JP6927917B2 - A processing system that has the function of removing processing waste - Google Patents

Description

The present invention relates to a removal system and a processing system that removes processing debris generated during processing by utilizing a robot and an imaging device.

Patent Documents 1 to 3 describe a cleaning system that removes processing debris generated during processing of a workpiece by a high-pressure cleaning spray attached to a robot. Further, a technique for monitoring the state of a workpiece or a machining tool during machining by using an imaging device is known (see Patent Documents 4 and 5).

A cleaning system using a high-pressure cleaning spray is effective in removing iron-based materials having a relatively small amount of processing waste and a small amount of processing waste. However, in the case of a material having high toughness such as aluminum or stainless steel, that is, a so-called sticky material, the processing waste may become long and entangled in a bird's nest shape. As a result, the work chips adhere to the work or the work tool, and the work chips cannot be easily removed.

Leaving machining debris around the machining site not only reduces machining accuracy, but can also damage the workpiece or machining tool and, in some cases, damage the machine tool. Therefore, when processing a sticky material, it is necessary to periodically interrupt the processing process, check the state of the processed portion, or manually remove the processing waste.

Japanese Unexamined Patent Publication No. 2003-09466 Japanese Patent Application No. 2015-159198 Japanese Unexamined Patent Publication No. 10-118884 Japanese Unexamined Patent Publication No. 2002-096203 Japanese Unexamined Patent Publication No. 10-096616

Therefore, there is a demand for a processing system that can reliably remove processing waste without human intervention.

According to the first invention of the present application, a machine tool equipped with a machining tool and a robot capable of selectively using a grip portion capable of gripping a workpiece to be machined by the machine tool and a removal tool for removing machining debris. A processing system including an image pickup device provided on a movable portion of the robot, and a first reference image acquired by imaging the work and the processing tool before the start of processing by the image pickup device. , The work and the machining tool after the start of machining are compared with the first target image acquired by imaging with the imaging device, and the amount and position of the machining chips adhering to the work and the machining tool are imaged. An image processing unit that detects based on processing, a state determination unit that determines whether or not it is necessary to remove the processing waste based on the amount of the processing waste detected by the image processing unit, and the state determination. When the unit determines that it is necessary to remove the machine tool, the robot is operated based on the position of the machine tool detected by the image processing unit, and the machine tool is removed by the removal tool. A removal execution unit that executes the removal step, a second reference image acquired by imaging the work and the processing tool immediately before the removal step is executed by the imaging device, and immediately after the removal step is executed. The machine tool is compared with a second target image acquired by imaging the work and the processing tool, and a result determination unit for determining the result of the removal step based on image processing is provided. The system is provided.
According to the second invention of the present application, in the processing system according to the first invention, when the result determination unit determines that the result of the removal step is insufficient, the removal execution unit removes the removal. The process is configured to be executed again.
According to the third invention of the present application, in the machining system according to the second invention, the robot is configured to selectively use a plurality of different types of removal tools. When the result determination unit determines that the result of the removal step is insufficient, the next time based on the result of the removal step and the type of the removal tool used in the immediately preceding removal step. The removal tool selection unit for selecting the removal tool to be used in the removal step of the above is further provided.
According to the fourth invention of the present application, in the processing system according to the second or third invention, when the result determination unit determines that the result of the removal step is insufficient, the result of the removal step. Further, an operation changing unit for changing the operation of the robot in the next removal step is further provided based on the operation of the robot in the immediately preceding removal step.
According to the fifth invention of the present application, in the machining system according to any one of the first to fourth inventions, the removal execution unit executes the removal step in parallel with the machining step executed by the machine tool. It is configured to do.
According to the sixth invention of the present application, in the processing system according to any one of the second to fifth inventions, the number of times that the result determination unit continuously determines that the result of the removal step is insufficient is the number of times. , A notification unit for notifying a warning when the number of times exceeds a predetermined number is further provided.
According to the seventh invention of the present application, in the processing system according to any one of the first to sixth inventions, it is applied in the determination of the result of the removal step by the result determination unit in response to the input operation by the user. It further includes a condition change unit for changing the condition to be set.
According to the eighth invention of the present application, in the processing system according to any one of the first to seventh inventions, the result determination unit applies the amount of processing waste remaining after the removal step to the second target image . Judge based on .
According to the ninth invention of the present application, in the processing system according to the eighth invention, the result determination unit further images the processing tool to which no processing waste is attached before the start of processing by the imaging device. The third reference image to be acquired is compared with the third target image acquired by capturing the processing tool with the imaging device immediately after the removal step, and the result of the removal step is used for image processing. A removal system is provided that determines based on.

