Processing equipment

Abstract

To provide a processing device capable of easily corresponding with processing of different types of processed materials.SOLUTION: A processing device includes: a robot 14 equipped with a tool 12; robot control means 16 for controlling the robot 14; data generation means 18 for generating movement path data of the tool 12 from shape data of a processed material 10; a sequencer 20 capable of transmitting data to the robot control means 16; and data management means 22 for converting the movement path data generated by the data generation means 18 into coordinate data capable of being managed by the sequencer 20, and transmitting it to the sequencer 20. The sequencer 20 transmits the coordinate data received from the data management means 22 to the robot control means 16 based on a demand from the robot control means 16. The robot control means 16 controls the robot 14 so as to move the tool 12 based on the received coordinate data.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a processing device that processes a workpiece using an articulated robot arm. [Background technology]

[0002] Work such as removing burrs remaining on the surface of machined products and polishing the cavity surfaces of molds has traditionally been done manually, but robots are being introduced to save labor and shorten work times (see, for example, Patent Document 1). The processing device in Patent Document 1 is configured so that a processing tool (tool) and a force sensor are attached to the wrist of the robot, the processing tool is pressed against a workpiece (material to be processed), the force acting between the processing tool and the workpiece during processing is detected by the force sensor, and the position and posture of the wrist are controlled so that the detected value approaches a target value, thereby enabling appropriate deburring and polishing. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2016-68216 Summary of the Invention [Problem to be solved by the invention]

[0004] In a configuration in which the movement of the robot wrist is controlled by force control using the detection value of a force sensor, as in the processing device of Patent Document 1, feedback control is involved in which the detection value of the force sensor is adjusted to approach a target value, which can cause damage to the workpiece or the robot wrist when processing curved surfaces that require particularly delicate movements, as the feedback control cannot keep up. Furthermore, in order to properly deburr and polish, it is necessary to perform the complicated and time-consuming task of adjusting the force sensor for each product or mold type with different shapes, which is also a drawback as it requires time-consuming adjustment work when changing orders.

[0005] In addition, instead of relying on force control, general-purpose simulation software is used to generate a machining path line (the trajectory of the machining tool) consisting of coordinate data of the machining portion of the workpiece, and the robot's operation is controlled so that the wrist moves along the machining path line. However, the coordinate data of the machining path line generated by the general-purpose simulation software is enormous, and when the coordinate data is transmitted to the robot's control device, the size and shape of the workpiece that can be machined are limited due to insufficient capacity on the robot's control device. In addition, when using the machining path line, a robot operation program is created based on the machining path line, and before actually machining the workpiece, an operator must operate an operating device called a teaching pendant to start the operation program, teach the machining path line while checking the robot's operation, and correct any abnormal coordinates, which has been pointed out as a drawback, requiring a lot of time and effort.

[0006] The present invention has been proposed in consideration of the above-mentioned problems inherent in the prior art, and aims to solve these problems in an appropriate manner, and aims to provide a processing device that can easily handle the processing of different types of workpiece materials. [Means for solving the problem]

[0007] In order to overcome the above problems and achieve the intended purpose, First Measure teeth, An apparatus for processing a workpiece (10), comprising: an articulated robot arm (14) equipped with a tool (12) and configured to move the tool (12) to process the workpiece (10); robot control means (16) for controlling the articulated robot arm (14); data generating means (18) for generating movement path data of the tool (12) in the articulated robot arm (14) from shape data of the workpiece (10); a data control means (20) capable of transmitting data to the robot control means (16); and data management means (22) capable of converting the travel route data generated by the data generation means (18) into coordinate data consisting of numerical values ​​that can be managed by the data control means (20) and transmitting the coordinate data to the data control means (20), The data control means (20) transmits the coordinate data received from the data management means (22) to the robot control means (16) based on a request from the robot control means (16), and the robot control means (16) controls the articulated robot arm (14) to move the tool (12) based on the received coordinate data, thereby processing the workpiece (10). This configuration In this system, tool movement path data is generated based on shape data of the workpiece, and the articulated robot arm is controlled based on this movement path data to machine the workpiece, preventing damage to the workpiece or the articulated robot arm due to feedback control being unable to keep up, as occurs when using force sensors.In other words, this system eliminates the need for complicated and time-consuming adjustment work of force sensors for each type of workpiece, and the work of teaching a machining path line, making it easy to respond to changes in orders, etc.

[0008] Second Option teeth, The data generating means is configured to store a data file in which travel route data is filed. This configuration By simply changing the information in the data file, different types of workpiece materials can be easily processed.

