Machining system

Abstract

The present invention makes it possible to machine workpieces of various sizes while minimizing the installation area of a machining system and to utilize a vacant space for other uses when machining a small workpiece.　This machining system comprises: a carrier vehicle on which a workpiece is mounted and which moves on a floor surface in an unmanned manner; a machining tool that performs machining on the workpiece; a program analysis unit that acquires and analyzes a machining program; a relative-position command creation unit that creates, on the basis of the analysis result, a relative-position command related to the relative position between the workpiece and the machining tool; a relative-position acquisition unit that acquires the relative position between the workpiece and the machining tool; and a drive command unit that issues, on the basis of the relative position and the relative-position command, a command to drive the carrier vehicle and the machining tool. The drive command unit performs machining on the workpiece by using the machining tool while controlling the relative position between the machining tool and the workpiece that is carried by the carrier vehicle.

Description

Processing system

[0001] The present disclosure relates to a processing system for processing a workpiece mounted on a transport vehicle.

[0002] In a laser processing system, it is common to perform laser processing by irradiating a laser beam while moving a processing head or a workpiece using a ball screw, a linear motor, etc. along a rail. Also, technologies for transporting materials, workpieces, parts, etc. to predetermined positions by unmanned transport vehicles such as AGVs (Automated Guided Vehicles) and AMRs (Autonomous Mobile Robots) are known. For example, a technology is known in which a robot sets a workpiece transported by an unmanned transport vehicle in a processing machine, and the workpiece processed by the processing machine is again loaded onto the unmanned transport vehicle and carried out. See, for example, Patent Document 1.

[0003] Japanese Patent Application Laid-Open No. 2022-159498

[0004] In a conventional laser processing machine that controls the relative position between a processing head and a workpiece using a rail, the installation area corresponding to the maximum range in which laser processing can be performed is always occupied by the laid rail. Therefore, even when the workpiece to be processed is small, the installation area corresponding to the maximum range is always required. For this reason, when the workpiece to be processed is small, it may be difficult to use the space that is not required for processing for other purposes. Also, when exchanging the workpiece, it is necessary to place the workpiece on the laser processing machine using a robot or the like. Also, conventional unmanned transport vehicles are not intended to be used for laser processing and do not have a function of scanning the irradiation position required for laser processing with a predetermined accuracy.

[0005] Therefore, while suppressing the installation area of the processing system, it is desired to be able to process workpieces of various sizes, and when processing small workpieces, to utilize the empty space for other purposes.

[0006] One embodiment of the processing system of the present disclosure comprises a transport vehicle that moves unmanned on the floor surface carrying a workpiece, a processing tool that processes the workpiece, a program analysis unit that acquires and analyzes a processing program, a relative position command creation unit that creates relative position commands relating to the relative positions of the workpiece and the processing tool based on the analysis results, a relative position acquisition unit that acquires the relative positions of the workpiece and the processing tool, and a drive command unit that commands the driving of the transport vehicle and the processing tool based on the relative positions and the relative position commands, wherein the drive command unit processes the workpiece using the processing tool while controlling the relative positions of the workpiece and the processing tool being transported by the transport vehicle.

[0007] This figure shows an example of the configuration of a processing system according to the first embodiment. This figure shows an example of the arrangement of four automated guided vehicles (AGVs) according to the size of the workpiece. This figure shows an example of the arrangement of four automated guided vehicles (AGVs) according to the size of the workpiece. This figure shows an example of the functional block configuration of a numerical control device. This figure shows an example of a processing program. This is a flowchart explaining the control process of the numerical control device. This figure shows an example of the configuration of a laser processing machine 20 and an AGV 30 according to Modification 1 of the first embodiment. This figure shows an example of the configuration of a laser processing machine 20 and an AGV 30 according to Modification 2 of the first embodiment. This figure shows an example of the functional block configuration of a numerical control device according to Modification 3 of the first embodiment. This figure shows an example of the configuration of a processing system according to the second embodiment. This figure shows an example of the trajectory of an AGV in the case of a laser processing machine without an additional shaft. This figure shows an example of the trajectory of an AGV in the case of a laser processing machine with an additional shaft. This figure shows an example of the functional block configuration of a numerical control device. This is a flowchart explaining the control process of the numerical control device. This figure shows an example of a workpiece when the relative position between the workpiece and the processing head is obtained using a pattern.

[0008] <First Embodiment> The processing system according to the first embodiment will be described in detail below with reference to the figures. First, an overview of this embodiment will be given. In this embodiment, the processing system has a transport vehicle that moves unmanned on the floor surface carrying a workpiece, and a processing tool that performs processing on the workpiece. The system acquires and analyzes a processing program, and based on the analysis results, creates relative position commands regarding the relative position between the workpiece and the processing tool. The processing system acquires the relative position between the workpiece and the processing tool, and based on the acquired relative position and relative position commands, it commands the drive of the transport vehicle and the processing tool, and performs processing on the workpiece using the processing tool while controlling the relative position between the workpiece transported by the transport vehicle and the processing tool. As a result, according to this embodiment, workpieces of various sizes can be processed while keeping the installation area of ​​the processing system small, and when processing small workpieces, the freed-up space can be used for other purposes. The above is an overview of this embodiment.

