JP2020071703A - Processing device and processing method - Google Patents

Abstract

To describe a processing device and a processing method capable of efficiently processing a workpiece, even if not a skilled engineer.SOLUTION: A processing device is comprised of: a stage configured to be able to mount a workpiece, a tool configured to be relatively movable with respect to the stage, an imaging device configured to be able to image the workpiece mounted on the stage, and a control unit. The control unit executes the processes of: capturing an image of a workpiece placed on a stage with the imaging device and obtaining a captured image; obtaining processed data; automatically generating an execution code for operating at least one of the stage and a tool based on the processed data; and operating at least one of the stage and the tool based on the execution code. The process of acquiring the processed data includes acquiring a position of the workpiece with respect to the stage as the processed data based on the captured image.SELECTED DRAWING: Figure 1

Description

  The present disclosure relates to a processing device and a processing method.

  Patent Document 1 discloses an NC machining apparatus that performs machining of a work by moving a stage on which the work is placed and a tool relative to each other based on a control program.

JP 2001-166811 A

  Before the work is processed by using the conventional processing device, a preparatory work is performed by an operator. For the preparatory work, for example, the worker acquires in advance machining data such as the size of the work, the position of the work with respect to the stage, and the machining conditions of the work, and the worker creates an execution code (program) based on the data. Including doing. For such preparatory work, the experience and intuition (know-how) of skilled engineers have largely been used. In particular, when machining different types of workpieces, the worker has to acquire the machining data for each type, which requires time for the preparatory work.

  Therefore, the present disclosure describes a processing apparatus and a processing method capable of efficiently processing a work, even without being a skilled engineer.

  A processing apparatus according to one aspect of the present disclosure is capable of capturing an image of a stage configured to mount a work, a tool configured to be movable relative to the stage, and the work mounted on the stage. The image pickup device configured as described above and a control unit. The control unit captures an image of a workpiece placed on the stage by an imaging device, acquires a captured image, acquires processing data, and operates at least one of the stage and the tool based on the processing data. The process of automatically generating the execution code and the process of operating at least one of the stage and the tool based on the execution code are executed. The process of acquiring the processed data includes acquiring the position of the workpiece with respect to the stage as the processed data based on the captured image.

  A processing method according to another aspect of the present disclosure includes capturing an image of a work placed on a stage to obtain a captured image, and using at least one of the stage and a tool configured to process the work. A method for automatically generating an execution code to be operated based on machining data, the machining data including a position of a work piece with respect to a stage based on a captured image, and a stage and a tool based on the execution code. Of operating at least one of the above.

  A processing method according to another aspect of the present disclosure includes capturing a captured image by capturing an image of a work and a non-processing target placed on a stage, and a work and a non-processing target mounted on the stage. Measuring the height of an object and automatically generating an execution code for operating at least one of a stage and a tool configured to machine a workpiece based on the machining data. The data includes the position of the workpiece and the non-machined object with respect to the stage based on the captured image, and the height of the workpiece and the non-machined object, and at least one of the stage and the tool operates based on the execution code. To determine whether the tool interferes with the non-machined object on the stage based on the machining data, and when it is determined that the tool does not interfere with the non-machined object, Based on the code, and a operating the at least one of the stage and the tool.

  According to the processing apparatus and the processing method according to the present disclosure, it is possible for a skilled engineer to efficiently process a workpiece.

FIG. 1 is a perspective view showing an example of a processing apparatus. FIG. 2 is a diagram showing a state in which an example of a captured image captured by a camera is displayed on the display. FIG. 3 is a block diagram showing the main part of the processing apparatus. FIG. 4 is a diagram showing an example of the G code. FIG. 5 is a schematic diagram showing the hardware configuration of the controller. FIG. 6 is a flowchart for explaining the processing procedure of the work. FIG. 7 is a diagram showing how the operator specifies the position of the work displayed on the display.

  Hereinafter, an example of an embodiment according to the present disclosure will be described in more detail with reference to the drawings. In the following description, the same elements or elements having the same function will be denoted by the same reference symbols, without redundant description. FIG. 1 illustrates an orthogonal coordinate system defined by the X axis, the Y axis, and the Z axis. In the orthogonal coordinate system, the Y-axis extends vertically upward, the X-axis extends horizontally to be orthogonal to the Y-axis, and the Z-axis extends horizontally to be orthogonal to both the X-axis and the Y-axis. Extends to.

