US 11,656,597 B2
Method and system for recognizing deburring trajectory
Cheng-Kai Huang, Taichung (TW); Yi-Ying Lin, Taichung (TW); Bing-Cheng Hsu, Changhua County (TW); and Jan-Hao Chen, Changhua County (TW)
Assigned to INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE, Hsinchu (TW)
Filed by INDUSTRIAL TECHNOLOGY RESEARCH INSTITUTE, Hsinchu (TW)
Filed on Mar. 5, 2021, as Appl. No. 17/193,005.
Claims priority of application No. 109143082 (TW), filed on Dec. 7, 2020.
Prior Publication US 2022/0176467 A1, Jun. 9, 2022
Int. Cl. B25J 9/16 (2006.01); G05B 19/19 (2006.01); B23C 3/12 (2006.01); B25J 11/00 (2006.01); G05B 19/4099 (2006.01)
CPC G05B 19/19 (2013.01) [B23C 3/12 (2013.01); B25J 9/1664 (2013.01); B25J 9/1697 (2013.01); B25J 11/006 (2013.01); G05B 19/4099 (2013.01); G05B 2219/45151 (2013.01)] 3 Claims
OG exemplary drawing
 
1. A method for recognizing a deburring trajectory, relevant to be performed by a controller or a computer, comprising the steps of:
(a) according to a process flow of a workpiece, analyzing a CAD file of the workpiece, determining a burr processing area and obtaining a mathematical model of boundary contour curve, wherein the process flow includes a preceding machining pattern and its cutting directions;
(b) applying a linear contour sensor to scan the workpiece to obtain contour section information of the workpiece;
(c) performing curve fitting upon the contour section information of the workpiece and the mathematical model of boundary contour curve so as to obtain a boundary curve function; and
(d) utilizing the boundary curve function to determine deburring position information of the workpiece and to further generate a processing path;
wherein the step (a) includes the steps of:
(a1) cross-sectioning the burr processing area of the workpiece in a cutting direction so as to obtain section contour information of a working area; and
(a2) according to section contour curve characteristics of the burr processing area, dividing the section contour information of the working area into a plurality of segments for individually determining the mathematical models of boundary contour curves of the workpiece; and
wherein the step (b) includes the steps of:
(b1) obtaining contour information neighboring a burr, the contour information including burr information and non-burr information; and
(b2) removing the burr information, and defining the non-burr information as the contour section information of the workpiece.