[0009] Third Option teeth, The movement path of the tool (12) based on the movement path data is composed of a plurality of sections, The data control means (20) is configured to sequentially receive coordinate data of the section downstream in the movement direction of the tool (12) from the data management means (22) in response to a request from the robot control means (16), and to transmit the coordinate data to the robot control means (16). This configuration In the above, the data control means sequentially receives coordinate data for the section downstream of the section in which the tool is moving from the data management means and transmits it to the robot control means, thereby preventing limitations on the size, shape, etc. of the workpiece that can be processed due to insufficient capacity of the robot control means.

[0010] Fourth Measure teeth, a plurality of the movement paths are set at intervals in a direction intersecting the movement direction of the tool (12) on the movement paths, and a start point (ST) where the tool (12) starts moving and an end point (EN) where the tool (12) finishes moving on the movement paths are set at positions where the tool (12) does not come into contact with the workpiece (10); The robot control means (16) is configured to process the workpiece (10) by controlling the articulated robot arm (14) based on the coordinate data received from the data control means (20) so that the tool (12) moves from the start point (ST) of a movement path to the end point (EN) thereof, and then moves to the start point (ST) of an adjacent movement path and then to the end point (EN) of the movement path, repeating this process; the data control means (20) is configured to be able to recognize the section to be machined by the tool (12) based on the coordinate data transmitted to the robot control means (16); The data control means (20) is configured to transmit auxiliary coordinate data to the robot control means (16) for the tool (12) to move toward the end point (EN) in the section machined by the tool (12), when the section includes the end point (EN). This configuration In the present invention, when the section to be machined by the tool is a section that includes the end point, auxiliary coordinate data is transmitted to the robot control means. Therefore, the tool moving along the final section of the movement path can be moved appropriately to the end point, and even if the size or shape of the workpiece is different, the tool can be moved along multiple movement paths to properly machine the workpiece.

[0011] Fifth Measure teeth, the data control means (20) is configured to transmit coordinate data of a virtual coordinate point (CD) between the one coordinate point (C1E) and the next coordinate point (D1S) to the robot control means (16) when it is determined that there is a possibility of an operational malfunction of the tool (12) moving from one coordinate point (C1E) to a next coordinate point (D1S) in the coordinate data; The gist of the present invention is that when the robot control means (16) receives coordinate data of a virtual coordinate point (CD) from the data control means (20), it changes the trajectory of the tool (12) moving from one coordinate point (C1E) to the virtual coordinate point (CD) to a trajectory that skips the virtual coordinate point (CD) and heads toward the next coordinate point (D1S). This configuration In this method, by changing the trajectory of the tool moving to a virtual coordinate point to a trajectory that skips the virtual coordinate point and moves to the next coordinate point, the trajectory of the tool moving from one coordinate point to the next coordinate point becomes smooth, and malfunctions can be prevented.

[0012] 6th Measure teeth, a measuring means (26) capable of measuring the three-dimensional shape of the workpiece (10); The data generating means (18) is configured to be able to correct the travel path data in accordance with the measurement results of the measuring means (26). This configuration In this system, the movement path data can be corrected according to the measurement results of the measuring means, allowing for more appropriate processing of the workpiece. Also, since the data generating means can accurately recognize the shape of the workpiece from the three-dimensional shape measured by the measuring means, it is possible to omit the centering work when setting the workpiece on the processing table for processing, thereby improving work efficiency.

[0013] Seventh Measure teeth, The hand (30) of the articulated robot arm (14) to which the tool (12) is attached is supported so as to be movable in each axis direction of an XYZ-axis Cartesian coordinate system in which the Z-axis direction corresponds to the vertical direction, and is also supported so as to be movable around each axis, so that the tool (12) can be moved to follow the processed portion of the workpiece (10). This configuration In this system, the tool can be made to conform to the machining portion of the workpiece, preventing damage to the tool or workpiece due to an overload caused by a control delay, etc. Furthermore, even if there is an error between the actual shape of the workpiece and the coordinate data, the error can be absorbed to prevent damage. [Effects of the Invention]

[0014] The processing device according to the present invention can easily process different types of workpiece materials. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a schematic configuration diagram of a processing device according to an embodiment. [Figure 2] 1A and 1B are explanatory views showing a path (pass line) along which a robot moves when processing a workpiece, in which (a) is a plan view and (b) is a side view. [Figure 3] FIG. 1 is an explanatory diagram showing the reason why the robot's operation stops momentarily when signal processing is performed and the principle of the countermeasure. [Figure 4] FIG. 10 is an explanatory diagram showing the processing contents of measures to prevent the robot from momentarily stopping its operation. [Figure 5] 10 is an explanatory diagram showing the processing content for properly moving the tool to the end point in a section including the end point of the movement path. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0016] Next, a processing apparatus according to a preferred embodiment of the present invention will be described below with reference to the accompanying drawings. [Example]