[Configuration of processing equipment]
The processing apparatus 1 will be described with reference to FIGS. As shown in FIG. 1, the processing device 1 has a function of processing a work W that is a processing target. The work W may be, for example, a mold component that constitutes a punching device that punches a sheet-shaped base material (metal plate or the like). The shape of the work W may be, for example, a rectangular parallelepiped shape, a columnar shape, a polygonal columnar shape, or another irregular shape. As shown in FIG. 2, a processing instruction display C may be provided on the surface of the work W.

  The machining instruction display C may display information (work information) about the work W, or may display machining conditions for the work W to which the machining instruction display C is attached. Both may be displayed. The work information may include, for example, the material, size, and shape of the work W. The processing conditions include, for example, the cutting amount in the Y direction (hereinafter, simply referred to as “cutting amount”), the moving speed of the stage 13 (the number of reciprocations per unit time) described below, and the number of rotations of the tool 21 described below. You can leave.

  The processing instruction display C may be, for example, a number, a symbol, or a pattern code generated by a predetermined rule. The pattern code may be one that can hold information by combining a light pattern and a dark pattern, and may be, for example, a bar code or a two-dimensional code. .. The two-dimensional code may be, for example, a QR code (registered trademark), DataMatrix, Vericode, or the like.

  As shown in FIG. 1, the processing device 1 includes a base unit 10, a processing unit 20, a camera 30 (imaging device), a laser distance meter 40 (measuring device), a display 50 (display device), and a controller. Ctr (control unit). The processing device 1 may further include a housing (not shown) configured to be able to accommodate a part or all of these.

  The base unit 10 includes a base 11, a guide mechanism 12, and a stage 13. The base 11 is configured to support the guide mechanism 12 and the stage 13 from below. The guide mechanism 12 is mounted on the base 11. The guide mechanism 12 may be, for example, a linear actuator. The guide mechanism 12 may include, for example, a rail 12a and a block (not shown). The block may be configured to be capable of reciprocating along the rail 12a (Z axis) based on an instruction from the controller Ctr.

  The stage 13 is configured to suck and hold the work W placed on the upper surface (placement surface). The stage 13 may be, for example, a magnet chuck or a vacuum chuck. FIG. 2 shows an example in which the stage 13 is a magnet chuck. In this case, a plurality of magnetic bodies 13a may be exposed on the surface of the stage 13. The plurality of magnetic bodies 13a may extend linearly along the X axis. The plurality of magnetic bodies 13 a may be arranged such that the N poles and the S poles are alternately arranged on the surface of the stage 13 along the Z axis. A non-magnetic material (separator) may be interposed between the plurality of magnetic materials 13a, and adjacent magnetic materials 13a may be separated by the non-magnetic material. The stage 13 may hold at least one work W, or may hold a plurality of works W. The stage 13 may be connected to the block of the guide mechanism 12. Therefore, when the block reciprocates along the rail 12a, the work W held on the stage 13 also reciprocates along the rail 12a (Z axis).

  The processing unit 20 has a function of processing the work W so that the work W has a predetermined shape. The processing unit 20 may be arranged above the base unit 10. The processing unit 20 includes a tool 21, a shaft 22, and a drive mechanism 23.

  The tool 21 is configured to process the work W while being in contact with the work W. For example, when the processing device 1 is a grinding device, the tool 21 may be a grindstone for grinding the work W. The tool 21 may have, for example, a cylindrical shape. In this case, the work W may be processed by the peripheral surface of the tool 21 contacting the work W, or the work W may be processed by the end surface of the tool 21 contacting the work W. ..

  The shaft 22 extends along the X axis. The tool 21 is attached to one end of the shaft 22. The central axis of the shaft 22 and the central axis of the tool 21 may substantially match. A drive mechanism 23 is attached to the other end of the shaft 22.

