JP2020040190A - Processing device - Google Patents

Abstract

To provide a processing device which is capable of recording a clear image in a processing area when abnormality occurs, and further, capable of storing various information expressing a state of the device when abnormality occurs.SOLUTION: A processing device 1 includes a motion mechanism part 4, and a processing area where machine work is performed according to operation of the motion mechanism part 4. The processing device includes: an imaging camera 10 for imaging an image in the processing area; an image storage part 11 for storing an image captured by the imaging camera 10; an abnormality detector 12 for detecting abnormality in the processing area and outputting an abnormality signal; and an emergency handling part 14 having a cleaning treatment part 15 for cleaning inside the processing area when receiving the abnormality signal from the abnormality detector 12. When the abnormality signal is output from the abnormality detector 12, the processing area is cleaned by the cleaning treatment part 15, and an image of the clear processing area is imaged by the imaging camera 10.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a processing apparatus including a movement mechanism, a processing area for performing machining by operation of the movement mechanism, and an imaging camera for capturing at least an image in the processing area.

  In the field of various processing equipment, a malfunction may occur in the processing equipment for some reason, and normal processing may not be performed. In such a case, the cause of the failure is accurately identified and the cause is determined. If no action is taken, such as removing, the same problem will recur.

  Therefore, conventionally, an image of the operating state of the apparatus is captured and recorded by a camera, and when a malfunction occurs in the apparatus, monitoring is performed so that the cause of the malfunction can be determined by analyzing the recorded image. Systems have been proposed, and as one of them, a monitoring system disclosed in Patent Document 1 below is known.

  This monitoring system includes a camera means for monitoring a phenomenon, a first recording means for recording a phenomenon photographed by the camera means, and an abnormality for generating a Q signal by detecting the abnormality when the phenomenon occurs. Detecting means, second recording means for recording a phenomenon before and after the Q signal, and a required time before and after the Q signal recorded in the first recording means, which receives the Q signal generated by the abnormality detecting means. And a control unit for recording the phenomenon recorded in the second recording means in the second recording means.

  According to this monitoring system, since only the phenomena before and after the occurrence of the abnormality are recorded in the second recording means, the observer reproduces the image recorded in the second recording means and reproduces the image. By analyzing and verifying, it is possible to efficiently determine the cause of the abnormality.

JP-A-6-348981

  However, among the processing equipment, in the case of a general machine tool that performs removal processing such as cutting or grinding, in the processing area, chips generated by the processing are scattered, and the coolant used for processing is also used. Since there are many foreign substances, such as scattered or mist-like, the processing area of the machine tool is in an environment where it is difficult to obtain a clear image.

  Therefore, even if the above-described conventional monitoring system is applied to such a processing apparatus as it is, the monitoring system can capture a clear image in the processing area because a foreign substance existing in the processing area becomes an obstacle. Therefore, when an abnormality occurs, there is a problem that the exact cause cannot be determined.

  In addition, when an abnormality occurs in the processing area, the processing apparatus may be urgently stopped depending on the degree of the abnormality. In this case, the operator may recover the processing apparatus without maintaining the emergency stop state. When the current situation is restored, various information indicating the state of the device at the time of the emergency stop may be lost, and even such a measure may hinder accurate investigation of the abnormality.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide a processing apparatus that can record a clear image in a processing area when an abnormality occurs, and Another object of the present invention is to provide a processing apparatus capable of storing various information indicating the state of the apparatus when an abnormality has occurred.

The present invention for solving the above problems,
A processing apparatus including a movement mechanism, and a processing device including a processing area for performing machining by the operation of the movement mechanism,
An imaging camera for capturing at least an image in the processing area,
An image storage unit that stores an image captured by the imaging camera,
An abnormality detection unit that detects an abnormality in the machining area and outputs an abnormality signal;
The present invention relates to a processing apparatus including an emergency response unit including a cleaning processing unit that cleans the inside of the processing area when an abnormality signal is received from the abnormality detection unit.

  ADVANTAGE OF THE INVENTION According to the processing apparatus which concerns on this invention, while a mechanical processing is performed by operation | movement of a motion mechanism part in a processing area | region, the image in this processing area is imaged by the imaging camera, and the imaged image is stored in the image storage part. Is stored. Then, whether or not an abnormality has occurred in the processing area is monitored by the abnormality detection unit, and when an abnormality has occurred, the abnormality detection unit outputs an abnormality signal. When an abnormality signal is output from the abnormality detection unit, the abnormality signal is received by the emergency response unit, and the inside of the processing area is cleaned by the cleaning processing unit.

