US 12,496,683 B2
Deburring control device, and deburring system
Yihua Gu, Yamanashi (JP); and Takashi Satou, Yamanashi (JP)
Assigned to FANUC CORPORATION, Yamanashi (JP)
Appl. No. 18/044,142
Filed by FANUC CORPORATION, Yamanashi (JP)
PCT Filed Oct. 4, 2021, PCT No. PCT/JP2021/036618
§ 371(c)(1), (2) Date Mar. 6, 2023,
PCT Pub. No. WO2022/075257, PCT Pub. Date Apr. 14, 2022.
Claims priority of application No. 2020-170887 (JP), filed on Oct. 9, 2020.
Prior Publication US 2023/0311271 A1, Oct. 5, 2023
Int. Cl. B24B 51/00 (2006.01); B24B 49/00 (2012.01); B24B 49/12 (2006.01); B24B 49/16 (2006.01)
CPC B24B 51/00 (2013.01) [B24B 49/006 (2013.01); B24B 49/12 (2013.01); B24B 49/16 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A deburring control device for controlling a deburring process for deburring a workpiece by causing a robot to move a deburring tool along a ridge line of the workpiece, the deburring control device comprising:
a displacement amount calculation unit configured to calculate an amount of displacement of an actual trajectory of the robot from a taught trajectory;
a pressing force acquisition unit configured to acquire a pressing force that the deburring tool applies;
a rotation speed acquisition unit configured to acquire a rotation speed of the deburring tool;
a defect detection unit configured to detect a deburring defect resulting from failure to appropriately perform the deburring process, in all cases of an excess of the amount of displacement, an excess of the pressing force, a shortfall of the pressing force, an excess of a differential value of the pressing force, a shortfall of the differential value of the pressing force, an excess of the rotation speed, and a shortfall of the rotation speed; and
a recording unit configured to record, in response to detection of the deburring defect, a reason of a detection of the deburring defect by the defect detection unit.