JP2010082749A - Finishing method and device for workpiece - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a finishing method and device for a workpiece attaining efficient finishing treatment such as removal of a burr, chamfering or removal of a slag and a scale on an edge by detecting and recognizing an edge of the respective workpieces even when the workpieces as a plurality of different shape parts are carelessly arranged. <P>SOLUTION: In the finishing method, the workpiece 90 is placed on a surface plate 10, the workpiece 90 on the surface plate 10 is photographed by a sensor 30, i.e., a photographing means, an edge of the workpiece 90 is recognized based on the photographing data, and coordinate data of the edge is produced. The finishing treatment of the workpiece 90 by a finishing tool 20 such as removal of the slag, removal of the burr/chamfering or removal of the scale is efficiently performed by controlling a position of the finishing tool 20 relative to the workpiece 90 based on the coordinate data. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to a method and an apparatus for finishing a workpiece, such as removal of slag and scale of a workpiece that is a workpiece, or finishing such as deburring and chamfering.

  Conventionally, when creating NC programs for use with NC machine tools, part shapes such as straight lines, arcs, rounded shapes, and chamfered shapes, which are the basis for creating programs, are registered, The NC program is created using the part shape designated from the above as the reference part shape. A rounded shape or a chamfered shape is input to the corner portion of the reference part shape as necessary, and data of the reference part shape is stored in a storage device in advance.

  In the case of parts having different sizes but similar shapes, there has been proposed a program creation device capable of designating a dimension value suitable for deburring of a corner portion regardless of the processing magnification (Patent Document 1). ). According to this program creation device, a machining magnification is designated as a reference part shape, a machining part shape is created by enlarging or reducing, and the machining part shape is saved in a storage device. An NC program has been created by applying the method. The created program is stored in a storage device, and in actual machining, it is read out from the storage device and used in the NC machine tool.

  In detail, the rounding radius and chamfering amount of the rounded shape and chamfered shape that are common in corners and the like are not uniformly set depending on the processing magnification, and there is a limit to the size range of the maximum dimension value or less or the minimum dimension or more. . In addition, a specific (absolute or necessary) dimension value may be specified. According to this program creation device, the feature shape recognition magnification application means calls the reference part shape from the storage device, and for the rounded shape / chamfered shape among the reference part shapes, the dimension value in the reference part shape and the rounded dimension value Calculate the ratio between the input means and the dimension value specified by the chamfer dimension value input means, apply the calculated magnification to the rounded shape / chamfered shape using the calculated magnification obtained from the ratio, and specify the specified rounded dimension value. And a rounded shape and a chamfered shape of the chamfer dimension value are created. Then, the machining part shape is created by processing from the reference part shape, and the NC program creation means creates the NC program by applying the machining method input from the machining method input means to the machining part shape.

  In the case of a part having a similar shape as described above, the reference part shape is determined in advance by designating the part shape, and creation in the NC program can be handled by applying magnification. However, when the workpieces as a plurality of odd-shaped parts are randomly arranged, it cannot be basically handled.

  Further, there has been proposed a workpiece shape recognition processing method for a chamfering device that accurately controls chamfering of a workpiece by restricting the movement of the chamfering tool based on the workpiece shape data recognized before chamfering (see FIG. Patent Document 2). According to this method, the front end portion and the rear end portion of the workpiece are imaged by the camera, the obtained image data is subjected to image processing, the outline data of the workpiece front end portion and the rear end portion is extracted, and the outer shapes thereof are extracted. Define and synthesize both data to find the overall shape of the workpiece. A chamfering program is created from the outline data of the entire workpiece, and a chamfering tool is operated in the chamfering device based on this program to chamfer the workpiece.

