Machining system for adjusting number of revolutions of machining tool and feed speed of workpiece

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;
• 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;
• a judgment portion which judges whether the force value detected by the force sensor is between the predetermined upper threshold and the predetermined lower threshold;
• and
• an operation commanding portion which regulates at least one of 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 by:
• reducing at least one of the workpiece feed speed and the rotational speed of the machining tool when the judgment portion judges that the detected force value is above the predetermined upper threshold, and
• increasing at least one of the feed speed and the rotational speed of the machining tool when the judgment portion judges that the detected force value is below the predetermined lower threshold.