[0017] 1, the processing apparatus of the embodiment includes an articulated robot arm 14 equipped with a tool 12 for processing a workpiece 10, robot control means 16 for controlling the articulated robot arm 14, data generation means 18 for generating movement path data for the tool 12 when processing the workpiece 10 from shape data of the workpiece 10, data management means 22 capable of converting the movement path data into coordinate data consisting of numerical values ​​and transmitting the coordinate data to a sequencer 20 serving as data control means, and the sequencer 20 capable of transmitting the coordinate data received from the data management means 22 to the robot control means 16. The articulated robot arm 14 is a multi-joint robot generally called a "robot arm," and is capable of freely operating (moving) in three-dimensional space using a multi-joint structure and a servo motor, and will hereinafter be referred to simply as a robot 14.

[0018] The processing device has a measuring means 26 that is connected to the data generating means 18 and is capable of measuring the three-dimensional shape of the workpiece 10 set on the processing table 24. In the embodiment, a handheld 3D scanner is used as the measuring means 26, but any means capable of measuring the three-dimensional shape of the workpiece 10, such as a laser displacement meter or a camera, may be used. Note that in the embodiment, a case will be described in which the cavity surface (processing surface, processing portion) of a mold serving as the workpiece 10 is polished with a polishing tool, but the processing performed on the workpiece 10 may also be drilling, cutting, or the like, and a type of tool 12 appropriate for the type of processing may be used.

[0019] The data generation means 18 uses CAD software to create shape data consisting of CAD data for the workpiece 10, or creates shape data for the workpiece 10 based on input CAD data. Furthermore, the data generation means 18 uses CAM software to generate movement path data consisting of a group of three-dimensional coordinate points that specify the movement path of the tool 12 for machining the workpiece 10 using the tool 12, based on the created shape data for the workpiece 10. Furthermore, the data generation means 18 is configured to convert the movement path data into a file and store the data file. In this embodiment, the movement path data is converted into a CSV file that describes pass line number information and section information, etc., for the workpiece 10, as described below. The CSV file also describes the type of tool 12, machining conditions, etc., depending on the type of machining to be performed on the workpiece 10. The data generation means 18 is also configured to modify the movement path data generated from the CAD data based on the measurement results of the workpiece 10 by the measurement means 26. The data generation means 18 is equipped with a display (display means) capable of displaying CSV files and a keyboard (operation means) capable of inputting and changing various information, and is configured so that the various information described in the CSV file displayed on the display can be changed using the keyboard.

[0020] The data management means 22 is configured to be able to read (receive) the CSV file of movement route data generated by the data generation means 18, convert the movement route data in the CSV file into coordinate data consisting of numerical values ​​that can be managed by the sequencer 20, and transmit the coordinate data to the sequencer 20. The data management means 22 reads all CSV files generated by the data generation means 18, stores them in a memory unit of the data management means 22, and transmits to the sequencer 20 only the coordinate data corresponding to the requested section, which will be described later, based on a data request signal from the sequencer 20.

[0021] Based on a data request signal from the robot control means 16, the sequencer 20 transmits a data request signal for coordinate data corresponding to the requested section to the data management means 22. The sequencer 20 is then configured to transmit the coordinate data corresponding to the section received from the data management means 22 to the robot control means 16. The sequencer 20 is also configured to track the coordinate data it is processing based on the coordinate data transmitted to the robot control means 16 and answer data (described later) from the robot control means 16. That is, the sequencer 20 is capable of constantly recognizing the section being machined by the tool 12 of the robot 14 based on the coordinate data transmitted to the robot control means 16. The sequencer 20 is also configured to set a start point flag and an end point flag when it transmits coordinate data corresponding to the start point ST and end point EN of a pass line (described later) to the robot control means 16. Note that there are cases where the sequencer 20 and the robot control means 16 simply request the corresponding data management means 22 and sequencer 20 to transmit a data request signal.

[0022] The robot 14 may be, for example, a six-axis articulated robot, with each axis driven by a servo motor. The robot 14 is configured such that various tools 12 can be attached to a hand 30 disposed at the tip of an arm 28. The servo motor is driven to move the hand 30 along a movement path specified by movement path data based on the coordinate data, thereby processing the workpiece 10. The hand 30 is supported relative to the arm 28 so as to be movable in each axis direction of an XYZ Cartesian coordinate system, in which the Z-axis direction corresponds to the vertical direction, and also movable around each axis. The hand 30 is configured to move in each axis direction and around each axis when a load greater than a predetermined value (a load greater than that generated during processing) is applied, thereby allowing the tool 12 to conform to the processing portion (machined surface) of the workpiece 10.

