JP2023131524A - Processing device - Google Patents

Abstract

To provide a processing device capable of maintaining the desired processing quality even if the shape of a tool touching a workpiece changes.SOLUTION: The device performs processing on a workpiece 50 by touching the workpiece 50 with a tool 10. A shape sensor 30 detects the shape of the tool 10. Movement mechanism 20 supports at least one of the tool 10 and the workpiece 50, and changes the relative position and posture of the workpiece 50 relative to the tool 10 in accordance with an order from a controller 40, while the workpiece 50 is made to touch the tool 10. The controller 40 performs processing on the workpiece 50 by making the relative position and posture of the workpiece 50 relative to the tool 10 different depending on the shape of the tool 10 detected by the shape sensor 30.SELECTED DRAWING: Figure 1

Description

The present invention relates to a processing device that performs processing by bringing a tool into contact with a workpiece.

BACKGROUND ART In automation of processing using industrial robots, such as grinding and polishing, it is required to always maintain a certain level of work accuracy. For example, Patent Document 1 listed below discloses a robot that performs deburring work on a workpiece. The robot that performs this deburring work acquires the burr shape for each workpiece and automatically modifies the robot's teaching program according to the burr shape in order to maintain constant machining accuracy regardless of the burr condition. Is going.

Japanese Patent Application Publication No. 2010-182210

The robot disclosed in Patent Document 1 is a system that is robust to the shape of the workpiece, but it does not respond to changes in the state of the tool. For example, when a tool is brought into contact with a workpiece to perform processing such as polishing, the shape of the tool may change depending on the usage time. Changes in the shape of the tool can be a factor in deteriorating machining quality. Even if the shape of the tool changes, it is desired to perform machining while maintaining the initial machining quality.

Further, in the robot disclosed in Patent Document 1, it is necessary to teach the robot's motion on a model basis, and in addition, trial and error adjustment work (calibration) for modeling errors is necessary. In workplaces where a wide variety of products are handled, workers are required to respond quickly when the type of workpiece changes. There is a need for processing equipment that can be handled only by on-site workers.

An object of the present invention is to provide a processing device that can maintain desired processing quality even if the shape of the tool changes. Another object of the present invention is to provide a processing device that can be handled by only on-site workers even when the type of workpiece to be processed changes, in order to suppress deterioration in processing quality when the shape of the tool changes. It is to be.

According to one aspect of the invention:
a tool that comes into contact with a workpiece and processes the workpiece;
a shape sensor that detects the shape of the tool;
a control device;
a moving mechanism that supports at least one of the tool and the workpiece and changes the relative posture of the workpiece with respect to the tool in response to a command from the control device while the workpiece is in contact with the tool; Prepare,
A processing device is provided in which the control device processes the workpiece by changing the history of the relative position and posture of the workpiece with respect to the tool, depending on the shape of the tool detected by the shape sensor. .

According to another aspect of the invention:
a tool that comes into contact with a workpiece and processes the workpiece;
a shape sensor that detects the shape of the tool;
a control device;
a moving mechanism that supports the tool and the workpiece and changes the relative posture of the workpiece with respect to the tool in response to a command from the control device while the workpiece is in contact with the tool;
During direct teaching, the moving mechanism is operated by an operator, and the control device controls the shape of the tool detected by the shape sensor before starting direct teaching, and the shape of the tool obtained during direct teaching. A machining device is provided that stores a history of the relative position and posture of the workpiece in a machining database.

Since machining is performed by changing the history of the position and posture of the workpiece relative to the tool in accordance with changes in the shape of the tool, it is possible to perform appropriate machining even if the shape of the tool changes. In addition, since a machining database that stores the history of the relative position and posture of the workpiece to the tool is generated through direct teaching, even if the type of workpiece changes, it can be handled by the on-site worker alone. be.