These as well as other objects, features and advantages of the present invention will become more apparent with reference to the detailed description of exemplary embodiments of the invention shown in the accompanying drawings.

According to the processing system and the removing system according to the present application, the result of the processing waste removing step is determined by comparing the images acquired before and after the removing step. It is not necessary to manually check the status of work chips, and the process can be automated. Further, if the necessary measures are automatically executed when the result of the removal process is insufficient, the work chips can be surely removed.

It is a figure which shows the structural example of a processing system. It is a figure which shows the work before and after processing. It is a figure which shows the tool attached to the wrist of a robot. It is a figure which shows the work imaged by the image pickup apparatus. It is a figure which shows the work imaged by the image pickup apparatus. It is a figure which shows the process of removing the processing waste using a cutting tool. It is a figure which shows the process of removing the processing debris using a gripping tool. It is a flowchart which shows the machining process which is executed by the machining system which concerns on 1st Embodiment. It is a flowchart which shows the processing related to the function of the image processing unit. It is a flowchart which shows the process related to the function of the state determination part. It is a flowchart which shows the process related to the function of the removal execution part. It is a flowchart which shows the process related to the function of the result determination part. In the second embodiment, it is a flowchart which shows the process related to the function of the image processing unit. It is a flowchart which shows the process related to the function of the state determination part. It is a flowchart which shows the process related to the function of the result determination part.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The components of the illustrated embodiment have been scaled appropriately to aid in the understanding of the present invention. The same reference code is used for the same or corresponding components.

The processing system according to the first embodiment will be described with reference to FIGS. 1 to 10. FIG. 1 shows a configuration example of the processing system 10. The processing system 10 includes a machine tool 2, a robot 3, a stocker 4 for tools, and a control device 5.

The machine tool 2 includes machining tools 21 and 22 used for machining a work W, and a table 23 on which the work W is placed. The machining tools 21 and 22 are different types of machining tools prepared according to necessary applications such as cutting, drilling, and cutting. Machining tools 21 and 22 are selectively used according to the machining process to be performed. The machine tool 2 may include three or more machining tools. The work W is fixed to the table 23 of the machine tool 2 by a jig 24 such as a chuck device so that the work W does not shift in position during machining.

The work W is a columnar member in which recesses are formed concentrically. With reference to FIG. 2 when the work W is viewed from above, the work W before machining is shown by a solid line, and the work W'after machining is shown by a broken line. That is, the work W is processed along the outer wall surface of the work W and the peripheral wall defining the recess.

The robot 3 is an articulated robot configured so that the tip of the arm 31 can be positioned at an arbitrary position in an arbitrary posture within an operating range determined according to the configuration of the mechanical unit. The robot 3 is, for example, a 6-axis vertical articulated robot as shown in the figure.

The robot 3 is provided with a tool that is replaceably attached to the wrist 32 provided at the tip of the arm 31. The tool used by the robot 3 is provided in the tool stocker 4. As shown in FIG. 3, in the present embodiment, in addition to the double hand 41 used for gripping the work W, a removal tool for removing machining debris, for example, a high-pressure washing nozzle 42, a cutting tool 43, and gripping. Tool 44 is available. When using a robot with a large payload, all selectively available tools may be on the wrist.

4A and 4B show machining chips C (machining chips) generated when the work W is machined. FIG. 4A is a top view of the work W, and FIG. 4B is a side view of the work W. As shown in the figure, the work chips C are attached to the work W in a state of being entangled with each other in the vicinity of the peripheral wall of the recess.