[0023] The robot control means 16 is equipped with a data register for storing the coordinate data transmitted from the sequencer 20, and stores an operation program for controlling the robot 14 based on the coordinate data, and controls the operation of the arm 28 and hand 30 of the robot 14 in accordance with the operation program to cause the robot 14 to process the workpiece 10. The robot control means 16 controls the robot 14 while overwriting the coordinate data transmitted from the sequencer 20 in the data register.

[0024] In the processing device of the embodiment, when polishing a cavity surface facing upward as shown in Fig. 2(a) in a workpiece material 10 set on a processing table 24, for example, the robot control means 16 moves the tool 12 from a start point ST (the position where the tool 12 starts moving) on ​​the right side of Fig. 2(a) to an end point EN (the position where the tool 12 ends moving) on ​​the left side, and then moves the tool 12 along a path displaced in the width direction (the up and down direction on the paper surface of Fig. 2(a)) from the start point ST to the end point EN, thereby polishing the cavity surface. In the embodiment, the movement path from the start point ST to the end point EN is referred to as a path line. That is, when the robot 14 processes the workpiece 10, multiple movement paths are set at intervals in a direction intersecting the movement direction of the tool 12 along the movement path. The robot 14 moves the tool 12 from the start point ST to the end point EN of one movement path, then moves it to the start point ST of an adjacent movement path, and then moves it back to the end point EN of the previous movement path, repeating this operation to process the workpiece 10. The start point ST and end point EN are set at positions where the tool 12 does not come into contact with the workpiece 10 (see FIG. 2(b)). The pass lines are based on the movement path data generated by the data generating means 18, and the following description will be given assuming that the tool 12 moves along pass line 1, pass line 2, pass line 3, ..., pass line n-1, and pass line n in this order. The start point ST and end point EN are also specified by coordinate points based on the movement path data generated by the data generating means 18. In this embodiment, pass line 1...pass line n are described in the CSV file as pass line number information. Furthermore, the start points ST and end points EN may be distinguished and referred to as start points ST1 to STn and end points EN1 to ENn, corresponding to the path lines 1 to n.

[0025] In the machining apparatus of the embodiment, as shown in Fig. 2(b), the start point ST to the end point EN of each pass line 1-n is divided into a predetermined number of sections A-E, and the robot control means 16 is configured to receive coordinate data for each of the sections A-E and machine the workpiece 10. The sections A-E are then written as section information in the CSV file. In Fig. 2(b), the pass line is shown to extend linearly relative to the workpiece 10, but this is for the sake of convenience; in reality, it extends three-dimensionally along the cavity surface (machined surface, machined portion) of the workpiece 10.

[0026] In this embodiment, before starting machining on pass line 1, which is the first pass line, the robot control means 16 requests the sequencer 20 for coordinate data for sections A and B, which are the first and second sections from the start point ST. The sequencer 20 then requests the coordinate data for sections A and B from the data management means 22. The coordinate data for sections A and B transmitted from the data management means 22 in response to the request is received by the robot control means 16 via the sequencer 20. The robot control means 16 then controls the robot 14 based on the received coordinate data to start movement in section A, and while the robot is moving in section A, the robot control means 16 requests coordinate data for section C from the sequencer 20. The sequencer 20 requests the coordinate data for section C from the data management means 22 in the same manner as described above. The coordinate data for section C transmitted from the data management means 22 in response to the request is received by the robot control means 16 via the sequencer 20. Thereafter, the robot control means 16 similarly requests coordinate data for section D from the sequencer 20 while moving through section B and receives the coordinate data, and then requests coordinate data for section E from the sequencer 20 while moving through section D and receives the coordinate data. That is, the sequencer 20 is configured to sequentially receive coordinate data for sections downstream in the direction of movement of the tool 12 from the data management means 22 in response to a request from the robot control means 16 and transmit the coordinate data to the robot control means 16. The robot control means 16 is configured to store only the coordinate data for the required section in the data register and proceed with machining while overwriting the newly received coordinate data in the data register, thereby preventing limitations on the size, shape, etc. of the workpiece 10 that can be machined due to insufficient capacity. Furthermore, while machining section E, the last section of pass line 1, the robot control means 16 requests coordinate data for section A, the first section of the next pass line 2, from the sequencer 20 and receives the coordinate data. The sections of each pass line 1 to n may be distinguished by being referred to as sections A1 to An, sections B1 to Bn, and so on, and sections E1 to En.

