Work machining method and machining device using the same

Abstract

To provide a work machining method that can perform machining while observing a deformation amount of a cutting edge part of a cutting tool during a cutting process.SOLUTION: A work machining method includes: a cutting step of machining a workpiece W using a cutting tool 10; an imaging step of imaging the machining state of the cutting tool 10 relative to the workpiece W during the cutting step; an edge position determination step of determining an edge position of a cutting edge part 42 of the cutting tool 10 using a template matching method from an afterimage in the imaging information of the cutting tool 10 acquired in the imaging step; and an edge displacement amount calculation step of calculating an edge displacement amount dC being a displacement amount of the cutting edge part on the basis of the edge position determined in the edge position determination step. This machining method can relatively simply and accurately determine the cutting edge position of the cutting edge part by using a normal imaging camera.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a workpiece machining method for machining a workpiece using a cutting tool and a machining apparatus using the same. [Background technology]

[0002] As a processing device for cutting a workpiece, various types of devices, such as a small milling machine (CNC milling machine), are in practical use (see, for example, Non-Patent Document 1). This milling machine has a frame body that is placed on, for example, a work table, and the work table is supported on this frame body via a first moving mechanism that moves it in, for example, the X-axis direction (for example, the horizontal direction) and a second moving mechanism that moves it in, for example, the Z-axis direction (for example, the front-back direction). In addition, a tool attachment part is supported on the upper part of this frame body via a third moving mechanism that moves it in, for example, the Y-axis direction (for example, the vertical direction).

[0003] In such a processing device, a workpiece to be processed is attached to a work table and moved in the X-axis direction (horizontal direction) and Z-axis direction (front-back direction) relative to a tool attachment part (i.e., a cutting tool). Also, the cutting tool for processing the workpiece is attached to the tool attachment part and moved in the up-down direction (Y-axis direction) relative to the worktable (i.e., the workpiece). [Prior art documents] [Non-patent literature]

[0004] [Non-Patent Document 1] CNC milling machine (KitMill AST200) manufactured and sold by Original Mind Co., Ltd. (https: / / www.originalmind.co.jp / products / kitmill_ast) Summary of the Invention [Problem to be solved by the invention]

[0005] However, while such milling machines have the advantages of being compact, resulting in space-saving, energy-saving, and easy to rearrange, they have the problem that the frame itself has low rigidity and may deform under large loads, making it difficult to machine workpieces with high precision.

[0006] This problem can be solved by increasing the rigidity of the frame body, but increasing the rigidity in this way would result in the device becoming larger and heavier, which would compromise the advantages of small processing equipment, such as space saving, energy saving, and easy reconfigurability.

[0007] A first object of the present invention is to provide a method for machining a workpiece that enables machining while observing the amount of deformation of the cutting edge of a cutting tool during cutting.

[0008] A second object of the present invention is to provide a workpiece machining method that can cut a workpiece with high precision even with a small machining device.

[0009] A third object of the present invention is to provide a processing device capable of cutting a workpiece with high precision. [Means for solving the problem]

[0010] In order to achieve the first object described above, the first workpiece machining method of the present invention is characterized by including a cutting step of machining a workpiece using a cutting tool, an imaging step of imaging a machining state of the cutting tool on the workpiece during the cutting step, a blade position determination step of determining a blade position by tracking the cutting blade of the cutting tool by a template matching method from an afterimage of the imaging information of the cutting tool acquired by the imaging step, and a blade displacement amount calculation step of calculating a blade displacement amount, which is the displacement amount of the cutting blade, based on the blade position determined in the blade position determination step.

[0011] In this workpiece machining method, a number of specific locations on the base of the cutting tool while the workpiece is being machined are imaged, and the specific locations are tracked from the residual images of the image information of the specific locations by a template matching method to determine the deformed positions of these specific locations, and the blade position of the cutting blade may be determined based on the deformed positions of these specific locations. By doing this, even when it is difficult to obtain image information of the cutting blade of the cutting tool due to chips generated during cutting, the cutting position of the cutting blade can be determined relatively easily and accurately using the image information of the specific locations on the base of the cutting tool.

[0012] Furthermore, in this workpiece processing method, the actual cutting depth of the cutting tool (i.e., the cutting blade) can be calculated based on the set cutting depth set in the cutting processing step and the blade displacement amount calculated in the blade displacement amount calculation step, thereby making it possible to grasp the remaining cutting amount.

[0013] Furthermore, in such a workpiece machining method, after the blade displacement amount calculation step, it is preferable to calculate the remaining cutting amount for cutting based on the set cutting amount set in the cutting processing step and the actual cutting amount calculated in the actual cutting amount calculation step (remaining cutting amount calculation step), and perform cutting with a corrected cutting amount based on this remaining cutting amount (correction machining step).By machining in this manner, it is possible to reduce the remaining cutting amount and perform machining with high precision.

[0014] In addition, in order to achieve the second object of the present invention, a second workpiece machining method is a method for machining a workpiece by repeatedly performing cutting processing on the workpiece n times (n is an integer of 2 or more), In the (n-1) cutting operations, a series of workpiece machining steps including a cutting amount setting step of setting a cutting amount for the cutting operation, a cutting processing step of cutting the workpiece with the set cutting amount set in the cutting amount setting step, a blade displacement amount calculation step of calculating a displacement amount of the cutting blade of the cutting tool during the cutting processing step, and an actual cutting amount calculation step of calculating an actual cutting amount in the cutting processing step based on the blade displacement amount calculated in the blade displacement amount calculation step, and a cutting amount related data creation step of creating cutting amount related data that associates the set cutting amount and the actual cutting amount in each of the cutting processing steps in the series of workpiece machining steps, are performed, After performing the series of workpiece machining steps (n-1) times, a cumulative actual cutting depth calculation step is performed to calculate a cumulative actual cutting depth by cumulatively adding the actual cutting depths calculated in the actual cutting depth calculation step in the series of workpiece machining steps, and a final remaining cutting depth calculation step is performed to calculate a final remaining cutting depth based on a target cutting depth, which is a target for the cutting depth when cutting the workpiece, and the cumulative actual cutting depth, In the nth cutting process, a final cutting depth setting step is carried out in which a final cutting depth corresponding to the final remaining cutting amount is set using the cutting depth related data, and a correction processing step is carried out in which the workpiece is cut using the final cutting depth set in the final cutting depth setting step.

