| CPC B25J 11/006 (2013.01) [B25J 9/1633 (2013.01); B25J 9/1664 (2013.01)] | 5 Claims |
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1. A deburring device comprising:
a deburring robot manipulator configured to remove a burr from an object;
a non-transitory memory configured to store a program; and
a processor configured to execute the program stored on the non-transitory memory to cause the deburring device to:
preliminarily create a robot program for deburring;
detect a position of a burr portion of one workpiece using a visual sensor, the one workpiece being the object;
update the robot program based on the position of the burr portion of the one workpiece, the position having been detected by the visual sensor;
detect force acting on the deburring robot manipulator and the one workpiece, and control the detected force to a predetermined value of pressing force;
acquire a true path of a movement of the deburring robot manipulator based on data outputted by a position sensor while the detected force is controlled to the predetermined value of pressing force based on the updated robot program;
calculate correction parameters related to the position of the burr portion of the one workpiece detected by the visual sensor, based on a difference between the true path and a path of a movement of the deburring robot manipulator detected using the visual sensor while the detected force is controlled to the predetermined value of pressing force;
further correct for a position of a burr portion of a subsequent workpiece being the object detected by the visual sensor using the calculated correction parameters, and update the robot program based on the corrected position of the burr portion; and
further detect force acting on the deburring robot manipulator and the subsequent workpiece, and control the detected force to the predetermined value of pressing force based on the updated robot program.
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