Machining system with machine tool and robot for attaching and detaching workpiece

A machining system comprising:

• a machine tool including a securing device, the securing device including a first stationary holding member, a second stationary holding member, a first movable holding member driven by a first motor for securing the workpiece, and a second movable holding member driven by a second motor for securing the workpiece;
• a robot including a hand for attaching an unmachined workpiece to the securing device, and detaching a machined workpiece from the securing device;
• and
• a control device for controlling the machine tool and the robot,
• wherein the control device is configured to:
• control the robot to grasp the unmachined workpiece with the hand and attach the unmachined workpiece to the securing device by abutting a first side of the unmachined workpiece against the first stationary holding member and abutting a second side of the unmachined workpiece against the second stationary holding member,
• control the first motor to move the first moveable holding member to press against a third side of the unmachined workpiece such that the first side of the unmachined workpiece is pressed against the first stationary holding member,
• control the second motor to move the second moveable holding member to press against a fourth side of the unmachined workpiece such that the second side of the unmachined workpiece is pressed against the second stationary holding member,
• wherein the first side is opposite the third side such that the unmachined workpiece is sandwiched between the first moveable holding member and the first stationary holding member,
• wherein the second side is opposite the fourth side such that the unmachined workpiece is sandwiched between the second moveable holding member and the second stationary holding member,
• when the unmachined workpiece is sandwiched between the first moveable holding member and the first stationary holding member, determine:
• a first dimension of the workpiece as a size of a portion of the workpiece that is grasped by the robot hand,
• a second dimension of the workpiece as a distance between the first moveable holding member and the first stationary holding member, the distance computed based on the movement of the first moveable holding member, and
• a third dimension of the workpiece as a distance between a center point of the portion of the workpiece that is grasped by the robot hand and a surface of the workpiece held by the first stationary holding member or held by the second stationary hold member,
• determine if the first dimension, the second dimension and the third dimension are within an allowable range,
• when the first dimension, the second dimension and the third dimension are within an allowable range:
• control the robot to release the unmachined workpiece with the hand,
• control the machine tool to machine the unmachined workpiece,
• control the robot to grasp the machined workpiece with the hand,
• control the motor to move the first moveable holding member and the second moveable holding member away from the machined workpiece, and
• control the robot to detach the machined workpiece from the securing device,
• when the first dimension, or the second dimension or the third dimension are outside of the allowable range, control the robot to remove the unmachined workpiece from the securing device.