[0015] In such a workpiece machining method, the cutting-in amount related data can be in the form of graph data showing the relationship between the set cutting-in amount and the actual cutting-in amount in each of the cutting steps of the series of workpiece machining steps, and the final cutting-in amount corresponding to the final remaining cutting amount can be easily set by using this graph data. Also, the cutting-in amount related data can be in the form of relational expression data or numerical data showing the relationship between the set cutting-in amount and the actual cutting-in amount in each of the cutting steps of the series of workpiece machining steps, and the final cutting-in amount corresponding to the final remaining cutting amount can be easily set by performing arithmetic processing using this relational expression data or numerical data.

[0016] Furthermore, in such a workpiece machining method, it is preferable to vary the set cutting depth in each cutting step of the series of workpiece machining steps over a wide range, thereby making it possible to obtain a large amount of data on the relationship between the set cutting depth and the actual cutting depth in the cutting process.

[0017] Furthermore, in this workpiece processing method, it is preferable to image the processing state of the cutting tool during the cutting processing step and determine the blade position of the cutting blade of the cutting tool by a template matching method from the residual image of the acquired image information.In this way, the blade position of the cutting blade can be determined relatively easily using a normal imaging camera, and the displacement amount of the cutting blade can be calculated based on this blade position.

[0018] Furthermore, in order to achieve the third object, the processing apparatus of the present invention is a processing apparatus including a first moving mechanism for moving either one of a workpiece or a cutting tool in a cutting direction relative to the other, a second moving mechanism for moving either the workpiece or the cutting tool in a cutting direction relative to the other, a rotation drive mechanism for rotating either the workpiece or the cutting tool in a predetermined direction, and a controller for controlling the first moving mechanism, the second moving mechanism, and the rotation drive mechanism, The cutting machine further includes an imaging means for imaging a machining state of the cutting tool on the workpiece, The controller includes a cutting amount setting means for setting a cutting amount in the cutting direction by the first moving mechanism, a blade displacement amount calculation means for calculating a displacement amount of the cutting blade of the cutting tool based on imaging information of a machining state from the imaging means, an actual cutting amount calculation means for calculating an actual cutting amount of the cutting tool based on the blade displacement amount calculated by the blade displacement amount calculation means, a cutting amount related data creation means for creating cutting amount related data that associates the set cutting amount and the actual cutting amount, and a cumulative cutting amount calculation means for cumulatively adding the actual cutting amounts calculated by the actual cutting amount calculation means. The cutting method includes a cumulative actual cutting amount calculation means for calculating an accumulated actual cutting amount, a final remaining amount calculation means for calculating a final remaining cutting amount based on the cumulative actual cutting amount in up to (n-1) cutting operations and a target cutting amount when cutting the workpiece, a final cutting amount calculation means for calculating a final cutting amount corresponding to the final remaining cutting amount using the cutting amount related data that associates the set cutting amount and the actual cutting amount in up to (n-1) cutting operations, and a final cutting amount setting means for setting the final cutting amount calculated by the final cutting amount calculation means. Effect of the Invention

[0019] According to the first workpiece machining method of the present invention, the machining state of the cutting tool on the workpiece during the cutting step is imaged, and the cutting blade of the cutting tool is tracked from the residual image of the imaged information by a template matching method to determine the blade position. Therefore, the blade position can be determined relatively simply and accurately using an ordinary imaging camera, and the blade position takes into account deformation of the cutting tool and the main body of the device during actual cutting, thereby making it possible to calculate the amount of displacement of the blade of the cutting tool during cutting.

[0020] According to the second workpiece machining method (and machining device) of the present invention, in (n-1) cutting operations, a series of workpiece machining steps including a cutting depth setting step, a cutting step, a blade displacement calculation step, and an actual cutting depth calculation step, and a cutting depth amount related data creation step for creating cutting depth amount related data relating the set cutting depth and the actual cutting depth are performed, and then the actual cutting depths in the series of workpiece machining steps are cumulatively added to calculate an accumulated actual cutting depth, and this cumulative actual cutting depth is used to calculate a final remaining cutting depth based on a target cutting depth when cutting the workpiece and this cumulative actual cutting depth. In the nth cutting operation, the cutting depth corresponding to the final remaining cutting depth is set using this cutting depth related data, and the workpiece is cut with this final cutting depth, so that the workpiece can be cut with high accuracy, and even a small machining device can correct machining errors (remaining cutting) to perform high accuracy machining. [Brief description of the drawings]

[0021] [Figure 1] 1 is a perspective view showing a simplified embodiment of a processing apparatus according to the present invention (a processing apparatus to which an example of a processing method according to the present invention is applied). [Diagram 2] FIG. 13 is a perspective view showing a processing device according to another embodiment of the present invention; [Diagram 3] FIG. 13 is a perspective view showing a processing apparatus according to still another embodiment of the present invention. [Figure 4] FIG. 4 is an explanatory diagram for explaining the relationship between a set cutting depth and an actual cutting depth in cutting. [Diagram 5] FIG. 2 is a block diagram showing a control system of the processing apparatus shown in FIG. 1 in a simplified manner. [Figure 6] 4 is a flowchart for explaining the flow of cutting processing using the processing device of FIG. 1. [Figure 7] FIG. 13 is a graph showing the relationship between the set cutting depth and the actual cutting depth after a first cutting process. [Figure 8] FIG. 11 is a graph showing the relationship between the set cutting depth and the actual cutting depth after a second cutting process. [Figure 9] FIG. 9 is a graph showing the relationship between the set cutting depth and the actual cutting depth shown in FIG. 8 . [Figure 10]FIG. 13 is a graph showing the relationship between the set cutting depth and the actual cutting depth after the (n-1)th cutting process. [Figure 11] FIG. 11 is a graph showing the relationship between the set cutting depth and the actual cutting depth shown in FIG. 10 . [Figure 12] FIG. 13 is a graph showing the relationship between the set cutting depth and the actual cutting depth after the nth cutting process. [Figure 13] 1 is a graph showing the relationship between the set cutting depth and the actual cutting depth in n cutting operations. [Figure 14] 6 is a diagram for explaining a method for calculating the displacement amount of a cutting blade portion based on the displacement position of a base portion of a cutting tool. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0022] Hereinafter, an embodiment of a processing device according to the present invention (a processing device to which an example of a processing method according to the present invention is applied) will be described with reference to the attached drawings. First, an example of a processing device will be described with reference to Fig. 1. Note that, in this embodiment, the processing device is applied to a milling machine type processing device, but the present invention is not limited to this type, and can be similarly applied to, for example, a lathe type processing device.

