Processing system and generation method

Abstract

[Problem] To improve the efficiency of production of a product by a processing machine. [Solution] This processing system includes: a generation unit that generates an intermediate program in which an operation of a robot is described; a conversion unit that converts the intermediate program generated by the generation unit into a robot program for operating the robot; an acquisition unit that, when the robot is operated on the basis of the robot program, acquires a corrected value corrected by manipulation of a teaching terminal for at least one of position information and posture information on the robot at a movement destination thereof; a reflection unit that reflects the acquired corrected value in the intermediate program generated by the generation unit; and an update unit that updates the intermediate program in which the corrected value has been reflected. The conversion unit converts, into a new robot program, the new intermediate program in which the correction value has been reflected by the reflection unit and which has been updated by the update unit.

Description

Processing System and Generation Method

[0001] The present invention relates to a processing system and a generation method.

[0002] Conventionally, for the process of processing by a processing machine such as a press brake, it may be performed by a robot that holds and operates a workpiece. The robot operates based on a robot program generated in advance. Before causing the processing machine to produce a product, the operator performs a teaching operation of trial processing and adjusts the position and posture of the robot as necessary. Thereby, the production of the product by the processing machine can be suitably performed. Patent Document 1 discloses a processing system that can automatically perform trial bending on the first sheet set in job data even during schedule operation and can be corrected as necessary.

[0003] Japanese Patent No. 5470063

[0004] The above prior art causes trial processing to be performed before the processing machine produces a product and modifies the robot program or the like as necessary. However, if the program of a certain process is changed for some reason, the previous correction is not reflected in the new robot program or the like. Therefore, the operator causes trial processing to be performed based on the new robot program or the like and performs the teaching operation of adjusting the position and posture of the robot again. As a result, the prior art requires the same teaching operation as the adjustment once performed to be performed again, so the production efficiency of the product by the processing machine is lowered.

[0005] The present invention provides a processing system and a generation method capable of improving the production efficiency of a product by a processing machine.

[0006] In one embodiment of the present invention, a machining system is provided comprising a robot that holds and operates a workpiece to be machined by a machining machine, the system comprising: a generation unit that generates an intermediate program describing the operation of the robot; a conversion unit that converts the intermediate program generated by the generation unit into a robot program for operating the robot; an acquisition unit that, when the robot is operated based on the robot program, acquires a correction value corrected by the operation of a teaching terminal for at least one of the position information and orientation information at the destination of the robot; a reflection unit that reflects the acquired correction value into the intermediate program generated by the generation unit; and an update unit that updates the intermediate program to which the correction value has been reflected, wherein the conversion unit converts the new intermediate program, to which the correction value has been reflected by the reflection unit and updated by the update unit, into a new robot program.

[0007] In one aspect of the present invention, a method for generating a robot program for operating a robot that holds a workpiece to be processed by a processing machine is provided, comprising: generating an intermediate program describing the robot's movements; converting the generated intermediate program into a robot program for operating the robot; obtaining a correction value, corrected by operating a teaching terminal, for at least one of the position information and orientation information at the robot's destination when the robot is operated based on the robot program; reflecting the obtained correction value in the generated intermediate program; updating the intermediate program to which the correction value has been reflected; and converting the newly updated intermediate program to which the correction value has been reflected into a new robot program.

[0008] According to the processing system and production method according to an aspect of the present invention, when the robot is operated based on a robot program, correction values ​​entered in the teaching work using a teaching terminal are acquired and reflected in the intermediate program. Therefore, when updating the description of the script language for a certain process, updating the intermediate program to which the correction values ​​have been reflected eliminates the need for the operator on site to repeat the teaching work that has already been performed, thus improving the production efficiency of products by the processing machine.