By the way, in a workpiece (workpiece), a workpiece may be manufactured by cutting a flat plate with a laser, gas, shear, or the like. As shown in FIG. 8, for example, in the case of a part cut out from a base material by gas cutting, scale is generated on the cut out peripheral surface, and slag remains on the upper peripheral edge and molten iron remains on the side peripheral edge. Further, burrs are formed on the edges (FIG. 8A). In the case of a part cut out from a base material by laser cutting, no slag or molten iron remains, but a scale is generated on the cut out peripheral surface, and burrs are formed on the edge (FIG. 8B). ). In addition to chamfering, cut products have defects such as slag, scale, and molten iron, and it is desirable to remove these defects along with chamfering. At present, such a finishing work is actually performed with a manual tool such as a grinder. When the amount of work increases, the number of man-hours increases, and the work environment deteriorates due to dust, which increases the burden on the worker.
JP 2004-46539 A Japanese Patent Laid-Open No. 9-201757

  Therefore, even when workpieces as a plurality of odd-shaped parts are randomly arranged, recognition data for each workpiece is generated, a series of operations are automatically processed, and the workpiece finishing process is performed quickly. There is a problem to be solved in terms of efficient execution.

  The object of the present invention is to detect and recognize the edge of each workpiece, even when a plurality of workpieces as irregular parts are arranged at random, and to deburr or chamfer the edge, or slag, scale, molten iron It is an object of the present invention to provide a workpiece finishing method and apparatus that enable efficient finishing processing, such as removing defects such as the above.

  In order to solve the above-described problems, a method for finishing a workpiece according to the present invention includes placing a workpiece on a surface plate, photographing the workpiece on the surface plate with an imaging unit, and based on the photographing data. Recognizing the edge of the workpiece, generating coordinate data of the edge, and controlling the position of the finishing tool with respect to the workpiece based on the coordinate data, and performing the finishing process of the workpiece with the finishing tool Consists of.

  Further, the workpiece finishing apparatus according to the present invention includes a surface plate on which a processed product cut out from a base material is placed, an imaging means for photographing the processed product on the surface plate, and a finish for finishing the processed product. A tool, a driving mechanism for driving the finishing tool relative to the workpiece, and generating coordinate data of the edge of the workpiece based on the photographing data, and controlling the operation of the driving mechanism and the finishing tool. A control unit that controls the operation of the drive mechanism based on the coordinate data to control a relative three-dimensional position of the finishing tool with respect to the workpiece, thereby finishing the workpiece. Consists of doing processing.

  The method and apparatus for finishing a workpiece according to the present invention is configured as described above. A workpiece such as a cut product cut out from a base material is placed on a surface plate and photographed by an imaging unit. Recognize the edge of the work piece by image recognition based on the image data, and generate coordinate data of the edge, and control the position of the finishing tool relative to the work piece based on the coordinate data. Regardless of this, even when the workpiece is placed on the surface plate at random, finishing processing of the workpiece such as deburring, chamfering, or removal of scale at the edge can be performed efficiently.

  Embodiments of a finishing method and apparatus for a workpiece according to the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a perspective view showing an example of a workpiece finishing apparatus according to the present invention.

  A finishing apparatus 300 shown in FIG. 1 is an automatic finishing dedicated apparatus such as deburring having three axes of X, Y, and Z. The finishing device 300 includes a surface plate 10 on which an irregularly shaped workpiece 90 cut out from a plurality of base materials is placed on an upper surface. The workpiece 90 is cut from the base material by gas cutting, laser cutting, plasma cutting, shear cutting, or the like. The surface plate 10 is mounted so as to be slidable in the horizontal X-axis direction on a moving device 11 having a slide rail. The surface plate 10 is configured, for example, as a magnet surface plate, and the workpiece 90 is attracted and fixed onto the surface plate 10 by a magnetic force, so that the workpiece 90 is inadvertently moved during image recognition described later. Can be prevented. The mounting surface on which the workpiece 90 of the surface plate 10 is placed is a color plate having a color difference or a gloss difference in order to make the edge of the workpiece 90 clear. Instead of the magnet surface plate, a vacuum suction surface plate that attracts the workpiece 90 by vacuuming may be used.