  As described above, in the case of a processing device that performs removal processing such as cutting or grinding, in the processing area, chips generated by the processing are scattered, and coolant used for processing is scattered or mist-like. Although there are many foreign substances such as the following, such foreign substances are removed by the cleaning processing unit, and the inside of the processing area is cleaned. Thus, after the abnormality is detected by the abnormality detection unit, the image of the processing area in which the foreign matter has been removed and is sharpened is captured by the imaging camera and stored in the image storage unit.

  Thus, according to the processing apparatus of the present invention, after the abnormality is detected by the abnormality detection unit, a clear image of the processing region from which the foreign matter has been removed is captured by the imaging camera, and stored in the image storage unit. Since the stored image is stored, by analyzing such a clear image, it is possible to accurately determine the cause of the abnormality.

  In addition, the processing apparatus according to the present invention includes, in addition to the above-described removal processing apparatus, any conventionally known processing apparatuses such as a so-called additional processing apparatus that forms a molded object while laminating materials, and a plastic processing apparatus that performs press processing and the like. Equipment included. In addition, the motion mechanism section includes all mechanisms that operate to perform machining, and a very common example includes a spindle and a spindle motor of a machine tool, a spindle head, a saddle, a table, a tool post, and the like. A feed device (including a feed motor) for driving them is included.

  The imaging camera includes a general camera that captures an image under visible light, an infrared camera that captures an image under infrared light, and the like. The abnormality detection unit is not particularly limited as long as the abnormality detection unit can detect an abnormality occurring in the processing area. For example, the abnormality detection unit includes an acceleration sensor arranged in the processing area, and is detected by the acceleration sensor When the vibration level exceeds a predetermined threshold, an abnormal signal is output, and a microphone disposed in the processing area is provided, and the level of sound collected by the microphone exceeds the predetermined threshold. Sometimes, a mode in which an abnormal signal is output is included.

  In the present invention, the cleaning processing unit can take various forms. For example, the cleaning processing unit includes an air blow nozzle that discharges compressed air toward a lens of the imaging camera, and the cleaning unit detects an abnormality from the abnormality detecting unit. It is possible to adopt a mode in which compressed air is discharged from the air blow nozzle when a signal is received.

  According to this processing device, when the emergency response unit receives the abnormality signal output from the abnormality detection unit, compressed air is discharged from the air nozzle of the cleaning processing unit toward the lens of the imaging camera. Accordingly, when chips and coolant adhere to the lens of the imaging camera, the chips and coolant are removed from the lens by the compressed air flow discharged from the air nozzle, and mist is drifting near the lens. In such a case, the mist is blown off by the compressed air flow.

  If chips or coolant are attached to the lens of the imaging camera, it is not possible to capture a clear image in the processing area, but the chips and coolant attached to the lens are removed by compressed air flow, It is possible to capture a clear image in the area. Also, it is possible to capture a clear image in the processing area by blowing off the mist floating near the lens.

  Further, the cleaning processing unit includes an exhaust mechanism that exhausts an atmosphere in the processing area, and when an abnormal signal is received from the abnormality detection unit, the exhaust mechanism exhausts the atmosphere in the processing area. A configured embodiment can be adopted.

  According to this processing device, when the emergency response unit receives the abnormality signal output from the abnormality detection unit, the atmosphere in the processing area is exhausted by the exhaust mechanism of the cleaning processing unit, and the atmosphere contains coolant. If a mist or the like exists, the mist is discharged from the processing area. As a result, a clear image of the processing area without mist is captured by the imaging camera, and the captured image is stored in the image storage unit.

  Further, when the processing apparatus includes a coolant supply unit that supplies a coolant in a processing area, the cleaning processing unit supplies a coolant from the coolant supply unit when receiving an abnormality signal from the abnormality detection unit. Can be taken in an emergency stop mode.

  According to this processing device, when the emergency response unit receives the abnormality signal output from the abnormality detection unit, the supply of the coolant from the coolant supply unit is urgently stopped by the cleaning processing unit. If the coolant is supplied into the machining area when an abnormality occurs, the coolant may hinder the photographing of an image of a necessary portion in the machining area. Is stopped, it is possible to obtain an image of a necessary portion in the processing area.

