Deburring device including visual sensor and force sensor

A deburring device comprising:

• a deburring tool for removing burrs from an object;
• a robot for moving at least one of the object and the deburring tool relative to each other;
• a force sensor for detecting force acting on the deburring tool;
• a burr portion shape data storing part for storing expected burr portion shape data which are composed of an expected position and posture of a burr portion of the object subject to the deburring, based on expected three-dimensional data representative of a shape of the object;
• a deburring posture specifying part for specifying an expected posture and position of the deburring tool relative to the object, based on the expected burr portion shape data stored by the burr portion shape data storing part;
• a robot deburring program creating part for creating a robot deburring program for the deburring tool which includes at least a plurality of robot operating commands for controlling the robot and the deburring tool, based on the expected posture and position of the deburring tool specified by the deburring posture specifying part and the expected burr portion shape data;
• a visual sensor for detecting an actual position of the burr portion of the object from an image of the object;
• a robot deburring program replacing part for replacing the plurality of robot operating commands for the deburring tool in the robot deburring program individually by moving the robot to the expected posture and position, sensing by the visual sensor the actual position of the burr portion of the object and correcting the expected posture and position of the robot based on the actual position of the burr portion of the object, so as to move the deburring tool relative to the object along the actual position of the burr portion;
• and
• a force control part for controlling the robot based on force acting on the deburring tool detected by the force sensor and on a predetermined target value of the force, when the robot is operated in accordance with the robot deburring program replaced by the robot deburring program replacing part,
• wherein the visual sensor includes a search area limiting part for limiting the search area in the image of the object based on the shape data of the burr portion, and is configured to detect the actual position of the burr portion from the limited search area.