Machining apparatus and machining method

Abstract

According to one implementation, a machining apparatus includes an electromotive saw and an attaching structure. The electromotive saw cuts off a workpiece to be machined. The attaching structure attaches the saw to an arm of a robot. Further, according to one implementation, a machining method is provided. In the machining method, a machined product is manufactured by processing a composite material or a honeycomb structure with a cutting tool attached to an arm of a robot. Further, according to one implementation, a machining method is provided. In the machining method, a machined product is manufactured by processing a workpiece to be machined with a cutting tool attached to an arm of a robot. The workpiece is processed along a shape of a jig for setting the workpiece. The workpiece is processed with contacting a guide with the jig. The guide is attached to the arm.

What is claimed is: 
     
         1 . A machining apparatus comprising:
 an electromotive saw that cuts off a workpiece to be machined; and   an attaching structure that attaches the saw to an arm of a robot.   
     
     
         2 . The machining apparatus according to  claim 1 , further comprising:
 a guide for copying processing along a shape of a jig for setting the workpiece to be machined, the copying processing being performed by contacting the guide with the jig.   
     
     
         3 . The machining apparatus according to  claim 1 , further comprising the robot. 
     
     
         4 . The machining apparatus according to  claim 2 , further comprising the robot. 
     
     
         5 . The machining apparatus according to  claim 2 , further comprising:
 the robot;   a sensor that measures a force applied on the guide from the jig; and   a control circuit that performs a feedback control of the robot, based on a measurement result by the sensor, to make the force applied on the guide from the jig be constant.   
     
     
         6 . A machining method,
 wherein a machined product is manufactured by processing a composite material or a honeycomb structure with a cutting tool attached to an arm of a robot.   
     
     
         7 . A machining method,
 wherein a machined product is manufactured by processing a workpiece to be machined with a cutting tool attached to an arm of a robot, the workpiece being processed along a shape of a jig for setting the workpiece, the workpiece being processed with contacting a guide with the jig, the guide being attached to the arm.   
     
     
         8 . A machining method according to  claim 6 ,
 wherein the machined product is manufactured by processing a workpiece to be machined with the cutting tool along a shape of a jig for setting the workpiece, the workpiece being processed with contacting a guide with the jig, the guide being attached to the arm, the workpiece being made of the composite material or the honeycomb structure.   
     
     
         9 . A machining method according to  claim 7 ,
 wherein a force applied on the guide from the jig is measured by a sensor, and feedback control of the robot is performed to make the force applied on the guide from the jig be constant.   
     
     
         10 . A machining method according to  claim 8 ,
 wherein a force applied on the guide from the jig is measured by a sensor, and feedback control of the robot is performed to make the force applied on the guide from the jig be constant.   
     
     
         11 . A machining method according to  claim 6 ,
 wherein a tolerance of the machined product is from ±0.1 mm to ±1.0 mm.   
     
     
         12 . A machining method according to  claim 7 ,
 wherein a tolerance of the machined product is from ±0.1 mm to ±1.0 mm.   
     
     
         13 . A machining method according to  claim 8 ,
 wherein a tolerance of the machined product is from ±0.1 mm to ±1.0 mm.   
     
     
         14 . A machining method according to  claim 6 ,
 wherein the processing is machining processing, including cutting of the composite material or the honeycomb structure with an electromotive band saw, wire saw, jigsaw or chain saw.   
     
     
         15 . A machining method according to  claim 7 ,
 wherein the processing is machining processing, including cutting of the composite material or the honeycomb structure with an electromotive band saw, wire saw, jigsaw or chain saw.   
     
     
         16 . A machining method according to  claim 8 ,
 wherein the processing is machining processing, including cutting of the composite material or the honeycomb structure with an electromotive band saw, wire saw, jigsaw or chain saw.   
     
     
         17 . A machining method according to  claim 14 ,
 wherein the composite material or the honeycomb structure is cut off with inclining the band saw, the wire saw, the jigsaw or the chain saw by 1 degree to 30 degrees in a direction of a forward movement.   
     
     
         18 . A machining method according to  claim 15 ,
 wherein the composite material or the honeycomb structure is cut off with inclining the band saw, the wire saw, the jigsaw or the chain saw by 1 degree to 30 degrees in a direction of a forward movement.   
     
     
         19 . A machining method according to  claim 6 ,
 wherein a position of the arm is controlled based on a reference position detected by a visible sensor.   
     
     
         20 . A machining method according to  claim 7 ,
 wherein a position of the arm is controlled based on a reference position detected by a visible sensor.