[0023] The illustrated processing device includes a base body 2 that is installed on a work table or the like, and a column 4 is provided at the rear of the base body 2. A spindle mounting section 6 is provided at the upper end of the column 4, and a spindle head 8 is attached to the tip of the spindle mounting section 6. In this embodiment, the base body 2, the column 4, and the spindle mounting section 6 constitute the device body. A spindle (not shown) is rotatably supported by the spindle head 8, and a tool holding means (not shown) (for example, composed of a tool chuck) is attached to the spindle, and a cutting tool 10 is detachably attached to the tool holding means. The spindle (not shown) is drivingly connected to a rotary drive source 12 (see FIG. 5) (for example, composed of an electric motor for the spindle), and when the rotary drive source 12 is operated, the tool holding means and the cutting tool 10 are rotated in a predetermined direction together with the spindle.

[0024] In this type of processing device, the lift table 14 is attached to the column 4 via a lift movement mechanism (not shown). The lift movement mechanism (not shown) is composed of a lift support mechanism (not shown) that supports the lift table 14 so that it can be raised and lowered in the vertical direction (Y-axis direction) and a lift drive mechanism (not shown) for moving the lift table 14 up and down, and this lift drive mechanism includes, for example, a lift movement drive source 16 (see FIG. 5) (for example, composed of a lift electric motor) and a lift ball screw mechanism. Since it is configured in this way, when the lift movement drive source 16 is operated and rotated in a predetermined direction (or a direction opposite to the predetermined direction), the lift table 14 is moved upward (or downward) in the vertical direction (Y-axis direction) indicated by the arrow 18 (or 20) via the lift ball screw mechanism (not shown).

[0025] The first moving table 22 is attached to the lift table 14 via a first moving mechanism (not shown). The first moving mechanism (not shown) is composed of a first moving support mechanism (not shown) that supports the first moving table 22 movably in the front-rear direction (Z-axis direction) and a first moving drive mechanism (not shown) for moving the first moving table 22 in the front-rear direction, and this first moving drive mechanism includes, for example, a first moving drive source 24 (see FIG. 5) (for example, composed of a moving electric motor) and a first moving ball screw mechanism. Since it is configured in this way, when the first moving drive source 24 is actuated and rotated in a predetermined direction (or a direction opposite to the predetermined direction), the first moving table 22 is moved forward (or backward) in the front-rear direction (Z-axis direction) indicated by the arrow 26 (or 28) via the first moving ball screw mechanism (not shown).

[0026] The second moving table 30 is attached to the first moving table 22 via a second moving mechanism (not shown). The second moving mechanism (not shown) is composed of a second moving support mechanism (not shown) that supports the second moving table 30 so as to be movable in the horizontal direction (X-axis direction) and a second moving drive mechanism (not shown) for moving the second moving table 30 in the horizontal direction, and the second moving drive mechanism includes, for example, a second moving drive source 32 (see FIG. 5) (for example, composed of a moving electric motor) and a second moving ball screw mechanism. Since it is configured in this way, when the second moving drive source 32 is actuated and rotated in a predetermined direction (or a direction opposite to the predetermined direction), the second moving table 30 is moved to the right (or left) in the horizontal direction (X-axis direction) indicated by the arrow 34 (or 36) via the second moving ball screw mechanism (not shown).

[0027] In this embodiment, the second moving table 30 functions as a work mounting table on which the work W to be processed is mounted, and the work W (for example, see FIG. 4) is mounted on this second moving table 30. Note that instead of such a configuration, a work mounting table (not shown) may be mounted on this second moving table 30, and the work W may be mounted on this work mounting table.

[0028] In cutting processing using such a processing device, the cutting tool 10, column 4, spindle mounting portion 6 (so-called device body), etc. are deformed due to cutting loads during cutting processing, and such deformation appears as a displacement of the cutting blade portion 42 of the cutting tool 10 (see, for example, Figure 4), and a processing error occurs due to a slight displacement of this cutting blade portion 42. In other words, a difference occurs between the set cutting depth set when cutting the workpiece W and the actual cutting depth (i.e., the actual cutting depth) cut by the cutting tool 10, making it difficult to perform high-precision cutting processing.

[0029] This machining error will be explained with reference to Fig. 4. For example, when machining is performed using the machining device shown in Fig. 1, if the horizontal direction (X-axis direction) is the cutting direction (up and down direction in Fig. 4), the front-back direction (Z-axis direction) becomes the feed direction (left and right direction in Fig. 4), and the cutting tool 10 cuts into the workpiece W in the horizontal direction (X-axis direction) and is fed in the front-back direction (Z-axis direction). Conversely, if the front-back direction (Z-axis direction) is the cutting direction, the horizontal direction (X-axis direction) becomes the feed direction, and the cutting tool 10 cuts into the workpiece W in the front-back direction (Z-axis direction) and is fed in the horizontal direction (X-axis direction).

[0030] For example, when machining a workpiece W, a cutting depth C of the cutting tool 10 for the workpiece W is set and cutting processing (C: set cutting depth) is performed, and the dimensions of the workpiece W are measured after the cutting processing to calculate an actual cutting depth P (P: actual cutting depth) (i.e., actual cutting depth). The relationship between the set cutting depth C and the actual cutting depth P is as shown in Fig. 4, and the cutting blade 42 of the cutting tool 10 is displaced due to deformation of the device body such as the cutting tool 10 and the column 4 caused by the cutting load during machining. When the cutting blade 42 is displaced, a dimensional difference occurs between the set cutting depth C and the actual cutting depth P, and this dimensional difference becomes a displacement amount dC of the cutting blade 42 of the cutting tool 10, and this displacement amount dC of the cutting blade 42 appears as a machining error of the workpiece W.

[0031] A machining error of the workpiece W caused by the displacement of the cutting blade portion 42 of the cutting tool 10 during cutting occurs every time cutting is performed, and as the number of cutting operations increases, the machining error caused by the cutting blade portion 42 accumulates, making high-precision machining more difficult. Therefore, in order to eliminate the accumulated machining error, the following correction control is performed, enabling high-precision cutting.

[0032] For example, when considering a case where cutting is repeated n times (n is an integer of 2 or more), when the first cutting is performed, a cutting residue is generated on the workpiece W due to the displacement of the cutting blade portion 42 of the cutting tool 10 during the cutting, and this cutting residue causes a processing error. To explain this in detail with reference to Fig. 7, before the first cutting is performed, the workpiece W is in a state of surface position S0, and this surface position S0 becomes the processing surface in the first processing, and the first set cutting depth C1 (i.e., the command cutting depth) is set based on this processing surface (S0), and the first cutting is performed with this set cutting depth C1.

[0033] Then, when the first machining is completed, a portion of the workpiece W (i.e., the actual cutting amount P1) is removed by the cutting tool 10, and the workpiece W is cut down to the surface position S1, resulting in a dimensional difference between the set cutting depth C1 (command cutting depth) and the actual cutting amount P1, and this dimensional difference appears as a blade displacement amount dC1 of the cutting blade portion 42 of the cutting tool 10.