[0009] Furthermore, in the above embodiment of the processing system, the intermediate program includes processing control information that controls the execution of processing by the processing machine, robot control information that controls the movement of the robot, and correction value information in which correction values ​​are set for at least one of position information and posture information. The generation unit generates an intermediate program in which no correction values ​​are set for the correction value information, the reflection unit sets the correction values ​​for the correction value information, and the update unit updates at least one of the processing control information and robot control information. According to this embodiment, in addition to the movements of the processing machine and the movements of the robot, the intermediate program has information on correction values ​​related to these movements, and the acquired correction values ​​are reflected in the updated intermediate program. As a result, the operator on site does not need to repeat the teaching work that has been performed once, and thus the production efficiency of products by the processing machine can be improved.

[0010] Furthermore, the processing system in the above embodiment may have a detection unit that detects when at least one of the position information and orientation information has been corrected by the operation of a teaching terminal, and an acquisition unit may acquire the corrected value when the detection unit detects that the information has been corrected. According to this embodiment, it is possible to acquire all the corrected values ​​input at the teaching terminal and to reflect the corrected values ​​in the intermediate program.

[0011] Furthermore, the processing system according to the above embodiment may have a monitoring unit that monitors the teaching terminal, and the reporting unit may, based on the monitoring by the monitoring unit, add information to the intermediate program indicating that teaching using the teaching terminal has been completed for the process in which teaching has been completed. According to this embodiment, it is possible to suppress the need for the on-site operator to perform teaching again for the process in which teaching using the teaching terminal has been completed, and to suppress the need to temporarily stop the processing machine for teaching.

[0012] This figure shows an example configuration of a processing system according to the embodiment. This figure shows an example screen of a teaching terminal according to the embodiment. This figure shows an example of a robot according to the embodiment. This figure shows an example of the functional configuration of an office terminal and a field terminal according to the embodiment. This is a processing sequence showing an example of the processing flow in the processing system according to the embodiment.

[0013] The present invention will be described below through embodiments of the invention. However, the present invention is not limited to what is described below. The following embodiments do not limit the invention as defined in the claims. In the drawings, the scale may be appropriately changed, such as by enlarging, reducing, or emphasizing parts of the drawings, in order to illustrate the embodiments. Also, in the drawings, directions in the figures may be explained using the XYZ Cartesian coordinate system. In the XYZ Cartesian coordinate system, the vertical direction is the Z direction, and the horizontal directions are the X and Y directions. In the X, Y, and Z directions, the direction pointed to by the arrow is the + direction, and the direction opposite to the direction pointed to by the arrow is the - direction.

[0014] [Embodiment] Figure 1 is a diagram showing an example configuration of a processing system according to an embodiment. As shown in Figure 1, the processing system 1 includes an office terminal 100, a field terminal 200, a robot controller 300, a teaching terminal 350, a processing machine controller 400, a processing machine 500, and a robot 600. The processing system 1 is a system that operates the robot 600 holding a workpiece and causes the processing machine 500 to process the workpiece.

[0015] The processing system 1 is physically divided into an office side and a factory / worksite side. An office terminal 100 is located on the office side, while a worksite terminal 200, robot controller 300, teaching terminal 350, processing machine controller 400, processing machine 500, and robot 600 are located on the worksite side. Each of the devices shown in Figure 1 is interconnected by wired communication such as a LAN (Local Area Network) or wireless communication such as the Internet.

[0016] The office terminal 100 generates an intermediate program 11 based on the input CAD data 10. The CAD data 10 includes an unfolded drawing of the workpiece to be processed by the processing machine 500. The intermediate program 11 consists of a script language in which the operation of the robot 600 is abstractly described for the robot program 12 that operates the robot 600. The office terminal 100 transmits the generated intermediate program 11 to the field terminal 200.

[0017] The field terminal 200 converts the intermediate program 11 generated by the office terminal 100 into a robot program 12. The robot program 12 is a program that operates the robot 600. The field terminal 200 transmits the robot program 12, which was converted based on the intermediate program 11, to the robot controller 300. The field terminal 200 also generates a processing machine program 13 based on the intermediate program 11 generated by the office terminal 100. The processing machine program 13 is a program that operates the processing machine 500. The field terminal 200 transmits the generated processing machine program 13 to the processing machine controller 400.

