JP2016159369A - Processing system and tool fitting method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To surely fit a tool, which has cable connected thereto.SOLUTION: A processing system includes: a fitting part capable of fitting a tool to its tip; a processing device having a movable part for moving the position of the fitting part with multi-degree of freedom; a photographing device fitted to a position moved integrally with the fitting part; a plurality of tools fittable to the fitting part and having cable connected thereto; a tool table for supporting each of the plurality of tools; a tool storage device having a cable support part for supporting the cable; and a control device for capturing, when fitting the tool to the fitting part, the image of the cable of the tool including a tool to be fitted by the photographing device, comparing the captured image with the preset reference position of the cable, and moving, when the cable is determined to be at the reference position, the fitting part by the processing device to fit the fitting target tool to the fitting part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a machining system in which a tool can be attached and detached and a tool mounting method.

  Radioactive waste generated in a nuclear power plant nuclear reactor or the like is stored in a radioactive material storage container, transported to a storage facility or a reprocessing facility, and stored or reprocessed. Such a radioactive substance storage container is comprised from the trunk | drum which makes the bottomed cylindrical shape which the upper part opened, and the cover part fixed to the upper part of this trunk | drum.

  In addition, as a processing apparatus for performing welding and cutting, a mounting portion (auto tool changer) capable of changing a tool is provided at the tip, and the mounting portion is operated by a multi-degree-of-freedom movable portion connected to a plurality of arms by shafts. There exists a processing apparatus (patent document 1). There has also been proposed a robot trajectory control apparatus that controls movement of a robot arm and a mounting portion using a set program and a detection result of a sensor (Patent Document 2).

JP-A-10-244484 JP 2009-172721 A

  The radioactive substance storage container has many manufacturing processes, and is a burden on the operator. When automating the work performed by the operator using a processing device having a movable part with multiple degrees of freedom, it is necessary to work while exchanging various tools in order to perform various processes such as welding and polishing. is there. In addition, the tools that perform the respective steps have different power sources and driving sources such as gas, air, and electric power, and therefore cables that supply power and driving force to the tools are connected. For this reason, when the movable part comes into contact with the cable when the tool to be mounted on the processing apparatus is replaced, the tool may fall from the jig in which the tool is stored and cannot be used, or the cable may be adversely affected.

  The present invention solves the above-described problems, and an object thereof is to provide a machining system and a tool mounting method capable of reliably mounting a tool connected to a cable.

  The present invention for achieving the above object is a processing system, comprising: a mounting portion on which a tool can be mounted at a tip; a processing device having a movable portion that moves the position of the mounting portion with multiple degrees of freedom; and the mounting An imaging device mounted at a position that moves integrally with the unit, a plurality of tools that can be mounted on the mounting unit and connected to the cable, a tool table that supports the plurality of tools, and the cable When a tool storage device having a cable support portion to be attached and a tool is attached to the attachment portion, an image of the cable of the tool including the tool to be attached is photographed by the photographing device, and the photographed image and the preset cable A control device that moves the mounting portion with the processing device and mounts a tool to be mounted on the mounting portion when it is determined that there is a cable at the reference position. It is characterized in.

  Moreover, when the said control apparatus determines with the cable not being in the said reference position, it is preferable to output a warning and to stop operation | movement.

  Further, it is preferable that the control device stores information on a reference position of the cable in a range, and determines whether there is a cable at the reference position based on whether there is a cable within the range.

  Moreover, it is preferable that the said tool is a tool used for manufacture of the trunk | drum main body which has a cylindrical shape.

  In order to achieve the above object, the present invention has a mounting portion on which a tool can be mounted at the tip, and a movable portion that moves the position of the mounting portion with multiple degrees of freedom, and moves integrally with the mounting portion. A tool mounting method for mounting a tool stored in a tool storage device that supports a plurality of tools and supports a cable connected to the tool on the mounting portion of the processing device having a photographing device mounted at a position. A step of photographing an image of a cable of a tool including a tool to be mounted by the photographing device, a step of comparing the photographed image with a preset reference position of the cable, and a cable at the reference position. A step of moving the mounting portion with the processing device and mounting a tool to be mounted on the mounting portion.