  The apparatus main body of the finishing apparatus 300 is formed in a gate shape that straddles the surface plate 10 and the moving apparatus 11, and includes a processing header 15 on the beam. A finishing tool 20 for deburring the workpiece 90 is detachably mounted on the processing header 15. The moving device 11 or the surface plate 10 is provided with a replacement finishing tool 25, which makes it possible to change the tool smoothly. On the beam of the apparatus main body, a carrier is provided so as to reciprocate in the horizontal Y-axis direction by a drive device such as a servo motor and a motion conversion mechanism 16 such as a ball screw. The processing header 15 to which the finishing tool 20 is attached is provided so as to be able to be lifted and lowered with respect to the carrier by a lifting and lowering means such as a slide rail, and is lowered to perform a finishing operation such as deburring on the workpiece 90.

  An elastic support function is provided between the finishing tool 20 and the processing header 15 by interposing an elastic body such as a spring or resin. In other words, an error is included in the recognition data for the workpiece 90 by interposing an elastic body between the machining header 15 and the finishing tool 20 and positioning the finishing tool 20 in advance so as to be pressed against the workpiece 90. Can be absorbed. An embodiment of such a finishing tool 20 is shown in FIG. FIG. 6A schematically shows an example in which the machining shaft 20b of the finishing tool 20 is configured to be elastically deformable. FIG. 6B schematically shows an example in which the machining shaft 20b of the finishing tool 20 is configured as an expansion / contraction mechanism. FIG. 6C schematically shows an example in which the machining shaft 20c of the finishing tool 20 is configured as a swing mechanism. Moreover, it is possible to avoid an excessive force from acting on the processed product by the intervention of the elastic body. That is, when an excessive force is applied to the finishing tool 20 from the workpiece 90 side due to the error included in the recognition data, for example, within an error range of about ± 2 mm, The finishing tool 20 is retracted from the workpiece 90 by bending the machining shaft 20a, retreating the machining shaft 20b, or swinging the machining shaft 20c by devising the machining shafts 20a to 20c of the finishing tool 20 as described above. Damage to the workpiece 90 and the finishing tool 20 can be avoided.

  The finishing apparatus main body is provided with a sensor 30 as an imaging means for detecting the edge of the workpiece 90. The sensor 30 can be a line or area sensor. In the case of a line sensor, the sensor 30 operates while the workpiece 90 moves relatively. In the case of an area sensor, the workpiece 90 may be stationary. The imaging means may be a camera instead of these sensors. It is preferable to attach an illuminating device for shadowing in association with the sensor 30. The finishing device main body is further provided with a light shielding cover 40 depending on the surface of the finishing device as needed. The light shielding cover 40 prevents ambient light from entering the detection area when the sensor 30 detects the edge of the workpiece 90.

  The finishing apparatus 300 also includes image recognition means for recognizing the edge of the workpiece 90 based on the detection data from the sensor 30. FIG. 7 shows an example of a technique for obtaining coordinate data from imaging data of a workpiece 90 in finishing the workpiece according to the present invention. The image recognition means also determines the processing order based on the determined edge information. The procedure for image recognition is as follows. That is, first, the image recognition means recognizes an edge from the image data of the workpiece 90 based on the output of the sensor 30 (FIG. 7A). Based on the recognition of the edge, the planar contour of the workpiece 90 is processed as point cloud data (finite point data) (FIG. 7B). Based on the point cloud data, the contour of the workpiece 90 is generated as a closed shape, that is, as a closed polygon connected by a finite number of line segments (FIG. 7C). Alternatively, the contour of the workpiece 90 may be generated as closed curve data connected with an approximate curve instead of the polygon data with the closed contour. Further, outline / internal shape identification is performed to recognize whether the closed polygon or closed curve is an external shape line or an internal shape line, and an edge is determined (FIG. 7D).