FIG. 5A shows a process of removing processing waste C using the cutting tool 43. The robot 3 separates the machining waste C from the work W by moving the cutting tool 43 along the surface of the work W.

FIG. 5B shows a process of removing work chips C using the gripping tool 44. The robot 3 removes the machining waste C from the work W by moving the gripping tool 44 in a direction away from the work W while gripping the machining waste C with the gripping tool 44.

Referring to FIG. 1 again, the image pickup device 33 is attached to the wrist 32 of the robot 3. The image pickup apparatus 33 includes, for example, a CMOS image sensor, a CCD image sensor, and the like. The image pickup apparatus 33 is used to take an image of an object and acquire image data of the object. The image pickup device 33 may be attached to the arm 31 of the robot 3. The image pickup device 33 may be detachably attached to the robot 3. In that case, in order to accurately reproduce the mounting position of the image pickup device 33 with respect to the robot 3, a jig such as a positioning pin may be provided at the connection portion between the image pickup device 33 and the robot 3. The image data acquired by the image pickup apparatus 33 may be two-dimensional image data or three-dimensional image data. The image data acquired by the image pickup device 33 is output to the image processing unit 51 of the control device 5 described later.

The control device 5 is a digital computer including a CPU, a RAM, a ROM, a non-volatile memory, and various interfaces. The control device 5 may be a single computer, or may be configured such that a plurality of computers cooperate with each other to realize the functions described later. For example, an image processing device that realizes the function of the image processing unit 51 may be provided separately from the control device 5.

As shown in FIG. 1, the control device 5 includes an image processing unit 51, a state determination unit 52, a removal execution unit 53, a result determination unit 54, a removal tool selection unit 55, an operation change unit 56, a condition change unit 57, and The notification unit 58 is provided.

The image processing unit 51 processes the image data of the object captured by the image pickup device 33. The techniques required for image processing are well known and will not be described in detail herein. In one embodiment, the image processing unit 51 captures a reference image acquired by imaging the work W and the machining tools 21 and 22 before the start of machining, and images the work W and the machining tools 21 and 22 after the start of machining. The amount and position of the machining debris adhering to the work W and the machining tools 21 and 22 are detected by comparing with the acquired target image. In one embodiment, the image processing unit 51 sequentially detects the amount and position of processing chips using a target image acquired every predetermined time, for example, every 30 minutes.

The state determination unit 52 determines whether or not it is necessary to remove the processing chips based on the amount of the processing chips adhering to the work W and the processing tools 21 and 22 detected by the image processing unit 51. The determination result of the state determination unit 52 is input to the removal execution unit 53. In one embodiment, the state determination unit 52 determines that it is necessary to remove the work chips when ^{the amount of the work chips exceeds 100 cm 3.}

When the state determination unit 52 determines that it is necessary to remove the work chips, the removal execution unit 53 operates the robot 3 based on the position of the work chips detected by the image processing unit 51 to operate the removal tool. For example, a removal step of removing work chips by a gripping tool 44 is performed.

In one embodiment, the removal execution unit 53 may select a removal tool used in the removal step according to the amount of work chips detected. For example, when the amount of work chips ^{exceeds 200 cm 3} , the removal execution unit 53 may be configured to execute the removal step using the cutting tool 43.

In one embodiment, the removal execution unit 53 may select the operation of the robot 3 in the removal step according to the detected amount of work chips. For example, when the amount of work chips ^{exceeds 200 cm 3} , the removal execution unit 53 may be configured to execute the removal step with a larger tensile force by increasing the acceleration of the robot 3.