  According to the present invention, when the state of the cable is photographed by the photographing device and it can be determined that the position of the cable is appropriate from the result, the tool can be attached more reliably. .

FIG. 1 is a longitudinal sectional view showing a radioactive substance storage container. FIG. 2 is a horizontal sectional view showing the radioactive substance storage container. FIG. 3 is a schematic top view showing the processing system of the present embodiment. FIG. 4 is a schematic front view showing the processing system of the present embodiment. FIG. 5 is a schematic diagram showing a schematic configuration of the processing apparatus. FIG. 6 is a schematic diagram illustrating a schematic configuration of the tool storage device. FIG. 7 is a flowchart illustrating an example of a tool mounting operation of the machining system. FIG. 8 is an explanatory diagram for explaining the tool mounting operation of the machining system. FIG. 9 is an explanatory diagram for explaining an example of an image photographed by the tool mounting operation of the machining system and an example of processing thereof.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by this embodiment, and when there are two or more embodiments, what comprises combining each embodiment is also included.

  FIG. 1 is a longitudinal sectional view showing a radioactive substance storage container, and FIG. 2 is a horizontal sectional view showing the radioactive substance storage container. An example of a radioactive substance storage container processed and manufactured by the processing system of the present invention will be described with reference to FIGS. 1 and 2. In the present embodiment, as shown in FIGS. 1 and 2, the cask 11 as a radioactive substance storage container has a trunk portion 12, a lid portion 13, and a basket 14. The trunk portion 12 has a cylindrical shape in which an opening 22 is formed in the upper portion of the trunk body 21 and a bottom portion (blocking portion) 23 is formed in the lower portion. The trunk body 21 is provided with a cavity 24 inside, and the cavity 24 has a shape that matches the outer peripheral shape of the basket 14. The basket 14 has, for example, a plurality of cells that individually store radioactive materials (not shown) that are spent fuel assemblies. The trunk body 21 has a bottom 23 welded or integrally formed at the bottom, and the trunk body 21 and the bottom 23 are forged products made of carbon steel having a γ-ray shielding function.

  The body portion 12 is provided with an outer cylinder 25 with a predetermined gap on the outer peripheral side of the body main body 21, and conducts heat between the outer peripheral surface of the body main body 21 and the inner peripheral surface of the outer cylinder 25. A plurality of heat transfer fins 26 made of copper or steel are welded at predetermined intervals in the circumferential direction. The body 12 is filled with a resin (neutron shield) 27 containing boron or a boron compound having a neutron shielding function with a polymer material containing a lot of hydrogen in the space between the body 21 and the outer cylinder 25. ing.

  The body 12 is connected to a bottom plate 28 with a predetermined gap below the bottom 23, and a resin (neutron shield) 29 is provided in a space between the bottom 23 and the bottom plate 28. Moreover, the trunnion 30 is being fixed to the side part of the trunk | drum 12.

  The lid portion 13 includes a primary lid 31, a secondary lid 32, and a tertiary lid 33. The primary lid 31 is detachably attached to the opening 22 of the trunk body 21 in the trunk 12. The secondary lid 32 is detachably attached to the opening 22 outside the primary lid 31. The tertiary lid 33 is detachably attached to the opening 22 outside the secondary lid 32. The primary lid 31 maintains a negative pressure on the cavity 24 side to prevent leakage of the gas filled in the cavity 24 and shields radiation (γ rays) emitted from the radioactive material stored in the cavity 24. The primary lid 31 is provided with a resin (neutron shield) on the secondary lid 32 side. The secondary lid 32 has a pressure monitoring boundary pressurized against the atmosphere with the primary lid 31, and prevents leakage of gas from the primary lid 31 and secures the pressure on the cavity 24 side. The tertiary lid 33 protects the secondary lid 32 from external impacts.