  The finishing apparatus 300 further includes a processing type input unit that inputs a processing type to the workpiece 90 based on the determination / determination performed by the image recognition unit. The processing type input means is used to determine and input a processing type such as slag removal, scale removal, chamfering, and deburring.

  An outline of one kind of work performed by the finishing apparatus 300 shown in FIG. 1 is shown as a flow in FIG. As shown in FIG. 2, when the finishing operation is started, the surface of the workpiece 90 is first placed on the surface plate 10 (step 1, abbreviated as “S1”, the same applies hereinafter). The workpiece 90 handled by the apparatus 300 has a relatively thin and uniform thickness, and is preferably, for example, a flat cylinder or a prism (even if a hole is formed from the surface). As initial information, the plate thickness is input to the input unit of the apparatus. The input thickness is used for later coordinate data and machining control by a finishing tool.

  Image recognition is performed from the imaging data photographed by the sensor (camera) 30, and the edge of the workpiece 90 is recognized (S3). Coordinate data for numerical control (NC) is generated from the recognized image (S4). Slag removal is performed based on the coordinate data generated in S4 (S5). As already described, the slag 110 is a foreign matter adhering so as to rise on the surface of the workpiece 90 and hinders edge processing such as deburring and chamfering processing or scale removal processing. Removed at the beginning of As described above, also in slag removal, the presence of slag is grasped for each workpiece 90 based on the result of image recognition, and image data including slag is generated for the workpiece 90. The slag 110 is removed individually.

  Image recognition is performed again on the workpiece 90 from which the slag has been removed (S6), and coordinate data for numerical control (NC) is generated (S7). Based on the coordinate data generated in S7, the burr 140 is deburred and the edge 150 is chamfered (S8). When the deburring or chamfering process in S8 is completed, the tool is replaced with a finishing tool for removing the scale (S9), and the scale 130 is removed (S10). When all the workpieces 90 on the surface plate 10 have been processed, the component (back surface) arrangement (S11) is performed, and the steps in the range of * 1 (S6 to S10) are also performed on the back surface of the workpiece 90. (S12). The steps in the range of * 1 (S6 to S10) are performed for each workpiece 90.

  FIG. 3 is a perspective view for explaining deburring by the rotating wire brush 50a in the finishing device 300 according to the present invention. FIG. 4 is a perspective view for explaining deburring by the wire brush 50b in the finishing device 300 according to the present invention. As shown in FIG. 3, the rotating wire brush 50 a is disposed with its rotation axis parallel to the mounting surface of the surface plate 10 so as to straddle the surface plate 10 in relation to the moving device 11. For parts and mechanisms that are common to the finishing apparatus 300 shown in FIG. In this example, the thickness of the workpiece 90 is the same or substantially the same. As the rotating wire brush 50a rotates and relatively moves with respect to the surface plate 10, the removal processing of the slag 110 is collectively performed on the plurality of workpieces 90. In this example, image data of the slag 110 is not generated by image recognition for each workpiece 90.

  As shown in FIG. 4, instead of the rotating wire brush 50 a, a vibrating wire brush 50 b is disposed across the surface plate 10. Also in the finishing apparatus shown in FIG. 4, reference numerals and re-explanations for parts and mechanisms common to the finishing apparatus 300 shown in FIG. 1 are omitted. When the wire brush 50b moves relative to the workpiece 90, the wire brush 50b is vibrated in the XY plane, whereby the removal processing of the slag 110 is collectively performed on the plurality of workpieces 90. Also in this example, the image data of the slag 110 is not generated for each individual workpiece 90 by image recognition.

  An outline of one operation for the finishing apparatus 300 shown in FIGS. 3 and 4 is shown as a flow in FIG. 5. As shown in FIG. 5, when the finishing operation is started, the surface of the workpiece 90 is first placed on the surface plate 10 (S21). The workpiece 90 handled by this apparatus is also preferably relatively thin and uniform in thickness. As initial information, the plate thickness of the workpiece 90 is input to the input unit of the apparatus (S22).