The result determination unit 54 captures a reference image acquired by imaging the work W and the machining tools 21 and 22 immediately before the removal step is executed, and images the work W and the machining tools 21 and 22 immediately after the removal step is executed. The result of the removal process is judged by comparing with the target image acquired in the above. In one embodiment, the result determination unit 54 determines that sufficiently good results have been obtained when ^{the amount of work chips remaining after the removal step is within 1 cm 3.}

The removal tool selection unit 55 is based on the result of the removal step and the type of removal tool used in the immediately preceding removal step when the result determination unit 54 determines that the result of the removal step is insufficient. Then select the removal tool to be used in the next removal step. In one embodiment, the removal tool selection unit 55 selects a removal tool having a higher removal ability than the removal tool used in the immediately preceding removal step for the next removal step. The same removal tool may be continuously used in the next removal step when the results of the removal step are recognized to some extent, especially when it is recognized that the work chips can be reliably removed in the next removal step.

When the result determination unit 54 determines that the result of the removal process is insufficient, the operation change unit 56 determines that the result of the removal process is insufficient, and the operation change unit 56 next time is based on the result of the removal process and the operation of the robot 3 in the immediately preceding removal process. The operation of the robot 3 in the removal process is changed. In one embodiment, the motion change unit 56 executes the next removal step by operating the robot 3 at a higher acceleration than the immediately preceding removal step. In that case, the force applied to remove the work chips in the removing step is increased.

The condition change unit 57 changes the conditions applied in the determination of the result of the removal process by the result determination unit 54 in response to the input operation by the user. When the determination is executed by comparing the amount of work chips after the removal step with the threshold value, the condition changing unit 57 changes the threshold value used for the determination according to the operation of the user. As a result, the total machining time can be minimized while maintaining the minimum machining accuracy expected by the user.

The notification unit 58 notifies a warning when the number of times that the result determination unit 54 continuously determines that the result of the removal step is insufficient exceeds a predetermined number of times. The warning is given in any manner known to the user. For example, the warning is given in any form such as sound, light, textual information, and the like.

The machining process executed by the machining system 10 according to the present embodiment will be described with reference to FIG.

In step S101, the work W before machining held by one chuck of the double hand 41 of the robot 3 is carried into the machine tool 2. When the work W is sequentially machined, the robot 3 operates so as to carry out the machined work W from the machine tool 2 when the work W before machining is carried into the machine tool 2. Specifically, the processed work W fixed on the jig 24 is gripped by the chuck of the double hand 41 that does not grip the work W and is taken out from the jig 24, and then the work before machining. W is set on the jig 24.

In step S102, the machining tools 21 and 22 and the work W are imaged by the image pickup device 33 attached to the wrist 32 of the robot 3.

In step S103, the machine tool 2 processes the work W using the processing tools 21 and 22.

After the start of machining, the imaging device 33 images the machining tools 21 and 22 and the work W at predetermined time intervals (step S104). The image acquired in step S104 is compared with the image acquired in step S102 by the image processing unit 51.

In step S105, the state determination unit 52 determines whether or not it is necessary to remove the work chips.

If the determination result in step S105 is affirmative (when it is determined that the removal of work chips is necessary), the process proceeds to step S106. In step S106, the robot 3 provided with the removal tool is operated to execute the process of removing work chips.

In step S107, the result determination unit 54 determines whether the result of the removal step is sufficient, that is, whether the work chips are sufficiently removed. If the result of the removal step is insufficient, the process returns to step S106, and the removal step is executed again. When the step S106 is re-executed, the operation of the removal tool or the robot 3 may be changed if necessary.

On the other hand, if it is determined that the result of the removal step is sufficient, the process proceeds to step S108, and the processing step is continued.

If it is determined in the determination of step S105 described above that the removal of machining chips is unnecessary, the process proceeds to step S108, the machining process is continued, and the process returns to step S104. That is, the determination in step S105 is repeatedly executed based on the image data acquired at predetermined time intervals.

In one embodiment, when imaging the machining tools 21 and 22 and the work W to determine if the removal step needs to be performed (step S104), and when performing the removal step with the removal tool (step). S106), the machining process by the machine tool 2 may be executed in parallel. For example, the machine tool 2 may change the machining tools 21 and 22 or clean the inside of the machine tool in parallel during the execution of the removal process.

The processing related to the function of the image processing unit 51 will be described with reference to FIG. 7. In step S201, the imaging device 33 images the machining tools 21 and 22 before machining the work W and the work W before machining to acquire a reference image.

