Deburring apparatus

A deburring apparatus comprising:

• a robot that supports a deburring tool, and uses the deburring tool to conduct a deburring process for an object supported by a support in a machine tool and having been cut;
• 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 operation of the relative movement mechanism so that the relative movement mechanism moves the visual sensor relative to the object along a locus corresponding to a deburring target portion along an outer edge of the object in a state in which at least a portion of the outer edge of the object is located within a visual field of the visual sensor, wherein the controller is configured to operate 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;
• wherein the deburring operation program is a program which operates the robot and/or the machine tool so that the deburring tool moves along a locus based on the detected ridge.