Processing apparatus, operation method of processing apparatus, and non-transitory computer readable recording medium

An operation method of a processing apparatus that comprises an articulated robot having an arm distal-end portion to which a processing tool that is configured with a cutting edge portion and a profiling portion not having a cutting edge and a shape measurement unit that is a sensor are attached, and a processor, comprising:

• an arm movement initial step in which the processor, in a workpiece set state in which a workpiece is positioned by a guide, moves the arm distal-end portion to a specified position measurement point,
• a shape measurement step in which the processor, in the workpiece set state, measures a shape of the workpiece using the shape measurement unit,
• a processing position recognition step in which the processor recognizes a position of a process portion of the workpiece, which is a portion to be processed,
• an arm movement main step in which the processor moves the arm distal-end portion based on the position of the process portion that is recognized by the processing position recognition step,
• a cutting step in which the processor cuts a specified position of the workpiece using the cutting edge portion while the profiling portion of the processing tool is in contact with a profiled surface portion of the workpiece to which the profiling portion is to be pressed.

A non-transitory computer readable recording medium that stores a computing program for operating a processing apparatus comprising an articulated robot having an arm distal-end portion to which a processing tool that is configured with a cutting edge portion and a profiling portion not having a cutting edge and a shape measurement unit that is a sensor are attached, and a processor, the computing program causing the processor to execute:

• an arm movement initial process in which the processor, in a workpiece set state in which a workpiece is positioned by a guide, moves the arm distal-end portion to a specified position measurement point,
• a shape measurement process in which the processor, in the workpiece set state, measures a shape of the workpiece using the shape measurement unit,
• a processing position recognition process in which the processor recognizes a position of a process portion of the workpiece, which is a portion to be processed,
• an arm movement main process in which the processor moves the arm distal-end portion based on the position of the process portion that is recognized by the processing position recognition step,
• a cutting process in which the processor cuts a specified position of the workpiece using the cutting edge portion while the profiling portion of the processing tool is in contact with a profiled surface portion of the workpiece to which the profiling portion is to be pressed.