[0009] Figure 1 shows an example of the configuration of a processing system according to the first embodiment. Here, the case of a laser processing head of a laser processing machine (hereinafter also referred to as "processing head") as the processing tool is used as an example for explanation. Note that the present invention is also applicable to processing tools such as drills for milling, water jets, gas welding, plasma processing, etc. As shown in Figure 1, the processing system 1 includes a numerical control device 10, a laser processing machine 20, four automated guided vehicles 30, and a camera 40. The numerical control device 10, the laser processing machine 20, the four automated guided vehicles 30, and the camera 40 are wirelessly connected to each other via a wireless interface (not shown). Note that the numerical control device 10, the laser processing machine 20, and the camera 40 may be directly connected to each other via a connection interface (not shown).

[0010] <Automated Guided Vehicle 30> The automated guided vehicle 30 is an AMR (Automated Machine Rail) or the like, known to those skilled in the art. As shown in Figure 1, four automated guided vehicles 30 cooperate to carry one workpiece 50 to be processed, and move autonomously on the floor surface to a commanded relative position with respect to the processing head 21 of the laser processing machine 20, which will be described later, based on drive commands including movement commands, position commands, and speed commands from the numerical control device 10, which will be described later. Figures 2A and 2B show examples of the arrangement of four automated guided vehicles 30 according to the size of the workpiece 50. As shown in Figures 2A and 2B, even when the size of the workpiece 50 is small or large, the four automated guided vehicles 30 can cooperate to carry one workpiece 50 to be processed. Also, as shown in Figure 2A, when the size of the workpiece 50 is smaller than in the case of Figure 2B, the installation area can be reduced, so the space not needed for processing can be used for other purposes. Note that although the processing system 1 in Figure 1 has four automated guided vehicles 30, it is not limited to this, and may have two or more automated guided vehicles 30. Furthermore, the workpiece 50 transported by the automated guided vehicle 30 may be a thin sheet of stainless steel or the like. Also, a QR code (registered trademark) containing information such as the origin and size of the workpiece 50 may be placed on the workpiece 50. By doing so, when the camera 40 (described later) captures an image of the workpiece 50, the numerical control device 10 can obtain the position of the workpiece 50 from the captured image, as well as the origin and size of the workpiece 50 from the QR code.

[0011] <Camera 40> Camera 40 is an imaging device such as a digital camera, and captures a two-dimensional image by projecting the area where the workpiece 50 is located onto a plane perpendicular to the optical axis of the camera 40. The image captured by camera 40 may be a visible light image such as an RGB color image, a grayscale image, or a depth image. Camera 40 may also be configured to include an infrared sensor to capture a thermal image, or to include an ultraviolet sensor to capture an ultraviolet image for inspection of scratches, spots, etc. on the surface of an object. Camera 40 may also be configured to include an X-ray camera sensor to capture an X-ray image, or to include an ultrasonic sensor to capture an ultrasonic image. Camera 40 outputs the captured image to the numerical control device 10. In the processing system 1 shown in Figure 1, camera 40 is located on the processing head 21 of the laser processing machine 20, but is not limited to this. For example, camera 40 may be located on the wall or ceiling of a building such as a factory where the processing system 1 is installed.

[0012] <Laser Processing Machine 20> The laser processing machine 20 is a laser processing machine known to those skilled in the art. Based on instructions from the numerical control device 10, the relative position of the workpiece 50 transported by the automated guided vehicle 30 and the processing head 21 of the laser processing machine 20 is controlled, and laser processing is performed by emitting laser light, shown by the dashed line, from the processing head 21 to the workpiece 50. The laser processing machine 20 shown in Figure 1 has, for example, four automated guided vehicles 30 mounted on four workpieces 50 arranged in the XY plane, vertical (Z-axis) support columns 22 and 24, and a horizontal (Y-axis) support column 23 between the support columns 22 and 24. The processing head 21 is fixedly positioned in the center of the support column 23.

[0013] <Numerical Control Device 10> The numerical control device 10 is, for example, a numerical control device known to those skilled in the art, and generates commands based on a processing program acquired from a CAD / CAM device (not shown), and outputs (transfers) the generated commands to the laser processing machine 20 and the automated guided vehicle 30. In this way, the numerical control device 10 controls the operation of the laser processing machine 20 and the automated guided vehicle 30. Figure 3 is a diagram showing an example of the functional block configuration of the numerical control device 10. As shown in Figure 3, the numerical control device 10 has, for example, a control unit 11, an input unit 12, a display unit 13, a storage unit 14, and a communication unit 15. The control unit 11 also has a program analysis unit 110, a relative position command creation unit 111, a relative position acquisition unit 112, and a drive command unit 113.