[0034] This means that the actual cutting amount P1 by the cutting tool 10 can be estimated by measuring the blade displacement amount dC1 of the cutting blade portion 42 of the cutting tool 10 during actual cutting processing, and by estimating this actual cutting amount P1 in this manner during cutting processing, it is possible to reflect the estimated result in the next second cutting processing.

[0035] Returning to Fig. 1 again, the blade displacement amount dC1 by the cutting blade 42 of the cutting tool 10 during processing can be measured, for example, as follows. Referring to Fig. 1, to measure the blade displacement amount dC1, for example, a photographing camera 44 is used as an imaging means, and the cutting blade 42 of the cutting tool 10 during processing and its surroundings are photographed using this imaging camera 44, and image information on the displacement state of the cutting blade 42 during processing in particular is obtained. When incorporated into a processing device, a small imaging camera (for example, one that uses an imaging element such as CCD or CMOS) is adopted as this imaging means.

[0036] Then, a template matching method is used to analyze the image information of the cutting blade portion 42 of the cutting tool 10, the position of the cutting blade portion 42 is tracked from the residual image of the image information of the cutting blade portion 42, and its cutting position is determined. Based on this cutting position, a blade displacement amount dC1 of the cutting blade portion 42 is calculated, and the actual cutting amount P1 (P1=C1-dC1) by the cutting tool 10 can be calculated based on this blade displacement amount dC1.

[0037] For example, when a cutting tool 10 is used in which, for example, four cutting blades 42 are provided at intervals around the tool body and these cutting blades 42 extend in a spiral shape in the axial direction of the tool body, when the position of the cutting blades 42 is tracked from the residual image of the image information of these cutting blades 42 using the template matching method, the image information obtained by the template matching method becomes a cylindrical shape with the spiral tip of the cutting blade 42 as the outer shape, and the cutting position of the cutting blade 42 can be determined by using this image information, and the blade displacement amount dC1 of the cutting blade 42 can be calculated based on this cutting position. When tracking the position of the cutting blade 42 from the residual image of the image information of the cutting blade 42, an expensive high-speed camera is not necessary, and it is preferable to use a normal camera, and by using this normal camera, it becomes possible to relatively easily and accurately calculate the blade displacement amount dC1 of the cutting blade 42 that comes into contact with the workpiece W and performs cutting.

[0038] 1, a spindle head 8 is attached to the tip of a spindle mounting portion 6 provided on a column 4, a machining tool 10 is attached to the spindle head 8, and a workpiece W (second moving table 30) is moved relative to the machining tool 10 in the vertical direction (Y-axis direction) via a lifting mechanism (not shown), in the front-rear direction (Z-axis direction) via a first moving mechanism (not shown), and in the horizontal direction (X-axis direction) via a second moving mechanism (not shown), so that the cutting tool 10 is fixedly positioned to machine the workpiece W. In this case, a machining area S where the workpiece W is machined by the cutting tool 10 does not move, and an imaging camera 44 is stationarily installed to image the machining area S.

[0039] This machining method can also be applied to a machining apparatus having a configuration shown in Fig. 2. Referring to Fig. 2, in the machining apparatus of this configuration, a first moving table 22A is supported on a base body 2A via a first moving mechanism 46 in the front-rear direction (Z-axis direction), a second moving table 30A is supported on this first moving table 22A via a second moving mechanism (not shown) so as to be freely movable in the lateral direction (X-axis direction), and a spindle head 8A is supported on a column 4A via an elevation movement mechanism 48 so as to be freely movable in the vertical direction (Y-axis direction).

[0040] As configured in this manner, the workpiece W (second moving table 30) is moved in the front-back direction (Z-axis direction) relative to the machining tool 10 via the first moving mechanism 46 and in the sideways direction (X-axis direction) via the second moving mechanism (not shown), and the machining tool 10 is moved in the up-down direction (Y-axis direction) relative to the workpiece W via the lifting and lowering mechanism 48, so that the cutting tool 10 moves in the up-down direction (Y-axis direction) to machine the workpiece W. In this case, the machining area S in which the workpiece W is machined moves in the up-down direction (Y-axis direction), so the imaging camera 44 moves in synchronization with the up-down movement of the cutting tool 10 (i.e., the machining area S) to capture images.

[0041] This machining method can also be applied to a machining apparatus having a configuration shown in Fig. 3. Referring to Fig. 3, in the machining apparatus of this configuration, a first moving table 22B is supported in the front-rear direction (Z-axis direction) by a base body 2B via a first moving mechanism 46B, and a workpiece W to be machined is attached to this first moving table 22B. A lift table 14B is supported on a gate-shaped column 4B via a lift movement mechanism (not shown) so as to be movable in the up-down direction (Y-axis direction), and a second moving table 30B is supported on this lift table 14B so as to be movable in the lateral direction (X-axis direction), and a spindle head 8B is attached to this second moving table 30B.

[0042] With this configuration, the workpiece W (first moving table 22B) is moved in the front-back direction (Z-axis direction) relative to the machining tool 10 via the first moving mechanism 46B, and the machining tool 10 is moved in the lateral direction (X-axis direction) relative to the workpiece W via the second moving mechanism (not shown), and further moved in the vertical direction (Y-axis direction) relative to the workpiece W via the lifting and lowering mechanism (not shown), so that the cutting tool 10 moves in the vertical direction (Y-axis direction) and the lateral direction (X-axis direction) to machine the workpiece W. In this case, the machining area S for machining the workpiece W moves in the vertical direction (Y-axis direction) and the lateral direction (X-axis direction), so that the imaging camera 44B moves in synchronization with the vertical and lateral movements of the cutting tool 10 (i.e., the machining area S) to capture images.

[0043] After the first cutting process described above, the second cutting process 1 is performed, and during the second cutting process, as shown in Fig. 8, the workpiece W is in a state of surface position S1, this surface position S1 becomes the processing surface, the second set cutting depth C2 (i.e., command cutting depth) is set based on this processing surface (S1), and the cutting process is performed with this set cutting depth C2. Then, when the second cutting process is completed, a part of the workpiece W (i.e., actual cutting depth P2) is cut by this cutting tool 10, and the workpiece W is cut to the surface position S2, and a dimensional difference occurs between the set cutting depth C2 (command cutting depth) and the actual cutting depth P2, as in the first cutting process, and this dimensional difference appears as the blade displacement amount dC2 (in other words, the remaining cutting amount) of the cutting blade portion 42 of the cutting tool 10 in the second cutting process.

