CN100562877C - But irradiation area recognition methods and device and mobile route establishing method - Google Patents
But irradiation area recognition methods and device and mobile route establishing method Download PDFInfo
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- CN100562877C CN100562877C CN 200710097631 CN200710097631A CN100562877C CN 100562877 C CN100562877 C CN 100562877C CN 200710097631 CN200710097631 CN 200710097631 CN 200710097631 A CN200710097631 A CN 200710097631A CN 100562877 C CN100562877 C CN 100562877C
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Abstract
But provide irradiation area recognition methods and device and mobile route establishing method, but identification is to being set in the irradiation area of the machining area on the workpiece.But a kind of change processing with the processing of the direction of illumination of light beam with the irradiation area recognition methods of beam irradiation device and device and processing mobile route establishing method with beam irradiation device, with any the distance that is set in machining area on the above-mentioned workpiece be on the position of above-mentioned processing with the focal length of light beam, but even set to move above-mentioned processing also can be shone above-mentioned machining area with beam irradiation device any irradiation area corresponding with above-mentioned focal length, but identification is to any irradiation area (210) of above-mentioned machining area.
Description
Technical field
But the present invention relates to a kind of processing, but but for example relate to the processing that can be applied to use the laser processing device that laser processes with the irradiation area recognition methods of beam irradiation device and irradiation area recognition device and processing mobile route establishing method with beam irradiation device with the irradiation area recognition methods of beam irradiation device and device thereof and processing mobile route establishing method with beam irradiation device.
Background technology
In the equipment of solder joints body panel, have general industrial installed on robot welding torch equipment, the equipment of laser oscillation apparatus has been installed.Shown in following patent documentation 1, in the equipment that laser oscillation apparatus has been installed, its focal length (distance from oscillation point to the panel that will weld) and direction of illumination (oscillation point) were fixed in the past.In the past, laser oscillation apparatus is being installed under the situation of welding a plurality of machining areas (pad) on the industrial robot, because focal length and direction of illumination are fixed, therefore must make the industrial machine human action come each machining area is carried out the location of laser oscillation apparatus, its action is roughly the same with for example existing industrial robot that the robot welding gun has been installed.
Patent documentation 1: TOHKEMY 2000-84688 communique
Summary of the invention
The problem that invention will solve
The present invention finishes in order to improve prior art, but but its purpose be to provide a kind of following processing with beam irradiation device the irradiation area recognition methods and irradiation area recognition device and processing with the mobile route establishing method of beam irradiation device: be installed to beam irradiation device under the situation on the industrial robot can changing the processing of processing with the direction of illumination of light beam, but can implement the irradiation area of processing to the machining area that is set on the workpiece by using robot simulation to discern, but can decide optimal path of movement according to the irradiation area that identifies on the other hand.
The scheme that is used to deal with problems
But be used to reach the irradiation area recognition methods of the processing of above-mentioned purpose with beam irradiation device, but be the irradiation area of beam irradiation device is used in identification processing with the modifiable processing of light beam direction of illumination method, with workpiece on any distance of machining area be the position of processing with the focal length of light beam, with above-mentioned machining area a bit is the summit, even mobile above-mentioned processing is made as the bottom surface with the zone that beam irradiation device also can shine above-mentioned summit, utilize above-mentioned summit and above-mentioned bottom surface to form closed cone, but discern irradiation area any of machining area.
But invention 1 processing is but that identification can change the irradiation area of beam irradiation device is used in processing with the processing of the direction of illumination of light beam method with the irradiation area recognition methods of beam irradiation device, it is characterized in that, with workpiece on any distance of machining area be the position of above-mentioned processing with the focal length of light beam, but even set to move above-mentioned processing also can be shone above-mentioned machining area with beam irradiation device any irradiation area corresponding with above-mentioned focal length, but identification is to any irradiation area of above-mentioned machining area.