FIG. 1 is a schematic diagram of a processing device according to one embodiment. FIG. 2A is a perspective view of the tool, the workpiece, and the worker's hand when the worker is gripping and machining the workpiece, and FIG. 2B is a perspective view of the tool when the shape of the tool has changed. FIG. 2 is a perspective view of a tool, a workpiece, and a worker's hand when FIG. 3 is a flowchart showing the procedure for performing direct teaching. FIG. 4 is a schematic diagram of the processing device during direct teaching when the shape of the tool has not changed since it was not used. FIG. 5 is a schematic diagram of the processing device during direct teaching when the shape of the tool changes. FIG. 6 is a diagram showing the structure of the processing database. FIG. 7 is a flowchart illustrating a procedure in which the processing apparatus according to this embodiment actually performs processing. FIG. 8 is a schematic diagram of a processing device according to another embodiment. FIG. 9 is a flowchart showing the procedure for performing direct teaching in the embodiment shown in FIG. FIG. 10 is a schematic diagram of the processing apparatus during direct teaching using the processing apparatus according to the embodiment shown in FIG. FIG. 11 is a chart showing the structure of the processing database used in the embodiment shown in FIG. FIG. 12 is a perspective view of a tool and a workpiece when machining is performed using a machining apparatus according to still another embodiment. FIG. 13 is a sectional view showing the positional relationship between the tool and the workpiece during processing. FIG. 14 is a cross-sectional view showing the positional relationship between the tool and the workpiece during processing.

A processing apparatus according to an embodiment will be described with reference to FIGS. 1 to 7. FIG. 1 is a schematic diagram of a processing apparatus according to this embodiment. The processing device according to this embodiment is, for example, a buffing device, and processes the workpiece 50 by bringing it into contact with a tool 10 called a buff.

The tool 10 is a rotating body having a cylindrical shape, and is supported by a motor 12 via a rotation center shaft 11. The workpiece 50 is held by a moving mechanism 20, and by operating the moving mechanism 20, the relative position and posture of the workpiece 50 with respect to the tool 10 can be changed. The moving mechanism 20 includes a multi-joint robot arm (for example, a six-axis robot arm) supported by a base 21, and a holding section 22 attached to the tip of the multi-joint robot arm. The workpiece 50 is held and fixed by the holding part 22. Various chuck mechanisms such as a mechanical chuck, a magnetic chuck, a vacuum chuck, etc. can be used for the holding part 22.

The control device 40 processes the workpiece 50 by controlling the moving mechanism 20 using the processing database 41. For example, the workpiece 50 is polished by bringing the workpiece 50 into contact with the outer peripheral surface 10S of the tool 10 while rotating the tool 10, and changing the position and posture of the workpiece 50 with respect to the tool 10 over time.

Furthermore, direct teaching can be performed by the operator holding the holding portion 22 and processing the workpiece 50 while changing the position and posture of the workpiece 50. During direct teaching, the control device 40 reads rotation angle information of each joint from the moving mechanism 20 and stores the read information in the processing database 41.

A shape sensor 30 detects the shape of the tool 10. As the shape sensor 30, for example, a two-dimensional or three-dimensional lidar, a non-contact laser displacement meter, a camera capable of acquiring the tool outline, etc. can be used. The shape sensor 30 detects, for example, the shape of the outer peripheral surface 10S of the tool 10. The shape of the outer circumferential surface 10S of the tool 10 is expressed, for example, by a change in the radius of the outer circumferential surface 10S in the rotation center axis direction.

Next, with reference to FIGS. 2A and 2B, a conventional method in which an operator grips and processes a workpiece 50 will be described. FIG. 2A is a perspective view of the tool 10, the workpiece 50, and the worker's hand when the worker is gripping and processing the workpiece 50.

As shown in FIG. 2A, the operator grips the workpiece 50 and performs buffing by moving the workpiece 50 while keeping the workpiece 50 in contact with the outer peripheral surface 10S of the tool 10. The outer peripheral surface 10S of the unused tool 10 has a cylindrical shape parallel to the rotation center axis. The operator grips the workpiece 50 so that the surface to be machined of the workpiece 50 contacts the tool 10 in an appropriate posture, and performs processing. When a plurality of workpieces 50 are polished, the tool 10 itself is ground and its shape changes.

FIG. 2B is a perspective view of the tool 10, the workpiece 50, and the operator's hand when machining is performed with the shape of the tool 10 changed. For example, the outer circumferential surface 10S of the tool 10 is inclined with respect to the rotation center axis like a side surface of a truncated cone. That is, the radius of the outer circumferential surface 10S changes in the rotation center axis direction. The operator tilts the workpiece 50 with respect to the rotational center axis in accordance with the change in the shape of the outer circumferential surface 10S of the tool 10, brings it into contact with the outer circumferential surface 10S, and performs processing.

