Workpiece machining device with calibration function and workpiece machining device

A workpiece machining device, with a calibration function that drives and controls an industrial robot based on three-dimensional machining data in X-, Y-, and Z-axis directions stored in a machining data storage area to perform a desired machining work for a workpiece supported by a workpiece support, comprising:

• a two-dimensional moving unit mounted to a hand portion of an industrial robot and configured to move a workpiece machining tool having an axis coinciding with a normal line of a machining portion of the workpiece in the X- and Y-axis directions;
• a projection unit that projects a reference pattern onto a predetermined portion of the workpiece supported by the workpiece support;
• an imaging unit that captures the predetermined portion of the workpiece, including the projected reference pattern and outputs captured imaging data;
• a storage unit that includes a three-dimensional reference work data storage area that stores three-dimensional data of the workpiece supported by the workpiece support in a normal state, a three-dimensional imaging data storage area that stores three-dimensional imaging data obtained by converting the imaging data captured by the imaging unit into three-dimensional data, and a pattern data storage area that stores pattern data corresponding to the reference pattern to be projected by the projection unit;
• a comparison unit that compares the three-dimensional imaging data of the predetermined portion including the reference pattern projected onto the predetermined portion of the workpiece supported by the workpiece support and three-dimensional data of the workpiece stored in the three-dimensional reference work data storage area to compute displacement data in the X-, Y-, and Z-axis directions;
• and
• a controller that drives the two-dimensional moving unit based on the displacement data in the X-, Y-, and Z-axis directions computed by the comparison unit to move the machining tool in the X- and Y-axis directions and calibrates three dimensional machining data in Z-axis direction based on the displacement data in the Z-axis direction to make a zero point of the industrial robot and a zero point of the workpiece coincide with each other, wherein the industrial robot is driven and controlled based on the calibrated three-dimensional machining data including the Z-axis direction to perform machining for the workpiece.