In step S202, machining of the work W by the machine tool 2 is started. In step S203, it is determined whether or not a predetermined time (for example, 30 minutes) has elapsed. After the predetermined time has elapsed, the process proceeds to step S204.

In step S204, the imaging device 33 images the processing tools 21 and 22 and the work W under the same conditions as in step S201, and acquires the target image.

In step S205, the image processing unit 51 compares the reference image with the target image and detects the amount and position of the machining debris adhering to the machining tools 21 and 22 and the work W. When the image acquired by the image pickup apparatus 33 is a three-dimensional image, the volume occupied by the work chips may be detected as the amount of the work chips. When the image acquired by the image pickup apparatus 33 is a two-dimensional image, the area where the processing chips spread may be detected as the amount of processing chips.

In step S206, data regarding the amount and position of the detected work chips are output to the state determination unit 52.

A process related to the function of the state determination unit 52 will be described with reference to FIG. In step S301, it is determined whether or not the amount of work chips exceeds the threshold value. As described above, the amount of processing waste is determined by the image processing unit 51 by comparing the reference image and the target image.

When the amount of work chips exceeds the threshold value (for example, 100 cm ³ ), the process proceeds to step S302, and a signal is sent to the removal execution unit 53 to execute the removal step. On the other hand, when the amount of work chips is within the threshold range, it is considered that it is not necessary to execute the removal step, and the work W is continued to be machined (step S303).

A process related to the function of the removal execution unit 53 will be described with reference to FIG. In step S401, it is determined whether or not a signal indicating that the removal step should be executed has been input from the state determination unit 52. If no such signal has been received, the process proceeds to step S405 to continue the machining process.

When the signal from the state determination unit 52 is received (when the determination result in step S401 is a process), the process proceeds to step S402, and the removal tool attached to the wrist 32 of the robot 3 is used to remove the machining waste. Perform the removal step.

In step S403, a signal is sent to the result determination unit 54 in order to determine the result of the removal step. In step S404, the result determination unit 54 determines whether or not the result of the removal step is sufficient. If the result of the removal step is insufficient, the process returns to step S402 and the removal step is executed again. On the other hand, if the result of the removal step is sufficient, the process proceeds to step S405 and the processing step is continued.

A process related to the function of the result determination unit 54 will be described with reference to FIG. In step S501, it is determined whether or not the amount of work chips after the removal step is executed is within the threshold value based on the detection result by the image processing unit 51. The threshold may be changed by the user as needed. The user appropriately sets the threshold value according to, for example, the dimensions of the work W and the material of the work W.

If the amount of work chips is within the threshold value (for example, 1 cm ³ ), the process proceeds to step S503 and the work process is continued. On the other hand, when the amount of work chips exceeds the threshold value, the process proceeds to step S502, and a signal is sent to the removal execution unit 53 in order to execute the removal step again.

When the result determination unit 54 continuously determines that the amount of work chips after the removal step exceeds the threshold value a predetermined number of times in succession, the notification unit 58 notifies the user of a warning. If the work chips cannot be sufficiently removed even if the removal process is repeatedly executed, it is possible that the removal process is not properly executed for some reason. Therefore, by giving a warning to the user, it is possible to urge the user to eliminate the cause of the problem.

According to the processing system 10 according to the present embodiment, the following effects can be obtained.

(1) By comparing the images of the machining tool and the work before and after the removal step, it is determined whether or not the machining chips can be properly removed. Therefore, the state of the machining tool and the work can be confirmed without human intervention, and the process can be automated. For example, when machining a workpiece formed from a highly tough material such as aluminum or stainless steel, it tends to be difficult to properly perform the removal step. However, since the processing system according to the present embodiment has a function of confirming the effectiveness of the removing process, the processing process can be reliably executed regardless of conditions such as the material of the work or the processing amount.

(2) If the work chips are not sufficiently removed even after the removal step is executed, the removal step is repeatedly executed. Therefore, the processing waste can be removed more reliably.