[0014] <Input Unit 12> The input unit 12 is a keyboard, mouse, touch panel located in front of the display unit 13 (described later), etc., and accepts input operations from the operator.

[0015] <Display Unit 13> The display unit 13 is a liquid crystal display or the like. For example, the display unit 13 may display information such as the processing status of the laser processing machine 20 or the position of the automated guided vehicle 30.

[0016] <Storage Unit 14> The storage unit 14 is an SSD (Solid State Drive) or HDD (Hard Disk Drive), etc. The storage unit 14 stores the operating system and application programs executed by the control unit 11. The storage unit 14 may also store machining programs acquired from a CAD / CAM device (not shown).

[0017] <Communication Unit 15> The communication unit 15 has, for example, a DSP and complies with standards such as 4G (4th Generation), 5G (5th Generation), and Wi-Fi (registered trademark) to realize wireless communication between the laser processing machine 20 and the four automated guided vehicles 30 via a communication network (not shown). The communication network (not shown) is realized by a network such as the Internet or a mobile phone network, or a network combining these. In addition, a LAN (Local Area Network) may be included as part of the network.

[0018] <Control Unit 11> The control unit 11 includes a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), CMOS (Comprehensive Metal Oxide Semiconductor) memory, etc., which are configured to communicate with each other via a bus, and are known to those skilled in the art. The CPU is a processor that controls the numerical control device 10 as a whole. The CPU reads the system program and application program stored in the ROM via the bus and controls the entire numerical control device 10 according to the system program and application program. As a result, as shown in Figure 3, the control unit 11 is configured to realize the functions of the program analysis unit 110, the relative position command creation unit 111, the relative position acquisition unit 112, and the drive command unit 113. Various data such as temporary calculation data and display data are stored in the RAM. The CMOS memory is backed up by a battery (not shown) and is configured as a non-volatile memory that retains its stored state even when the power to the numerical control device 10 is turned off.

[0019] The program analysis unit 110 obtains and analyzes a machining program acquired from, for example, a CAD / CAM device (not shown), or a machining program created by an operator via the input unit 12, from the storage unit 14. Figure 4 shows an example of a machining program. For the first block of the machining program in Figure 4, the program analysis unit 110 analyzes that an axis movement is performed using an absolute command, with the origin of the set coordinate system set to "0". The program analysis unit 110 also analyzes that for the second block of the machining program, "G01 X500. S1000", the machining head 21 of the laser machining machine 20 is moved to a position where the X coordinate is 500 mm by emitting a 1000 W laser beam. Furthermore, the program analysis unit 110 analyzes the third block G code "G01 Y500. S1000" and determines that the processing head 21 of the laser processing machine 20 emits a 1000W laser beam and moves to a position where the Y coordinate is 500 mm. Furthermore, the program analysis unit 110 analyzes the fourth block G code "G01 X0. S1000" and determines that the processing head 21 of the laser processing machine 20 emits a 1000W laser beam and moves to a position where the X coordinate is 0 mm. Furthermore, the program analysis unit 110 analyzes the fifth block G code "G01 Y0. S1000" and determines that the processing head 21 of the laser processing machine 20 emits a 1000W laser beam and moves to a position where the Y coordinate is 0 mm. Furthermore, when executing the machining program, the numerical control device 10 may also move the workpiece 50 to the machining start position for the four automated guided vehicles 30 (for example, to a desired position indicated by the QR code on the workpiece 50, i.e., a predetermined position where the relative position between the workpiece 50 and the machining head 21 is predetermined).

[0020] The relative position command creation unit 111 creates relative position commands relating to the relative position between the workpiece 50 and the processing head 21 of the laser processing machine 20, based on the analysis results of the processing program by the program analysis unit 110. Specifically, the relative position command creation unit 111, for example, sets the position of the processing head 21 of the laser processing machine 20 as the common origin of the automated guided vehicles 30 and the laser processing machine 20, and after the workpiece 50 has been moved to the processing start position by the four automated guided vehicles 30, it creates a relative position command to move the relative position between the workpiece 50 and the processing head 21 of the laser processing machine 20 by +500 mm in the X-axis direction, based on the analysis results of the second block of the processing program. Furthermore, the relative position command creation unit 111 creates a relative position command to move the relative position between the workpiece 50 and the processing head 21 by +500 mm in the Y-direction, based on the analysis results of the third block. Furthermore, the relative position command creation unit 111 creates a relative position command to move the relative position between the workpiece 50 and the processing head 21 by -500 mm in the X-direction, based on the analysis results of the fourth block. Furthermore, the relative position command creation unit 111 creates a relative position command that moves the relative position between the workpiece 50 and the machining head 21 by -500 mm in the Y direction, based on the analysis results of the fifth block. The relative position command creation unit 111 outputs the created relative position command to the drive command unit 113, which will be described later.