But invention 2 is the processing of invention 1 record irradiation area recognition methodss with beam irradiation device, it is characterized in that, and then, but the shape along above-mentioned machining area forms a plurality of above-mentioned irradiation areas, but but discerns the irradiation area all to above-mentioned machining area by formed a plurality of irradiation areas are synthesized.
But invention 3 is the processing of record in the invention 1 or 2 irradiation area recognition methodss with beam irradiation device, it is characterized in that, but can not irradiation area, but discern above-mentioned irradiation area by what remove from above-mentioned irradiation area that above-mentioned processing can't shine owing to there is barrier with light beam.
But invention 4 is processing irradiation area recognition methodss with beam irradiation device, it is characterized in that, under the situation that is set with a plurality of machining areas on the workpiece, but use invention 2 or invent the irradiation area recognition methodss of the processing of 3 records, but discern above-mentioned processing with the irradiation area of beam irradiation device each machining area with beam irradiation devices.
But invention 5 processing is but that identification can change the irradiation area of beam irradiation device is used in processing with the processing of the direction of illumination of light beam method with the irradiation area recognition methods of beam irradiation device, it is characterized in that, with workpiece on any distance of machining area be the position of above-mentioned processing with the focal length of light beam, will with above-mentioned machining area a bit be summit and what form in vertical direction is but that the face that comprises in the facies basialis pyramidis of height is set at irradiation area with above-mentioned focal length, even obtain above-mentioned bottom surface with angular range and above-mentioned focal length that beam irradiation device also can shine above-mentioned summit according to mobile above-mentioned processing.
But but but the irradiation area recognition device of invention 6 is to be used to discern the irradiation area recognition device of using the irradiation area of light beam from processing with the processing of beam irradiation device irradiation, it is characterized in that, possess: input block, but it imports the size of above-mentioned processing with the focal length and the irradiation area of light beam; And arithmetic element, but it is according to the size of the focal length of being imported and irradiation area, form with the machining area on the workpiece be the summit a bit, be the cone of height with the focal length, but the bottom surface of this cone is above-mentioned irradiation area.
Invention 7 is processing mobile route establishing methods with beam irradiation device, be used on the path of regulation, moving and change workpiece is carried out in processing with beam irradiation device with the processing of the direction of illumination of light beam the man-hour that adds, preestablish the mobile route of above-mentioned processing with beam irradiation device, it is characterized in that, be the position of above-mentioned processing with utilizing any distance of machining area of carrying out the processing of above-mentioned workpiece with light beam with the above-mentioned processing of beam irradiation device irradiation with the focal length of light beam from above-mentioned processing, with above-mentioned machining area a bit is the summit, even mobile above-mentioned processing is made as the bottom surface with the zone that beam irradiation device also can shine above-mentioned summit, utilize above-mentioned summit and above-mentioned bottom surface to form closed cone, but set the irradiation area corresponding, but in above-mentioned irradiation area, set the mobile route of above-mentioned processing with beam irradiation device with above-mentioned focal length.
The effect of invention
Owing to can discern being set in any irradiation area of machining area on the workpiece, therefore can easily indicate the mobile route of processing with beam irradiation device.
Description of drawings
Fig. 1 is laser welding robot's a structural drawing.
Fig. 2 is the structural drawing of the processing that possesses of laser welding robot with beam irradiation device.
Fig. 3 is the block diagram of simulator, but this simulator is implemented the irradiation area recognition methods of the processing relevant with the present invention with beam irradiation device, but constitutes the irradiation area recognition device, and implements the mobile route establishing method of processing with beam irradiation device.
Fig. 4 is the figure of expression processing with the scanning area of light beam.
Fig. 5 is the process flow diagram that expression is used to make the process of circular cone shown in Figure 4.
Fig. 6 is the figure that expression is configured in the circular cone of producing the state on the workpiece.
Fig. 7 is the figure of an example of expression machining area shape.