(3) An appropriate removal tool is selected according to the state of adhesion of work chips. Therefore, the process of removing work chips can be efficiently executed.

(4) The operation of the robot when executing the removal step is selected according to the adhesion state of the work chips. Therefore, the process of removing work chips can be efficiently executed.

(5) The process of removing processing chips can be executed without interrupting the processing process. Therefore, the work efficiency as a whole is improved.

(6) If the work chips cannot be removed even after the removal steps are continuously executed a predetermined number of times, a warning is notified. Therefore, it is possible to prevent the robot from repeatedly executing the process of removing work chips when some kind of trouble occurs.

(7) The result standard of the processing waste removal process is arbitrarily set by the user. Therefore, the necessary removal process is surely executed according to the situation, and the work efficiency of the processing process is improved.

The processing system 10 according to the second embodiment will be described with reference to FIGS. 11 to 13. The above-mentioned matters related to the first embodiment will be omitted as appropriate.

Machining tools may have parts that have a significant impact on machining accuracy. If the processing waste adheres to such a portion, even a small amount of the processing waste may cause a decrease in processing accuracy. Therefore, the machining system 10 according to the present embodiment is configured to promptly execute the removal step when the machining chips are attached to a specific position of the machining tool.

In the present embodiment, the image processing unit 51 captures the reference image acquired by imaging the machining tools 21 and 22 before the start of machining by the image pickup device 33 and the machining tools 21 and 22 after the start of machining by the image pickup device 33. It is configured to detect the position of the machining debris adhering to the machining tools 21 and 22 by comparing with the target image acquired in the above process.

The result determination unit 54 captures a reference image acquired by imaging the machining tools 21 and 22 to which no machining debris is attached by the imaging device 33 before the start of machining, and the machining tools 21 and 22 immediately after the removal step is executed. Is configured to be compared with the target image acquired by the image pickup device 33 to determine the result of the removal step.

The processing related to the function of the image processing unit 51 will be described with reference to FIG. In step S601, the imaging device 33 images the machining tools 21 and 22 before the start of machining to acquire a reference image.

In step S602, machining of the work W by the machine tool 2 is started. In step S603, it is determined whether or not a predetermined time has elapsed. After the predetermined time has elapsed, the process proceeds to step S604.

In step S604, the imaging device 33 images the processing tools 21 and 22 under the same conditions as in step S601 to acquire the target image.

In step S605, the image processing unit 51 compares the reference image with the target image and detects the position of the machining debris adhering to the machining tools 21 and 22.

In step S206, the data regarding the position of the detected work chips is output to the state determination unit 52.

A process related to the function of the state determination unit 52 will be described with reference to FIG. In step S701, it is determined whether or not the machining chips are attached to the predetermined positions of the machining tools 21 and 22. When the processing waste adheres to a portion that affects the processing accuracy, the state determination unit 52 determines that the processing waste needs to be removed.

When it is determined that the work chips are attached to a predetermined position, the process proceeds to step S702, and a signal is sent to the removal execution unit 53 in order to execute the removal step. On the other hand, when it is determined that the work chips are not attached to the predetermined positions, it is considered that it is not necessary to execute the removal step, and the work W is continued to be machined (step S703).

The "predetermined position" of the machining tools 21 and 22 to be determined in step S701 may be predetermined or may be specified by the user.

A process related to the function of the result determination unit 54 will be described with reference to FIG. In step S801, it is determined whether or not the removal of work chips is completed based on the detection result by the image processing unit 51.

When the removal of the machining chips is completed and no machining chips remain at the predetermined positions of the machining tools 21 and 22, the process proceeds to step S803 to continue the machining process. On the other hand, if the removal of the work chips is not completed, the process proceeds to step S802, and a signal is sent to the removal execution unit 53 in order to execute the removal step again.

According to the second embodiment, when the machining chips are attached to the portion affecting the machining accuracy, the step of removing the machining chips from the machining tool is automatically executed. As a result, it is possible to prevent the machining accuracy from being lowered due to the machining chips adhering to the machining tool.