  The drive mechanism 23 is configured to support and rotate the shaft 22 based on an instruction from the controller Ctr. With the rotation of the shaft 22, the tool 21 also rotates with the central axis of the shaft 22 as the rotation axis. The drive mechanism 23 is configured to move the shaft 22 up and down along the Y axis based on an instruction from the controller Ctr. At this time, the tool 21 attached to the shaft 22 also reciprocates vertically. The drive mechanism 23 is configured to move the shaft 22 back and forth along the X axis based on an instruction from the controller Ctr. At this time, the tool 21 attached to the shaft 22 also reciprocates in the horizontal direction.

  When the guide mechanism 12 moves the workpiece on the stage 13 along the Z axis and the drive mechanism 23 moves the tool 21 along the X axis and the Y axis, the relative position between the tool 21 and the workpiece W changes. When the work W is processed by the tool 21, the drive mechanism 23 moves the tool 21 along the Y axis to a height at which the work W contacts the work W, and rotates the tool 21 at a predetermined speed. Next, the guide mechanism 12 moves the work W along the Z axis at a predetermined speed. As a result, a region where the tool 21 contacts the work W (for example, a region corresponding to the width of the tool 21) is processed. Next, the drive mechanism 23 extends or retracts the tool 21 along the X axis by a predetermined size (for example, a size equal to or smaller than the width of the tool 21). Next, the guide mechanism 12 moves the work W along the Z axis at a predetermined speed. As a result, a region of the work W adjacent to the processed region is processed. After that, the stage 13 and the tool 21 operate similarly until the tool 21 comes into contact with the entire area of the work W and the processing is completed. That is, the tool 21 processes the work W while meandering with respect to the work W.

  The camera 30 is arranged, for example, above one end of the guide mechanism 12. In this case, it is possible to increase the degree of freedom of illumination of the work W on the stage 13. The camera 30 is configured to image the work W and the stage 13 in a state where the stage 13 on which the work W is placed is located on the one end side. The camera 30 may be arranged above the center of the stage 13. The data of the image captured by the camera 30 is transmitted to the controller Ctr.

  The laser range finder 40 is arranged, for example, above one end side of the guide mechanism 12. The laser range finder 40 is configured to measure the height of the work W on the stage 13 when the stage 13 on which the work W is mounted moves on the one end side. The measurement data obtained by the laser range finder 40 is transmitted to the controller Ctr as processing data.

  The display 50 has a function of displaying various information on the screen. As shown in FIG. 2, the information displayed on the display 50 may include, for example, a captured image captured by the camera 30, the size of the work W, the position (origin coordinate) of the work W, processing conditions, and the like. Good.

  As shown in FIG. 3, the controller Ctr includes an image processing unit M1, an execution code generating unit M2, and a drive instructing unit M3 as functional modules. These functional modules are merely the functions of the controller Ctr divided into a plurality of modules for convenience, and do not necessarily mean that the hardware configuring the controller Ctr is divided into such modules. Each functional module is not limited to one that is realized by executing a program, but is realized by a dedicated electric circuit (for example, a logic circuit) or an integrated circuit (ASIC: application specific integrated circuit). May be.

  The image processing unit M1 has a function of performing image processing on the data of the image captured by the camera 30 to detect the edge of the work W, and acquiring the shape, size (length and width), position, etc. of the work W on the stage 13. Have. The image processing unit M1 transmits the acquired information as processed data to the execution code generating unit M2.

  Various known algorithms can be used for edge detection. For example, when the stage 13 is a magnet chuck, the image processing unit M1 recognizes a straight line of 1 mm or more extracted from the captured image as an edge of the magnetic body 13a and also uses a known dynamic threshold method (for brightness unevenness of the captured image. All edges may be recognized from the captured image by a method of binarizing the captured image while locally changing the threshold accordingly. Further, the image processing unit M1 may recognize that the work W is present at a position where the edge of the magnetic body 13a is interrupted based on the recognized edges. A plurality of reference lines (for example, ruled lines, grid-like vertical and horizontal lines) are provided on the surface of the stage 13, and the image processing unit M1 recognizes the reference line instead of recognizing the edge of the magnetic body 13a, It may be recognized that the work is present at a position where the edge of the line is interrupted. The interval between the plurality of reference lines may be about 1 mm to 5 mm. The colors of the plurality of reference lines may be set to colors different from the work W and the stage 13. The image processing unit M1 compares the picked-up image of the stage 13 on which the work W is not placed with the picked-up image of the stage 13 on which the work W is placed, and compares different points (for example, brightness, It may be recognized that the work W is present at the difference in shade, color, etc.).

