A deburring apparatus including: a robot that uses a deburring tool to deburr an object supported by a support in a machine tool, a visual sensor, a relative movement mechanism for causing relative movement between the visual sensor and the object supported by the support; and a controller, wherein the controller is configured to conduct: an operation process that operates the relative movement mechanism based on a visual sensor relative movement program for controlling an operation of the relative movement mechanism so that a ridge of the object supported by the support is detected by the visual sensor during the relative movement; and a deburring operation program generation process which generates a deburring operation program by using the detected ridge obtained by the visual sensor when the relative movement mechanism is operated based on the visual sensor relative movement program.

A controller includes a machine learning device for learning machining conditions when deburring is performed by controlling the robot. The machine learning device observes workpiece information indicating a shape or material of a workpiece, burr information indicating a shape or position of a burr, and machining conditions including tool information indicating a type of a tool, a feed rate of the tool and a rotational speed of the tool, as a state variable representing a current state of an environment, and acquires determination data indicating an evaluation result of the deburring. Then, using the observed state variable and the acquired determination data, the machine learning device performs learning by associating the machining conditions with the workpiece information and the burr information.

A disclosed robot system enables an operator of an articulating arm used in fabricating window or door frames to recover the position of the tools during the cleaning process with minimal knowledge or training on a robot. The disclosed robot system also gives the operator the ability to edit a tool cleaning path with simple commands from an operator interface (e.g., HMI) to bring flexibility in customizing the use of the articulating arm.

A machine tool of the present invention includes: a visual sensor that takes an image of unworked workpiece; an unworked workpiece shape information storing unit that stores unworked workpiece shape information obtained by the visual sensor; a worked workpiece shape information storing unit in which worked workpiece shape information is stored; a burr information calculating unit that recognizes a burr by comparing the unworked workpiece shape information with the worked workpiece shape information; a burr determining unit that determines the burr based on conditions including at least one of the location and the direction of the burr in the workpiece; a working method judging unit that decides whether or not to perform burring with a tool of the machine tool based on the determination result concerning the burr; and a working path generating unit that generates a working path for removing the burr judged to be a burr on which burring is to be performed with the tool.

A grinding device includes a first arm including at a tip thereof at least one grinding member configured to grind a workpiece, the first arm causing at least one grinding member to reciprocate linearly, and a second arm including at a tip thereof a gripping part configured to grip the workpiece, the second arm causing the workpiece to rock through repetitive two-way rotations.

Provided is a program creation device capable of creating an operation program for a robot for removal machining of a workpiece even when a sufficient amount of displacement does not exist between a machined surface and a reference surface of the workpiece or even when the amount of displacement changes. The present disclosure pertains to a program creation device for creating an operating program for a robot for removal machining a workpiece having a machining surface, and a reference surface displaced from the machining surface. The robot for removal machining comprises a removal machining tool. The program creation device comprises: a positional information acquisition unit for acquiring positional information about a positional relationship between the machining surface and the reference surface of the workpiece; a tool information storage unit for storing tool information about the removal machining tool; and a program creation unit for creating, on the basis of the positional information about the workpiece and the tool information about the removal machining tool, the operating program for the robot for removal machining. The program creation unit selects a portion to be used of the removal machining tool so as to avoid interference between the removal machining tool and the reference surface of the workpiece.

A machining system includes a robotic manipulator, a master-side automated tool changer, a master-side data transmission connector, and a plurality of end effectors. Each of the end effectors includes a machine tool, a tool-side automated tool changer coupleable to the master-side automated tool changer, and a tool-side data transmission connector coupleable to the master-side data transmission connector. A controller is in communication with the master-side automated tool changer and the master-side data transmission connector. With the master-side automated tool changer coupled to the tool-side automated tool changer of the end effector: power is transferred from the master-side automated tool changer to the tool-side automated tool changer; electrical signals are transferred between the master-side data transmission connector and the tool-side data transmission connector; and the controller identifies the end effector based on one of the electrical signals transferred between the master-side data transmission connector and the tool-side data transmission connector.

A controller has a state observation unit to acquire a present state of a robot as a state variable, a label data acquisition unit to acquire, as a label, a detected value of a force sensor attached to an arm and to detect necessary data for control of a pressing force, and a learning unit to generate a learning model indicative of the correlation between the state variable acquired in a no-load state and the label acquired under the state variable acquired in the no-load state and to estimate the detected value of the force sensor. The controller controls the pressing force by using the detected value of the force sensor acquired in the present state of the robot acquired in a loaded state and the detected value of the force sensor estimated by the learning unit based on the present state of the robot acquired in the loaded state.

The invention relates to a finishing device for removing the weld bead generated during welding of a window or door frame or frame section at the mitered surfaces, wherein the finishing device comprises a support surface for the frame or frame section and a processing arm for supporting a tool holder, and the processing arm consists of a plurality of arm elements that move in hinged fashion relative to one another but can also be fixed in place, wherein the tool holder comprises at least two cutting tools driven by a rotational drive, said tools rotating about a tool axis and at least one tool laterally next to the blade of the tool, contact sides.

An object burr processing machine for trimming object burr, comprises a machine base, a positioning seat erected on the machine base, a processing arm provided on the positioning seat, an object stage coupled with the machine base for placing object, and control device. The control device comprises an object sensing unit, a processing path setting unit, and a process control unit. The object sensing unit is able to sense the shape of the object. The processing path setting unit is able to define a processing path based on the shape of the object. The process control unit communicates and links to the processing arm, the object stage, the object sensing unit, and the processing path setting unit. During the burr trimming process, the process control unit can use the established processing path to control other devices to conduct the burr trimming process to the object, which greatly increases the convenience and efficiency of the processing.