  The slag is simply removed by the wire brushes 50a and 50b in the finishing apparatus shown in FIG. 3 or 4 without image recognition (S23). In particular, when the workpiece 90 is cut out with a laser, the slag 110 is not generated, and thus the slag removal process itself can be omitted.

  Image recognition is performed on the workpiece 90 that has been subjected to slag removal or that does not require slag removal (S24). The specific procedure for image recognition has already been described. Image recognition is performed from the image data captured by the sensor (camera) 30 (the edge of the workpiece 90 is recognized), and coordinate data for numerical control (NC) is generated from the recognized image (S25). Based on the coordinate data generated in S25, the burr 140 is deburred and the edge 150 is chamfered (S26). When the deburring or chamfering process of S26 is completed, the tool is replaced with a finishing tool for removing the scale (S27), and the scale 130 is removed (S28). When all the workpieces 90 on the surface plate 10 have been processed, the component (back surface) arrangement (S29) is performed, and the steps in the range of * 1 (S24 to S28) are also performed on the back surface of the workpiece 90. (S30). The steps in the range of * 1 (S6 to S10) are performed for each workpiece 90.

  Regarding the finishing of the workpiece according to the present invention, the workpiece has been described as an article having a uniform thickness. However, by adding a sensor (camera) and recognizing the workpiece three-dimensionally, the thickness can be reduced to one. Instead, a workpiece having an arbitrary shape can be a target for finishing. Moreover, the finishing apparatus for a workpiece according to the present invention has been described as a dedicated finishing machine having three axes of X, Y, and Z in the embodiment. However, the present invention is not limited to this. Can also perform this finishing work.

The perspective view which shows one Example of the finishing apparatus by this invention. The flowchart which shows an example of the operation | work of the finishing apparatus shown in FIG. The perspective view which shows another Example of the finishing apparatus by this invention. The perspective view which shows another Example of the finishing apparatus by this invention. The flowchart which shows the schematic flow of the operation | work about the finishing apparatus shown in FIG.3 and FIG.4. The figure explaining the function of the finishing tool used for the finishing apparatus by this invention. Explanatory drawing which shows an example of the method of obtaining coordinate data from the imaging data of a workpiece in the finishing of the workpiece in this invention. The figure which shows the slag, molten iron, scale, burr | flash, and edge which arise in a workpiece.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Surface plate 11 Moving device 15 Processing header 16 Motion conversion mechanism 20 Finishing tool 20a-20c Processing axis 30 Sensor 40 Shading cover 50a Rotating wire brush 50b Wire brush 90 Workpiece 300 Finishing device

Claims (18)