  In the present invention, when the processing device includes an illumination device that illuminates the inside of the processing area, the emergency response unit is configured to turn on the illumination device when receiving an abnormal signal from the abnormality detection unit. Can be adopted. With this configuration, the illumination device is turned on when an abnormality occurs, so that a brighter and clearer image in the processing area can be obtained.

  Further, in the present invention, the emergency response unit includes an abnormal-time image storage unit. When an abnormal signal is received from the abnormality detection unit, the emergency response unit stores images before and after the occurrence of the abnormality stored in the image storage unit. It is possible to adopt a mode configured to be stored in the time image storage unit. With this configuration, it is not necessary to extract necessary images from all the images stored in the image storage unit, and only the images before and after the occurrence of the abnormality stored in the image storage unit at the time of the abnormality are analyzed to determine the cause of the abnormality. Since the cause can be determined, the cause can be determined efficiently.

  Further, in the present invention, the emergency response unit includes an abnormal machine data storage unit that stores data related to the machine state at the time of the abnormality, and when an abnormality signal is received from the abnormality detection unit, An aspect may be adopted in which such data is stored in the abnormal-time machine data storage unit.

  According to this processing apparatus, when an abnormality occurs, data relating to the machine state at that time is stored in the abnormal state machine data storage unit by the emergency response unit, and the data is preserved. Therefore, even if the operator changes the current state of the processing apparatus before verifying the data relating to the machine state at the time of occurrence of the abnormality, the necessary data is preserved in the machine data storage unit at the time of the abnormality. Thus, the cause of the abnormality can be determined.

The machine state data includes all data representing the state of the machine, for example, the following data.
Data indicating whether the processing device is operating automatically or manually,
-If automatic operation is in progress, the NC program number and sequence number (block number) being executed, all data of the NC program being executed,
Data representing the operation state of the motion mechanism section, such as data relating to the operation position, data indicating the load state, the number of the tool being processed, various parameters (override, work offset, tool offset), hydraulic pressure of the chuck, chuck Grasping power, control signal to operate,
・ Image data displayed on the display device of the operation panel,
Such.

  As described above, according to the processing apparatus of the present invention, after the abnormality is detected by the abnormality detection unit, a clear image of the processing area from which the foreign matter has been removed is captured by the imaging camera, and is stored in the image storage unit. Since the stored image is stored, by analyzing such a clear image, it is possible to accurately determine the cause of the abnormality.

  Further, if an abnormal machine data storage unit is provided and data relating to the machine state at the time of occurrence of the abnormality (machine state data) is stored in the abnormal machine data storage unit, the machine state at the time of occurrence of the abnormality can be obtained. Even if the operator changes the current state of the processing equipment before verifying the data, the necessary data is preserved in the machine data storage unit at the time of the abnormality, and the cause of the abnormality is determined by analyzing the data. be able to.

FIG. 1 is a perspective view illustrating a schematic configuration of a processing apparatus according to an embodiment of the present invention. It is a block diagram showing a schematic structure of a processing device concerning this embodiment.

  As shown in FIG. 1, a processing apparatus 1 of this example is a so-called vertical machining center, and includes a bed 2, a column 3 disposed on the bed 2, and a front of the column 3 on the bed 2. And a table 6 disposed on the saddle 5 and movable in the X-axis direction, and a table 6 disposed on the saddle 5 and movable in the X-axis direction. And a spindle head 7 and the like that can be moved. The X axis, the Y axis, and the Z axis are three axes orthogonal to each other, the Z axis is a vertical axis, and the X axis and the Y axis are horizontal axes.

  In particular, although not shown, the saddle 5 is driven in the Y-axis direction by a Y-axis feeder, the table 6 is driven in the X-axis direction by an X-axis feeder, and the spindle head 7 is driven by a Z-axis feeder. Driven in the Z-axis direction. The spindle head 7 holds a spindle (not shown) that holds the tool T and rotates about a rotation axis parallel to the Z axis. Each of the X-axis feeder (not shown), the Y-axis feeder (not shown), and the Z-axis feeder (not shown) includes a ball screw mechanism and a servomotor for driving the same.

  In this example, the saddle 5, the table 6, the spindle head 7, the spindle (not shown), the spindle motor (not shown), the X-axis feeder (not shown), and the Y-axis feeder (not shown) And a Z-axis feeder (not shown) constitute the movement mechanism section 4.

