 21Z, and a position at a distance LZ (not shown) from the surface of the table 2, and the control means 40 has a distance LX2 , The distance LZ is recognized. In addition, the control means 40 calculates | requires the distance LZ2 of a Z-axis direction about the Z-axis direction based on the recognized distance LZ and the position of the present holding part 14 in the Z-axis direction. Note that the movement distance LZ2 in the Z-axis direction may be moved somewhat excessively, so that the movement distance LZ2 including the error in the position of the current gripping portion 14 in the Z-axis direction can be moved slightly more reliably. It is preferable to remove the burr WB. Note that the distance LZ2 shown in FIG. 8 is an example of a distance moved slightly more excessively.

In step S45, the control means 40 moves the gripping part 14 in the direction opposite to that of step S40 by the distance LZ2 in the Z-axis direction and the distance LX2 in the X-axis direction, and moves the gripping part 14 and the workpiece W in FIG. Is returned to the position of the image data D23 shown in FIG.
Whether or not the burrs are removed is determined by using the morphological operation used in step S30, the difference between the image data D23 in FIG. 7C and the image data after removing the burrs, or the like. What is necessary is just to determine.
When it is determined that the burr has been removed (Yes), the control unit 40 proceeds to step S50A, and when it is determined that the burr remains (No), the control unit 40 proceeds to step S50B.
When the process proceeds to step S50A, the control means 40 moves the gripping part 14 that grips the workpiece W to a workpiece unloading position (not shown), releases the workpiece W at the workpiece unloading position, and ends the process.
When the process proceeds to step S50B, the control means 40 moves the gripping part 14 that grips the workpiece W to the workpiece holding position (defective product collection position, not shown), and releases the workpiece W at the workpiece holding position for processing. finish.

● [When the surface where the burr exists is a plane inclined with respect to the main axis direction of the workpiece (Fig. 9)]
Next, the case where the surface where the burr WB exists is a plane inclined with respect to the main axis direction of the workpiece W will be described with reference to FIGS. The burr WB protrudes in a direction perpendicular to the burr surface WM.
In this case, it is difficult to match the virtual reference line 21Y and the burr surface WM with the processing procedure of step S25 described above.
Therefore, instead of step S25 described in the flowchart of FIG. 3, the burr surface WM and the virtual reference line 21Y are matched using the processing procedure of step S25A described below.

FIG. 9A is a perspective view showing the appearance of the target workpiece W, and is a perspective view showing a state where the workpiece W is placed at the workpiece initial position. The shape of the simple jig 3 is different from the shape shown in FIG. Like the workpiece W shown in FIG. 2C, the gripped surfaces WR and WL are parallel and the burr surface WM is orthogonal to the gripped surfaces WR and WL, but the burr surface WM is in the main axis direction of the workpiece. It is inclined with respect to (the direction of the main axis of the workpiece, in this case, the longitudinal direction of the workpiece parallel to the gripped surfaces WR and WL).
The control means 40 includes a virtual circumscribed rectangle 21K that is a rectangle that can accommodate the workpiece W so as to circumscribe the workpiece W, and a burr surface position that is the position of the burr surface WM relative to the virtual circumscribed rectangle 21K (in this case, FIG. 9). (D) corresponds to the distance W2 shown in FIG. 9) and the burr surface inclination angle that is the inclination angle of the burr surface WM relative to the virtual circumscribed rectangle 21K (in this case, the burr surface inclination angle θ2 shown in FIGS. 9B to 9D) Is stored in advance in the storage means (storage device).

In step S25A, the control means 40 extracts the workpiece W from the image data, for example, as shown in the image data D31 in FIG. 9B, and the workpiece W captured in the image data (the extracted workpiece W) is The virtual circumscribed rectangle 21K is turned so as to be in contact with the virtual circumscribed rectangle 21K, and the virtual circumscribed rectangle 21K is superimposed on the image of the workpiece W (the virtual circumscribed rectangle 21K is circumscribed on the workpiece).
Further, the control means 40 sets the first virtual line K1 and the second virtual line K2 parallel to the virtual reference line 21Y, and the virtual circumscribed rectangle 21K superimposed on the workpiece is set as the first virtual line K1 and the second virtual line K2. (The first virtual line K1 and the second virtual line K2 are put in contact with each other without intersecting the virtual circumscribed rectangle 21K).
Then, the control means 40 turns the gripping part 14 around the turning axis parallel to the optical axis 21Z so as to minimize the interval W1 between the first virtual line K1 and the second virtual line K2, and the virtual circumscribed rectangle together with the work W. Turn 21K. Then, as shown in the image data D32 in FIG. 9C, one side of the virtual circumscribed rectangle 21K and the virtual reference line 21Y are parallel at the position where the interval W1 is minimum.
Here, since the burr surface WM is an inclination angle with respect to the virtual circumscribed rectangle 21K and the burr surface inclination angle θ2 is known in advance, the control means 40 turns the virtual circumscribed rectangle 21K together with the workpiece W by the burr surface inclination angle θ2.