  A workpiece is placed on a surface plate, the workpiece on the surface plate is imaged by an imaging means, and the edge of the workpiece is recognized based on the imaging data, and coordinate data of the edge is generated, A method for finishing a workpiece, comprising: finishing the workpiece with the finishing tool by controlling a position of the finishing tool with respect to the workpiece based on the coordinate data. In the finishing method of the workpiece of Claim 1,
After the workpiece is placed on the surface plate, the slag removal of the workpiece is performed by a slag removal tool prior to the finishing process for the workpiece starting from the photographing of the workpiece. How to finish things. In the finishing method of the workpiece of Claim 2,
A method for finishing a workpiece, comprising: controlling a height position of the slag removing tool based on thickness information of the workpiece. In the finishing method of the workpiece of Claim 3,
Prior to the slag removal, the workpiece is photographed by the imaging means, coordinate data before the slag removal of the edge of the workpiece is generated based on the photographed data, and the workpiece is processed based on the coordinate data. A method for finishing a workpiece, wherein the slag is removed. In the finishing method of the workpiece as described in any one of Claims 1-4,
The edge of the workpiece is processed as point cloud data based on the imaging data, and then processed with closed shape data connected by polygons based on the point cloud data. A finishing method for a workpiece, wherein the coordinate data of the edge of the workpiece is generated by performing shape / outline identification processing. In the finishing method of the workpiece according to any one of claims 1 to 5,
A finishing method for a workpiece, wherein the finishing tool is controlled by pressing in order to absorb a measurement error of the coordinate data of the workpiece. In the finishing method of the workpiece as described in any one of Claims 1-6,
The method for finishing a workpiece, wherein the workpiece is a part cut out from the base material by cutting. In the finishing method of the workpiece as described in any one of Claims 1-7,
A finishing method for a workpiece, wherein the finishing treatment is deburring, chamfering or descaling of the workpiece. A surface plate for placing a workpiece, imaging means for photographing the workpiece on the surface plate, a finishing tool for finishing the workpiece, a drive for driving the finishing tool relative to the workpiece A mechanism and a control unit that generates coordinate data of the edge of the workpiece based on the imaging data and controls the operation of the drive mechanism and the finishing tool;
The control unit controls the operation of the drive mechanism based on the coordinate data, and controls the relative position of the finishing tool with respect to the workpiece to perform a finishing process on the workpiece. Finishing equipment. The work finishing apparatus according to claim 9, wherein:
The said control part controls the height position of the said finishing tool based on the thickness information of the said workpiece, The finishing apparatus of the workpiece characterized by the above-mentioned. In the finishing apparatus of the workpiece of Claim 9 or 10,
The control unit processes the edge of the workpiece as point cloud data based on the photographing data, and then performs processing with closed shape data connected with polygons based on the point cloud data, and further, An apparatus for finishing a workpiece, wherein the coordinate data of the edge of the workpiece is generated by performing an inner shape / outer shape identification process on the closed shape data. In the finishing apparatus of the workpiece as described in any one of Claims 9-11,
In order to absorb the measurement error of the coordinate data of the workpiece, the finishing tool is provided with an elastic support function on the tool shaft, and the workpiece is positionally controlled without being pressed against the workpiece. Finishing equipment. In the finishing apparatus of the workpiece as described in any one of Claims 9-12,
The relative position of the finishing tool with respect to the workpiece is a position on three-dimensional coordinates by two orthogonal axes in a plane parallel to the surface plate and an axis perpendicular to the plane. Finishing equipment. The workpiece finishing apparatus according to claim 13,
The drive mechanism is a mechanism that horizontally moves the surface plate, a mechanism that horizontally moves a carrier that holds the finishing tool, and a mechanism that vertically moves a header to which the finishing tool is attached in the carrier.
One of the two orthogonal axes is a horizontal movement axis of the surface plate, one of the two orthogonal axes is a horizontal movement axis of the carrier, and the axis perpendicular to the plane is the header. Workpiece finishing device characterized by a vertical movement axis. In the finishing apparatus of the workpiece as described in any one of Claims 9-14,
The workpiece finishing device according to claim 1, wherein the workpiece is a part cut from the base material by cutting. In the finishing apparatus of the workpiece as described in any one of Claims 9-15,
The finishing process is characterized by deburring or chamfering of the workpiece in which the finishing tool is used as a burr / chamfering tool such as a rotary bar, or scale removal in which the finishing tool is used as a scale removing tool composed of a brush or the like. Finishing device for workpieces to be processed. In the finishing apparatus of the workpiece as described in any one of Claims 1-16,
An apparatus for finishing a workpiece, wherein the workpiece is held on the surface plate by magnet adsorption or vacuum adsorption. In the finishing apparatus of the workpiece as described in any one of Claims 1-17,
An apparatus for finishing a workpiece, wherein the workpiece is held on the surface plate with a color plate having a color difference or a gloss difference interposed therebetween.

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