[0044] Furthermore, when calculating the actual cutting amount P2 by the cutting tool 10, the position of the cutting blade 42 is tracked by a template matching method from the residual image of the imaging information of the cutting blade 42 of the cutting tool 10 acquired during the second cutting process, and the blade position is determined, and the actual cutting amount P2 of the second cutting process is calculated based on this determined blade position.

[0045] If the relationship between the first set cutting-in amount C1 and the actual cutting-in amount P1, and the relationship between the second set cutting-in amount C2 and the actual cutting-in amount P2 are plotted on a graph, it will look like Figure 9. In Figure 9, the horizontal axis is the set cutting-in amount (command cutting-in amount) and the vertical axis is the actual cutting-in amount (estimated cutting-in amount), and the relationship between the set cutting-in amounts C1, C2 and the actual cutting-in amounts P1, P2 can be plotted as shown in Figure 9, and the relationship between the set cutting-in amounts C1, C2 and the actual cutting-in amounts P1, P2 can be known from Figure 9.

[0046] This cutting process is repeated (n-2) times, and at the next (n-1) time, the workpiece W is at surface position Sn-2, as shown in Figure 10, and this surface position Sn-2 becomes the machined surface.The set cutting depth Cn-1 (i.e., the command cutting depth) for the (n-1) time is set based on this machined surface (Sn-2), and cutting is performed using this set cutting depth Cn-1.

[0047] Then, when the (n-1)th cutting is completed, a portion of the workpiece W (i.e., the actual cutting amount Pn-1) is removed by the cutting tool 10, and the workpiece W is cut down to the surface position Sn-1. As in the previous cutting operations, a dimensional difference occurs between the set cutting depth Cn-1 (command cutting depth) and the actual cutting amount Pn-1, and this dimensional difference appears as the blade displacement amount dCn-1 of the cutting blade portion 42 of the cutting tool 10 in the (n-1)th cutting operation.

[0048] In addition, when calculating the actual cutting amount P3 (P4...Pn-1) by the cutting tool 10, as described above, the position of the cutting blade 42 is tracked by a template matching method from the residual image of the imaging information of the cutting blade 42 of the machining tool 10 acquired during the third (4th...(n-1)th) cutting process, and the blade position is determined, and the actual cutting amount P3 (P4...Pn-1) of the third (4th...(n-1)th) cutting process is calculated based on this determined blade position.

[0049] When the relationship between the set feed amounts (command feed amounts) C1 to Cn-1 and the actual feed amounts (estimated feed amounts) P1 to Pn-1 up to the (n-1)th time is plotted on a graph, graph data as feed amount-related data as shown in FIG. 11 is obtained. In FIG. 11, in the cutting process from the first time to the (n-1)th time, the set feed amount gradually decreases as the number of machining times increases. However, it is not necessarily required to be like this, and the setting may be such that this set feed amount fluctuates, increasing or decreasing during the machining times. In the graph data of FIG. 11, for example, the set feed amount may be plotted on the horizontal axis, and the actual feed amount corresponding to this set feed amount may be plotted on the vertical axis to create feed amount-related data.

[0050] Also, it is preferable that this set feed amount C is set with a wide variation in value in each cutting process. By doing so, a large amount of data on the relationship between the set feed amount and the actual feed amount can be obtained over a wide range.

[0051] When the set feed amount C is a value Cx1 (Cx1 < Cn-1) smaller than the set feed amount Cn-1, the actual feed amount (Cx1 - dCx1) corresponding to this set feed amount Cx1 is a value smaller than the actual feed amount (Cn - 1 - dCn-1) [(Cx1 - dCx1) < (Cn - 1 - dCn-1)]. This set feed amount Cx1 and the actual feed amount (Cx1 - dCx1) corresponding to it are plotted in a relationship as shown in FIG. 11 by extrapolation using, for example, an appropriate formula.

[0052] On the other hand, when the set feed amount C is a value Cx2 (Cx2 > C1) larger than the set feed amount C1, the actual feed amount (Cx2 - dCx2) corresponding to this set feed amount Cx2 is a value larger than the actual feed amount (C1 - dC1) [(Cx2 - dCx2) > (C1 - dC1)]. This set feed amount Cx2 and the actual feed amount (Cx2 - dCx2) corresponding to it are plotted in a relationship as shown in FIG. 11 by extrapolation using, for example, an appropriate formula.

[0053] 11, when the (n-1)th repeated cutting process is performed, the blade displacement amount of the cutting blade portion 42 of the cutting tool 10 accumulates and the remaining cutting amount also increases. This accumulated remaining cutting amount caused by repeated cutting processes is one of the major causes of so-called processing errors, and this processing method is configured such that the final cutting depth is set so that the final remaining cutting amount is cut and removed in the final cutting process, i.e., the nth (final) cutting process.

[0054] Considering the final cutting depth after (n-1) cutting operations, as shown in Figure 12, the final cutting depth ML (ML = MC-MP) is obtained by subtracting the accumulated actual cutting depth MP, which is the accumulated amount of actual cutting depth up to (n-1) cutting operations, from the target cutting depth MC, which is the target amount of cutting depth when performing cutting, and this final cutting depth ML is removed by the final cutting operation, so that there is no cutting depth in the nth cutting operation, enabling high-precision cutting of the workpiece.

[0055] In this embodiment, when workpiece cutting is performed (n-1) times, cutting-depth-related data (in this embodiment, graphical data related to the cutting-depth) between the set cutting-depth C (C1, C2,...Cn-1) and the actual cutting-depth P (P1, P2,...Pn-1) in the cutting operations up to the (n-1)th time is obtained, and the final cutting remaining amount ML (ML = MC - MP) can be calculated from the target cutting-depth MC and the accumulated actual cutting-depth MP up to the (n-1)th time, and the final cutting-depth Cn (corrected cutting-depth) can be calculated using the graphical data in Figure 11 and the final cutting remaining amount ML.

[0056] As can be seen from Figures 11 and 13 (the graph data in Figures 11 and 13 are the same), the final cutting remainder amount ML remaining after the (n-1)th cutting process can be calculated as described above, and as for the cutting amount required to cut this final cutting remainder amount ML, i.e., the final cutting amount Cn, as can be seen from Figure 13, it is sufficient to read the set cutting amount (command cutting amount) corresponding to the actual cutting amount ML (MC-MP) using the graph data shown in Figure 11 (Figure 13), and the cutting amount read in this way can be used as the final cutting amount Cn.

