MACHINING SYSTEM FOR ADJUSTING NUMBER OF REVOLUTIONS OF MACHINING TOOL AND FEED SPEED OF WORKPIECE

摘要

A machining system of the present invention includes a robot having a hand, a processing machine to rotate a machining tool, a control unit which controls the processing machine and the robot so as to rotate the machining tool and press a workpiece held by the hand against the machining tool to thereby machine the workpiece, and a force sensor which detects force acting between the workpiece and the machining tool when the workpiece is pressed against the machining tool by the robot and is machined by the machining tool. The control unit regulates the workpiece feed speed of the robot and the rotational speed of the machining tool so that the force value detected by the force sensor is between a predetermined upper threshold and a predetermined lower threshold.

主权项

1. A machining system comprising;
a robot which has a hand provided at an arm tip to grasp a workpiece; a processing machine which has a spindle to rotate a machining tool; a control unit which controls the processing machine and the robot so as to rotate the machining tool and press the workpiece held by the hand against the machining tool to thereby machine the workpiece; and a force sensor which detects force acting between the workpiece and the machining tool when the workpiece is pressed against the machining tool by the robot and is machined by the machining tool, wherein the control unit regulates the feed speed of the workpiece pressed against the machining tool by the robot and the rotational speed of the machining tool so that the force value detected by the force sensor is between a predetermined upper threshold and a predetermined lower threshold.