  Thus, the table 6 and the main shaft (not shown) are moved in a three-dimensional space by the X-axis feeder (not shown), the Y-axis feeder (not shown), and the Z-axis feeder (not shown). The work (not shown) mounted on the table 6 is processed by the tool T by this relative operation.

  Further, in the processing apparatus 1, the bed 2, the column 3, and the movement mechanism 4 are entirely surrounded by the cover body 8, and the saddle 5, the table 6, and the spindle head 7 are operated, so that A processing region 9 which is a region where the workpiece W is processed by the tool T is defined.

  As shown in FIG. 2, the processing apparatus 1 includes a numerical control device 30 for controlling the operation of the movement mechanism unit 4, an imaging camera 10, an image storage unit 11, an abnormality detection unit 12, a coolant supply device 23, and a lighting device. The device 25 includes an emergency response unit 14 and the like.

  As shown in FIG. 1, the imaging camera 10 is provided in the processing area 9, captures an image in the processing area 9 under visible light, and stores the image in the image storage unit 11.

  The abnormality detection unit 12 includes an acceleration sensor 13 attached to the spindle head 7. When the vibration level detected by the acceleration sensor 13 exceeds a predetermined threshold, an abnormality occurs in the machining area 9. When it is determined that it has been performed, a process of transmitting an abnormal signal to the numerical controller 30 and the emergency response unit 14 is performed. When receiving the abnormal signal from the abnormality detecting unit 12, the numerical control device 30 performs a process of stopping the operation of the exercise mechanism unit 4.

  The coolant supply device 23 includes a coolant nozzle 24 disposed on the spindle head 7, and discharges coolant from the coolant nozzle 24 toward a tool T or the like. The illumination device 25 includes a lamp 26 provided in the processing area 9 to illuminate the processing area 9. The operations of the coolant supply device 23 and the lighting device 25 are controlled by the numerical controller 30.

  The emergency response unit 14 includes a cleaning processing unit 15, a lighting emergency lighting unit 20, an abnormal image storage unit 21, an abnormal machine data storage unit 22, and the like. When an abnormal signal is received from the abnormal detection unit 12, And causing the cleaning processing unit 15 and the emergency lighting unit 20 to execute processing to be described later, and executing processing for storing predetermined image data from the image storage unit 11 in the abnormal image storage unit 21. A process of storing predetermined machine state data from the numerical controller 30 in the abnormal machine data storage unit 22 is executed.

  The cleaning processing unit 15 includes an exhaust device 16, an air blow device 17, a coolant emergency stop unit 19, and the like. When the emergency response unit 14 receives an abnormality signal from the abnormality detection unit 12, each unit operates. Let it.

  The exhaust device 16 has an intake fan disposed on a ceiling portion of the cover body. The exhaust device 16 exhausts the air in the processing region 9 sucked by the intake fan through a duct, and exhausts the exhausted air. This is a device for appropriately purifying by a filter, and when the abnormal signal is received, drives the intake fan to exhaust the air in the processing area 9.

  The air blow device 17 includes an air blow nozzle 18 disposed in the processing area 9, and is configured to discharge compressed air from the air blue nozzle 18 toward the lens 10 a of the imaging camera 10. When the abnormal signal is received, compressed air is discharged from the air blow nozzle 18 toward the lens 10a.

  The coolant emergency stop unit 19 is a processing unit that performs a process of transmitting a stop signal for stopping the discharge of the coolant from the coolant nozzle 24 to the numerical control device 30, and the abnormal signal is received. At this time, the stop signal is transmitted to the numerical controller 30.

  The lighting emergency lighting unit 20 is a processing unit that performs a process of transmitting a lighting signal for lighting the lamp 26 to the numerical control device 30. When the abnormal signal is received, the lighting emergency signal This is transmitted to the numerical controller 30.

  When the abnormal signal is received, the abnormal image storage unit 21 transfers the image data for a predetermined time before the occurrence of the abnormality stored in the image storage unit 11 from the image storage unit 11 and stores the image data. At the same time, the image data for a predetermined time stored in the image storage unit 11 after the occurrence of the abnormality is transferred from the image storage unit 11 and stored.