[0027] The robot control means 16 is configured to, upon receiving coordinate data from the sequencer 20, generate coordinate points constituting the coordinate data and transmit the data of the coordinate points as answer data to the sequencer 20. The sequencer 20 then compares the answer data with the coordinate data transmitted by the sequencer 20 for each coordinate point, and if comparison is not possible, request an emergency stop to the robot control means 16. The robot control means 16 is configured to bring the robot 14 to an abnormal stop in response to the emergency stop request from the sequencer 20.

[0028] The machining apparatus of the embodiment is configured to be able to take recovery measures when machining by the robot 14 abnormally stops, for example, as described above. That is, when the robot 14 abnormally stops, the sequencer 20 notifies the operator of the abnormality using a warning means such as an alarm and prompts the operator to perform an operation to return the robot 14 to the origin. When the operator performs an operation to return the robot 14 to the origin using an operation means such as a touch panel provided on the sequencer 20, the sequencer 20 sends a return-to-origin command to the robot control means 16. The robot control means 16 calculates the coordinate point of the tool 12 at the time of the abnormal stop from the positions of the servo motors of the robot 14 at the time of the abnormal stop, and searches for the coordinate point received from the sequencer 20 to which the calculated coordinate point is closest. The robot control means 16 then sends the searched coordinate point to the sequencer 20.

[0029] After the robot 14 has returned to the origin position, when the operator operates the operating means to resume machining by the robot 14, the sequencer 20 retransmits the coordinate data from the searched coordinate point received from the robot control means 16. This allows the robot control means 16 to resume machining from a coordinate point close to the position where the robot abnormally stopped. In other words, when returning from an abnormal stop, machining can be resumed from a part close to the position where the robot abnormally stopped, which is more time-efficient than when the tool 12 is moved from the start point ST and machining is resumed.

[0030] In the machining apparatus of the embodiment, the robot control means 16 is configured to control the robot 14 based on coordinate data transmitted from the sequencer 20 through loop processing of the same operation program. As described above, the robot control means 16 is configured to receive coordinate data for sections A1 and B1 on the pass line 1 from the sequencer 20 before starting machining, and to receive coordinate data for section C1 from the sequencer 20 while the tool 12 is moving through section A1. In the embodiment, the robot control means 16 is configured to perform loop processing based on the operation program, with the reception of coordinate data for three sections and the operation of the tool 12 based on the coordinate data as one unit. However, the number of sections divided by each of the pass lines 1 to n is greater than the number of sections (three) processed in one loop. Therefore, if a signal processing is performed to transition to a loop return destination in the operation program upon completion of one loop processing, a malfunction in which the operation of the robot 14 momentarily stops may occur, potentially damaging the workpiece 10. Therefore, in the embodiment, measures are taken to prevent the operation of the robot 14 from stopping in response to the signal processing at the end of the loop processing.

[0031] Here, reasons for momentary pauses in the operation of the robot 14 and countermeasures for them will be briefly explained with reference to Fig. 3. For example, when two coordinate points L and M along which the tool 12 moves are set such that the direction in which the tool 12 moves from the previous coordinate point toward coordinate point L and the direction in which the tool 12 moves from coordinate point M toward the next coordinate point are perpendicular to each other, as shown in Fig. 3(a), the robot 14 moves the tool 12 linearly from coordinate point L toward coordinate point M. If the signal processing is performed at this time, the operation of the robot 14 may not be smooth and the robot 14 may momentarily pause at coordinate point M. Therefore, as shown in Fig. 3(b), a virtual coordinate point N is set at the intersection (midway between coordinate points L and M) of an extension line (dotted line in the figure) of the direction in which the tool 12 moves from the previous coordinate point toward coordinate point L and an extension line (dotted line in the figure) in the opposite direction to the direction in which the tool 12 moves from coordinate point M toward the next coordinate point. When moving the tool 12 in the order of coordinate point L → virtual coordinate point N → coordinate point M, the robot 14 operates to move the tool 12 linearly from coordinate point L to virtual coordinate point N and from virtual coordinate point N to coordinate point M, but if a command to skip virtual coordinate point N is given to the robot 14 while the tool 12 is moving from coordinate point L to virtual coordinate point N, the robot 14 changes the trajectory of the tool 12 to a curved trajectory that skips virtual coordinate point N, as shown in Figure 3(c). This makes the operation of the robot 14 moving the tool 12 from coordinate point L to coordinate point M smoother, preventing the robot 14 from stopping.