  The image processing unit M1 has a function of performing image processing on the data of the image captured by the camera 30, reading the processing instruction display C attached to the work W, and acquiring the work information or processing conditions indicated by the processing instruction display C. .. When the processing instruction display C is a character, a number, or the like (see FIG. 2), the image processing unit M1 recognizes the character, the number, etc. by optical character recognition (OCR) and acquires the work information or the processing condition. Good. For example, when “20” is attached to the work W as the processing instruction display C, the image processing unit M1 may determine that the cutting amount is 20 μm. When the processing instruction display C is a bar code, a two-dimensional code, or the like (see FIG. 2), the image processing unit M1 may decode these codes according to the standard to acquire the work information or the processing conditions. The image processing unit M1 transmits the acquired information as processed data to the execution code generating unit M2.

  If the shape and size of the work W obtained based on the edge detection of the work W and the shape and size of the work W obtained by reading the processing instruction display C are present, the image processing unit M1 selects one of them. It may be adopted as processing data. The image processing unit M1 may preferentially adopt the shape and size of the work W obtained by reading the processing instruction display C as processing data. The image processing unit M1 may display the acquired processed data on the display 50.

  The execution code generation unit M2 has a function of automatically generating an execution code for operating the stage 13 and the tool based on the machining data. The processing data includes processing data (shape, size (vertical width and width), position, posture, and processing condition of the work W) received from the image processing unit M1, and processing data (work W) received from the laser rangefinder 40. Height) and.

  When the execution code generation unit M2 receives the following processed data, the execution code generation unit M2 may generate an execution code that causes the processing device 1 to execute the following processing procedures 1 to 17. For example, according to the following processing data, the movement amount of the tool 21 is 3 mm with respect to the length of the work W of 24 mm. Therefore, when the tool 21 intermittently moves by −3 mm along the X axis while the tool 21 reciprocates the work W 4 times, the execution code generation unit M2 processes the entire surface of the work W. You may judge. The movement amount of the tool 21 may be set in advance according to the type of the tool 21. For example, the amount of advance / retreat of the tool 21 may be approximately the same as the width of the tool 21.

<Example of processed data>
Workpiece W origin: (X, Z) = (0, 50)
Length of work W along X axis: 24 mm
Width of work W along Z axis: 120 mm
Work W height: 30 mm
Depth of cut: 5 μm
Moving speed of stage 13: 10 m / min
The amount of movement of the tool 21 once along the X axis: -3 mm

<Processing procedure>
1: Move the stage 13 or the tool 21 so that the tool 21 is located at the origin (X, Z) = (0, 50) of the workpiece W 2: Height obtained by subtracting the cutting amount from the height of the workpiece W The tool 21 is moved so that the tool 21 is positioned at 3: The stage 13 is moved by 120 mm (the length of the work W) along the Z axis 4: The tool 21 is moved by -3 mm along the X axis 5: Move the stage 13 by −120 mm (length of the work W) along the Z axis 6: Move the tool 21 by −3 mm along the X axis 7: Move the stage 13 along the Z axis by 120 mm (length of the work W) ) Move 8: Move the tool 21 along the X axis by -3 mm 9: Move the stage 13 along the Z axis by -120 mm (length of the work W) 10: Move the tool 21 along the X axis by -3 mm Move 11: Station The carriage 13 is moved 120 mm (length of the work W) along the Z axis 12: The tool 21 is moved -3 mm along the X axis 13: The stage 13 is -120 mm (length of the work W) 14: move the tool 21 along the X axis by -3 mm 15: move the stage 13 along the Z axis by 120 mm (length of the work W) 16: move the tool 21 along the X axis by -3 mm Move 17: Move stage 13 along the Z-axis by -120 mm (length of work W).

