A processing system (10) and corresponding method (158) are provided for processing workpieces (WP), including food items, to cut and remove undesirable components from the food items and/or portion the food items while being conveyed on a conveyor system (12). An X-ray scanning station (14) is located on an upstream conveyor section (20) to ascertain size and/or shape parameters of the food items as well as the location of any undesirable components of the food items, such as bones, fat or cartilage. Thereafter the food items are transferred to a downstream conveyor (20) at which is located an optical scanner (102) to ascertain the size and/or shape parameters of the food items. The results of the X-ray and optical scanning are transmitted to a processor (18) to confirm that the food item scanned by the optical scanner is the same as that previously scanned by the X-ray scanner. Once this identity is confirmed, if required, the data from the X-ray scanner is translated or transformed onto the data from the optical scanner. Such translation may include one or more of the shifting of the food items in the X and/or Y direction, rotation of the food item, scaling of the size of the food item, and sheer distortion of the food item. Next, the location of the undesirable material within the food item is mapped from the X-ray scanning data onto the optical scanning data. Thereafter, the undesirable material is removed by a cutter(s) (28). The food item may also (or alternatively) been portioned by the cutter(s) (28).

A numerical control device for controlling a plurality of drive shafts to drive a tool and cause the tool to cut a workpiece while vibrating the tool in a fixed vibrating direction regardless of a cutting direction, a comparison unit that compares a command value of a cutting depth with an actual value of the cutting depth based on a vibration amplitude of the drive shaft when the vibrating direction and the cutting direction are not the same as each other, the cutting depth being a difference between a position of a face to be machined of the workpiece before machining and a position of the machined face after machining; and an adjustment unit that adjusts a movement of the tool so that the actual value becomes smaller when the actual value is larger than the command value.

An automated container cutting system for cutting a container includes a cutting platform and a cutting tool held by the cutting platform. The cutting tool is configured to cut the container. The automated container cutting system includes a force feedback sensor operatively connected to the cutting tool such that the force feedback sensor is configured to measure resistive force exerted on the cutting tool. The automated container cutting system includes at least one processor communicatively coupled to the force feedback sensor. The processor is configured to receive resistive force data from the force feedback sensor. The resistive force data represents resistive force exerted on the cutting tool as the cutting tool pierces a wall of the container. The at least one processor is configured to determine whether the cutting tool has penetrated through the wall of the container using the received resistive force data.

A numerical control device for controlling a plurality of drive shafts to drive a tool and cause the tool to cut a workpiece while vibrating the tool in a fixed vibrating direction regardless of a cutting direction, a comparison unit that compares a command value of a cutting depth with an actual value of the cutting depth based on a vibration amplitude of the drive shaft when the vibrating direction and the cutting direction are not the same as each other, the cutting depth being a difference between a position of a face to be machined of the workpiece before machining and a position of the machined face after machining; and an adjustment unit that adjusts a movement of the tool so that the actual value becomes smaller when the actual value is larger than the command value.

An automated container cutting system for cutting a container includes a cutting platform and a cutting tool held by the cutting platform. The cutting tool is configured to cut the container. The automated container cutting system includes a force feedback sensor operatively connected to the cutting tool such that the force feedback sensor is configured to measure resistive force exerted on the cutting tool. The automated container cutting system includes at least one processor communicatively coupled to the force feedback sensor. The processor is configured to receive resistive force data from the force feedback sensor. The resistive force data represents resistive force exerted on the cutting tool as the cutting tool pierces a wall of the container. The at least one processor is configured to determine whether the cutting tool has penetrated through the wall of the container using the received resistive force data.

A processing system (10) and corresponding method (158) are provided for processing workpieces (WP), including food items, to cut and remove undesirable components from the food items and/or portion the food items while being conveyed on a conveyor system (12). An X-ray scanning station (14) is located on an upstream conveyor section (20) to ascertain size and/or shape parameters of the food items as well as the location of any undesirable components of the food items, such as bones, fat or cartilage. Thereafter the food items are transferred to a downstream conveyor (20) at which is located an optical scanner (102) to ascertain the size and/or shape parameters of the food items. The results of the X-ray and optical scanning are transmitted to a processor (18) to confirm that the food item scanned by the optical scanner is the same as that previously scanned by the X-ray scanner. Once this identity is confirmed, if required, the data from the X-ray scanner is translated or transformed onto the data from the optical scanner. Such translation may include one or more of the shifting of the food items in the X and/or Y direction, rotation of the food item, scaling of the size of the food item, and sheer distortion of the food item. Next, the location of the undesirable material within the food item is mapped from the X-ray scanning data onto the optical scanning data. Thereafter, the undesirable material is removed by a cutter(s) (28). The food item may also (or alternatively) been portioned by the cutter(s) (28).