  The trunk portion 12 is provided with three step portions 41, 42, 43 on the inner peripheral portion of the opening 22 of the trunk body 21. The first step portion 41 has a first seat surface portion 41 a, and a plurality of screw holes 41 b are formed in the first seat surface portion 41 a at equal intervals in the circumferential direction of the trunk body 21. The second step portion 42 is located on the outer side of the opening 22 than the first step portion 41 and has a second seat surface portion 42 a. The second seat surface portion 42 a has a plurality of screw holes 42 b around the trunk body 21. It is formed at equal intervals in the direction. The third step portion 43 is located on the outer side of the opening portion 22 with respect to the second step portion 42 and has a third seat surface portion 43 a. The third seat surface portion 43 a has a plurality of screw holes 43 b around the trunk body 21. It is formed at equal intervals in the direction. Further, the third seating surface portion 43a is formed with a positioning hole 44 serving as a reference position for controlling the rotation.

  The primary lid 31 is fitted to the first step portion 41 and is in close contact with the first seat surface portion 41a. The bolt 51 passes through the primary lid 31 and is screwed into the screw hole 41 b, whereby the primary lid 31 is fixed to the first step portion 41 in the opening 22 of the trunk body 21. The secondary lid 32 is fitted to the second step portion 42 and is in close contact with the second seat surface portion 42a. The bolt 52 passes through the secondary lid 32 and is screwed into the screw hole 42 b, whereby the secondary lid 32 is fixed to the second step portion 42 in the opening 22 of the trunk body 21. The tertiary lid 33 is fitted to the third step portion 43 and is in close contact with the third seat surface portion 43a. The bolt 53 passes through the tertiary lid 33 and is screwed into the screw hole 43 b, whereby the tertiary lid 33 is fixed to the third step portion 43 in the opening 22 of the trunk body 21.

  In the cask 11 configured in this manner, the body portion 12 has a plurality of heat transfer fins 26 fixed to the outer peripheral side of the body main body 21 by welding at predetermined intervals in the circumferential direction, and the outer cylinder 25 is welded to the outside thereof. A resin 27 is filled between the body body 21, the outer cylinder 25, and the heat transfer fins 26.

  Next, the processing system 100 that executes a part of the manufacturing process of the cask 11 will be described with reference to FIGS. 3 to 9. The cask 11 is manufactured by performing processing and inspection with a processing system, an inspection system, or the like that executes other processes in addition to the processing system 100 of the present embodiment. The processing system 100 processes the outer peripheral surface, the opening 22, and the bottom 23 of the body 12. The processing system 100 can perform welding, polishing, inspection, and the like.

  FIG. 3 is a schematic top view showing the processing system of the present embodiment. FIG. 4 is a schematic front view showing the processing system of the present embodiment. The processing system 100 includes a rotation device 101, a processing device 102, a tool storage device 103, a photographing device 104, a control device 108, and an output device 109. Here, in the machining system 100, the machining device 102, the tool storage device 103, and the imaging device 104 are formed as one unit, and are arranged at four locations around the body to be machined 21. That is, the machining system 100 includes four units including a machining device 102, a tool storage device 103, and a photographing device 104. In the processing system 100, one of the units including the processing device 102, the tool storage device 103, and the imaging device 104 is disposed on one end of the body main body 21 in the axial direction, on the opening 22 side, and one of the units is the body. The other end of the main body 21 in the axial direction is disposed on the bottom 23 side, and one of the units is connected to one side of the trunk main body 21 (and one side in the direction perpendicular to the axial direction on the surface along the horizontal direction). ) Side, and one of the units is arranged on the other side surface side of the trunk body 21. The processing device 102, the tool storage device 103, and the imaging device 104 have basically the same configuration, although the positions where they are arranged and the types of tools that are arranged are different. In addition, the number of units including the processing device 102, the tool storage device 103, and the imaging device 104 is not particularly limited, and the processing system 100 only needs to have one or more.