[0032] Therefore, in the embodiment, when the sequencer 20 determines (determines that a malfunction may occur) that the tool 12 will move between the final coordinate point (first coordinate point) of the third section (final loop section) processed in one loop processing in which the signal processing occurs and the first coordinate point (next coordinate point) of the first section (first loop section) processed in the next loop processing, based on the coordinate data transmitted from the sequencer 20 to the robot control means 16, a virtual coordinate point is set between (halfway between) the final coordinate point and the first coordinate point. Also, the section machined by the tool 12 of the robot 14 is the third section processed in one loop processing in which signal processing occurs, and the skip condition is set that machining of the final coordinate point of that section has been completed. Specifically, if the third section processed in one loop is not the last section divided into one pass line (the end point flag is not set), the sequencer 20 notifies the robot control means 16 that it is not the last section, and transmits the coordinate data of the virtual coordinate point to the robot control means 16 by the time the tool 12 reaches the final coordinate point of the third section. More specifically, with reference to FIG. 4, while the robot 14 is moving the tool 12 through section C1, the sequencer 20 transmits to the robot control means 16 the coordinate data of virtual coordinate point CD corresponding to the midpoint between the final coordinate point C1E of section C1 and the first coordinate point D1S of the next section D1. Note that in the last section of one pass line (the section including end point EN), processing different from that of the other sections is performed, and this processing will be described later.

[0033] When the robot control means 16 completes machining of the final coordinate point C1E of the section C1 as the machining of the section C1 progresses, it determines that the skip condition is met and controls the robot 14 to change the trajectory of the tool 12 to a curved trajectory toward the coordinate point D1S of the section D1 while the tool 12 is moving from the coordinate point C1E toward the virtual coordinate point CD. This allows smooth operation of the robot 14 as it moves the tool 12 from the coordinate point immediately before the signal processing to the next coordinate point, and the robot 14 can be operated without stopping to prevent damage to the workpiece 10. In Figure 3(b), the position of the virtual coordinate point is described as being set at the intersection of an extension line in the direction in which the tool 12 moves from the previous coordinate point toward coordinate point L and an extension line in the opposite direction to the direction in which the tool 12 moves from coordinate point M toward the next coordinate point. However, the position may be any position that allows smooth operation of the robot 14 moving the tool 12 from the previous coordinate point to the next coordinate point, depending on the positional relationship between the coordinate point immediately before signal processing (coordinate point L) and the next coordinate point (coordinate point M).

[0034] Next, the processing in the last section (the section including the end point EN) of one pass line will be described. As described above, in an embodiment in which three sections are processed in one loop, while the last section E1 to En-1 of a pass line is being machined with the tool 12, the coordinate data reception processing for the first section A2 to An and the second section B2 to Bn of the corresponding next pass line is executed, so the termination processing for section E1 to En-1 occurs after the coordinate data reception processing for sections B2 to Bn has been completed.

[0035] Therefore, in this embodiment, when the section being machined by the robot 14 is a section including the end point EN, the path switching condition is set to be the completion of machining of the final machining coordinate point for machining the workpiece 10 in that section. Furthermore, an auxiliary coordinate point is set between the machining final coordinate point and the end point EN. Specifically, referring to FIG. 5 for the case of path line 1, when the section being machined by the robot 14 is the last section E1 of the path line 1 including the end point EN1 (when the end point flag is set), the sequencer 20 is configured to notify the robot control means 16 that this is the last section and to transmit to the robot control means 16 the coordinate data of the auxiliary coordinate points as (five auxiliary coordinate points as1 to as5 in this embodiment) until the tool 12 reaches the machining final coordinate point E1E in the section E1. Then, when the path switching condition is met, the robot control means 16 controls the robot 14 so that the tool 12, which has machined the machining final coordinate point E1E, reaches the end point EN1 via the auxiliary coordinate points as. Furthermore, when the tool 12 reaches the end point EN1, the robot control means 16 performs termination processing for one path line and manages information such as tool life, and then controls the robot 14 to move the tool 12 to the start point ST2 of the path line 2.

[0036] [Operation of the Example] Next, the operation of the processing apparatus according to the embodiment configured as described above will be described.

[0037] The data generation means 18 generates movement path data from shape data (CAD data) of the workpiece 10, and the robot control means 16 controls the robot 14 to machine the workpiece 10 based on the movement path data. This prevents damage to the workpiece 10 or the robot 14 due to feedback control overload, as occurs when using force sensors. The data generation means 18 also converts the movement path data into a CSV file. By modifying the information in the CSV file according to the user's needs, it is possible to easily process different types of workpiece 10, and various information depending on the application can be sent to the sequencer 20 via the data management means 22. This eliminates the need for complicated and time-consuming force sensor adjustments and teaching of machining path lines for each type of workpiece 10, thereby enabling easy response to order changes, etc. The CSV file is highly versatile because it can be read by a variety of software, and it also has the advantage of small data volume.