The image data D33 shown in FIG. 9D is a state in which the virtual circumscribed rectangle 21K is turned by the burr surface inclination angle θ2 from the state of FIG. 9C. In this state, the burr surface WM and the virtual reference line 21Y are parallel.
Here, the burr surface position with respect to the virtual circumscribed rectangle 21K is known in advance (in this case, the distance W2 from the reference position 21KA of the virtual circumscribed rectangle 21K (the lower left vertex of the virtual circumscribed rectangle 21K) to the burr surface WM is known. Therefore, the control means 40 can move the virtual circumscribed rectangle 21K based on the burr surface position, and can match the burr surface WM with the virtual reference line 21Y. In this case, the control means 40 obtains a distance W3 from the virtual reference line 21Y to the reference position 21KA of the virtual circumscribed rectangle 21K, and grips the virtual circumscribed rectangle 21K to move in the X-axis direction by “distance W3-distance W2”. The part 14 can be moved to make the burr surface WM coincide with the virtual reference line 21Y.
Then, the control unit 40 matches the burr surface WM and the virtual reference line 21Y, then outputs an image request signal to the imaging device 20, acquires image data from the imaging device 20, and proceeds to step S30.
Since the process after step S30 is as above-mentioned, description is abbreviate | omitted.

  Note that the memory of the burr surface (distance W2) is omitted, the burr surface WM and the virtual reference line 21Y are made parallel based on the burr surface inclination angle θ2, and then the burr surface WM is recognized based on the image data. The burr surface WM and the virtual reference line 21Y may be made to coincide with each other while the movement of the grip portion 14 is repeated.

● [When the surface where burrs exist is a curved surface with respect to the principal axis direction of the workpiece (Fig. 10)]
Next, the case where the surface where the burr WB exists is a curved surface with respect to the principal axis direction of the workpiece W will be described with reference to FIGS. In this case, a plane (tangential plane) that is in contact with the connection point between the burr WB and the workpiece W (the base of the burr WB) is set as the (virtual) burr surface WM. The burr WB protrudes in a direction perpendicular to the (virtual) burr surface WM.
Even in such a case, it is difficult to match the virtual reference line 21Y and the (virtual) burr surface WM with the processing procedure of step S25 described above.
Therefore, instead of step S25 described in the flowchart of FIG. 3, the processing procedure of step S25B described below is used to match the (virtual) burr surface WM and the virtual reference line 21Y.

FIG. 10A is a perspective view showing the appearance of the target workpiece W, and is a perspective view showing a state where the workpiece W is placed at the workpiece initial position. The shape of the simple jig 3 is different from the shape shown in FIG. Like the workpiece W shown in FIG. 2C, the gripped surfaces WR and WL are parallel and the (virtual) burr surface WM is orthogonal to the gripped surfaces WR and WL, but the (virtual) burr surface WM is a curved surface with respect to the main axis direction of the work (the direction of the main axis of the work, in this case, the longitudinal direction of the work parallel to the gripped surfaces WR and WL).
The control means 40 includes a virtual circumscribed rectangle 21K that is a rectangle that can accommodate the workpiece W so as to circumscribe the workpiece W, and a burr surface position that is the position of the (virtual) burr surface WM relative to the virtual circumscribed rectangle 21K (in this case) , Equivalent to the distance W4 shown in FIG. 10D) and a burr surface inclination angle that is an inclination angle of the (virtual) burr surface WM with respect to the virtual circumscribed rectangle 21K (in this case, as shown in FIGS. 10B to 10D). Is equivalent to the burr surface inclination angle θ3) and stored in advance in the storage means (storage device).