[0021] The relative position acquisition unit 112 acquires the relative position between the workpiece 50 and the processing head 21 of the laser processing machine 20. Specifically, the relative position acquisition unit 112 acquires the relative position between the workpiece 50 and the processing head 21 of the laser processing machine 20 from an image captured by the camera 40, for example, using a known edge detection method.

[0022] The drive command unit 113 commands the driving of the automated guided vehicle 30 and the laser processing machine 20 based on the relative position acquired by the relative position acquisition unit 112 and the relative position command created by the relative position command creation unit 111. Specifically, the drive command unit 113 outputs a processing command to emit 1000W of laser light to the processing head 21 of the laser processing machine 20 at each periodic transfer packet (e.g., 8ms) based on the second block of the processing program in Figure 4. At the same time, the drive command unit 113 outputs a drive command (movement command, position command, speed command, etc.) to each of the four automated guided vehicles 30 at each periodic transfer packet, causing the relative position between the workpiece 50 and the processing head 21 to move +500mm in the X-axis direction. For example, if a movement command is output at each periodic transfer packet with an 8ms period, and the command speed in the processing program is 100mm / second, then a movement amount of 0.8mm is output at each periodic transfer packet. Furthermore, based on the third block, the drive command unit 113 outputs a processing command to emit a 1000W laser beam to the processing head 21 of the laser processing machine 20 for each periodic transfer packet, and also outputs a drive command to each of the four automated guided vehicles 30 to move the relative position between the workpiece 50 and the processing head 21 by +500 mm in the Y-axis direction. Furthermore, based on the fourth block, the drive command unit 113 outputs a processing command to emit a 1000W laser beam to the processing head 21 of the laser processing machine 20 for each periodic transfer packet, and also outputs a drive command to each of the four automated guided vehicles 30 to move the relative position between the workpiece 50 and the processing head 21 by -500 mm in the X-axis direction. Furthermore, based on the fifth block, the drive command unit 113 outputs a processing command to the processing head 21 of the laser processing machine 20 to emit 1000W of laser light for each periodic transfer packet, and also outputs a drive command to each of the four automated guided vehicles 30 to move the relative position between the workpiece 50 and the processing head 21 by -500 mm in the Y-axis direction. In this way, the processing system 1 can process workpieces of various sizes while keeping the installation area of ​​the processing system small. The drive command unit 113 may also output (transfer) the drive commands (movement instructions, position commands, speed, etc.) to the automated guided vehicles 30 and the drive commands (processing commands) to the processing head 21 synchronously via the communication unit 15.Here, the synchronization method may be, for example, a synchronization format in which drive commands are transmitted sequentially and periodically all at once, or a synchronization method in which the automated guided vehicle 30 and the processing head 21 each hold command information, command timing information, and time information.

[0023] <Control Processing of Numerical Control Device 10> Next, the flow of the control processing of the numerical control device 10 will be explained with reference to Figure 5. Figure 5 is a flowchart explaining the control processing of the numerical control device 10. The flow shown here is executed repeatedly until all blocks of the machining program have been executed.

[0024] In step S11, the program analysis unit 110 acquires and analyzes the machining program.

[0025] In step S12, the relative position command creation unit 111 creates a relative position command relating to the relative position between the workpiece 50 and the laser processing machine 20 based on the analysis results of step S11.

[0026] In step S13, the relative position acquisition unit 112 acquires the relative position between the workpiece 50 and the processing head 21 of the laser processing machine 20 from the image captured by the camera 40.

[0027] In step S14, the drive command unit 113 outputs drive commands for the automated guided vehicle 30 and the laser processing machine 20 based on the relative position acquired in step S13 and the relative position command created in step S12.

[0028] As described above, the processing system 1 according to the first embodiment can process workpieces of various sizes while keeping the installation area of ​​the processing system 1 small, and the space freed up when processing small workpieces can be used for other purposes. Furthermore, when the workpiece 50 is changed by the automated guided vehicle 30 of the processing system 1, a material handling robot or the like is not required, and workpiece change and laser processing can be performed in a continuous operation.

[0029] <Modification 1 of the First Embodiment> In the first embodiment, the processing system 1 performs laser processing by having four automated guided vehicles 30 move the workpiece 50 and a processing head 21 fixedly positioned in the center of the support column 23 of the laser processing machine 20 emit laser light, but is not limited to this. For example, as shown in Figure 6, the processing system 1 may perform laser processing on a workpiece 50 fixedly positioned on the floor surface by having two automated guided vehicles 30 carrying the laser processing machine 20 move and emit laser light from a processing head 21 fixedly positioned in the center of the support column 23.