Fig. 8 is the figure that is used to illustrate resolution (resolution).
But Fig. 9 is the process flow diagram that expression is used for making along the shape of machining area the process of irradiation area.
But Figure 10 is the figure that illustrates the circular cone of the expression irradiation area state after the configuration of the shape of machining area.
But Figure 11 illustrates the process flow diagram of making the process of the circular cone of representing irradiation area along machining area.
But irradiation area is synthesized the figure of the process of making irradiation area but Figure 12 is expression.
But Figure 13 is expression synthesizes the process flow diagram of the process of making irradiation area with the circular cone of producing.
But Figure 14 is illustrated in the figure that has disposed the state of irradiation area in whole machining areas of setting on the workpiece.
Figure 15 is that expression will be processed the figure that changes into the sweep limit under the minimum and maximum situation with the focus of light beam.
Figure 16 is the process flow diagram that expression is used to make the process of two kinds of different circular cones of focus shown in Figure 15.
Figure 17 represents that two kinds of circular cones will producing are configured in the figure of the state on the workpiece.
Figure 18 is the figure that the state after but two kinds of circular cones will representing irradiation area dispose along machining area is shown.
But irradiation area is synthesized the process flow diagram of the process of making irradiation area but Figure 19 is expression.
But but Figure 20 is the process of irradiation area is extracted in expression from two kinds of different circular cones of irradiation area figure.
Figure 21 represents that but the irradiation area that will extract is configured in the figure of the state on the workpiece.
But Figure 22 is the process flow diagram that the process that the circular cone with the expression irradiation area is configured along machining area is shown.
But Figure 23 is illustrated in the figure that has disposed the state of three-dimensional irradiation area in whole machining areas of setting on the workpiece.
, Figure 24 will consider that but the irradiation area of barrier synthesizes the process flow diagram of the process of making irradiation area but being expression.
But Figure 25 is the figure that is used to illustrate the irradiation area of having considered barrier.
But Figure 26 is the figure that is used to illustrate the irradiation area of having considered barrier.
Extract and to have considered that but the irradiation area of barrier makes the figure of the process of irradiation area but Figure 27 is expression.
But Figure 28 is the figure that is used to illustrate the irradiation area of having considered barrier.
Figure 29 represents that but the irradiation area that will extract is configured in the figure of the state on the workpiece.
But but Figure 30 is the result of the best irradiation area is only obtained in expression from the irradiation area that extracts figure.
But Figure 31 is expression is used to only demand the process flow diagram of the process that the best irradiation area shown in Figure 30.
But Figure 32 A is used to illustrate the figure that is used for onlying demand the process that the best irradiation area shown in Figure 30.
But Figure 32 B is used to illustrate the figure that is used for onlying demand the process that the best irradiation area shown in Figure 30.
But Figure 32 C is used to illustrate the figure that is used for onlying demand the process that the best irradiation area shown in Figure 30.
But Figure 32 D is used to illustrate the figure that is used for onlying demand the process that the best irradiation area shown in Figure 30.
But Figure 32 E is used to illustrate the figure that is used for onlying demand the process that the best irradiation area shown in Figure 30.
But Figure 33 is the figure that is used to illustrate the process of the priority that is used for obtaining the irradiation area shown in Figure 32 E.
But Figure 34 is the figure that represents an example of the irradiation area that finally obtains.
Figure 35 is used to illustrate the figure that but irradiation area shown in Figure 34 is set the situation of mobile route.
But Figure 36 is the action flow chart of the expression processing relevant with the present invention with the process of the irradiation area recognition methods of beam irradiation device.
Description of reference numerals
101: the laser welding robot, 102: processing is used the light beam output unit, 104: processing is used beam irradiation device, 150: simulator, 200,240,250,290,295: circular cone, 210: circular cone bottom surface, 260,310: 3D region, 270: barrier, 280: shadow, 300: workpiece.