[0018] The robot controller 300 executes the robot program 12 and controls the movement of the robot 600. The teaching terminal 350 is used to correct the position and orientation of the robot 600, which has been operated based on the robot program 12. The operator uses the teaching terminal 350 to input correction values ​​when they want to correct the position and orientation of the robot 600. When the teaching terminal 350 receives the input of correction values, it notifies the robot controller 300. As a result, the robot controller 300 executes the robot program 12 that reflects the correction values ​​and controls the movement of the robot 600.

[0019] Figure 2 shows an example screen of a teaching terminal according to an embodiment. As shown in Figure 2, the screen of the teaching terminal 350 includes a user interface for inputting correction values ​​as safety distances for teaching points that indicate the position and orientation information of the robot 600, according to the process of machining. The safety distance represents, for example, how far away from the current position the safety distance should be. The purpose of inputting the safety distance is to prevent the robot 600 from coming into contact with the workpiece it is holding or the robot 600 itself when it is in operation.

[0020] The operator can input a correction value directly into the safety distance input field 351, or by manipulating the adjustment object 352. In addition to these methods of inputting correction values, the operator can also input a correction value by changing the displayed position and orientation of the robot 600 using the panel 353 that visually displays the position and orientation of the robot 600.

[0021] Returning to the explanation of Figure 1, the processing machine controller 400 executes the processing machine program 13 and controls the operation of the processing machine 500. In this embodiment, the processing machine 500 is, for example, a press brake. The processing machine 500 performs bending on a workpiece, for example. A stocker 510, material stations 520 and 530, an aligner 540, a gripping change device 550, and a product loading station 560 are arranged around the processing machine 500. The robot 600 also operates by holding the workpiece to be processed by the processing machine 500.

[0022] The robot 600 is movable on rails 650, which are arranged to allow it to participate in each process of workpiece processing, including the processing machine 500, material stations 520 and 530, the aligner 540, the gripping change device 550, and the product loading station 560.

[0023] Figure 3 shows an example of a robot according to an embodiment. As shown in Figure 3, the robot 600 comprises a trolley 601, a first joint 602, a second joint 603, a first arm 604, a third joint 605, a second arm 606, and a wrist 607. The trolley 601 is mounted on rails 650 for the robot 600 to move. The first joint 602 is mounted on the trolley 601 so as to be rotatable around joint axis A1. The second joint 603 is mounted on the first joint 602 so as to be rotatable around joint axis A2. The third joint 605 is rotatable around joint axis A3. The first arm 604 is positioned to connect the second joint 603 and the third joint 605 and operates in accordance with the rotation of the second joint 603.

[0024] The second arm portion 606 is connected to the third joint portion 605 and operates in accordance with the rotation of the third joint portion 605. The wrist portion 607 is connected to the other end of the second arm portion 606 relative to the third joint portion 605, and a robot hand for work handling can be detachably attached to it. The wrist portion 607 is also rotatable around the joint axis A4. As a result, the robot 600 can operate in six axes: the X direction, Y direction, Z direction, around the X axis (θx), around the Y axis (θy), and around the Z axis (θz), as well as one axis in the direction in which the rail 650 extends (the travel axis of the robot 600). Note that the configuration of the robot 600 is not limited to that shown in the figure, and any configuration is acceptable as long as it can operate in each direction as described above.

[0025] Returning to the explanation of Figure 1, the stocker 510 is installed alongside the processing machine 500, which acts as a press brake, and stores the dies used for processing the workpiece by the processing machine 500. In the processing system 1, the dies required for processing the workpiece may be acquired from the stocker 510 and automatically set in the processing machine 500, or the robot 600 may acquire the dies from the stocker 510 and set them in the processing machine 500.

[0026] Material stations 520 and 530 are locations where workpieces are placed as raw materials before processing. At the start of the processing steps, robot 600 moves to material stations 520 and 530, and retrieves and holds the workpieces as raw materials before processing from material stations 520 and 530.