  The rotation support device 101 is a turning roller, for example, and supports the trunk body 21 so as to be rotatable in a laid-down state. In the rotation support device 101, the support base 111 is installed on the floor surface 113 by a plurality of legs 112, and a pair of left and right support rollers 114 and 115 are rotatably supported. Two each of these support rollers 114 and 115 are provided, and support the outer peripheral surface of the upper portion (near the opening portion 22) and the lower portion (near the bottom portion 23) of the trunk main body 21 at four points. Can be rotatably supported while lying down. The support rollers 114 and 115 are connected to a drive device 116, and the drive device 116 can drive the support rollers 114 and 115 forward and backward.

  FIG. 5 is a schematic diagram showing a schematic configuration of the processing apparatus. The processing apparatus 102 is an apparatus having a multi-degree-of-freedom movable part, and for example, a 6-axis articulated robot is used. The processing apparatus 102 includes a base 120, a movable part (arm) 121, and a mounting part 122. The processing apparatus 102 processes the predetermined position of the trunk body 21 by mounting the tool 130 on the mounting portion 122, moving the tool 130 by the movable portion 121, and driving the tool 130 at a predetermined position.

  The base 120 is fixed to the floor surface 113. The movable portion 121 has a plurality of arms and a rotation shaft connected to each other, and one end portion is fixed to the base portion 120. The movable portion 121 has a mounting portion 122 fixed to the other end. In addition, the movable unit 121 has the imaging device 104 fixed to an arm to which the mounting unit 122 is fixed.

  The mounting part 122 is provided at the tip of the movable part 121. The mounting unit 122 can attach and detach various tools 130 arranged in the tool storage device 103. Various mechanisms can be used as a mechanism by which the mounting unit 122 mounts the tool 130, such as a mechanism that sucks and attracts air, a mechanism that connects with a mechanical structure, a mechanism that uses an electromagnet, and the like. Can do.

  Here, the photographing device 104 is a device having a photographing element such as a CCD camera and photographing an image with the photographing element. The imaging device 104 shoots an image by arranging an imaging element such as a CCD camera inside a casing having an openable / closable cover 150 and opening the cover 150 when necessary. Further, the photographing apparatus 104 can protect the photographing element such as a CCD camera while being disposed in the vicinity of the mounting portion 122 by arranging the photographing element inside the housing having the cover 150.

  FIG. 6 is a schematic diagram illustrating a schematic configuration of the tool storage device. The tool storage device 103 stores a plurality of tools 130 to be mounted on the mounting portion 122 of the processing device 102 of the same unit within the movable range of the mounting portion 122 of the processing device 102. Here, the tool 130 is a welding torch, a grinder, a gas burner, or the like. The tool 130 is connected to the cable 132. The cable 132 is connected to the output source 134. The cable 132 connects the output source 134 and the tool 130. The output source 134 supplies energy and fluid necessary for driving the tool 130. Specifically, when the tool 130 is a welding torch, the output source 134 supplies gas and air. The output source 134 supplies power when the tool 130 is a grinder. The cable 132 may further include a signal line for inputting an operation signal input from the control device 108.

  The tool storage device 103 supports a tool 130 that is not mounted on the mounting unit 122. The tool storage device 103 supports the cables 132 of all the tools 130. The tool storage device 103 includes a tool table 140 and a cable support part 142.

  The tool mount 140 supports the tool 130 that is not mounted on the mounting portion 122. That is, the tool mounting table 140 is a table on which a tool 130 that is not mounted on the mounting unit 122 is placed. The tool mount 140 includes a plurality of support portions 141 that support the tool 130 in a state where a portion on which the mounting portion 122 of the tool 130 is mounted, that is, a connection portion is exposed to the upper side in the vertical direction. The support part 141 supports the tool 130 in a detachable state. The number of support portions 141 is greater than the number of tools 130. The support portion 141 has a structure that grips a part of the tool 130, a width that is smaller than the connection portion of the tool 130, and a portion that can be supported from the lower side in the vertical direction of the connection portion. An arc-shaped member or the like can be used.