  FIG. 4 shows an example of execution code for executing the above-described processing procedures 1 to 17 when the processing device 1 operates with G code.

  The drive instruction section M3 has a function of driving the guide mechanism 12 and the drive mechanism 23 based on the execution code generated by the execution code generation section M2.

  The hardware of the controller Ctr may be configured by, for example, one or a plurality of control computers. The controller Ctr may include, for example, a circuit Ctr1 shown in FIG. 5 as a hardware configuration. The circuit Ctr1 may be composed of electrical circuit elements. The circuit Ctr1 specifically includes a processor Ctr2 (control unit), a memory Ctr3 (storage unit), a storage Ctr4 (storage unit), and an input / output port Ctr5. The processor Ctr2 cooperates with at least one of the memory Ctr3 and the storage Ctr4 to execute a program, and executes input / output of signals via the input / output port Ctr5, thereby configuring each of the functional modules described above. The input / output port Ctr5 outputs signals between the processor Ctr2, the memory Ctr3, and the storage Ctr4 and the respective parts of the processing apparatus 1 (for example, the guide mechanism 12, the drive mechanism 23, the camera 30, the laser distance meter 40, and the display 50). Input and output.

  The processing device 1 may include, for example, one controller Ctr, or may include a controller group (control unit) including a plurality of controllers Ctr. When the processing device 1 includes a controller group, each of the above functional modules may be realized by one or a plurality of controllers Ctr. When the controller Ctr is composed of a plurality of computers (circuit Ctr1), each of the functional modules may be realized by one or a plurality of computers (circuit Ctr1). When the controller Ctr includes a plurality of processors Ctr2, the above functional modules may be realized by one or a plurality of processors Ctr2, respectively.

[Processing method]
Next, a method of processing the work W will be described with reference to FIG. First, an operator or a robot places at least one work W on the stage 13 (step S1). Next, the controller Ctr instructs the guide mechanism 12 to move the stage 13 to one end side of the guide mechanism 12. In this process, the controller Ctr instructs the camera 30 and the laser range finder 40 to image the work W and the stage 13 and measure the height of the work W (step S2).

  Next, the image processing unit M1 generates processing data (shape, size (vertical width and horizontal width), position, and processing condition of the work W) based on the captured image, and the processing data is sent to the execution code generating unit M2. It is transmitted (step S3). Further, the laser range finder 40 transmits the measured height of the work W as processing data to the execution code generating unit M2 (step S3).

  Next, the execution code generator M2 automatically generates an execution code based on the processed data (step S4). Next, the drive instructing unit M3 drives the guide mechanism 12 and the drive mechanism 23 based on the generated execution code. As a result, the work W on the stage 13 is processed by the tool 21 (step S5).

[Action]
According to the above example, the execution code for operating at least one of the stage 13 and the tool 21 is automatically generated based on the processing data obtained from the captured image. Further, even when machining different kinds of works, execution codes corresponding to the respective kinds are automatically generated. Therefore, the work W can be quickly processed by the automatically generated execution code without depending on the experience and intuition of the operator. Therefore, even a non-skilled engineer can efficiently process the work W.

  According to the above example, the processing instruction display C provided on the surface of the work W is read by the camera 30, and the processing data is acquired based on the processing instruction display C. Therefore, the operator does not need to input the processing conditions into the processing apparatus 1. Therefore, the work W can be processed more efficiently.

[Modification]
Although the embodiments according to the present disclosure have been described above in detail, various modifications may be added to the above embodiments without departing from the scope of the claims and the gist thereof.

  (1) The image processing unit M1 may detect at least the position of the work W on the stage 13 based on the data of the image captured by the camera 30. Therefore, the processing data other than the position of the work W may be input to the processing apparatus 1 by the worker.

  (2) The processing device 1 may further include a camera for identifying the height of the work W.

  (3) When a plurality of workpieces W are placed on the stage 13, the controller Ctr may determine whether or not the tool 21 interferes with the workpiece W (non-machined object) that is not the machining target. .. In this case, it is possible to prevent the tool 21 from coming into contact with the work W that is not the processing target even if there is a work W that is not the processing target other than the work W that is the processing target on the stage 13. Therefore, it is possible to suppress unexpected processing of the work W that is not the processing target. When detecting the interference, the controller Ctr may notify the operator, for example, through the display 50 that the tool 21 and the workpiece W that is not the processing target may cause the interference.