[0038] The data generating means 18 is also configured to be able to correct the movement path data in accordance with the measurement results of the measuring means 26. In other words, general-purpose simulation software has difficulty recognizing missing coordinate positions in the data, resulting in the problem of unintended machining of the workpiece 10 at the portions corresponding to the missing coordinate positions. However, the machining apparatus of the embodiment can correct the movement path data in accordance with the measurement results of the measuring means 26. Therefore, even if missing coordinate positions exist in the movement path data generated from the shape data (CAD data) of the workpiece 10, they can be corrected, allowing the workpiece 10 to be properly machined. Furthermore, the data generating means 18 can recognize the center points of holes, etc. in the workpiece 10 from the three-dimensional shape measured by the measuring means 26 of the workpiece 10 set on the machining table 24. This eliminates the need for centering the holes, etc., when setting the workpiece 10 on the machining table 24, simplifying the setting process.

[0039] Here, in the processing device of the embodiment, movement path data is generated based on CAD data, but differences may arise between the coordinates of the generated movement path data and the actual positional relationship of the workpiece material 10 due to the following factors. - Error in the centering position of the actual workpiece material 10. The difference between the actual dimensions of the workpiece 10 and the dimensions of the workpiece 10 in the CAD data. -Slight errors in the calculation process when creating CAD data. Even if a discrepancy occurs between the movement path data and the actual workpiece material 10 due to the above factors, the hand 30 of the robot 14 is supported on the arm 28 so as to be variably movable in the directions of and around each axis of the XYZ Cartesian coordinate system, allowing the tool 12 to move along the cavity surface of the workpiece material 10, preventing a large load from being applied to the tool 12 or the workpiece material 10 and preventing damage to the tool 12 or the workpiece material 10. In other words, when a force sensor is used, a large number of parameters must be adjusted for each type of product, but by making the hand 30 flexible, parameter adjustments such as those required when using a force sensor are not required, thereby reducing the number of work steps and simplifying software design because there is no need for software design for parameter adjustments.

[0040] In the processing device of the embodiment, the movement path of the tool 12 is divided into multiple sections, and the sequencer 20 is configured to sequentially transmit coordinate data of the sections downstream in the movement direction of the tool 12 to the robot control means 16 upon request from the robot control means 16, thereby preventing limitations on the size, shape, etc. of the workpiece material 10 that can be processed due to insufficient capacity of the robot control means 16.

[0041] In the machining apparatus of the embodiment, if the third section processed in one loop process is not the last section divided into one path line and a skip condition is met, the robot control means 16 controls the robot 14 to change the trajectory of the tool 12 moving toward a preset virtual coordinate point (CD). Therefore, even if the signal processing occurs, the robot 14 can be operated smoothly without stopping, preventing damage to the workpiece 10. Furthermore, if the section processed by the tool 12 of the robot 14 is a section including the end point EN and a path switching condition is met, the robot control means 16 controls the robot 14 to move to the end points EN1 to ENn via a preset auxiliary coordinate point as. Therefore, the robot 14 can perform the next operation without having to wait until one loop process is completed. Furthermore, when the tool 12 is machining the final section of its movement path, the tool 12 can be moved properly to the end point EN where it does not come into contact with the workpiece 10, so even if the size or shape of the workpiece 10 is different, the tool 12 can be moved smoothly to the start point ST of the next movement path. In other words, the workpiece 10 can be machined properly by moving the tool 12 along multiple movement paths. Furthermore, in the embodiment, multiple auxiliary coordinate points as are set, so the speed of the tool 12 moving from the machining final coordinate point (E1E) to the end point EN can be slowed down, preventing problems caused by high-speed movement of the tool 12.