As shown in FIGS. 2A and 2B, when an operator performs machining, he or she changes the history of the position and posture of the workpiece 50 relative to the tool 10 according to changes in the shape of the tool 10, thereby achieving appropriate machining. conduct. In the embodiment described below, the control device 40 automatically changes the history of the position and posture of the workpiece 50 with respect to the tool 10 in accordance with changes in the shape of the tool 10 to perform processing.

The procedure for performing direct teaching will be described with reference to FIGS. 3 to 5.
FIG. 3 is a flowchart showing the procedure for performing direct teaching. FIGS. 4 and 5 are schematic diagrams of the processing device during execution of direct teaching. FIG. 4 shows a case where the shape of the tool 10 has not changed since it was not used, and FIG. 5 shows a case where the shape of the tool 10 has changed after machining a plurality of workpieces.

First, the workpiece 50 is held and fixed by the holding part 22 of the moving mechanism 20 (step SA1). Next, the shape sensor 30 detects the current shape of the tool 10 (step SA2). Based on the detection result of the shape sensor 30, the control device 40 generates information for specifying the shape of the tool 10 (shape information T ₁ ). As shown in one record 41A (FIG. 4) of the machining database 41, the shape information _T1 of the tool 10 includes, for example, the radius of the outer peripheral surface 10S measured at each of a plurality of predetermined positions of the tool 10 in the x direction. It is composed of r ₁ , r ₂ , r ₃ .

Next, while rotating the tool 10, the operator grips the holding portion 22 and processes (for example, buffing) the work 50 while adjusting the position and posture of the work 50. The control device 40 acquires and records information (position and orientation information W ₁ ) indicating the position and orientation of the workpiece 50 being processed at certain time intervals (step SA3). For example, as shown in one record 41A of the processing database 41, the history of the workpiece position and orientation information W ₁ includes a plurality of position and orientation information W ₁ (t _j )(j =0, 1, 2,...). The position and orientation information _W1 of the workpiece 50 includes, for example, the rotation angle of each joint of the multi-joint robot arm that constitutes the moving mechanism 20.

When machining of one workpiece 50 is completed, the shape information T ₁ specifying the shape of the tool 10 and the history W ₁ (t _j ) of the position and orientation information W ₁ of the workpiece 50 are associated and stored in the machining database 41 ( Step SA4). The history W ₁ (t _j ) of the position and orientation information W ₁ of the workpiece 50 is used as teaching data that defines the mode of movement of the moving mechanism 20. If the tool 10 can be used continuously, the procedure from step SA1 to step SA4 is repeated (step SA5).

As shown in FIG. 5, when at least one workpiece 50 is processed, the shape of the tool 10 changes. Therefore, the shape information _T2 of the tool 10 detected in step SA2 is different from the shape information _T1 of the unused tool 10 shown in FIG. When the shape of the tool 10 changes, the operator adjusts the position and orientation of the workpiece 50 in accordance with the change in the shape of the tool 10. Therefore, the history W 2 (t _j ) of the position and orientation information W ₂ of the workpiece 50 recorded in step SA3 is the same as the history W ₂ (t j ) of the position and orientation information W 2 of the workpiece 50 recorded when processing using the unused tool 10 shown in FIG. This is different from the history W ₁ (t _j ) of the position and orientation information W ₁ . In step SA4, the shape information _T2 of the tool 10 obtained when the tool 10 in the state shown in FIG. 5 is used is associated with the history _W2 ( _tj ) of the position and orientation information _W2 of the workpiece 50, It is stored in the processing database 41.

In step SA5, if it is determined that the change in the shape of the tool 10 has become so large that it cannot be used continuously, processing using the current tool 10 is terminated.

FIG. 6 is a diagram showing the structure of the processing database 41. The machining database 41 includes the shape information T _i (i=0, 1, 2, . . . ) of the tool 10 and the history _{W i (} t _j ) (j=0, 1, 2, 3...) are stored in association with each other. From the machining database 41, it is possible to find out the history W _i (t _j ) of the optimal position and orientation information of the workpiece 50 based on the current shape of the tool 10 .