Further, according to the embodiment in which the portion where the adhesion of the machining waste should be avoided is specified by the user, even in the machining tool having a special configuration, the machining accuracy is caused by the machining precision adhering to the machining tool. Can be prevented from decreasing.

Although various embodiments of the present invention have been described above, those skilled in the art will recognize that other embodiments can also realize the intended effects of the present invention. In particular, the components of the above-described embodiments can be deleted or replaced without departing from the scope of the present invention, or known means can be further added. It will also be apparent to those skilled in the art that the present invention can also be practiced by optionally combining the features of a plurality of embodiments explicitly or implicitly disclosed herein.

10 Machining system 2 Machine tool 21 Machining tool 22 Machining tool 23 Table 24 Jig 3 Robot 31 Arm 32 Wrist (moving part)
33 Imaging device 4 Tool stocker 41 Double hand (grip part)
42 High pressure cleaning nozzle (removal tool)
43 Cutting tool (removal tool)
44 Gripping tool (removal tool)
5 Control device 51 Image processing unit 52 Status judgment unit 53 Removal execution unit 54 Result judgment unit 55 Removal tool selection unit 56 Operation change unit 57 Condition change unit 58 Notification unit W work

Claims (9)

A machine tool equipped with a machining tool, a robot capable of selectively using a grip portion capable of gripping a workpiece to be machined by the machine tool and a removal tool for removing machining debris, and a movable portion of the robot are provided. It is a processing system equipped with an imaging device.
The first reference image acquired by imaging the work and the processing tool before the start of processing by the image pickup device, and the first reference image acquired by imaging the work and the processing tool after the start of processing by the image pickup device. An image processing unit that compares the target image of 1 and detects the amount and position of processing debris adhering to the work and the processing tool based on image processing.
A state determination unit that determines whether or not it is necessary to remove the processing waste based on the amount of the processing waste detected by the image processing unit.
When the state determination unit determines that it is necessary to remove the processing waste, the robot is operated based on the position of the processing waste detected by the image processing unit, and the processing is performed by the removing tool. A removal execution unit that executes a removal process that removes debris,
The image pickup device captures a second reference image obtained by imaging the work and the processing tool immediately before the removal step is executed by the imaging device, and the work and the processing tool immediately after the removal step is executed. A result determination unit that determines the result of the removal step based on image processing by comparing with the second target image acquired by imaging by
A processing system equipped with. The processing system according to claim 1, wherein the removal execution unit is configured to execute the removal step again when the result determination unit determines that the result of the removal step is insufficient. The robot is configured to selectively use a number of different types of removal tools.
The processing system
When the result determination unit determines that the result of the removal step is insufficient, the next time based on the result of the removal step and the type of the removal tool used in the immediately preceding removal step. The processing system according to claim 2, further comprising a removal tool selection unit that selects a removal tool to be used in the removal step. When the result determination unit determines that the result of the removal step is insufficient, the next removal step is based on the result of the removal step and the operation of the robot in the immediately preceding removal step. The processing system according to claim 2 or 3, further comprising an operation changing unit for changing the operation of the robot in the above. The machining system according to any one of claims 1 to 4, wherein the removal execution unit is configured to execute the removal step in parallel with the machining step executed by the machine tool. 2. The present invention further comprises a notification unit that notifies a warning when the number of times that the result determination unit continuously determines that the result of the removal step is insufficient exceeds a predetermined number of times. 5. The processing system according to any one of 5. The invention according to any one of claims 1 to 6, further comprising a condition changing unit that changes the conditions applied in determining the result of the removal step by the result determining unit in response to an input operation by the user. Processing system. The processing system according to any one of claims 1 to 7, wherein the result determination unit determines the amount of processing waste remaining after the removal step based on the second target image. The result determination unit further obtains a third reference image obtained by imaging the machining tool to which no machining debris is attached before the start of machining by the imaging device, and the machining tool immediately after the removal step. The processing system according to claim 8, wherein the result of the removal step is determined based on image processing by comparing with a third target image captured and acquired by the imaging device.

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