Processing apparatus, operation method of processing apparatus, and non-transitory computer readable recording medium
A processing apparatus includes an articulated robot having an arm distal-end portion to which a processing tool configured with a cutting edge portion and a profiling portion and a shape measurement unit are attached, and a processor. The processor, in a workpiece set state, recognizes, by measuring a shape of the workpiece using the shape measurement unit, a tilt of a profiled surface portion of the workpiece and a position of a process portion of the workpiece to generate processing-target-portion information based on the position of the process portion, generates processing-point information indicating a processing point, moves the arm distal-end portion to the processing point based on the processing-point information, controls an orientation of the processing tool in accordance with the tilt of the profiled surface portion of the workpiece to perform the specified processing on the workpiece using the processing tool.
1 . A processing apparatus comprising:
an articulated robot having an arm distal-end portion to which a processing tool that is configured with a cutting edge portion and a profiling portion not having a cutting edge and a shape measurement unit that is a sensor are attached, and
a processor, wherein
the processor, in a workpiece set state in which a workpiece is positioned by a guide,
recognizes, by measuring a shape of the workpiece using the shape measurement unit, a tilt of a profiled surface portion of the workpiece to which the profiling portion of the processing tool is to be pressed, relative to a specified reference surface, and a position of a process portion, which is a portion to be processed, of the workpiece to generate processing-target-portion information based on the position of the process portion,
generates processing-point information indicating a processing point which is a movement point of the arm distal-end portion to perform a specified processing that processes a portion of the workpiece using the processing tool based on the processing-target-portion information, and moves the arm distal-end portion to the processing point based on the processing-point information,
controls an orientation of the processing tool in accordance with the tilt of the profiled surface portion of the workpiece so that the profiling portion of the processing tool and the profiled surface portion of the workpiece are in contact with each other to perform the specified processing on the workpiece using the processing tool, and
the shape measurement unit measures a distance between the shape measurement unit and a measurement target at a plurality of distance measurement points within a measurement area in a specified direction,
the processor calculates group data of length measurement values at a plurality of positions on the workpiece in the specified direction from distance measurement values at the plurality of distance measurement points, the distance measurement values being measured on the workpiece by the shape measurement unit, calculates a plurality of length measurement values on the workpiece in the specified direction within the measurement area, and recognizes the position of the portion to be processed of the workpiece by extracting an end point of the portion to be processed by smoothing the plurality of length measurement values by a moving average method, determining a search range for the position of the portion to be processed based on first-order derivative values of the smoothed length measurement values, and searching the search range for a peak point of second-order derivative values of the length measurement values subjected to the smoothing.
2 . The processing apparatus according to claim 1 , wherein
the processor calculates group data of length measurement values at a plurality of positions on the workpiece in the specified direction from distance measurement values at the plurality of distance measurement points, the distance measurement values being measured on the workpiece by the shape measurement unit, calculates a plurality of length measurement values on the workpiece in the specified direction within the measurement area, and recognizes a position of the process portion of the workpiece based on change in the plurality of length measurement values.
3 . The processing apparatus according to claim 2 , wherein
the processor extracts an end point of the process portion based on the change in the plurality of length measurement values to recognize the position of the process portion of the workpiece.