Embodiment
Below, but but use the irradiation area recognition methods and the irradiation area recognition device of beam irradiation device and process the mobile route establishing method of using beam irradiation device with reference to the accompanying drawing detailed description processing relevant with the present invention.
[embodiment 1]
Fig. 1 is laser welding robot's a structural drawing.
Fig. 2 is the structural drawing of the processing that possesses of laser welding robot with beam irradiation device.
Processing with beam irradiation device 104 can make processing with light beam in directions X and the enterprising line scanning of Y direction, can also in distance be the scope of L, change in addition and process the focal length of using light beam.As shown in Figure 2, processing has catoptron 11 and lens combination 12 with beam irradiation device 104, and the processing that this catoptron 11 and lens combination 12 are used for importing by optical fiber cable 103 is set in the machining area on the workpiece and focuses on irradiation with light beam 100 guiding.When minute surface that will be by catoptron 11 and the axis vertical with the machining area of workpiece are made as the Z axle, with the Z axle be the center with the X-axis of Z axle quadrature and Y direction on rotation supporting catoptron 11 freely.Lens combination 12 is made of collimation lens 121 and collector lens 122, and wherein, described collimation lens 121 is used to make from the processing of the end radiation of optical fiber cable 103 becomes directional light with light beam; Collector lens 122 is used to make the processing that becomes directional light with the machining area of beam condenser to workpiece.In order in distance be the scope of L, to change the focal length of processing with light beam, use the optical axis of light beam along processing, advance and retreat on fore-and-aft direction with respect to catoptron 11 and supporting collector lens 122 freely.
Processing with beam irradiation device 104 have make catoptron 11 at the motor 16 that rotates on the X-direction, make the motor 17 that catoptron 11 rotates and be used to make collector lens 122 on Y direction with respect to the mobile motor 18 of catoptron 11 advance and retreat.Motor 16 and motor 17 be by synthetic revolution position separately, can change catoptron 11 towards.Thereby, rotate by making motor 16 and motor 17, make processing use light beam in directions X and the enterprising line scanning of Y direction.In addition, rotate, in distance be the scope of L, change the focal length that light beam is used in processing by making motor 18.
In the machining area on being set in workpiece, the shape ground that makes processing describe I word shape, 8 word shapes, C word shape or S word shape and so on light beam scans, and carries out the welding of machining area.Motor 16 and motor 17 are rotated simultaneously shake catoptron 11, thereby process the scanning of using light beam.
Therefore processing has focal length with light beam, and need make processing is on the position of focal length with the distance that beam irradiation device 104 is positioned at the machining area of workpiece.
In addition, show I word shape, 8 word shapes, C word shape or S word shape shape for example as machining area, but the shape of machining area is not limited to these shapes, so long as shape that be made of continuous straight line or curve or that be made of continuous straight line and curve, open or closed can be an arbitrary shape.
Fig. 3 is the block diagram of simulator, but but this simulator is implemented the processing relevant with the present invention irradiation area recognition methods of beam irradiation device, formation irradiation area recognition device, also the mobile route establishing method with beam irradiation device is processed in enforcement.
In addition, the simulator 150 of illustrative Fig. 3 is normally used computing machines that possess ROM, RAM, CPU at least in this instructions, but because its structure is known, the therefore explanation of omitting its concrete structure.
Then, but the processing relevant with the present invention irradiation area recognition methods with beam irradiation device is described.But the processing relevant with the present invention is characterised in that with the irradiation area recognition methods of beam irradiation device, with what be set in machining area on the workpiece a bit is the summit, even be made as the bottom surface with the zone that beam irradiation device 104 also can shine above-mentioned summit with moving processing, utilize above-mentioned summit and above-mentioned bottom surface to form closed cone, thereby but identification to any irradiation area of above-mentioned machining area.
In the laser welding robot 101 of Fig. 1, the zone that can process with light beam some machining area irradiations is following zone.
