A method for deburring a gear blank includes correcting chamfer sizes, chamfer shapes and chamfer symmetry at tooth edges which were produced with a deburring cutter with a strongly asymmetric tooth shape (ChamferCut). The chamfers are semi-automatically corrected by coupling the movement of several axes of a gear cutting machine, including a workpiece axis of rotation C.sub.1, spatial shifting axes of a machine column Z.sub.1, X.sub.1, and Y.sub.1, and a V.sub.1-axis corresponding to the tool axis. The method further includes specifying a correction in the axial direction in one of the axes Z.sub.1, V.sub.1 and C.sub.1, and calculating the correction amount of further axes by the controller depending on the specified axis.

An apparatus for automated machining, such as grinding, cutting and/or deburring, of workpieces, in particular of cast components, e.g., of wind turbines. For this purpose, the apparatus comprises a motor spindle for machining the workpiece, the motor spindle having a tool interface for receiving a tool for the machining operation. Moreover, the motor spindle is designed, in particular, to change a tool automatically. In addition, the apparatus comprises a robot for holding and guiding the motor spindle, and a control unit for controlling the motor spindle and the robot. The disclosure additionally relates to a method for automated machining of workpieces.

A cutting method in which a workpiece is cut on the basis of a plurality of tool paths parallel to one another into a shape having a corner that protrudes outward. A machining step for machining the workpiece on the basis of one tool path and a moving step for moving to the starting point of the next machining step after the completion of the one machining step are repeated. In the machining step, a cutting step for cutting the workpiece in the one tool path and a removing step for removing a burr by moving a tool relatively to the workpiece in the same tool path as that of the cutting step in a region forming the corner are successively performed.

A calculation device calculates a position of an implement for cutting a ridge line formed by a cylinder circumferential surface and a surrounding wall surface forming a through-hole penetrating a workpiece in the shape of a column. The calculation device calculates the position of the implement on the basis of: a second tangent of a first ellipse formed by the cylinder circumferential surface and a plane perpendicular to a first tangent of the ridge line; a third tangent of a second ellipse formed by the column and said plane; a prescribed processing width; the radius of the implement; and the angle of the point angle of the implement.

Provided is a program generation device capable of automatically generating a route program which takes into account the amount of bending when the tip of a robot abuts against a workpiece. This program generation device is provided with: an acquisition unit that acquires route data indicating a route to be followed by the tip of the robot with respect to an object; a detection unit that detects a pressing force for pressing the tip of the robot to the object; a calculation unit that calculates the amount of misalignment of the followed route caused by bending of the tip of the robot, on the basis of the pressing force detected by the detection unit and a prescribed constant; and a generation unit that automatically generates a route program for controlling a moving route of the tip of the robot, on the basis of the route data acquired by the acquisition unit and the amount of misalignment calculated by the calculation unit.

A method for calibrating a robot is disclosed. A working space of the robot at least partly overlaps with a working space of a machining and/or production tool. The robot is moved such that a reference point of the robot is at a first position within the working space of the machining and/or production tool. A first position value for the robot at the first position is compared with a first position value for the machining and/or production tool at the position. If the first position value for the robot differs from the first position value for the machining and/or production tool, the first position value for the robot is corrected or the first position value for the machining and/or production tool is corrected such that the first position value for the robot and the first position value for the machining and/or production tool are the same.