  The determination of the interference by the controller Ctr may be performed as follows, for example. First, the controller Ctr instructs the camera 30 and the laser rangefinder 40 to image all the works W and the stage 13 and measure the heights of all the works W. Next, the controller Ctr reproduces the sizes of all the works W and the positions with respect to the stage 13 in the virtual space created by the controller Ctr. Next, the controller Ctr virtually moves the tool 21 with respect to the workpiece W to be processed in the virtual space, and determines whether or not the tool 21 collides with the workpiece W that is not the processing target. For example, the controller Ctr may determine whether or not the solid model of the tool 21 interferes with the solid model of the work W that is not a machining target by using a known algorithm.

  (4) The image processing unit M1 may acquire the attitude of the work W with respect to the stage 13 based on the data of the image captured by the camera 30. The controller Ctr may determine whether the work W is tilted with respect to the stage 13 based on the posture acquired by the image processing unit M1. In this case, it is possible to perform more appropriate processing on the work W having an appropriate posture. When detecting the inclination of the posture, the controller Ctr may notify that the posture of the work W may not be appropriate, for example, via the display 50.

  (5) The outer shape data of the work W (sample work) that can be processed by the processing apparatus 1 may be stored in advance in the memory Ctr3 or the storage Ctr4. The controller Ctr may determine whether or not the shape of the work W acquired by the image processing unit M1 matches the outer shape data stored in the memory Ctr3 or the storage Ctr4. In this case, it is possible to identify a work W having an outer shape different from that of the sample work. Therefore, when a foreign matter other than the workpiece W to be processed exists on the stage, the foreign matter can be removed.

  (6) For example, the display 50 may be a touch panel type, and an operator may touch the display 50 to specify the position, shape, and the like of the work W displayed on the display 50. For example, when the position, shape, and the like of the work W cannot be acquired by the image processing unit M1, the operator specifies the range corresponding to the work W by touch operation, as indicated by a dashed rectangle R in FIG. May be (range specification operation). The controller Ctr considers that the outer shape of the specified range is the outer shape of the work W, and also considers that the work W is located in the specified range, so that the execution code of the execution code generation unit M2 You may generate. In this case, the approximate position of the work W can be obtained by the operator's range designation operation. Therefore, even in a situation where it is difficult to acquire the processed data based on the captured image, the work W can be efficiently processed.

  (7) While the stage 13 reciprocates, the work W may come into contact with the tool 21 to process the work W, or only one way of the reciprocating movement of the stage 13 causes the work W to move to the tool 21. The work W may be processed in contact with each other.

  (8) The shape of the work W is not particularly limited. That is, the shape of the work W may be a rectangular parallelepiped shape, a cylindrical shape, a polygonal pillar shape, an annular shape, a cylindrical shape, a gear shape, or the like. The processing apparatus 1 may perform cylindrical grinding, inner surface grinding, centerless grinding, screw grinding, gear grinding, profile grinding, and cutting with the tool 21 (grinding stone) depending on the shape of the work W and the purpose of processing.

  (9) The processing device 1 may be any device that processes the work W by bringing the tool 21 into contact with the work W. For example, the processing device 1 may be a grinding device, a cutting device, or a polishing device. When the processing device 1 is a cutting device, the tool 21 may be a cutting tool (for example, a cutting tool, a milling tool, etc.). When the processing device 1 is a polishing device, the tool 21 may be free abrasive grains or fixed abrasive grains that are pressed against the work W at a constant pressure.