  The cable support part 142 supports the cables 132 of all the tools 130. The cable support part 142 supports the cable 132 so as to be movable according to the tool 130. The cable support part 142 includes a guide jig 144, rollers 145 and 146, and a weight 147. The cable support 142 is arranged in the order of the guide jig 144, rollers 145, 146, and weight 147 from the tool 130 toward the output source 134. The guide jig 144 is fixed at a predetermined position and supports the cable 132 in a slidable state. The rollers 145 and 146 are fixed at predetermined positions and rotate in accordance with the movement of the cable 132. The weight 147 is fixed to the cable 132 between the roller 146 and the output source 134. In the cable 132, the two rollers 145 and 146 become fixed pulleys, the direction is changed from the tool 130 to the upper side in the vertical direction by the roller 145, the direction is changed from the horizontal direction, the direction is changed by the roller 146, and the lower direction is directed downward. By arranging the weight 147 closer to the output source 134 than the roller 146, the space between the roller 146 and the output source 134 of the cable 132 is urged downward in the vertical direction. The portion is biased upward in the vertical direction.

  As described above, in the cable support portion 142, when the tool 130 is attached to the attachment portion 122 of the processing apparatus 102 and the tool 130 moves, the cable 132 that moves together with the tool 130 is moved along the guide jig 144 and the rollers 145 and 146. Moving. In addition, the cable support portion 142 applies a pulling force to the cable 132 with the weight 147 toward the output source 134, and a predetermined tension is applied to the cable 132 between the tool 130 and the weight 147. Thereby, the bending of the cable 132 is suppressed.

  The control device 108 is connected to the rotation support device 101, the processing device 102, and the output device 109. The control device 108 drives and controls the rotation support device 101 and the processing device 102. In addition, when the tool 130 is mounted on the mounting unit 122, the control device 108 according to the present embodiment determines whether the tool 130 stored in the tool storage device 103 is in an appropriate state. Is attached to the attachment part 122. This point will be described later.

  The output device 109 outputs information on the processing system 100 to an operator and a manager. As the output device 109, various devices that transmit information to an operator and an administrator, such as a display device that displays an image, a speaker that outputs sound, and a lamp that outputs light, can be used.

  The processing system 100 determines the tool 130 to be used among the tools 130 stored in the tool storage device 103 according to the type of processing, moves the movable part 121 of the processing device 102, and is arranged on the tool table 140. The tool 130 is mounted on the mounting portion 122. When the tool 130 is mounted on the processing apparatus 102, the processing system 100 moves the movable part 121, moves the tool 130 to the processing position, and performs processing with the tool 130. After performing the processing, the processing system 100 returns the mounted tool 130 to the original support portion 141 of the tool table 140. The processing system 100 performs various processes on the trunk body 21 by repeating the above process and performing processes one by one.

  Hereinafter, a mounting operation of the tool 130 of the machining system 100 of the present embodiment, that is, a tool mounting method will be described. FIG. 7 is a flowchart illustrating an example of a tool mounting operation of the machining system. FIG. 8 is an explanatory diagram for explaining the tool mounting operation of the machining system. FIG. 9 is an explanatory diagram for explaining an example of an image photographed by the tool mounting operation of the machining system and an example of processing thereof. The processing shown in FIG. 7 can be executed by controlling the operation of each unit by the control device 108 of the processing system 100.

  When the processing system 100 detects a command to mount the tool 130 in a state where the tool 130 is not mounted on the mounting unit 122, the processing system 100 moves the arm to the photographing position (step S12). The movable part 121 of the processing apparatus 102 is moved, and the photographing apparatus 104 is moved to the set photographing position as shown in FIG. Here, the photographing position is set in advance for each tool 130 installed in the tool storage device 103. The shooting position is a position where an image of the setting area can be shot when an image is shot by the shooting device 104. The setting region is a region including the cable 132 of the tool 130 to be mounted and the cable 132 of at least one tool 130 adjacent to the tool 130 to be mounted. The target cable 132 is a cable 132 in a region where the movable unit 121, the mounting unit 122, and the imaging device 104 of the processing apparatus 102 approach each other between or in the vicinity of adjacent cables 132 when the tool 130 is mounted.