FIG. 7 is a flowchart illustrating a procedure in which the processing apparatus according to this embodiment actually performs processing. First, the control device 40 (FIG. 1) controls the moving mechanism 20 to hold the workpiece 50 in the holding section 22 of the moving mechanism 20 (step SB1). The shape of the tool 10 is detected by the shape sensor 30 (FIG. 1) (step SB2). The control device 40 searches the machining database 41 (FIG. 6) for a record having shape information T _i that is closest to the shape of the current tool 10 , and searches the record that has shape information T _i that is closest to the shape of the current tool 10 . The history W _i (t _j ) of the position and orientation information of the workpiece 50 is extracted (step SB3). The history W _i (t _j ) of the extracted position and orientation information can be considered as the history of the optimal position and orientation information when machining is performed using the tool 10 of the current shape.

The control device 40 controls the moving mechanism 20 based on the extracted history of position and orientation information W _i (t _j ), and processes the workpiece 50 (step SB4). That is, the movement mechanism 20 is controlled using the extracted history of position and orientation information W _i (t _j ) as teaching data. The procedure from step SB1 to step SB4 is repeated until processing of all the workpieces 50 is completed (step SB5).

Next, the excellent effects of the above embodiment will be explained.
In the above embodiment, immediately before machining the workpiece 50, the current shape of the tool 10 is detected, and the most suitable history of position and orientation information of the workpiece 50 W _i (t _j ), the position and posture of the workpiece 50 are adjusted. Therefore, even if the shape of the tool 10 changes, the workpiece 50 can be processed appropriately.

Further, in the above embodiment, the direct teaching method shown in FIG. 3 is used to generate teaching data that defines the mode of movement of the moving mechanism 20, and stores it in the processing database. Therefore, it is possible to construct a machining database only by on-site workers. Further, even if the type of workpiece 50 is changed, by performing direct teaching using the changed workpiece 50, it is possible to quickly respond to the change in the type of workpiece 50.

Next, a modification of the above embodiment will be described.
In the above embodiment, the position of the rotating tool 10 is fixed and the workpiece 50 is moved by the moving mechanism 20. However, on the contrary, the workpiece 50 is kept stationary and the position of the tool 10 is changed while rotating the tool 10. Processing may be performed by changing the posture. That is, at least one of the tool 10 and the workpiece 50 may be moved relative to the other.

In the above embodiment, an articulated robot arm is used as the moving mechanism 20 (FIG. 1), but other moving mechanisms may be used. Further, although a rotating body is used as the tool 10, other tools may be used. For example, a tool that reciprocates the contact surface in contact with the workpiece 50, a tool that vibrates the contact surface slightly, etc. may be used.

In the above embodiment, the teaching data for the moving mechanism 20 is generated by direct teaching, but the teaching data may be generated by other machine learning techniques.

In the above embodiment, the moving mechanism 20 is controlled using the processing database 41 (FIG. 6) constructed using machine learning, but the moving mechanism 20 may be controlled using other methods. For example, based on the result of detecting the shape of the tool 10, the angle and direction in which the outer circumferential surface 10S of the tool 10 is inclined with respect to the rotation center axis are calculated, and the position and the direction of the workpiece 50 are determined according to the inclination of the outer circumferential surface 10S. You may also adjust your posture. For example, machining may be performed by inclining the area of the surface of the workpiece 50 that contacts the outer circumferential surface 10S of the tool 10 in the same direction as the direction in which the outer circumferential surface is inclined 10S with respect to the rotation center axis of the tool 10. good.

Next, processing apparatuses according to other embodiments will be described with reference to FIGS. 8 to 11. Hereinafter, a description of the common components of the processing apparatus according to the embodiment described with reference to FIGS. 1 to 7 will be omitted. As in the embodiment described with reference to FIGS. 1 to 7, the tool 10 used for buffing is deformed by being pressed against the workpiece 50, and the amount of deformation and the pressing force have a correlation. . In the embodiments shown in FIGS. 8 to 10, the tool 10 is hard, and even if the workpiece 50 is pressed against the tool 10, the tool 10 hardly deforms. In this case, it is insufficient to control only the relative position between the tool 10 and the workpiece 50 during processing, and the pressing force of the workpiece 50 against the tool 10 must also be controlled.

FIG. 8 is a schematic diagram of the processing apparatus according to this embodiment. The processing apparatus according to this embodiment further includes a force sensor 35 in addition to the components of the processing apparatus according to the embodiment described with reference to FIGS. 1 to 7. The force sensor 35 is disposed between the holding portion 22 of the moving mechanism 20 and the workpiece 50, and detects the force that presses the workpiece 50 against the tool 10. The detection value detected by the force sensor 35 is input to the control device 40.

