Machining system and method
According to the present invention, even during and immediately before a machining operation by a machining apparatus, it is possible to improve positioning control accuracy thereof and, as a result, machining accuracy thereof. A robot 11 equipped with a machining tool 12 performs a moving operation to a target position 41 of a machining target workpiece 2 and a machining operation on the machining target. A robot moving mechanism 14 moves the robot 11 in parallel with the workpiece 2 that is being conveyed by a conveyance carriage 18 . A robot control device 17 controls movement of the robot moving mechanism 14 using a detection result of a synchronizing sensor 15 and carries out positioning control of the robot 11 using the detection result of a visual sensor 13 or a synchronizing sensor 15.
1. A machining system for performing predetermined machining on a machining target of a workpiece that is being conveyed, the system comprising:
a conveyance unit that conveys the workpiece;
a machining unit that carries out a moving operation to the machining target of the workpiece, and a machining operation on the machining target;
a moving unit that moves the machining unit in parallel with the workpiece being conveyed by the conveyance unit;
a machining target detection unit that is attached to the machining unit, and detects a position of the machining target;
a conveyance detection unit that is attached to the moving unit and detects a specified position of the conveyance unit; and
a control unit that controls movement of the moving unit using a detection result by the conveyance detection unit, and controls the moving operation of the machining unit using a detection result by the machining target detection unit or the conveyance detection unit.
2. A machining system as set forth in claim 1 , further comprising a switching unit that switches information used in control of the moving operation of the machining unit from a detection result of one of the conveyance detection unit and the machining target detection unit, to a detection result of another thereof, if a predetermined condition is satisfied.
3. A machining system as set forth in claim 2 , wherein the switching unit switches the information used for control of the moving operation of the machining unit to the detection result by the conveyance detection unit in a state in which the detection result by the machining target detection unit is used for control of the moving operation of the machining unit if a condition that the machining target detection unit cannot perform detection, as the predetermined condition, is satisfied.
4. A machining method of a machining system for performing predetermined machining on a machining target of a workpiece that is being conveyed, the machining system comprising:
a conveyance unit that conveys the workpiece;
a machining unit that carries out a moving operation to the machining target of the workpiece, and a machining operation on the machining target;
a moving unit that moves the machining unit in parallel with the workpiece being conveyed by the conveyance unit;
a machining target detection unit that is attached to the machining unit, and detects a position of the machining target; and
a conveyance detection unit that is attached to the moving unit and detects a specified position of the conveyance unit; wherein
the method comprises the steps of:
controlling movement of the moving unit using a detection result by the conveyance detection unit; and
controlling the moving operation of the machining unit using a detection result by the machining target detection unit or the conveyance detection unit.