Machine tool

A machine tool that performs burring on unworked workpiece in which a burr has appeared, the machine tool comprising:

• at least one visual sensor that takes an image of the unworked workpiece;
• a memory configured to store
• unworked workpiece shape information obtained by using the at least one visual sensor, and
• worked workpiece shape information;
• a controller programmed to
• recognize a burr by comparing the unworked workpiece shape information stored in the memory with the worked workpiece shape information stored in the memory,
• determine the burr based on conditions including at least one of a location and a direction of the burr in the workpiece,
• decide whether or not to perform burring with a tool of the machine tool based on a determination result concerning the burr, and
• generate a working path for removing the burr judged to be a burr on which burring is to be performed with the tool;
• and
• a robot configured to perform burring, wherein
• the controller is further programmed to
• select the tool to be used in burring based on dimensions of the burr and tool information,
• determine the burr based on the conditions further including the tool information of the selected tool,
• generate the working path by calculating a number of cutting operations indicating how many times cutting operations are performed for working from the dimensions of the burr and a maximum cut amount of the selected tool, and
• decide whether to perform burring with the tool or to perform burring with the robot based on the determination result concerning the burr.