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 machine learning apparatus includes a first information acquiring unit that acquires first information including at least one of a shape of a workpiece, a material of the workpiece, a cutting path of a cutting process, a type of a tool, and an amount of wear of the tool; a second information acquiring unit that acquires second information correlated with an evaluation of a burr occurring on the workpiece due to the cutting process; and a learning unit that executes learning processing using a plurality of pieces of the first information and a plurality of pieces of the second information, and generates a learning model that outputs a cutting condition, according to another piece of first information that is different from the plurality of pieces of first information.

A method for deburring an aeronautical part with an articulated tooling including a plurality of axes of rotation, the aeronautical part including at least one edge to be deburred, the articulated tooling including a tool holder, holding a calibration tool and a machining tool, the calibration tool and the machining tool being fixed to the tool holder and being immovable relative to one another, the method including steps of calibrating the calibration tool and the machining tool, of parameterizing the aeronautical part, of deburring the at least one edge to be deburred with the machining tool moving along a predetermined trajectory, on the basis of the parameters obtained during the parameterization step.

A deburring device includes a robot program creating unit that creates a program from data of an object, a deburring part detecting unit that detects a position for a deburring part on the object, and a robot program updating unit that updates the program by the detected position of the deburring part. The deburring device also includes a force control unit that controls to yield a predetermined pressing force, an actual path acquiring unit that acquires an actual path of a robot when controlled at the predetermined pressing force by the updated program, and a path correction parameter calculating unit that calculates a correction parameter for the position for the deburring part on the object from the path of the robot from the visual sensor and the actual path.

A deburring device includes a deburring tool for removing burrs from an object, a robot for moving an object or the tool, a force sensor for detecting force acting on the tool, and a visual sensor for detecting a position of a burr portion of the object. According to the deburring device, information regarding shape data of the burr portion and a posture of the tool is obtained beforehand based on three-dimensional data of the object. Based on the shape data and the posture of the tool, a robot program is created. In accordance with an actual burr portion detected by the visual sensor, the robot program is replaced as necessary. During the deburring, the robot is controlled according to the force control by using a detected value from the force sensor.

A method for recognizing a deburring trajectory, relevant to be performed by a controller or a computer, includes the steps of: 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; applying a linear contour sensor to scan the workpiece to obtain contour section information of the workpiece; 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, utilizing the boundary curve function to determine deburring position information of the workpiece and to further generate a processing path. In addition, a system for recognizing a deburring trajectory is also provided.

The purpose is to provide a numerical control device that can easily suppress the occurrence of burrs. The numerical control device comprises: an analysis unit that analyses a processing program for processing a workpiece in a machine tool; and a corner specifying unit that specifies the corner that causes burrs on the workpiece based on the analyzed processing program.

A processing control device controls a tool for processing a first workpiece. The processing control device includes a driving unit to drive the tool, an output unit, and a control unit to control the driving unit and the output unit. Processing information obtained by performing preliminary processing on a second workpiece before performing first processing on the first workpiece is transmitted by the control unit to the output unit and accordingly the processing information is outputted from the output unit. The control unit generates a control command for performing second processing that is performed on the first workpiece after the first processing. The control unit controls the driving unit according to the control command.

The objective of the present invention is to provide a deburring control device capable of easily identifying the cause of a deburring failure. A deburring control device according to one aspect of the present disclosure controls deburring processing for removing burrs on a workpiece by moving a deburring tool along a ridge line of the workpiece by means of a robot, and is provided with: an offset amount calculating unit for calculating an offset amount between the actual path of the robot and a taught path thereof; a pressing force acquiring unit for acquiring the pressing force of the deburring tool; a rotational speed acquiring unit for acquiring the rotational speed of the deburring tool; a failure detecting unit for detecting a deburring failure, in which the deburring processing could not be performed appropriately, on the basis of the offset amount, the pressing force, and the rotational speed; and a recording unit for recording a failure reason, which is the reason for the failure detecting unit determining the deburring failure, when the deburring failure is detected.

A method for deburring an aeronautical part with an articulated tooling including a plurality of axes of rotation, the aeronautical part including at least one edge to be deburred, the articulated tooling including a tool holder, holding a calibration tool and a machining tool, the calibration tool and the machining tool being fixed to the tool holder and being immovable relative to one another, the method including steps of calibrating the calibration tool and the machining tool, of parameterizing the aeronautical part, of deburring the at least one edge to be deburred with the machining tool moving along a predetermined trajectory, on the basis of the parameters obtained during the parameterization step.