In step S25B, the control means 40 extracts the workpiece W from the image data, for example, as shown in the image data D41 of FIG. 10B, and the workpiece W captured in the image data (the extracted workpiece W) is The virtual circumscribed rectangle 21K is turned so as to be in contact with the virtual circumscribed rectangle 21K, and the virtual circumscribed rectangle 21K is superimposed on the image of the workpiece W (the virtual circumscribed rectangle 21K is circumscribed on the workpiece).
Further, the control means 40 sets the first virtual line K1 and the second virtual line K2 parallel to the virtual reference line 21Y, and the virtual circumscribed rectangle 21K superimposed on the workpiece is set as the first virtual line K1 and the second virtual line K2. (The first virtual line K1 and the second virtual line K2 are put in contact with each other without intersecting the virtual circumscribed rectangle 21K).
Then, the control means 40 turns the gripping part 14 around the turning axis parallel to the optical axis 21Z so as to minimize the interval W1 between the first virtual line K1 and the second virtual line K2, and the virtual circumscribed rectangle together with the work W. Turn 21K. Then, as shown in the image data D42 in FIG. 10C, one side of the virtual circumscribed rectangle 21K and the virtual reference line 21Y are parallel at the position where the interval W1 is minimum.
Here, since the (virtual) burr surface WM is inclined with respect to the virtual circumscribed rectangle 21K and the burr surface inclination angle θ3 is known in advance, the control means 40 moves the virtual circumscribed rectangle 21K together with the workpiece W by the burr surface inclination angle θ3. Turn.

The image data D43 shown in FIG. 10 (D) is a state in which the virtual circumscribed rectangle 21K is turned by the burr surface inclination angle θ3 from the state of FIG. 10 (C). In this state, the (virtual) burr surface WM and the virtual reference line 21Y are parallel to each other.
Here, the burr surface position with respect to the virtual circumscribed rectangle 21K is known in advance (in this case, the distance W4 from the reference position 21KA of the virtual circumscribed rectangle 21K (the lower left vertex of the virtual circumscribed rectangle 21K) to the (virtual) burr surface WM is Therefore, the control means 40 can move the virtual circumscribed rectangle 21K on the basis of the burr surface position so that the (virtual) burr surface WM and the virtual reference line 21Y coincide with each other. In this case, the control means 40 obtains a distance W5 from the virtual reference line 21Y to the reference position 21KA of the virtual circumscribed rectangle 21K, and holds the virtual circumscribed rectangle 21K so as to move in the X-axis direction by “distance W5-distance W4”. The part 14 can be moved so that the (virtual) burr surface WM and the virtual reference line 21Y can coincide with each other.
Then, the control unit 40 matches the (virtual) burr surface WM and the virtual reference line 21Y, then outputs an image request signal to the imaging device 20, acquires image data from the imaging device 20, and proceeds to step S30.
Since the process after step S30 is as above-mentioned, description is abbreviate | omitted.

  Note that the memory of the burr surface position (distance W4) is omitted, the (virtual) burr surface WM and the virtual reference line 21Y are made parallel based on the burr surface inclination angle θ3, and then the (virtual) burr surface based on the image data. The (virtual) burr surface WM and the virtual reference line 21Y may be made to coincide with each other while repeating the recognition of the position of the WM and the movement of the grip 14.

As described above, the deburring system 1 described in the present embodiment recognizes burrs by using an imaging device without using a distance sensor and imaging the burrs protruding from the burrs from a direction parallel to the burrs. Therefore, even burrs existing at positions away from the edge portion of the workpiece can be appropriately removed.
In addition, since the position of the burr is recognized based on the image data obtained by imaging the state gripped by the robot for each workpiece, the error of the simple jig that provides the workpiece initial position and the loading of the workpiece to the workpiece initial position are recognized. It is possible to appropriately absorb errors in the mounting state, variations in the state in which the workpiece is gripped by the robot, accumulation of robot errors due to continuous work, etc., eliminating the need for complicated precision management and stable deburring It can be performed.
Note that the process of matching the optical axis 21Z with the center of the mark 14M, the process of matching the burr surface WM with the virtual reference line 21Y, and the position of the burr WB (base of the burr WB) are matched with the virtual reference point (optical axis 21Z). In the processing, it is possible to perform positioning more accurately by gradually approaching the true position while repeating the turning and movement and the acquisition of image data (including morphological calculation) a plurality of times.

The deburring system 1 of the present invention is not limited to the configuration, structure, shape, processing procedure, etc. described in the present embodiment, and various modifications, additions, and deletions can be made without changing the gist of the present invention. . For example, the structure of the robot 10 and the structure of the burr removing device 30 are not limited to the structure described in the present embodiment.
In addition, the shape and material of the workpiece are not limited to the shape and material described in the present embodiment, and burrs can be applied to workpieces of various shapes and materials using the deburring system 1 of the present invention. It is possible to remove.