When the abnormality signal is received, the abnormal state machine data storage unit 22 transfers and stores data (machine state data) relating to the machine state stored in the numerical controller 30. The machine state data includes all data representing the state of the machine. As an example, the following data is included.
Data indicating whether the processing apparatus 1 is in automatic operation or manual operation;
-If automatic operation is in progress, the NC program number and sequence number (block number) being executed, all data of the NC program being executed,
Data representing the operation state of the movement mechanism unit 4, including data relating to the operation position, data indicating the load state, the number of the tool being processed, various parameters (override, work offset, tool offset), hydraulic pressure of the chuck, chuck Grasping power, control signal for operating,
Image data displayed on the display device of the operation panel,
Such.

  In the processing apparatus 1 of this example, each processing unit that performs data processing in the numerical control device 30, the abnormality detection unit 12, and the emergency response unit 14 is configured by a computer including a CPU, a RAM, a ROM, and the like. Its functions are realized by a computer program. Further, the image storage unit 11, the abnormal-time image storage unit 21, and the abnormal-time machine data storage unit 22 are configured from a suitable storage medium such as a RAM.

  According to the processing apparatus 1 of the present example having the above-described configuration, the movement mechanism section 4 is driven under the control of the numerical controller 30, and the table 6 and the spindle (not shown) are connected to the processing area 9 The work (not shown) attached on the table 6 is processed by the tool T by relatively moving in the space inside. At that time, the coolant may be discharged from the coolant nozzle 24 of the coolant supply device 23 toward the tool T or the like, and the inside of the processing area 9 may be illuminated by the lamp 26 of the illumination device 25.

  When the processing apparatus 1 is operating, that is, when the processing apparatus 1 is turned on, whether or not an abnormality has occurred in the processing area 9 is monitored by the abnormality detection unit 12, and An image in the processing area 9 is captured by the imaging camera 10, and the captured image is stored in the image storage unit 11.

  When an abnormality is detected by the abnormality detection unit 12, the numerical control device 30 performs a process of stopping the operation of the motion mechanism unit 4, and the emergency response unit 14 performs the processing of the cleaning processing unit 15 and the emergency lighting of the illumination. While causing the unit 20 to execute the above-described processing, the above-described data is stored in the abnormal-time image storage unit 21 and the abnormal-time machine data storage unit 22.

  Thus, according to the processing apparatus 1, first, when an abnormality occurs in the processing area 9, the image data in the processing area 9 within a predetermined time before and after the occurrence of the abnormality is stored in the abnormal-time image storage unit 21. Therefore, the cause of the abnormality can be efficiently determined by analyzing the image data.

  Further, in the processing area 9 of the processing apparatus 1 of the present example, chips generated by the processing are scattered, and when the coolant is used during the processing, the coolant is scattered or becomes a mist. Although many foreign substances are present, if an abnormality occurs, the air in the processing area 9 is exhausted by the exhaust device 16, so that the foreign matter in the processing area 9 is removed by the exhausting action, and the processing area 9 is removed. The inside is cleaned. When an abnormality occurs, the discharge of the coolant from the coolant nozzle 24 is stopped. Thereby, after the abnormality is detected by the abnormality detection unit 12, there is no obstacle due to the coolant, and the image of the processing area 9 in which the foreign matter has been removed and becomes clear is captured by the imaging camera 10, and the image storage unit 11 is stored. Then, by analyzing such a clear image, it is possible to accurately determine the cause of the abnormality.

  When an abnormality occurs, compressed air is discharged from the air blow nozzle 18 of the air blow device 17 toward the lens 10 a of the imaging camera 10, and a lighting signal transmitted from the lighting emergency lighting unit 20 to the numerical controller 30. The lamp 26 is turned on. As described above, chips and coolant are scattered in the processing area 9, and if these chips adhere to the lens 10 a of the imaging camera 10, a clear image cannot be captured. By blowing air, the attached chips and coolant can be removed, and when mist is floating near the lens 10a, the mist can be blown off by the compressed air flow. With the above operation, a clear image in the processing area 9 can be captured. Also, by illuminating the inside of the processing area 9 with the lamp 26, a clear image in the processing area 9 can be captured. Then, by analyzing such a clear image, it is possible to accurately determine the cause of the abnormality.