[0030] <Modification 2 of the First Embodiment> In the first embodiment, the automated guided vehicle 30 was an AMR, but is not limited thereto. For example, the automated guided vehicle 30 may be an AGV. Figure 7 is a diagram showing an example of the configuration of the processing system 1 when the automated guided vehicle 30 is an AGV. Elements having the same function as the elements of the control system 1 in Figure 1 are denoted by the same reference numerals. In this case, colored lines or QR codes are placed on the floor as guides for the AGV, and the automated guided vehicle 30 moves the workpiece 50 in the X-axis direction according to these guides, and the laser processing machine 20 has a mechanism that moves the processing head 21 in the Y-axis direction on the support column 23, so that the processing system 1 can laser process the workpiece 50.

[0031] <Modification 3 of the First Embodiment> In the first embodiment, the numerical control device 10 (relative position acquisition unit 112) acquired the relative position between the workpiece 50 and the processing head 21 of the laser processing machine 20 from the image captured by the camera 40, but is not limited to this. For example, the numerical control device 10 may acquire the position of each of the four automated guided vehicles 30 from the image captured by the camera 40. Figure 8 is a diagram showing an example of the functional block configuration of the numerical control device 10 according to Modification 3 of the First Embodiment. Elements having the same function as the elements of the numerical control device 10 in Figure 3 are denoted by the same reference numerals, and detailed explanations are omitted. As shown in Figure 8, the numerical control device 10 includes, for example, a control unit 11, an input unit 12, a display unit 13, a storage unit 14, and a communication unit 15. The control unit 11 also includes a program analysis unit 110, a relative position command creation unit 111, a guided vehicle position acquisition unit 114, and a drive command unit 113.

[0032] The transport vehicle position acquisition unit 114 acquires the position of each of the four automated guided vehicles 30 from images captured by the camera 40, for example, using a known edge detection method. The drive command unit 113 commands the laser processing machine 20 to drive based on the positions of the four automated guided vehicles 30 acquired by the transport vehicle position acquisition unit 114 and the relative position commands created by the relative position command creation unit 111. At the same time, the drive command unit 113 may output a drive command that provides feedback control to each of the four automated guided vehicles 30 while correcting the difference between the relative position command and the acquired position of the automated guided vehicle 30.

[0033] <Second Embodiment> Next, a second embodiment will be described. As described above, the first and second embodiments share the following features: the processing system 1 includes an automated guided vehicle 30 that carries a workpiece 50 and moves unmanned on the floor, and a processing head 21 of a laser processing machine 20 that processes the workpiece 50; it acquires and analyzes a processing program, creates relative position commands regarding the relative position between the workpiece 50 and the processing head 21 of the laser processing machine 20 based on the analysis results, acquires the relative position between the workpiece 50 and the processing head 21 of the laser processing machine 20, commands the driving of the automated guided vehicle 30 and the processing head 21 based on the acquired relative position and relative position commands, and processes the workpiece 50 while controlling the relative position between the workpiece 50 transported by the automated guided vehicle 30 and the processing head 21. However, in the first embodiment, the processing system 1 had the processing head 21 of the laser processing machine 20 fixed to a support column 23, and four automated guided vehicles 30 processed the workpiece 50 by moving the workpiece 50 while changing its relative position with respect to the processing head 21. In contrast, the second embodiment differs from the first embodiment in that the laser processing machine 20A is mounted on the support column 23 and has an additional shaft section 25 that corrects the relative position between the workpiece 50 and the processing head 21, and the workpiece 50 is processed by moving the relative position between the workpiece 50 and the processing head 21 using four automated guided vehicles 30 and the additional shaft section 25. As a result, the processing system 1 according to the second embodiment can process workpieces of various sizes while keeping the installation area of ​​the processing system small, and the space freed up when processing small workpieces can be used for other purposes. The second embodiment will be described below.

[0034] Figure 9 shows an example of the configuration of a processing system according to the second embodiment. Elements having the same functions as those in the processing system 1 of Figure 1 are denoted by the same reference numerals, and detailed explanations are omitted. As shown in Figure 9, the processing system 1 includes a numerical control device 10A, a laser processing machine 20A, four automated guided vehicles 30, and a camera 40. The automated guided vehicles 30 and the camera 40 have the same functions as those in the first embodiment. In the second embodiment, the camera 40 will be described using an example where it is positioned on the wall or ceiling of a building such as a factory where the processing system 1 is located.