FIG. 9 is a flowchart showing the procedure for performing direct teaching. FIG. 10 is a schematic diagram of the processing device during direct teaching. First, the workpiece 50 is held in the holding section 22 via the force sensor 35 (step SA1a). The procedure (step SA2) for detecting the shape of the tool 10 with the shape sensor 30 is the same as step SA2 in the embodiment shown in FIG.

In addition to the history W _i (t _j ) of the position and orientation information of the workpiece 50 while the worker is processing one workpiece 50, it also shows the magnitude of the force with which the worker is pressing the workpiece 50 against the tool 10. A history F _i (t _j ) (FIG. 10) of the information (pressing force information F _i ) is recorded (step SA3a). The pressing force information F _i is acquired in synchronization with the acquisition of the position and orientation information W _i of the workpiece 50 . The magnitude of the pressing force is measured by the force sensor 35. When machining of one workpiece 50 is completed, the control device 40 stores the shape information _T1 of the tool 10, the history W _i ( _tj ) of the position and orientation information of the workpiece 50, and the history F _i ( _tj ) of the pressing force information. and are stored in the processing database 41 in association with each other (step SA4a).

FIG. 11 is a diagram showing the structure of the processing database 41 used in this embodiment. Position and orientation information W _i of the workpiece 50 at a certain time t _j and pressing force information F _i are stored as a set. A history (W _i (t _j ), F _i (t _j )) of a pair of position and orientation information W _i of _the workpiece 50 and pressing force information F _i is stored in association with the shape information T i of the tool 10. .

When performing automatic machining, the control _device 40 uses the history ( _{W i (} t _j ), F _i (t _j )), the moving mechanism 20 is controlled. For example, when the moving mechanism 20 is controlled based on the position and orientation information W _i of the workpiece 50, a state in which the workpiece 50 contacts the tool 10 is obtained, but the force pressing the workpiece 50 against the tool 10 is approximately zero. From this state, the workpiece 50 is pressed against the tool 10 by generating torque at each joint of the moving mechanism 20. The magnitude of the torque to be generated at each joint is determined based on the magnitude of the pressing force acquired from the force sensor 35 during automatic machining based on the history of pressing force F _i (t _j ) extracted according to the shape of the tool 10. It is preferable to control the torque of each joint to match the current magnitude obtained.

Next, the excellent effects of this embodiment will be explained.
In this embodiment, even if the tool 10 hardly deforms during machining, the workpiece 50 can be pressed against the tool 10 with an optimal force to perform machining.

Next, a modification of this embodiment will be described.
In this embodiment (FIG. 8), the force sensor 35 is arranged between the holding part 22 and the workpiece 50, but the force sensor 35 may be arranged on the tool 10 side. For example, a configuration may be adopted in which when the workpiece 50 is pressed against the tool 10, the tool 10 is slightly displaced in response to the pressing force, and a reaction force acts on the workpiece 50. At this time, it is preferable to use a force sensor 35 that measures the pressing force from a minute amount of displacement of the tool 10.

Next, still another embodiment will be described with reference to FIGS. 12 to 14. FIG. 12 is a perspective view of the tool 10 and workpiece 50 when machining is performed using the machining apparatus according to this embodiment. In the embodiments described with reference to FIGS. 1 to 11, the workpiece 50 has a substantially flat surface. However, in this embodiment, the workpiece 50 to be polished using a processing device that performs buffing is The processed surface is concave. The surface to be machined has a radius of curvature that is not negligible even within the width of the tool 10.

13 and 14 are cross-sectional views showing the positional relationship between the tool 10 and the workpiece 50 during processing. As shown in FIG. 13, when the outer circumferential surface 10S of the tool 10 has a cylindrical shape parallel to the rotation center axis, polishing is performed with the normal direction of the surface to be polished perpendicular to the outer circumferential surface 10S of the tool 10. When this is done, the edges on both sides of the outer circumferential surface 10S are strongly pressed against the surface to be polished, and either the central portion does not come into contact with the surface to be polished, or the pressing force becomes relatively weak. In order to uniformly polish the surface to be polished, it is preferable to bring the corner of the tool 10 (the edge of the outer circumferential surface 10S) into contact with the surface to be polished, as shown in FIG. When machining is performed with the corner of the tool 10 in contact with the surface to be polished, the wear of the tool 10 is uneven.