[0042] [Example of change] The present application is not limited to the configurations of the above-described embodiments, and other configurations can be adopted as appropriate. 1. In the embodiment, the robot control means is configured to store coordinate data for two sections in a data register before machining of the workpiece, and while the tool is moving through the first section, store coordinate data for the next section in the data register. However, depending on the speed at which the tool is moved by the robot, it may also be configured to store only the coordinate data for the first section in the data register before machining begins, and then store coordinate data for the next section in the data register while the tool is moving through the section in which the coordinate data is stored. Also, the number of sections for which coordinate data is stored before machining begins may be three or more, depending on the capacity allowed by the robot control means. 2. In the embodiment, three sections are processed in one loop, but the number of sections processed in one loop may be one, two, four or more, as long as it is set according to the capacity allowed by the robot control means. 3. The number of sections into which one movement path (path line) is divided is not limited to five as in the embodiment, but may be any number. 4. The measuring means may be provided as needed, for example, when the shape of the workpiece is complex. 5. The robot is not limited to a six-axis articulated robot, but an articulated robot with degrees of freedom according to the shape of the workpiece to be processed can be used. 6. In the embodiment, the travel route data is converted into a CSV file, but the file format may be a TSV file, an XML file, or any other file format. [Explanation of symbols]

[0043] 10 Workpiece material, 12 Tool, 14 Robot (articulated robot arm) 16 Robot control means, 18 Data generation means, 20 Sequencer (data control means) 22 Data management means, 26 Measurement means, 30 Hand, ST Start point, EN End point C1E last coordinate point (first coordinate point), D1S first coordinate point (next coordinate point) CD Virtual coordinate point

Claims

1. An apparatus for processing a workpiece, comprising: an articulated robot arm that is equipped with a tool and moves the tool to process the workpiece; a robot control means for controlling the articulated robot arm; a data generating means for generating movement path data of a tool in the articulated robot arm from the shape data of the workpiece; a data control means capable of transmitting data to the robot control means; a data management means for converting the travel route data generated by the data generation means into coordinate data consisting of numerical values ​​that can be managed by the data control means, and transmitting the coordinate data to the data control means; the data control means transmits the coordinate data received from the data management means to the robot control means based on a request from the robot control means, and the robot control means controls the articulated robot arm to move a tool based on the received coordinate data, thereby processing the workpiece; a tool movement path based on the movement path data is composed of a plurality of sections; The data control means is configured to receive coordinate data of a section downstream in the moving direction of the tool from the data management means in sequence in response to a request from the robot control means, and to transmit the coordinate data to the robot control means. A processing device characterized by:

2. An apparatus for processing a workpiece, comprising: an articulated robot arm that is equipped with a tool and moves the tool to process the workpiece; a robot control means for controlling the articulated robot arm; a data generating means for generating movement path data of a tool in the articulated robot arm from the shape data of the workpiece; a data control means capable of transmitting data to the robot control means; a data management means for converting the travel route data generated by the data generation means into coordinate data consisting of numerical values ​​that can be managed by the data control means, and transmitting the coordinate data to the data control means; the data control means transmits the coordinate data received from the data management means to the robot control means based on a request from the robot control means, and the robot control means controls the articulated robot arm to move a tool based on the received coordinate data, thereby processing the workpiece; the data control means is configured to, when determining that there is a possibility of malfunction of the tool moving from one coordinate point to a next coordinate point in the coordinate data, transmit coordinate data of a virtual coordinate point between the one coordinate point and the next coordinate point to the robot control means; The robot control means is configured to, when receiving coordinate data of a virtual coordinate point from the data control means, change the trajectory of the tool moving from one coordinate point to a virtual coordinate point to a trajectory skipping the virtual coordinate point and heading toward the next coordinate point. A processing device characterized by:

3. a plurality of the movement paths are set at intervals in a direction intersecting the movement direction of the tool on the movement paths, and a start point where the tool starts to move and an end point where the tool finishes moving on the movement paths are set at positions where the tool does not come into contact with the workpiece material; the robot control means is configured to process the workpiece by controlling the articulated robot arm based on the coordinate data received from the data control means so that the tool moves from the start point to the end point of a movement path, then moves to the start point of an adjacent movement path, and then moves to the end point of the adjacent movement path, repeating this process; the data control means is configured to be able to recognize a section to be machined by a tool based on the coordinate data transmitted to the robot control means, 2. The machining device according to claim 1, wherein the data control means is configured to transmit auxiliary coordinate data to the robot control means when the section machined by the tool is a section that includes an end point, for moving the tool toward the end point in that section.

4. 4. The processing device according to claim 1, wherein the data generating means is configured to store a data file in which the movement path data is filed.

5. a measuring means capable of measuring a three-dimensional shape of the workpiece; 5. The processing device according to claim 1, wherein the data generating means is configured to be able to correct the movement path data in accordance with the measurement results of the measuring means.

6. The processing device according to any one of claims 1 to 5, wherein a hand on which a tool is attached in the articulated robot arm is supported so as to be variably moved in each axis direction of an X-Y-Z-axis Cartesian coordinate system in which the Z-axis direction corresponds to the vertical direction, and is supported so as to be variably moved around each axis, so that the tool can be moved to follow the processed portion of the workpiece material.

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