[0027] The aligner 540 is used to adjust the orientation of a workpiece. The robot 600 adjusts the orientation by placing the held workpiece on the aligner 540 and then holding the workpiece again. For example, when a workpiece is placed on the aligner 540 by the robot 600, its corners are positioned at predetermined locations on the aligner 540. In this state, the robot 600 can adjust the orientation of the workpiece by holding the workpiece with its corners positioned at predetermined locations on the aligner 540.

[0028] The gripping change device 550 is used to perform a workpiece grip change by the robot 600. For example, the gripping change device 550 is equipped with a suction pad for picking up the workpiece. The robot 600 picks up the held workpiece with the suction pad of the gripping change device 550 and performs a workpiece grip change by picking up the workpiece again at a different point than where it was held before picking.

[0029] The product loading station 560 is the location where the workpieces, as finished products, are placed after being processed by the processing machine 500. After all the processing steps by the processing machine 500 are completed, the robot 600 moves to the product loading station 560 and places the held workpieces (workpieces as finished products) into the product loading station 560. In addition to the above, the processing machine 500 is equipped with a sensor near the back gauge of the press brake. The sensor detects the amount of pressure (pressure) the workpiece exerts on the back gauge, etc.

[0030] The robot 600 operates based on feedback from sensors to ensure that the amount of pressure applied by the workpiece to the back gauge is at a suitable value. The processing system 1 may also include equipment for changing the robot hand (sometimes called a "hand stand") which can be changed depending on the workpiece. The processing system 1 may also include equipment for detecting whether multiple workpieces are being held (for example, whether two workpieces are being held stacked on top of each other).

[0031] In the configuration described above, the office terminal 100 generates an intermediate program 11 based on CAD data 10, etc. The field terminal 200 then converts the intermediate program 11 generated by the office terminal 100 into a robot program 12 and generates a processing machine program 13. Subsequently, the robot controller 300 executes the robot program 12 to operate the robot 600. The processing machine controller 400 then executes the processing machine program 13 to operate the processing machine 500.

[0032] At this time, the operator may use the teaching terminal 350 to input correction values ​​(teaching operation) during the operation of the robot 600 by the execution of the robot program 12. On site, a part of the robot program 12 is modified in response to the operator's teaching operation, and the robot 600 operates based on the modified robot program 12. This modified robot program 12 may be deleted as it is not used after all the processes related to machining are completed.

[0033] The field terminal 200 acquires the correction value corrected by the operation of the teaching terminal 350. Now, suppose a case arises where, for example, an update is required for a certain process in the previously used robot program 12 (or the intermediate program 11 before conversion to robot program 12). For this reason, the field terminal 200 reflects the acquired correction value in the previously generated intermediate program 11. The office terminal 100 updates the intermediate program to which the correction value has been reflected by the field terminal 200. Then, the field terminal 200 converts the updated intermediate program 11, which has the correction value reflected, into a new robot program 12. As a result, the robot controller 300 executes the new robot program 12 and operates the robot 600.

[0034] The new robot program 12 incorporates correction values ​​for the operator's teaching operations. Therefore, the operator no longer needs to repeat teaching operations that have already been performed. In other words, on the factory floor, since the robot program 12 is deleted after all machining processes are completed, if an update is required for a process after the teaching operations have been performed, there was previously no way to reflect the correction values, requiring the operator to repeat the teaching operations.

[0035] Furthermore, on the factory floor, it is often technically difficult for operators to update the robot program 12 when a process requires updating. Therefore, when a process requires updating, the office staff will regenerate (or update) the intermediate program 11. According to this embodiment, compared to the conventional method, it is no longer necessary to repeat teaching that has already been performed, thus improving the production efficiency of products by the processing machine 500.

[0036] Figure 4 shows an example of the functional configuration of an office terminal and a field terminal according to the embodiment. As shown in Figure 4, the office terminal 100 has a generation unit 110 and an update unit 120. The field terminal 200 has a conversion unit 210, an acquisition unit 220, a reflection unit 230, a detection unit 240, and a monitoring unit 250.

[0037] The generation unit 110 generates an intermediate program 11 that describes the operation of the robot 600. Specifically, based on the CAD data 10 input to the office terminal 100, the generation unit 110 generates an intermediate program 11 consisting of a script language that abstractly describes the operation of the robot 600 for the robot program 12 that operates the robot 600. The office terminal 100 transmits the generated intermediate program 11 to the field terminal 200.