DESCRIPTION OF SYMBOLS 1 Deburring system 2 Table 3 Simple jig 10 Robot 14 Grip part 14M Mark 14R, 14L Hand part 14RM, 14LM Grip surface 20 Imaging device 21 Imaging means 21K Virtual circumscribed rectangle 21KA Reference position 21X Virtual orthogonal line 21Y Virtual reference line 21Z Light Shaft 30 Deburring device 31A Removing means 40 Control means W Work WB Burr WM Burr surface WR, WL Grasped surface W2, W4 Distance (burr surface position)
θ2, θ3 Burr surface inclination angle

Claims (7)

A robot having gripping means capable of gripping a workpiece, moving means for moving the gripping means in a work space, and turning means for turning the gripping means in a predetermined direction;
An imaging device that outputs image data obtained by imaging the workpiece and the gripping means moved to the imaging area in the work space by the robot;
A deburring device arranged in the work space and capable of removing deburring of the workpiece;
Control means for capturing image data from the imaging device and controlling the operation of the robot,
The workpiece is arranged at a preset workpiece initial position, and the burr surface that is a predetermined plane in the workpiece has a burr that is a minute projection protruding from the burr surface,
The control means controls the robot,
The workpiece disposed at the workpiece initial position is gripped by the gripping means,
Move the workpiece gripped by the gripping means to the imaging area so that the optical axis direction of the imaging device and the burr surface are substantially parallel,
Based on the image data from the imaging device, the gripping means is moved and swiveled so as to match a preset virtual reference line and a burr surface,
Based on the image data from the imaging device, recognize the position of the burr that exists on the burr surface of the workpiece,
Moving the gripping means while maintaining a state where the burr surface coincides with the virtual reference line so that the recognized burr is positioned at the virtual reference point set on the virtual reference line,
Removing the burrs of the work gripped by the gripping means by moving the gripping means so as to remove the burrs located at the virtual reference point by the burr removing device;
Deburring system. The deburring system according to claim 1,
The control means moves the gripping means to the imaging area while gripping a workpiece, and then makes a mark provided on the gripping means before the virtual reference line coincides with the burr surface. Moving the gripping means so as to be imaged at a predetermined position in image data from the apparatus;
Deburring system. The deburring system according to claim 1 or 2,
When the control means matches the virtual reference line and the burr surface,
Setting a first virtual line and a second virtual line parallel to the virtual reference line;
The workpiece imaged in the image data from the imaging device is virtually sandwiched between the first virtual line and the second virtual line,
The gripping means is moved and turned so that the interval between the first imaginary line and the second imaginary line is minimized so that the virtual reference line and the burr surface are parallel,
Moving the gripping means so that the burr surface overlaps the virtual reference line;
Deburring system. The deburring system according to claim 1 or 2,
The control means stores a virtual circumscribed rectangle that is a rectangle that can accommodate the workpiece so as to circumscribe the workpiece, and a burr surface inclination angle that is an inclination angle of the burr surface with respect to the virtual circumscribed rectangle,
When the control means matches the virtual reference line and the burr surface,
Setting a first virtual line and a second virtual line parallel to the virtual reference line;
Turning the virtual circumscribed rectangle so that the work imaged in the image data from the imaging device is in contact with the virtual circumscribed rectangle, and superimposing the virtual circumscribed rectangle on the image of the work,
The virtual circumscribed rectangle superimposed on the workpiece imaged in the image data from the imaging device is virtually sandwiched between the first virtual line and the second virtual line,
The gripping means is moved and turned so that the distance between the first imaginary line and the second imaginary line is minimized, and the virtual circumscribed rectangle is moved and turned together with the work, so that the virtual reference line and the virtual circumscribed rectangle are Make one side parallel,
After rotating the gripping means by the burr surface inclination angle to make the burr surface and the virtual reference line parallel, the gripping means is moved so that the burr surface overlaps the virtual reference line.
Deburring system. A deburring system according to any one of claims 1 to 4,
When the control means recognizes the position of the burr existing on the burr surface of the workpiece,
Work image captured in reference line coincidence image data that is image data from the imaging device in a state where the virtual reference line and the burr plane coincide with each other, and a work image captured in the reference line coincidence image data Burrs are obtained from the difference between the microprojection removal work image, which is an image obtained by removing microprojections using a morphological operation, and the position of the obtained burrs is recognized.
Deburring system. A deburring system according to any one of claims 1 to 5,
The control means moves the gripping means gripping a workpiece to the burr removing device to remove burrs, then moves the gripping means gripping the workpiece to the imaging area, and Based on the image data of, it is determined whether the burr has been removed,
Deburring system. A deburring system according to any one of claims 1 to 6,
The virtual reference line is a line orthogonal to the optical axis of the imaging device in image data,
The virtual reference point is a point indicating the optical axis of the imaging device in image data,
The burr is perpendicular to the burr surface,
The burr surface is a plane in contact with the connection point between the burr and the workpiece.
Deburring system.