[0035] <Laser Processing Machine 20A> The laser processing machine 20A is a laser processing machine known to those skilled in the art. As will be described later, the laser processing machine 20A controls the relative position of the workpiece 50 and the processing head 21 based on instructions from the numerical control device 10A, using the automated guided vehicle 30 and the additional shaft unit 25, and performs laser processing by emitting laser light from the processing head 21 onto the workpiece 50. As shown in Figure 9, the laser processing machine 20A, similar to the first embodiment, has support columns 22 and 24 provided in the vertical (Z-axis) direction with respect to the workpiece 50 mounted on four automated guided vehicles 30 and arranged in the XY plane, and a support column 23 provided in the horizontal (Y-axis) direction between the support columns 22 and 24. The laser processing machine 20A also has an additional shaft unit 25 provided in the center of the support column 23, which moves the processing head 21 in the X-axis direction and the Y-axis direction. In the following, we will explain using an example where the additional shaft unit 25 is a control system capable of high-speed movement compared to the automated guided vehicles (AGVs) 30, and the four AGVs 30 are transport systems capable of movement over a wide range, albeit at a low speed and with less precision. Specifically, the additional shaft unit 25 can respond to commands from the numerical control device 10A regarding the relative position between the workpiece 50 and the machining head 21 at a faster speed than the movement by the AGVs 30.

[0036] Figure 10A shows an example of the trajectory of an automated guided vehicle (AGV) 30 in the case of a laser processing machine without an additional shaft section 25. Figure 10B shows an example of the trajectory of an AGV 30 in the case of a laser processing machine 20A having an additional shaft section 25. In Figures 10A and 10B, the dotted line shows the trajectory of the command created by the relative position command creation unit 111, the dashed line shows the actual trajectory of the AGV 30, and the solid line shows the trajectory of the actual processing position corrected by the additional shaft section 25. As shown in Figure 10A, in the case of a laser processing machine without an additional shaft section 25, the AGV 30 has low responsiveness even when it receives a relative position correction instruction from the numerical control device, so even if it deviates from the path, it takes time for the correction to take effect. On the other hand, as shown in Figure 10B, in the case of a laser processing machine 20A having an additional shaft section 25, the numerical control device 10A detects the position of the workpiece 50 in short cycles and finely corrects the difference with the command path created using the additional shaft section 25. This allows the machining system 1 to correct the relative position between the workpiece 50 and the machining head 21, thereby reducing the discrepancy between the machining command and the machining position.

[0037] <Numerical Control Device 10A> The numerical control device 10A is, for example, a numerical control device known to those skilled in the art, and generates commands based on a processing program acquired from a CAD / CAM device (not shown), and outputs the generated commands to the laser processing machine 20A and the automated guided vehicle 30. In this way, the numerical control device 10A controls the operation of the laser processing machine 20A and the automated guided vehicle 30. Figure 11 is a diagram showing an example of the functional block configuration of the numerical control device 10A. As shown in Figure 11, the numerical control device 10A has, for example, a control unit 11a, an input unit 12, a display unit 13, a storage unit 14, and a communication unit 15. The control unit 11a also has a program analysis unit 110, a relative position command creation unit 111, a relative position acquisition unit 112, and a drive command unit 113a. The input unit 12, display unit 13, storage unit 14, and communication unit 15 have the same functions as the input unit 12, display unit 13, storage unit 14, and communication unit 15 of the first embodiment.

[0038] <Control Unit 11a> The control unit 11a includes a CPU, ROM, RAM, CMOS memory, etc., which are configured to communicate with each other via a bus, and are known to those skilled in the art. The CPU is a processor that controls the numerical control device 10A as a whole. The CPU reads the system program and application program stored in the ROM via the bus and controls the entire numerical control device 10A according to the system program and application program. As a result, as shown in Figure 11, the control unit 11a is configured to realize the functions of the program analysis unit 110, the relative position command creation unit 111, the relative position acquisition unit 112, and the drive command unit 113a. The program analysis unit 110, the relative position command creation unit 111, and the relative position acquisition unit 112 have the same functions as the program analysis unit 110, the relative position command creation unit 111, and the relative position acquisition unit 112 of the first embodiment.

[0039] The drive command unit 113a, similar to the drive command unit 113 in the first embodiment, commands the driving of the automated guided vehicles 30 and the laser processing machine 20A based on the relative position acquired by the relative position acquisition unit 112 and the relative position command created by the relative position command creation unit 111. Specifically, the drive command unit 113a outputs a processing command to the processing head 21 of the laser processing machine 20A every periodic transfer packet (e.g., 8 ms) based on each block of the processing program, and also outputs a drive command to each of the four automated guided vehicles 30 that includes either a movement command, a position command, or a speed command. In addition, the drive command unit 113a outputs a correction command to the four automated guided vehicles 30 and the additional shaft unit 25 to correct the discrepancy between the relative position indicated by the relative position command and the acquired relative position. Furthermore, as mentioned above, the drive command unit 113a may be configured to prioritize outputting correction commands to the additional shaft unit 25, since the additional shaft unit 25 responds to commands faster than the automated guided vehicle 30. By doing so, the processing system 1 can correct the difference at high speed.