[0038] The conversion unit 210 converts the intermediate program 11 generated by the generation unit 110 into a robot program 12 that operates the robot 600. Specifically, the conversion unit 210 converts the intermediate program 11 generated by the generation unit 110 and received from the office terminal 100 into a robot program 12 that operates the robot 600. The field terminal 200 transmits the robot program 12 converted from the intermediate program 11 to the robot controller 300. As a result, the robot controller 300 can execute the robot program 12 and operate the robot 600.

[0039] Furthermore, the field terminal 200 generates a processing machine program 13 based on the intermediate program 11 received from the office terminal 100. The field terminal 200 transmits the generated processing machine program 13 to the processing machine controller 400. This allows the processing machine controller 400 to execute the processing machine program 13 and operate the processing machine 500. In the processing system 1, the execution of the robot program 12 and the processing machine program 13 operates the robot 600 holding the workpiece, and causes the processing machine 500 to process the workpiece.

[0040] When the robot 600 is operated based on the robot program 12, the acquisition unit 220 acquires a corrected value for at least one of the position information and orientation information of the robot 600 at its destination, corrected by the operation of the teaching terminal 350. For example, the operator on site uses the teaching terminal 350 to input a corrected value (teaching operation) in response to the operation of the robot 600 by the execution of the robot program 12. At this time, the acquisition unit 220 acquires the corrected value for the position information and orientation information of the robot 600 at its destination, which was input during the teaching operation using the teaching terminal 350.

[0041] Here, the detection unit 240 may be made to detect that a correction value has been input at the teaching terminal 350. The detection unit 240 detects that at least one of the position information and orientation information has been corrected by the operation of the teaching terminal 350. Specifically, the detection unit 240 monitors the teaching using the teaching terminal 350 and detects that a correction value has been input at the teaching terminal 350. Accordingly, the acquisition unit 220 may acquire the correction value input during the teaching operation using the teaching terminal 350.

[0042] The reflection unit 230 reflects the acquired correction values ​​in the intermediate program 11 generated by the generation unit 110. For example, suppose a robot program 12 executed on-site requires an update for a certain process. Once the robot program 12 is handed over to the on-site, it may be deleted after execution, making it difficult to update at the office terminal 100, and also difficult for the on-site operator to update.

[0043] Therefore, the reflection unit 230 reflects the correction value acquired by the acquisition unit 220 in the intermediate program 11 generated by the generation unit 110, and the field terminal 200 transmits the intermediate program 11 with the correction value reflected therein to the office terminal 100. Thereby, in the office terminal 100, the update unit 120 can update the intermediate program 11 with the correction value reflected therein. The update of the intermediate program 11 by the update unit 120 includes a process of updating the description of the script language related to a certain process. The office terminal 100 transmits the newly updated intermediate program 11 with the correction value reflected therein to the field terminal 200.

[0044] Here, information indicating that teaching has already been completed may be added to the intermediate program 11. The monitoring unit 250 monitors the teaching terminal 350. Specifically, the monitoring unit 250 monitors the teaching terminal 350 and detects that a teaching operation has been performed and further detects the process thereof. Thereby, based on the monitoring by the monitoring unit 250, the reflection unit 230 adds information indicating completion to the intermediate program 11 for the process in which teaching using the teaching terminal 350 has been completed.

[0045] By adding information indicating completion for the process in which teaching has been completed, for the process including the teaching that has been performed once, the operation of the robot 600 can be continuously performed without temporarily stopping (for teaching). Further, the teaching terminal 350 may output information indicating that teaching has been performed and notify the operator.

[0046] The intermediate program 11 includes machining control information for controlling the execution of machining by the machine tool 500, robot control information for controlling the operation of the robot 600, and correction value information for setting at least one of the position information and the orientation information. That is, the generation unit 110 generates the intermediate program 11 in which the correction value is not set in the correction value information (default setting). Further, the reflection unit 230 sets the correction value in the correction value information. Further, the update unit 120 updates the description of the script language regarding the process for at least one of the machining control information and the robot control information.