A processing system (10) and corresponding method (158) are provided for processing workpieces (WP), including food items, to cut and remove undesirable components from the food items and/or portion the food items while being conveyed on a conveyor system (12). An X-ray scanning station (14) is located on an upstream conveyor section (20) to ascertain size and/or shape parameters of the food items as well as the location of any undesirable components of the food items, such as bones, fat or cartilage. Thereafter the food items are transferred to a downstream conveyor (20) at which is located an optical scanner (102) to ascertain the size and/or shape parameters of the food items. The results of the X-ray and optical scanning are transmitted to a processor (18) to confirm that the food item scanned by the optical scanner is the same as that previously scanned by the X-ray scanner. Once this identity is confirmed, if required, the data from the X-ray scanner is translated or transformed onto the data from the optical scanner. Such translation may include one or more of the shifting of the food items in the X and/or Y direction, rotation of the food item, scaling of the size of the food item, and sheer distortion of the food item. Next, the location of the undesirable material within the food item is mapped from the X-ray scanning data onto the optical scanning data. Thereafter, the undesirable material is removed by a cutter(s) (28). The food item may also (or alternatively) been portioned by the cutter(s) (28).

A processing system (10) and corresponding method (158) are provided for processing workpieces (WP), including food items, to cut and remove undesirable components from the food items and/or portion the food items while being conveyed on a conveyor system (12). An X-ray scanning station (14) is located on an upstream conveyor section (20) to ascertain size and/or shape parameters of the food items as well as the location of any undesirable components of the food items, such as bones, fat or cartilage. Thereafter the food items are transferred to a downstream conveyor (20) at which is located an optical scanner (102) to ascertain the size and/or shape parameters of the food items. The results of the X-ray and optical scanning are transmitted to a processor (18) to confirm that the food item scanned by the optical scanner is the same as that previously scanned by the X-ray scanner. Once this identity is confirmed, if required, the data from the X-ray scanner is translated or transformed onto the data from the optical scanner. Such translation may include one or more of the shifting of the food items in the X and/or Y direction, rotation of the food item, scaling of the size of the food item, and sheer distortion of the food item. Next, the location of the undesirable material within the food item is mapped from the X-ray scanning data onto the optical scanning data. Thereafter, the undesirable material is removed by a cutter(s) (28). The food item may also (or alternatively) been portioned by the cutter(s) (28).

A chatter avoidance method and device is provided, including steps of: providing a stable operating condition plot; partially removing a first layer of a workpiece with a predetermined first removal depth according to a safe removal depth of the stable operating condition plot and sensing a chatter caused by the removal operation; if no chatter is sensed, completing the removal operation, otherwise, continuing to partially remove the first layer with a second removal depth less than the predetermined first removal depth; and determining a minimum removal depth according to the removal operation, and removing a last layer of the workpiece with a last removal depth less than or equal to the minimum removal depth, allowing the workpiece to have a target thickness. The disclosure prevents a chatter from continuously occurring without requiring a shut-down and thereby maintains a desired production rate.

Provided is a robot control device and a plasma cutting method that can shorten a takt time using a teaching program that appropriately moves a plasma cutting robot. The robot control device includes: a program reading unit that reads a teaching program to operate the plasma cutting robot; a program interpreting unit that interprets the teaching program which has been read; and a program executing unit that executes the teaching program that has been interpreted. In a case where the program interpreting unit interpreted an arc start instruction for plasma cutting in the teaching program, the program interpreting unit sets an arc start height of a torch in the plasma cutting robot included in the arc start instruction, using position information of the plasma cutting robot included in a move instruction generated after the arc start instruction.