[0040] <Control Processing of Numerical Control Device 10A> Next, the flow of the control processing of the numerical control device 10A will be described while referring to FIG. 12. FIG. 12 is a flowchart for explaining the control processing of the numerical control device 10A. The flow shown here is repeatedly executed until all blocks of the machining program are executed. Note that the processing from step S21 to step S23 is the same as the processing from step S11 to step S13 in FIG. 5, and the description thereof will be omitted.

[0041] In step S24, based on the relative position acquired in step S23 and the relative position command created in step S22, the drive command unit 113a outputs drive commands to the automated guided vehicle 30 and the machining head 21 of the laser processing machine 20A. Further, the drive command unit 113a outputs a correction command for correcting the deviation between the relative position indicated by the relative position command and the acquired relative position to the automated guided vehicle 30 and the additional axis unit 25 of the laser processing machine 20.

[0042] As described above, the machining system 1 according to the second embodiment can machine workpieces of various sizes while suppressing the installation area of the machining system, and when machining small workpieces, the vacant space can be utilized for other purposes. Further, when the machining system 1 exchanges the workpiece 50 by the automated guided vehicle 30, it does not require a material handling robot or the like, and can perform workpiece exchange and laser machining in a continuous operation.

[0043] <Modification Example of the Second Embodiment> In the second embodiment, the laser processing machine 20A is fixedly provided at the center of the column 23 and has an additional axis unit 25 for moving the machining head 21 in the X-axis direction and the Y-axis direction, but it is not limited thereto. For example, the machining head 21 may include a mirror and have a galvanometer scanner that scans laser light using the mirror.

[0044] As described above, as described in the first embodiment, modification examples 1 to 3 of the first embodiment, the second embodiment, and the modification example of the second embodiment, the machining system 1 of the present disclosure can machine workpieces of various sizes while suppressing the installation area of the machining system, and when machining small workpieces, the vacant space can be utilized for other purposes.

[0045] <Modification 1> In the first embodiment, modifications 1 to 3 of the first embodiment, the second embodiment, and the modification of the second embodiment described above, the processing tool was the processing head 21 of the laser processing machine 20, but it is not limited to this. For example, the processing system 1 may use a milling drill, water jet, gas welding, plasma processing, etc. as the processing tool.

[0046] <Modification 2> In the above-described embodiment, for example, the numerical control devices 10 and 10A obtained the relative position between the workpiece 50 and the processing head 21 of the laser processing machine 20 from the image captured by the camera 40 using a known edge detection method, but are not limited to this. For example, as shown in Figure 13, a plurality of patterns such as QR codes are arranged on the workpiece 50, and the numerical control devices 10 and 10A (relative position acquisition unit 112) may obtain the relative position between the workpiece 50 and the processing head 21 by reading the patterns from the image captured by the camera 40.

[0047] In the first embodiment, modifications 1 to 3 of the first embodiment, the second embodiment, and modifications of the second embodiment, each function included in the processing system 1 can be realized by hardware, software, or a combination thereof. Here, realization by software means realization by a computer reading and executing a program.

[0048] The program can be stored using various types of non-transitory computer-readable media and supplied to a computer. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (e.g., magneto-optical disks), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM). Also, the program may be supplied to the computer by various types of transitory computer-readable media. Examples of transitory computer-readable media include electrical signals, optical signals, and electromagnetic waves. The transitory computer-readable media can supply the program to the computer via wired communication channels such as electric wires and optical fibers, or wireless communication channels.

[0049] Note that the steps of executing the program recorded on the recording medium include not only processes that are performed in chronological order according to that order, but also processes that are executed in parallel or individually, even if they are not necessarily processed in chronological order. Also, the steps of describing the program may be implemented in cloud computing.

[0050] While this disclosure has been described in detail, it is not limited to the individual embodiments described above. These embodiments can be added, replaced, modified, partially deleted, etc., in any way that does not depart from the gist of this disclosure or from the spirit of this disclosure derived from the claims and their equivalents. Furthermore, these embodiments can be implemented in combination. For example, the order of operations and processes in the embodiments described above are shown as examples only and are not limited thereto. The same applies when numerical values ​​or mathematical formulas are used in the description of the embodiments described above.