[0057] When reading this, if the final cutting remaining amount ML is within the range of the data shown in Figure 11, in other words, within the range of the actual cutting depth in (n-1) cutting processes, the set cutting depth (final cutting depth Cn) corresponding to the final cutting remaining amount ML can be read as described above, but if it is outside the range of the actual cutting depth in (n-1) cutting processes, it can be read, for example, as follows.

[0058] When this final remaining cutting amount ML is smaller than the actual cutting amount (Cn-1-dCn-1) in Fig. 11, the line connecting the plot points of the set cutting amount Cn-1 and the corresponding actual cutting amount (Cn-1-dCn-1) in Fig. 11 is extended to the smaller side, and the set cutting amount (final cutting amount Cn) corresponding to the final remaining cutting amount ML (MC-MP) is read using this extended line on the smaller side. Note that the extended line may have an appropriate shape, such as a straight line or a curve, depending on the relationship between the set cutting amount and the actual cutting amount.

[0059] On the other hand, when the final remaining cutting amount ML is greater than the actual cutting amount (C1-dC1) in Fig. 11, the line connecting the plot points of the set cutting amount C1 and the corresponding actual cutting amount (C1-dC1) in Fig. 11 is extended to the larger side, and the set cutting amount (final cutting amount Cn) corresponding to the final remaining cutting amount ML (MC-MP) is read using this extended line on the larger side. Note that the extended line may be an appropriate shape, such as a straight line or a curve, depending on the relationship between the set cutting amount and the actual cutting amount, as described above.

[0060] In this embodiment, graph data relating to the cutting depth is used, but instead, the relationship between the set cutting depth and the actual cutting depth in each cutting process may be expressed in the form of relational equation data or numerical data relating to the cutting depth, and this relational equation data or numerical data may be subjected to arithmetic processing (e.g., interpolation processing) to calculate the cutting depth corresponding to the final remaining cutting amount, and this calculated cutting depth may be set as the final cutting depth Cn.

[0061] Such a processing method can be achieved, for example, by applying a control system shown in Fig. 5 to the processing apparatus of Fig. 1. Referring mainly to Fig. 5, this processing apparatus includes a controller 52 for controlling the entire apparatus, and an imaging signal from an imaging camera 44 (imaging means) is sent to the controller 52. This processing apparatus also includes an input operation means 54 (for example, composed of an operation panel device, etc.) for inputting various processing conditions, and an input signal from this input operation means 54 is sent to the controller 52.

[0062] The controller 52 generates various operating signals to control the operation of the lifting movement drive source 16 for raising and lowering the lifting table 14, the first movement drive source 24 for moving the first movement table 22, and the second movement drive source 32 for moving the second movement table 30, and also controls the operation of the rotation drive source 12 for rotating the main shaft (not shown) (the cutting tool 10 which rotates integrally with the main shaft).

[0063] The controller 52 includes, for example, a cutting depth setting means 56, an image processing means 58, a blade position determining means 60, a blade displacement amount calculating means 62, an actual cutting depth calculating means 64, a cutting depth data creating means 65, an accumulated actual cutting depth calculating means 66, a final remaining amount calculating means 68, a counter means 70, and a memory means 72. The cutting depth setting means 56 sets a target cutting depth MC (a target cutting depth when machining the workpiece W) inputted by the input operating means 54 during cutting, and sets a set cutting depth C for each cutting, and the set target cutting depth MC and set cutting depth C are stored in the memory means 72. The image processing means 58 processes the image signal from the imaging camera 44 as required to create imaging information, and the blade position determining means 60 determines the blade position of the cutting blade 42 of the cutting tool 10 by a template matching method from the residual image of the imaging information as described above.

[0064] In addition, the blade displacement amount calculation means 62 calculates the blade displacement amount dC based on the blade position determined by the blade position determination means 60, and the actual cutting amount calculation means 64 calculates the actual cutting amount P (P = C - dC) based on the set cutting amount C and the blade displacement amount dC (see Figure 4), and the actual cutting amount P calculated in this way is stored in the memory means 72.

[0065] Furthermore, the cutting depth data creation means 65 creates graph data of the cutting depth indicating the relationship between the set cutting depth and the actual cutting depth in each cutting process, and this graph data is stored in the memory means 72. Furthermore, the accumulated actual cutting depth calculation means 66 calculates an accumulated actual cutting depth MP (MP=P1+P2···+Pn-1) by accumulating the actual cutting depths P (P1, P2···Pn-1) stored in the memory means 72, and the final remaining amount calculation means 68 calculates a final cutting remaining amount ML (ML=MC-MP) based on the target cutting depth MC and the accumulated actual cutting depth MP.

[0066] The controller 52 further includes a final cutting amount calculation means 74 and a final cutting amount setting means 76. The final cutting amount calculation means 74 calculates a final cutting amount Cn based on the final remaining cutting amount ML calculated by the final remaining amount calculation means 68. In this embodiment, as can be seen from Fig. 12, the final remaining cutting amount ML remaining in the (n-1) cutting processes is cut off in the final cutting step, so that the final cutting amount calculation means 74 calculates a cutting amount (set cutting amount) corresponding to the final remaining cutting amount ML using the graph data created by the cutting amount data creation means 65, and the final cutting amount setting means 76 sets this cutting amount as the final cutting amount Cn in the final cutting process, and the cutting process is performed with this final cutting amount Cn in the final cutting step.

[0067] Machining control by the control system of this machining device is performed, for example, according to the flowchart shown in Fig. 6. For example, when the cutting process of the workpiece W is repeated n times (n: an integer of 2 or more) will be described with reference mainly to Fig. 5 and Fig. 6, the following series of workpiece machining steps are repeatedly performed from the first time to the (n-1) time.

[0068] To explain further, in the first cutting process, first, the input operation means 54 is operated to set the set cutting amount C1 (specified cutting amount) for the first cutting process (cutting amount setting step) (step S1), and cutting process is started with this set cutting amount C1 (cutting process step) (step S2). During this cutting process, for example, the set cutting amount C1 is set in the Z-axis direction (cutting direction), and the machining tool 10 is fed in the X-axis direction (feed direction) to perform cutting process on the workpiece W (step S3).

[0069] At this time, the imaging camera 44 captures an image of the machining area S, specifically the cutting blade portion 42 of the cutting tool 10 and its surroundings, and the imaging signal from the imaging camera 44 is sent to the controller 52. The imaging signal is processed by the image processing means 56 of the controller 52 and stored in the memory means 72 as imaging information during machining (machining image acquisition step) (step S4).