  Further, in the processing apparatus 1, when an abnormality occurs, data relating to the machine state at that time is stored in the abnormal state machine data storage unit 22 from the numerical control device 30 by the emergency response unit 14, and the data is maintained. Therefore, even if the operator changes the current state of the processing apparatus before verifying the data relating to the machine state at the time of occurrence of the abnormality, an abnormality occurs by analyzing the data maintained in the machine data storage unit 22 at the time of the abnormality. Cause can be determined.

  As described above, the specific embodiments of the present invention have been described. However, the embodiments that the present invention can adopt are not limited to these embodiments.

  For example, the processing apparatus according to the present invention includes conventionally known processing apparatuses such as a machining center described above, a so-called additional processing apparatus for forming a shaped object while laminating materials, and a plastic processing apparatus for performing press working and the like. Includes all processing equipment. In addition, the movement mechanism section 4 includes all mechanisms that operate to perform machining.

  Further, the imaging camera 10 is not limited to a general camera that captures an image under visible light, but may be an infrared camera that captures an image under infrared light. The abnormality detection unit 12 is not particularly limited as long as it can detect an abnormality that occurs in the processing area. For example, the abnormality detection unit 12 includes a microphone arranged in the processing area 9. When the level of the collected sound exceeds a predetermined threshold, it may be determined that an abnormality has occurred and an abnormal signal is output.

  Further, the air blow nozzle 18 does not need to always face the lens 10a of the imaging camera 10, but only needs to face the lens 10a at least when an abnormality is detected, and may face another direction at normal times. .

  Again, the description of the above embodiment is illustrative in all respects and is not limiting. Modifications and changes can be made as appropriate by those skilled in the art. The scope of the present invention is defined by the terms of the claims, rather than the embodiments described above. Further, the scope of the present invention includes modifications from the embodiments within the scope equivalent to the scope of the claims.

DESCRIPTION OF SYMBOLS 1 Processing apparatus 2 Bed 3 Column 4 Motion mechanism part 5 Saddle 6 Table 7 Spindle head 10 Imaging camera 11 Image storage part 12 Abnormality detection part 14 Emergency response part 15 Purification processing part 16 Exhaust device 17 Air blow device 18 Air blow nozzle 20 Lighting emergency lighting section 21 Abnormal image storage section 22 Machine data storage section at abnormal time 23 Coolant supply device 25 Illumination device 30 Numerical control device

Claims (7)

A processing apparatus including a movement mechanism, and a processing device including a processing area for performing machining by the operation of the movement mechanism,
An imaging camera for capturing at least an image in the processing area,
An image storage unit that stores an image captured by the imaging camera,
An abnormality detection unit that detects an abnormality in the machining area and outputs an abnormality signal;
A processing apparatus, comprising: an emergency response unit including a cleaning processing unit that cleans the inside of the processing area when an abnormal signal is received from the abnormality detecting unit.   The cleaning processing unit includes an air blow nozzle that discharges compressed air toward a lens of the imaging camera, and upon receiving an abnormality signal from the abnormality detection unit, discharges compressed air from the air blow nozzle. The processing apparatus according to claim 1, wherein the processing apparatus is configured.   The cleaning processing unit includes an exhaust mechanism that exhausts an atmosphere in the processing area, and when an abnormality signal is received from the abnormality detection unit, the exhaust mechanism exhausts the atmosphere in the processing area. The processing apparatus according to claim 1, wherein the processing apparatus is configured. The processing apparatus includes a coolant supply unit that supplies a coolant in the processing area,
4. The cleaning unit according to claim 1, wherein the cleaning unit is configured to stop the supply of the coolant from the coolant supply unit when receiving the abnormality signal from the abnormality detection unit. Processing equipment. The processing apparatus includes an illumination device that illuminates the processing area,
The processing apparatus according to any one of claims 1 to 4, wherein the emergency response unit is configured to turn on the lighting device when receiving an abnormal signal from the abnormal detection unit.   The emergency response unit includes an abnormal-time image storage unit, and stores an image before and after the occurrence of the abnormality stored in the image storage unit in the abnormal-time image storage unit when an abnormality signal is received from the abnormality detection unit. The processing apparatus according to claim 1, wherein the processing apparatus is configured to perform the processing. The emergency response unit includes an abnormal state machine data storage unit that stores data relating to the machine state at the time of the abnormality, and when an abnormal signal is received from the abnormality detection unit, the data relating to the machine state at that time is abnormal. 7. The processing apparatus according to claim 1, wherein the processing apparatus is configured to store the time data in a machine data storage unit.

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