[0047] The conversion unit 210 converts the new intermediate program 11 in which the correction value is reflected by the reflection unit 230 and updated by the update unit 120 into a new robot program 12. Specifically, the conversion unit 210 converts the intermediate program 11 in which the correction value is reflected by the reflection unit 230 and the description of the script language regarding a certain process is updated by the update unit 120, and which is the new intermediate program 11 received from the office terminal 100, into a new robot program 12 for operating the robot 600. The on-site terminal 200 transmits the new robot program 12 to the robot controller 300. Thereby, the robot controller 300 can execute the new robot program 12 to operate the robot 600.

[0048] Further, the on-site terminal 200 generates a new machine tool program 13 based on the new intermediate program 11 received from the office terminal 100. The on-site terminal 200 transmits the generated new machine tool program 13 to the machine tool controller 400. Thereby, the machine tool controller 400 can execute the new machine tool program 13 to operate the machine tool 500. In the machining system 1, by executing the new robot program 12 and the new machine tool program 13, the robot 600 holding the workpiece can be operated, and the workpiece can be machined by the machine tool 500 without performing the previously performed teaching again.

[0049] Figure 5 shows a processing sequence illustrating an example of the processing flow in a processing system according to the embodiment. As shown in Figure 5, the generation unit 110 generates an intermediate program 11 based on the CAD data 10 input to the office terminal 100 (step S101). The office terminal 100 then transmits the generated intermediate program 11 to the field terminal 200.

[0050] The field terminal 200 receives the intermediate program 11 transmitted by the office terminal 100. The conversion unit 210 converts the intermediate program 11 received from the office terminal 100 into a robot program 12 (step S102). The field terminal 200 transmits the robot program 12 to the robot controller 300. The robot controller 300 executes the robot program 12 and can operate the robot 600. Here, the operator on the field side uses the teaching terminal 350 to input correction values ​​(teaching operation) for the operation of the robot 600.

[0051] The acquisition unit 220 acquires the correction value input at the teaching terminal 350 on the field side (step S103). Alternatively, the acquisition unit 220 may acquire the correction value when the detection unit 240 detects that at least one of the position information and attitude information has been corrected by operation of the teaching terminal 350.

[0052] The reflection unit 230 reflects the correction values ​​acquired by the acquisition unit 220 into the intermediate program 11 generated by the generation unit 110 (step S104). The reflection unit 230 may also add information to the intermediate program 11 indicating completion for processes in which teaching using the teaching terminal 350 has been completed, based on the monitoring of the teaching terminal 350 by the monitoring unit 250, which has detected that a teaching operation has been performed and that process has been identified. Now, let's assume that a case arises in which a robot program 12 executed on the field side requires an update for a certain process. The field terminal 200 transmits the intermediate program 11 with the correction values ​​reflected to the office terminal 100.

[0053] The office terminal 100 receives the intermediate program 11 in which the correction values ​​transmitted by the field terminal 200 have been incorporated. The update unit 120 updates the script language description for a certain process in the intermediate program 11 in which the correction values ​​have been incorporated by the reflection unit 230 (step S105). The office terminal 100 transmits the new intermediate program 11, in which the correction values ​​have been incorporated and the script language description for a certain process has been updated, to the field terminal 200.

[0054] The field terminal 200 receives a new intermediate program 11 transmitted by the office terminal 100. The conversion unit 210 converts the new intermediate program 11 received from the office terminal 100 into a new robot program 12 (step S106). The new intermediate program 11 has correction values ​​reflected by the reflection unit 230 and the script language description for a certain process updated by the update unit 120. The field terminal 200 transmits the new robot program 12 to the robot controller 300. The robot controller 300 can execute the new robot program 12 and operate the robot 600.