As shown in FIG. 14, when the corners of the tool 10 become oblique due to wear, it is preferable to polish the tool 10 with the worn corners in contact with the surface to be polished. In this way, when the surface to be polished of the workpiece 50 is a concave surface, the wear of the tool 10 tends to be uneven. Note that even when the surface to be polished is not a simple concave surface but has a more complicated shape, the shape of the tool 10 may be changed by using the corners of the tool 10 to perform appropriate machining. For this reason, it is preferable to perform machining while adjusting the posture of the workpiece 50 in accordance with changes in the shape of the tool 10.

When using the processing apparatus according to the embodiment described with reference to FIGS. 1 to 11, it is possible to perform processing while changing the posture of the workpiece 50 according to changes in the shape of the tool 10. Even when the surface is concave or has another complicated shape, it is possible to perform appropriate machining according to changes in the shape of the tool 10.

Further, in the embodiments described with reference to FIGS. 1 to 11, the shape of the tool 10 changes from a cylindrical shape to a truncated cone shape, but it may change to other shapes. For example, the shape of the tool 10 may change from a cylindrical shape to an abacus-like shape. Also in this case, it is effective to apply the processing apparatus according to the embodiment described with reference to FIGS. 1 to 11.

It goes without saying that each of the above-mentioned embodiments is merely an example, and that parts of the configurations shown in different embodiments can be partially replaced or combined. Similar effects due to similar configurations in a plurality of embodiments will not be mentioned for each embodiment. Furthermore, the invention is not limited to the embodiments described above. For example, it will be obvious to those skilled in the art that various changes, improvements, combinations, etc. are possible.

10 Tool 10S Tool outer peripheral surface 11 Rotation center shaft 12 Motor 20 Movement mechanism (articulated robot arm)
21 Base 22 Work holding part 30 Shape sensor 35 Force sensor 40 Control device 41 Processing database 41A, 41B Record 1 of processing database 50 Work

Claims (6)

a tool that comes into contact with a workpiece and processes the workpiece;
a shape sensor that detects the shape of the tool;
a control device;
a moving mechanism that supports at least one of the tool and the workpiece and changes the relative position and orientation of the workpiece with respect to the tool in response to a command from the control device while the workpiece is in contact with the tool; and
The control device is a processing device that processes the workpiece by changing the history of the relative position and posture of the workpiece with respect to the tool, depending on the shape of the tool detected by the shape sensor. moreover,
comprising a processing database that stores a relationship between the shape of the tool and a history of the relative position and posture of the workpiece with respect to the tool,
The control device includes:
extracting one history of the relative position and orientation of the workpiece with respect to the tool, based on the shape of the tool detected by the shape sensor and the machining database;
The processing apparatus according to claim 1, wherein processing is performed by changing the relative position and posture of the workpiece with respect to the tool based on the extracted history. Furthermore, it further includes a force sensor that measures the force of pressing the workpiece against the tool,
3. The processing apparatus according to claim 1, wherein the control device processes the workpiece by changing the history of the detection value of the force sensor depending on the shape of the tool detected by the shape sensor. The tool is a rotating body that performs processing by bringing its outer peripheral surface into contact with the workpiece,
The processing apparatus according to any one of claims 1 to 3, wherein the shape sensor detects the shape of the outer peripheral surface of the tool. 1 . The control device performs processing by tilting a region of the surface of the workpiece that contacts the outer circumferential surface of the tool in the same direction as the direction in which the outer circumferential surface is inclined with respect to the rotation center axis of the tool. 5. The processing device according to any one of 4 to 4. a tool that comes into contact with a workpiece and processes the workpiece;
a shape sensor that detects the shape of the tool;
a control device;
a moving mechanism that supports the tool and the workpiece and changes the relative position and posture of the workpiece with respect to the tool in response to a command from the control device while the workpiece is in contact with the tool. ,
During direct teaching, the moving mechanism is operated by an operator, and the control device controls the shape of the tool detected by the shape sensor before starting direct teaching, and the shape of the tool obtained during direct teaching. A machining device that stores a history of the relative position and posture of the workpiece with respect to the workpiece in a machining database.

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