[Other examples]
Example 1. A processing apparatus (1) according to an example of the present disclosure includes a stage (13) configured to mount a work (W) and a tool (21 configured to be movable relative to the stage (13). ), An imaging device (30) configured to be able to image the work (W) placed on the stage (13), and a control unit (Ctr). The control unit (Ctr) captures an image of the work (W) placed on the stage (13) by the image capturing device (30), acquires a captured image, acquires processing data, and processes the processed data. Based on the processing, a process of automatically generating an execution code for operating at least one of the stage (13) and the tool (21) and operating at least one of the stage (13) and the tool (21) based on the execution code Perform processing and. The process of acquiring the processed data includes acquiring the position of the workpiece (W) with respect to the stage (13) as the processed data based on the captured image. In this case, the execution code for operating at least one of the stage and the tool is automatically generated based on the processing data obtained from the captured image. Further, even when machining different kinds of works, execution codes corresponding to the respective kinds are automatically generated. Therefore, the work can be quickly processed by the automatically generated execution code without depending on the experience and intuition of the worker. Therefore, even a non-skilled engineer can efficiently process the work.

  Example 2. The apparatus (1) of Example 1 further comprises a measuring machine (40) configured to measure the height of the workpiece (W) placed on the stage (13) and the non-processed object, and the imaging device The process of acquiring an image includes capturing an image of a workpiece (W) placed on the stage (13) and a non-processing target object by the image capturing device (30), and acquiring the captured image. The position of the work (W) and the non-machining target with respect to (13) and the height of the work (W) and the non-machining target are included, and the control unit (Ctr) includes the stage (13) and the tool based on the execution code. If at least one of (21) is operated, the process of determining whether the tool (21) interferes with the non-machined object on the stage (13) based on the machining data is further executed. Good. In this case, the tool contacts the non-machined object even if there is a non-machined object (for example, another work that has already been machined, another work that is scheduled to be machined, etc.) in addition to the work to be machined You can avoid doing it. Therefore, it becomes possible to suppress the unexpected processing of the non-processed object.

  Example 3. In the apparatus (1) of Example 1 or Example 2, the surface of the work (W) is provided with a processing instruction display (C) used for processing the work (W), and acquires the processing data. The processing may include acquiring processing conditions for the workpiece (W) as processing data based on the processing instruction display (C) included in the captured image. In this case, it is necessary for the operator to input the processing conditions to the processing device by previously providing a processing instruction display (for example, letters, numbers, symbols, or an identification code holding these information) on the surface of the work. Disappears. Therefore, the work can be processed more efficiently.

  Example 4. In the device (1) according to any one of Examples 1 to 3, the control unit (Ctr) acquires the attitude of the work (W) based on the captured image, and whether the attitude is inclined with respect to the stage (13). You may further perform the process which determines whether or not. In this case, it is possible to perform more appropriate processing on the work W having an appropriate posture.

  Example 5. The device (1) according to any one of Examples 1 to 4 further includes storage units (Ctr3, Ctr4) in which outer shape data of the sample work is stored in advance, and the control unit (Ctr) uses the work ( The process of acquiring the outer shape of W) and determining whether or not the outer shape conforms to the outer shape data may be further executed. In this case, it is possible to identify a work having an outer shape different from that of the sample work. Therefore, when a foreign substance other than the work to be processed is present on the stage, the foreign substance can be removed.

  Example 6. The device (1) according to any one of Examples 1 to 5 includes a display device (50) configured to display a captured image and a predetermined range of the captured image displayed on the display device (50). An input device (50) configured to be able to input a range designation operation to be designated by an operator is further provided, and in the process of acquiring the processing data, the range designated by the range designation operation is set to the work ( W) may be included as the position. In this case, the approximate position of the work can be obtained by the range designation operation by the operator. Therefore, even in a situation where it is difficult to acquire the processed data based on the captured image, the work can be efficiently processed.

  Example 7. In the device (1) according to any one of Examples 1 to 6, the stage (13) may be a magnet chuck.

  Example 8. A processing method according to another example of the present disclosure includes capturing at least one of a stage and a tool configured to process a workpiece by capturing a captured image by capturing an image of the workpiece placed on the stage. A method for automatically generating an execution code to be operated based on machining data, the machining data including a position of a work piece with respect to a stage based on a captured image, and a stage and a tool based on the execution code. Of operating at least one of the above. In this case, the same effect as in Example 1 is obtained.