  When the processing system 100 moves to the photographing position, as shown in FIG. 8, the cover 150 of the photographing apparatus 104 is opened, and the setting area is photographed by the photographing element of the photographing apparatus 104 (step S14). The processing system 100 processes the photographed image after photographing (step S16). Specifically, as shown in FIG. 9, cables 170a, 170b, and 170c are extracted from the captured image. Further, the processing system 100 superimposes the reference positions (reference ranges) 172a, 172b, and 172c of the cables set with respect to the shooting position on the shot image. The reference positions (reference ranges) 172a, 172b, and 172c are set based on the shooting position, the shooting area, and the positions of the designed cables 170a, 170b, and 170c. That is, when the cables 170a, 170b, and 170c are located at the design positions, the positions displayed in the captured image are set as a reference. The reference positions (reference ranges) 172a, 172b, and 172c may be information of lines corresponding to the cables, but are preferably set within a range including an allowable range as shown in FIG. The processing system 100 processes the image and generates information that can compare the cables 170a, 170b, and 170c extracted from the image with the reference positions 172a, 172b, and 172c.

  After processing the captured image, the processing system 100 determines whether the cable is in a predetermined position, that is, whether the cable is included in the reference position (step S18). If the processing system 100 determines that the cable is in a predetermined position (Yes in step S18), that is, if the cables 170a, 170b, and 170c are included in the reference positions 172a, 172b, and 172c as shown in FIG. The operation of mounting the tool 130 on the part 122 is continued, and the tool 130 is mounted (step S20).

  When the processing system 100 determines that the cable is not in the predetermined position (No in step S18), that is, when the cables 170a, 170b, and 170c are out of the reference positions 172a, 172b, and 172c, the reference positions 172a, 172b, If cables 170a, 170b, 170c are detected outside 172c, and cables 170a, 170b, 170c are not detected in reference positions 172a, 172b, 172c, the operation is stopped and a warning is output (step) S22). That is, the machining system 100 stops the operation of the machining apparatus 102 and outputs a warning from the output apparatus 109.

  The processing system 100 captures images at a set position during the mounting operation of the tool 130, processes the captured image, determines whether or not the cable 132 is at the reference position, and the cable 132 is at the reference position. In some cases, an operation of mounting the tool 130 on the mounting portion 122 of the processing apparatus 102 is executed. Thereby, when the movable part 121, the mounting part 122, and the photographing apparatus 104 are moved with the control program set on the assumption that the cable 132 is at the reference position, the cable 132 is prevented from coming into contact with each part and being caught. it can. Thereby, it becomes possible to mount the tool 130 more reliably by mounting the tool 130. Thereby, working efficiency can be improved. Further, as in the present embodiment, when the imaging device 104 is arranged at a position that moves integrally with the mounting portion 122, that is, when the imaging device 104 moves in the vicinity of the tool 130 and the cable 132 when the tool 130 is mounted. It is possible to prevent the device 104 from being caught or contacting the cable 132. Moreover, it can suppress that the processing apparatus 102 shifts the position of the tool 130 of the tool storage apparatus 103, affects other processes, and adversely affects the cable 132.

  When the cable 132 is not in a predetermined position, the machining system 100 shifts the position of the tool 130 of the tool storage device 103 to influence other processes or adversely affect the cable 132 by stopping the operation. This can be suppressed.

  When the cable 132 is not in a predetermined position, the processing system 100 can notify the operator of the state of the cable 132 by outputting a warning from the output device 109, and correct the position of the cable 132 in a short time. Can do. Work efficiency can be improved.