[0055] As described above, when the processing system 1 operates the robot 600 based on the robot program 12, it acquires the correction values ​​entered during the teaching operation using the teaching terminal 350 and reflects the acquired correction values ​​in the intermediate program 11. Therefore, when updating the script language description for a certain process, updating the intermediate program 11 which reflects the correction values ​​eliminates the need for the operator on site to repeat the teaching operation that has already been performed, thereby improving the production efficiency of products by the processing machine 500.

[0056] Although embodiments of the present invention have been described above, the technical scope of the present invention is not limited to the embodiments described above.

[0057] In the above embodiment, the generation unit 110 and the update unit 120 were provided in the office terminal 100, and the conversion unit 210, acquisition unit 220, reflection unit 230, detection unit 240, and monitoring unit 250 were provided in the field terminal 200 as an example. For example, the generation unit 110 and the update unit 120 may be provided in the field terminal 200. That is, it is conceivable that the series of processes according to the present invention, including the generation and updating of the intermediate program 11, may be executed in the field terminal 200.

[0058] Furthermore, it will be apparent to those skilled in the art that various modifications or improvements can be made to the above embodiments. Such modified or improved forms are also included within the technical scope of the present invention. One or more of the requirements described in the above embodiments may be omitted. The requirements described in the above embodiments can be combined as appropriate. The execution order of each process shown in this embodiment can be implemented in any order, as long as the output of the previous process is not used in the subsequent process. Also, even if the operation in the above embodiments is described using terms such as "first," "next," and "followed" for convenience, it is not essential to perform them in this order. Furthermore, to the extent permitted by law, disclosures from Japanese Patent Application No. 2024-175253 and all documents cited in the above embodiments are incorporated into this text.

[0059] 1... Processing system 10... CAD data 11... Intermediate program 12... Robot program 13... Processing machine program 100... Office terminal 110... Generation unit 120... Update unit 200... Field terminal 210... Conversion unit 220... Acquisition unit 230... Reflection unit 240... Detection unit 250... Monitoring unit 300... Robot controller 350... Teaching terminal 400... Processing machine controller 500... Processing machine 600... Robot

Claims

1. A machining system comprising a robot that holds and operates a workpiece to be machined by a machining machine, the system comprising: a generation unit that generates an intermediate program describing the operation of the robot; a conversion unit that converts the intermediate program generated by the generation unit into a robot program that operates the robot; an acquisition unit that, when the robot is operated based on the robot program, acquires a correction value corrected by the operation of a teaching terminal for at least one of the position information and orientation information at the destination of the robot; a reflection unit that reflects the acquired correction value into the intermediate program generated by the generation unit; and an update unit that updates the intermediate program into which the correction value has been reflected, wherein the conversion unit converts the new intermediate program, into which the correction value has been reflected by the reflection unit and which has been updated by the update unit, into a new robot program.

2. The machining system according to claim 1, wherein the intermediate program includes machining control information that controls the execution of machining by the machining machine, robot control information that controls the movement of the robot, and correction value information in which the correction value of at least one of the position information and the posture information is set, the generation unit generates the intermediate program in which the correction value is not set in the correction value information, the reflection unit sets the correction value in the correction value information, and the update unit updates at least one of the machining control information and the robot control information.

3. The processing system according to claim 1, further comprising a detection unit that detects that at least one of the position information and the orientation information has been corrected by operation of the teaching terminal, and the acquisition unit acquires the corrected value when the detection unit detects that the correction has been made.

4. The processing system according to claim 1, further comprising a monitoring unit for monitoring the teaching terminal, wherein the reporting unit, based on the monitoring by the monitoring unit, adds information to the intermediate program indicating that a process using the teaching terminal has been completed.

5. A method for generating a robot program for operating a robot that holds a workpiece to be processed by a processing machine, comprising: generating an intermediate program describing the operation of the robot; converting the generated intermediate program into a robot program for operating the robot; obtaining a correction value corrected by the operation of a teaching terminal for at least one of the position information and orientation information at the destination of the robot when the robot is operated based on the robot program; reflecting the obtained correction value in the generated intermediate program; updating the intermediate program to which the correction value has been reflected; and converting the new intermediate program to which the correction value has been reflected and updated into a new robot program.

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