[0051] The following additional information is disclosed regarding the above embodiments and modifications. (Addendum 1) The processing system (1) comprises a transport vehicle (30) that moves unmanned on the floor surface carrying a workpiece (50), a processing tool (21) that processes the workpiece (50), a program analysis unit (110) that acquires and analyzes a processing program, a relative position command creation unit (111) that creates relative position commands relating to the relative positions of the workpiece (50) and the processing tool (21) based on the analysis results, a relative position acquisition unit (112) that acquires the relative positions of the workpiece (50) and the processing tool (21), and a drive command unit (113) that commands the driving of the transport vehicle (30) and the processing tool (21) based on the relative positions and relative position commands, wherein the drive command unit (113) processes the workpiece (50) using the processing tool (21) while controlling the relative positions of the workpiece (50) transported by the transport vehicle (30) and the processing tool (21). (Note 2) In the processing system (1) described in Note 1, the transport vehicle (30) moves linearly according to guides placed on the floor surface, and the processing tool (21) moves in a direction perpendicular to the direction of movement of the transport vehicle. (Note 3) In the processing system (1) described in Note 1, the drive command unit (113) synchronously transmits a drive command to the transport vehicle (30) and a drive command to the processing tool (21). (Note 4) In the processing system (1) described in Note 1, a transport vehicle position acquisition unit (114) is provided to acquire the position of the transport vehicle (30), and the command from the drive command unit (113) to the transport vehicle (30) is a position command, and the drive command unit (113) drives the transport vehicle (30) while correcting the difference between the position command and the acquired position of the transport vehicle (30). (Note 5) In the machining system (1) described in Note 1, an additional shaft section (25) is provided to correct the relative position between the workpiece (50) and the machining tool (21), and the drive command section (113a) issues correction commands to the transport vehicle (30) and the additional shaft section (25) in order to correct the discrepancy between the relative position command and the relative position. (Note 6) In the machining system (1) described in Note 5, the additional shaft section (25) responds to commands faster than the transport vehicle (30), and the drive command section (113a) preferentially issues commands to the additional shaft section (25) to correct the difference between the relative position acquired by the relative position acquisition section (112) and the relative position command.(Note 7) In the processing system (1) described in Note 1, the relative position acquisition unit (112) acquires the relative position by reading a pattern placed on the workpiece (50) with the imaging device (40). (Note 8) In the processing system (1) described in Note 1, the processing tool (21) is a laser processing head, and the drive command units (113, 113a) control the relative position between the laser irradiation position by the laser processing head (21) and the workpiece (50).

[0052] 1 Processing System 10, 10A Numerical Control Unit 11, 11a Control Unit 110 Program Analysis Unit 111 Relative Position Command Creation Unit 112 Relative Position Acquisition Unit 113, 113a Drive Command Unit 114 Transport Vehicle Position Acquisition Unit 12 Input Unit 13 Display Unit 14 Storage Unit 15 Communication Unit 15 20, 20A Laser Processing Machine 21 Processing Head 22, 23, 24 Support Column 25 Additional Shaft Unit 30 Automated Guided Vehicle 40 Camera 50 Workpiece

Claims

1. A machining system comprising: a transport vehicle that moves unmanned on the floor surface carrying a workpiece; a machining tool that performs machining on the workpiece; a program analysis unit that acquires and analyzes a machining program; a relative position command creation unit that creates relative position commands relating to the relative positions of the workpiece and the machining tool based on the analysis results; a relative position acquisition unit that acquires the relative positions of the workpiece and the machining tool; and a drive command unit that commands the drive of the transport vehicle and the machining tool based on the relative positions and the relative position commands, wherein the drive command unit performs machining on the workpiece using the machining tool while controlling the relative positions of the workpiece and the machining tool being transported by the transport vehicle.

2. The processing system according to claim 1, wherein the transport vehicle moves linearly according to a guide placed on the floor surface, and the processing tool moves in a direction perpendicular to the direction of movement of the transport vehicle.

3. The machining system according to claim 1, wherein the drive command unit synchronously transfers a drive command to the transport vehicle and a drive command to the machining tool.

4. The processing system according to claim 1, comprising a transport vehicle position acquisition unit that acquires the position of the transport vehicle, wherein the command from the drive command unit to the transport vehicle is a position command, and the drive command unit drives the transport vehicle while correcting the difference between the position command and the acquired position of the transport vehicle.

5. The machining system according to claim 1, further comprising an additional shaft for correcting the relative position between the workpiece and the machining tool, wherein the drive command unit issues correction commands to the transport vehicle and the additional shaft for correcting the discrepancy between the relative position command and the relative position.

6. The machining system according to claim 5, wherein the additional shaft portion responds to commands at a faster speed than the transport vehicle, and the drive command portion preferentially issues commands to the additional shaft portion for correcting the difference between the relative position acquired by the relative position acquisition unit and the relative position command.

7. The processing system according to claim 1, wherein the relative position acquisition unit acquires the relative position by reading a pattern arranged on the workpiece using an imaging device.

8. The processing system according to claim 1, wherein the processing tool is a laser processing head, and the drive command unit controls the relative position between the laser irradiation position by the laser processing head and the workpiece.

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