  The control device 108 may perform the process of extracting the cable 132 from the image as in the above-described embodiment. However, the control device 108 analyzes only the reference position and determines whether the cable 132 is detected within the reference position. It may be determined whether or not the cable 132 is present.

  In addition, the imaging region described above may be a position where the state of the cable 132 in the vicinity of the tool 130 can be determined. The imaging region preferably includes a part between the tool 130 and the guide jig 144, and the region including the tool 130 is preferable.

  In addition, the processing system 100 of the above embodiment stops the operation when the cable 132 is not at the reference position, but the position of the cable 132 may be corrected by the processing apparatus 102. In this case, after performing the process of correcting the position, an image is taken again to determine whether the cable 132 is at the reference position. In addition, when the cable 132 is not in the reference position, the processing system 100 corrects the position of the cable 132 by pulling the cable 132 toward the output source 134 by urging the weight 147 downward in the vertical direction. Also good.

  Moreover, although the said embodiment demonstrated as the processing system 100 used for manufacture of the cask 11, you may apply similarly when using for manufacture of another product. For example, the processing system 100 can also be used for manufacturing a trunk body having a cylindrical shape other than a cask.

11 Cask (radioactive substance storage container)
12 trunk part 13 lid part 14 basket 21 trunk body 22 opening part 23 bottom part (blocking part)
24 Cavity 25 Outer cylinder 26 Heat transfer fin 27, 29 Resin (neutron shield)
28 Bottom plate 30 Trunnion 31 Primary lid 32 Secondary lid 33 Tertiary lid 41 First step portion 41a First seat portion 41b Screw hole 42 Second step portion 42a Second seat portion 42b Screw hole 43 Third step portion 43a Third seat portion 43b Screw hole (screw hole for fixing the lid)
44 Positioning hole 51, 52, 53 Bolt 100 Processing system 101 Rotation support device 102 Processing device 103 Tool storage device 104 Imaging device 108 Control device 109 Output device 120 Base 121 Movable part (arm)
122 Mounting portion 130 Tool 132 Cable 134 Output source 140 Tool mount 142 Cable support portion 144 Guide jig 145, 146 Roller 147 Weight

Claims (5)

A processing unit having a mounting part on which a tool can be mounted at the tip, and a movable part that moves the position of the mounting part with multiple degrees of freedom;
A photographing device mounted at a position that moves integrally with the mounting unit;
A plurality of tools that can be mounted on the mounting portion and to which a cable is connected;
A tool rest for supporting a plurality of the tools, a tool storage device having a cable support for supporting the cable, and
When mounting a tool on the mounting portion, the imaging device captures an image of the cable of the tool including the tool to be mounted, compares the captured image with a preset reference position of the cable, and the reference position And a control device that moves the mounting portion with the processing device and mounts a tool to be mounted on the mounting portion when it is determined that there is a cable.   The processing system according to claim 1, wherein when the control device determines that there is no cable at the reference position, the control device outputs a warning and stops the operation. The control device stores information of the reference position of the cable in a range,
The processing system according to claim 1, wherein it is determined whether there is a cable at a reference position based on whether there is a cable within the range.   The said tool is a tool used for manufacture of the trunk | drum main body which has a cylindrical shape, The processing system as described in any one of Claim 1 to 3 characterized by the above-mentioned. The processing device having a mounting portion on which a tool can be mounted at a tip and a movable portion that moves the position of the mounting portion with multiple degrees of freedom, and a photographing apparatus mounted at a position that moves integrally with the mounting portion. A tool mounting method for mounting a tool stored in a tool storage device that supports a plurality of tools on a mounting portion and supports a cable connected to the tool,
Photographing an image of a cable of a tool including a tool to be mounted by the photographing device;
Comparing the captured image with a preset reference position of the cable;
A tool mounting method comprising: a step of moving the mounting portion with the processing device and mounting a tool to be mounted on the mounting portion when it is determined that there is a cable at the reference position.

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