[0070] The image acquisition during this cutting process is performed until the first cutting process is completed, and when the first cutting process is completed, the process proceeds from step S4 to step S5 and then to step S6. In this step S6, the displacement amount dC1 of the cutting blade 42 of the processing tool 10 is analyzed based on the imaging information acquired by the imaging camera 44. That is, the blade position determination means 60 tracks the cutting blade 42 by a template matching method from the residual image of the imaging information acquired by the imaging camera 44 and determines the blade position (blade position determination step), the blade displacement amount calculation means 62 calculates the blade displacement amount dC1 based on the blade position of the cutting blade 42 (blade displacement amount calculation step), and the actual cutting amount calculation means 64 calculates the actual cutting amount P1 (P1=C1-dC1) based on the set cutting amount C1 for the first cutting process and the blade displacement amount dC1 during this process (actual cutting amount calculation step), and the calculated actual cutting amount P1 is stored in the memory means 72 (step S7).

[0071] Such a series of workpiece machining steps, in this embodiment, the machining steps from step S1 to step S7, are repeated (n-1) times, and counter means 70 counts the number of repetitions of the series of workpiece machining steps. When the count value of this counter means 70 reaches (n-1), the set cutting depth C, blade displacement amount dC, and actual cutting depth P in each cutting process up to the (n-1)th time are stored in memory means 72. Note that, in this embodiment, all image information during each cutting process is acquired by the imaging camera 44, but it is also possible to acquire part of the image information during each cutting process and calculate the blade displacement amount dC and the actual cutting depth P.

[0072] When the (n-1) cutting operations are completed, the process proceeds from step S8 to step S9, where the final remaining cutting amount ML is calculated. This final remaining cutting amount ML is calculated based on the target cutting amount MC during cutting and the actual cutting amount in the (n-1) cutting operations (accumulated actual cutting amount MP). That is, the accumulated actual cutting amount calculation means 66 calculates the accumulated actual cutting amount MP (MP=P1+P2···+Pn-1) by accumulating the actual cutting amounts (P1, P2···Pn-1) in the (n-1) cutting operations (accumulated actual cutting amount calculation step), and the final remaining amount calculation means 68 calculates the final remaining cutting amount ML (MC-MP) based on the target cutting amount MC and the accumulated actual cutting amount MP (step S9). Then, as described above, the final cutting amount calculation means 74 calculates the cutting amount (set cutting amount) corresponding to the final remaining cutting amount ML using the graph data related to the cutting amount, and this cutting amount becomes the final cutting amount Cn in the final cutting process, and in this manner, the final cutting amount Cn is calculated (final cutting amount calculation step) (step S10).

[0073] When the final cutting depth Cn is calculated in this way, the final cutting depth setting means 76 sets this final cutting depth Cn as the cutting depth for the final cutting process (final cutting depth setting step) (step S11), and then the final cutting process is performed with the set final cutting depth Cn (final processing step) (step S12). In this way, correction of cutting processes up to (n-1) times is performed in the final stage of cutting processes, so that the final remaining cutting depth ML in the cutting processes up to (n-1) times is removed in this final processing step, and cutting is performed up to the final cutting surface St (see FIG. 12) by the nth (last) cutting process, thereby enabling high-precision cutting even with a small processing device.

[0074] In such cutting processes, it may be difficult to obtain imaging information of the machining state of the cutting blade of the cutting tool due to cutting chips generated during machining and machining fluid supplied during machining. In such cases, the cutting position of the cutting blade of the cutting tool (i.e., the amount of displacement of the cutting blade during cutting) can be estimated by doing the following.

[0075] 14, in such a case, attention is paid to a plurality of specific parts of the base 82 of the cutting tool 10D that are not affected by chips and machining fluid, for example, a plurality of specific parts from the base end Q0 (three parts spaced apart in the axial direction from the base end Q0) Q1, Q2, and Q3, and these specific parts Q1 to Q3 are imaged during cutting, and the obtained image information is analyzed to determine the cutting position QS of the cutting blade part 42D of the cutting tool 10D, and the displacement amount dC of the cutting blade part 42D can be calculated from the estimated cutting position QS. The plurality of specific parts Q1 to Q3 imaged by an image capturing camera (not shown) can be set, for example, by marking linear marks all around the base 82 of the cutting tool 10D.

[0076] In this case, during cutting of the workpiece W (during the cutting step), the cutting tool 10D (specifically, the specific portions Q1-Q3 of its base 82) with respect to the workpiece W is imaged by an imaging camera (not shown) (imaging step). Then, the positions of the specific portions Q1-Q3 are tracked by a template matching method from the residual images of the imaging information of the cutting tool 10D (specific portions Q1-Q3) acquired by the imaging camera, and their deformation positions Q1a-Q3a are determined (deformation position determining step). Furthermore, as shown in FIG. 15(b), based on the deformation positions Q1a-Q3a of the specific portions Q1-Q3, for example, the deformation positions Q1a-Q3a are connected by an approximate straight line to determine the blade position QSa of the cutting blade 42D (blade position determining step).

[0077] For example, when the blade position QSa of the cutting blade 42D during cutting with a set cutting depth C is determined, this blade position QSa of the cutting blade 42D can be estimated as the blade displacement amount dC during cutting, and this blade displacement amount dC appears as the remaining cutting amount.

[0078] When the blade displacement amount dC can be estimated in this manner, the actual cutting depth P (P=C-dC) of the cutting blade 42D can be calculated based on the set cutting depth C of the cutting tool 10D and the blade position QSa of the cutting blade 42D, as described above. This method of estimating the blade position QSa of the cutting blade 42D based on the displacement positions Q1a-Q3a of the base 82 of the cutting tool 10D can be applied to the analysis of the displacement amount of the machining tool 10 in step S6 of the flowchart in FIG.

[0079] Furthermore, when determining the displacement position of the cutting blade portion 42D based on the displacement positions of multiple specific portions of the base 82 of the cutting tool 10D, for example, if the outer shape of the base 82 is cylindrical (its circumferential surface does not have any irregularities like the cutting blade portion 42D), the displacement positions of the multiple specific portions of the base 82 may be determined without tracking afterimages of those portions.

[0080] In addition, in this embodiment, the blade position QS (QSa) of the cutting blade portion 42D is determined using imaging information for three specific portions Q1 to Q3 of the base 82 of the cutting tool 10D, but the cutting position QS (QSa) of the cutting blade portion 42D may also be determined using imaging information for two or four or more portions.

[0081] The above describes embodiments of the workpiece machining method (and machining apparatus using the same) according to the present invention, but the present invention is not limited to these workpiece machining methods (machining apparatus), and various modifications and alterations are possible without departing from the scope of the present invention.