  Example 9. A processing method according to another example of the present disclosure includes capturing a captured image by capturing an image of a work and a non-processing target placed on a stage, and a work and a non-processing target mounted on the stage. Measuring the height of an object and automatically generating an execution code for operating at least one of a stage and a tool configured to machine a workpiece based on the machining data. The data includes the position of the workpiece and the non-machined object with respect to the stage based on the captured image, and the height of the workpiece and the non-machined object, and at least one of the stage and the tool operates based on the execution code. In addition, it is determined whether the tool interferes with the non-machined object on the stage based on the machining data. It is executed when it is determined that the tool does not interfere with the non-machined object. Based on over de, and a to operate at least one of the stage and the tool. In this case, the same effect as in Example 2 is obtained.

  DESCRIPTION OF SYMBOLS 1 ... Processing device, 10 ... Base unit, 13 ... Stage, 20 ... Processing unit, 21 ... Tool, 30 ... Camera (imaging device), 40 ... Laser range finder (measuring machine), 50 ... Display (display device; Input device) ), C ... Machining instruction display, Ctr ... Controller (control unit), Ctr2 ... Processor (control unit), Ctr3 ... Memory (storage unit), Ctr4 ... Storage (storage unit), W ... Work.

Claims (9)

A stage configured to be able to place a work,
A tool configured to be movable relative to the stage,
An imaging device configured to be able to image the work placed on the stage,
And a control unit,
The control unit is
A process of capturing an image by capturing an image of the work placed on the stage by the image capturing device;
The process of acquiring the processed data,
A process of automatically generating an execution code for operating at least one of the stage and the tool based on the processing data;
Executing a process of operating at least one of the stage and the tool based on the execution code,
The processing apparatus which acquires the processing data includes acquiring the position of the workpiece with respect to the stage as the processing data based on the captured image. Further comprising a measuring machine configured to measure the height of the workpiece and the non-processed object placed on the stage,
The process of acquiring the captured image includes capturing the work and the non-processed object placed on the stage by the imaging device, and acquiring the captured image,
The processing data includes the position of the work and the non-processing object with respect to the stage, and the height of the work and the non-processing object,
Based on the processing data, the control unit determines whether the tool interferes with a non-processing object on the stage when at least one of the stage and the tool operates based on the execution code. The apparatus according to claim 1, further performing a determination process. The surface of the work is provided with a processing instruction display used for processing the work,
The apparatus according to claim 1, wherein the process of acquiring the processing data includes acquiring a processing condition for the workpiece as the processing data based on the processing instruction display included in the captured image.   4. The control unit according to claim 1, further comprising a process of acquiring the posture of the work based on the captured image and determining whether the posture is tilted with respect to the stage. The apparatus according to paragraph. Further comprising a storage unit in which the outer shape data of the sample work is stored in advance,
The control unit further acquires a contour of the workpiece based on the captured image, and further executes a process of determining whether or not the contour conforms to the contour data. The apparatus according to paragraph. A display device configured to display the captured image,
An input device configured to allow a worker to input a range designation operation for designating a predetermined range of the captured image displayed on the display device,
The apparatus according to any one of claims 1 to 5, wherein the process of acquiring the processing data includes acquiring a range designated by the range designation operation as a position of the work with respect to the stage.   The apparatus according to claim 1, wherein the stage is a magnet chuck. Capturing the captured image by capturing an image of the work placed on the stage,
Execution code for operating at least one of the stage and a tool configured to process the workpiece is automatically generated based on the processing data, and the processing data is the captured image. Based on the position of the workpiece with respect to the stage,
Operating at least one of the stage and the tool based on the execution code. Capturing a picked-up image by picking up an image of the workpiece and the non-processed object placed on the stage,
Measuring the height of the work and the non-processed object placed on the stage;
Execution code for operating at least one of the stage and a tool configured to process the workpiece is automatically generated based on the processing data, and the processing data is the captured image. Based on the position of the work and the non-processed object with respect to the stage, and the height of the work and the non-processed object,
When at least one of the stage and the tool operates based on the execution code, it is determined based on the machining data whether the tool interferes with the non-machined object on the stage. ,
A machining method comprising: operating at least one of the stage and the tool based on the execution code when it is determined that the tool does not interfere with the non-machining object.

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