[0082] For example, in the machining method of the above-described embodiment, the displacement position of the cutting blade of the cutting tool is tracked and determined from the residual image of the imaging information by a template matching method, but when the displacement position can be determined without using the residual image of the imaging information, such a displacement position determination method may be used. [Explanation of symbols]

[0083] 2, 2A, 2B Base body 10,10D cutting tools 42,42D Cutting blade part 44, 44A, 44B Imaging camera 52 Controller 56 Cutting depth setting means 58 Image Processing Means 60 Blade position determination means 62 Blade displacement calculation means 64 Actual cutting depth calculation method 65 Cutting depth data creation method 66 Cumulative actual cutting depth calculation means 68 Final remaining amount calculation means 74 Final cutting depth calculation method 76 Final cutting depth setting means W work

Claims

1. a blade position determination step of determining a blade position by tracking a cutting blade of the cutting tool from an afterimage of imaging information of the cutting tool acquired in the imaging step by a template matching method; and a blade displacement amount calculation step of calculating a blade displacement amount, which is a displacement amount of the cutting blade, based on the blade position determined in the blade position determination step.

2. 2. The workpiece machining method according to claim 1, characterized in that, in the imaging step, a plurality of specific portions of the base of the cutting tool in the machining state of the workpiece are imaged, and, in the blade position determination step, the plurality of specific portions of the base are tracked by a template matching method from residual images of the imaging information of the plurality of specific portions of the base acquired in the imaging step, to determine the deformation positions of the plurality of specific portions, and the blade position of the cutting blade is determined based on the deformation positions of the plurality of specific portions.

3. The workpiece machining method according to claim 1, characterized in that in the cutting processing step, a set cutting amount, which is the cutting amount of the cutting tool into the workpiece, is set, and after the blade displacement amount calculation step, an actual cutting amount calculation step is carried out in which an actual cutting amount of the cutting blade is calculated based on the set cutting amount and the blade displacement amount.

4. 4. The workpiece machining method according to claim 3, further comprising: a cutting remaining amount calculation step of calculating a cutting remaining amount for cutting based on the set cutting amount set in the cutting step and the actual cutting remaining amount calculated in the actual cutting remaining amount calculation step; and a correction machining step of performing cutting with a corrected cutting remaining amount based on the cutting remaining amount calculated in the cutting remaining amount calculation step, after the blade displacement amount calculation step.

5. A method for machining a workpiece by repeatedly performing cutting on the workpiece n times (n is an integer of 2 or more), In the (n-1) cutting operations, a series of workpiece machining steps including a cutting amount setting step of setting a cutting amount for the cutting operation, a cutting processing step of cutting the workpiece with the set cutting amount set in the cutting amount setting step, a blade displacement amount calculation step of calculating a displacement amount of the cutting blade of the cutting tool during the cutting processing step, and an actual cutting amount calculation step of calculating an actual cutting amount in the cutting processing step based on the blade displacement amount calculated in the blade displacement amount calculation step, and a cutting amount related data creation step of creating cutting amount related data that associates the set cutting amount and the actual cutting amount in each of the cutting processing steps in the series of workpiece machining steps, are performed. After performing the series of workpiece machining steps (n-1) times, a cumulative actual cutting depth calculation step is performed to calculate a cumulative actual cutting depth by cumulatively adding the actual cutting depths calculated in the actual cutting depth calculation step in the series of workpiece machining steps, and a final cutting remaining amount calculation step is performed to calculate a final cutting remaining amount based on a target cutting depth, which is a target for the cutting depth when cutting the workpiece, and the cumulative actual cutting depth, A workpiece machining method comprising the steps of: in an n-th cutting process, performing a final cutting depth setting step of setting a final cutting depth corresponding to the final remaining cutting amount using the cutting depth related data; and performing a correction machining step of cutting the workpiece with the final cutting depth set in the final cutting depth setting step.

6. The workpiece machining method according to claim 5, characterized in that the cutting depth related data is graph data showing the relationship between the set cutting depth and the actual cutting depth in each of the cutting processing steps of the series of workpiece machining steps, and in the final cutting depth setting step, the cutting depth corresponding to the final remaining cutting amount is set as the final cutting depth using the graph data.

7. The workpiece machining method according to claim 5, characterized in that the cutting-in amount related data is relational equation data or numerical data indicating the relationship between the set cutting-in amount and the actual cutting-in amount in each of the cutting processing steps of the series of workpiece machining steps, and in the final cutting-in amount setting step, a cutting-in amount corresponding to the final remaining cutting amount is set as the final cutting-in amount by performing calculations using the relational equation data or the numerical data.

8. 6. The workpiece machining method according to claim 5, wherein the set cutting depth in each of the cutting steps in the series of workpiece machining steps is a different cutting depth value.

9. The workpiece machining method according to claim 5, characterized in that in the blade displacement amount calculation step, an image of the machining state of the cutting tool with respect to the workpiece during the cutting processing step is captured, the cutting blade of the cutting tool is tracked from an afterimage of the acquired imaging information by a template matching method to determine the blade position, and the displacement amount of the cutting blade is calculated based on the blade position.

10. A processing apparatus including a first moving mechanism for moving one of a workpiece and a cutting tool in a cutting direction relative to the other of the workpiece and the cutting tool, a second moving mechanism for moving one of the workpiece and the cutting tool in a cutting direction relative to the other of the workpiece and the cutting tool, a rotation drive mechanism for rotating one of the workpiece and the cutting tool in a predetermined direction, and a controller for controlling the first moving mechanism, the second moving mechanism, and the rotation drive mechanism, The cutting machine further includes an imaging means for imaging a machining state of the cutting tool on the workpiece, The controller includes a cutting amount setting means for setting a cutting amount in the cutting direction by the first moving mechanism, a blade displacement amount calculation means for calculating a displacement amount of a cutting blade of the cutting tool based on imaging information of a machining state from the imaging means, an actual cutting amount calculation means for calculating an actual cutting amount of the cutting tool based on the blade displacement amount calculated by the blade displacement amount calculation means, a cutting amount related data creation means for creating cutting amount related data relating the set cutting amount and the actual cutting amount, and a cumulative actual cutting amount calculation means for cumulatively adding up the actual cutting amounts calculated by the actual cutting amount calculation means. a final remaining amount calculation means for calculating a final remaining amount of cutting based on the accumulated actual amount of cutting in up to (n-1) cutting operations and a target amount of cutting in cutting of the workpiece; a final amount of cutting in calculation means for calculating a final amount of cutting in correspondence with the final remaining amount of cutting using cutting amount related data that associates the set amount of cutting in and the actual amount of cutting in up to (n-1) cutting operations; and a final amount of cutting in setting means for setting the final amount of cutting in correspondence with the set amount of cutting in correspondence with the actual ...

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