As shown in Figure 4, when processing with the focal length F of light beam for fixing, processing with the scanning that but the irradiating angle of light beam is θ °, light beam is used in processing on the X-Y direction can be for round shape the time, processing can be with illustrated coniform scanning with light beam, but its irradiation area becomes the zone of the whole bottom surface of circular cone.
That is to say, processing to be shone with light beam the machining area that is set on the workpiece a bit on situation under, if make processing be positioned at the base surface area that makes the summit be positioned at this circular cone on a bit, then processing can be radiated at light beam and carry out laser bonding on this any with beam irradiation device 104.
But in order to make this irradiation area, the processing that simulator 150 shown in Figure 3 carries out shown in the process flow diagram of Fig. 5.At first, use the focal length F (S1) of light beam with the processing of light beam output unit 102 irradiations from processing by input media 155 inputs.Then, but any irradiation area size, the radius r (S2) by the relative workpiece processing of input media 155 input zone.In addition, but according to can be from processing with the processing of beam irradiation device 104 irradiation with irradiating angle θ ° of light beam and processing focal length F with light beam, but calculate the radius r of irradiation area, and import the result that this is calculated.Then, the circular cone 200 that arithmetic unit 165 forms as shown in Figure 4, this circular cone 200 is the summit with 1 A0 of as shown in Figure 7 the machining area with S word shape for example, but will comprise with the distance of 1 A0 of machining area be that the irradiation area of r is made as bottom surface (S3) for processing with the radius of the point of the focal length F of light beam.
By the circular cone 200 that above process is made, on the machining area that is configured in workpiece 300 for example shown in Figure 6 a bit (A0 of Fig. 7).In the present embodiment, machining area is illustrated in figure 7 as the S word shape.At first, configuration circular cone 200 makes the summit on 1 A0 of this machining area.In addition, in the present embodiment illustration the machining area of S word shape, but the shape of machining area is not limited to the S word shape, for example can consider different shapes such as 8 word shapes, I word shape, L word shape, コ word shape as mentioned above.
Then, shown in the process flow diagram of the resolution key diagram of Fig. 8 and Fig. 9, from input media 155 to simulator 150 transmission ranges as resolution.For the configuration space of the circular cone 200 shown in Figure 4 of decision on the line shown in Figure 7 that constitutes the machining area shape, input resolution (S11).When input during resolution, arithmetic unit 165 is at first at any the pad coordinate A0 place formation circular cone 200 shown in Figure 4 as machining area, then with this circular cone 200 on welding track to the starting point A1 direction resolution that staggers.Store a circular cone 200 in the memory storage 160 (S12) as a framework.Coordinate if staggered after resolution surpasses welding starting point A1 (S13 for not), the circular cone 200 identical circular cones 200 (S14) on then making attitude on the coordinate after moving and being formed on pad coordinate A0.On the other hand, if coordinate has surpassed welding starting point A1 (S13 is for being) after the resolution that staggered, the identical circular cone 200 (S15) of the circular cone on making attitude on the welding starting point A1 and being formed on pad coordinate A0 200 then.In above processing, till welding starting point A1, make circular cone 200 to the welding starting point direction resolution that staggers at every turn from 1 A0 of the machining area of Fig. 7.And similarly, finish the A2 direction resolution that at every turn staggers from any pad coordinate A0 to welding and till an A2 is finished in welding, make circular cone 200 (S16～S19) as the machining area of Fig. 7.
Processing so far is the processing that formed a plurality of circular cones are stored as a plurality of frameworks when staggering a resolution at every turn.
In memory storage 160, store a plurality of circular cones 200 that stagger a resolution as framework as mentioned above at every turn and make one by one.As shown in figure 10, when finishing an A2 from welding starting point A1 to welding and dispose stored circular cone 200, become the image that disposes a plurality of circular cones 200 along the machining area shape.
Then, but a plurality of circular cones that narration will be stored arrange synthetic and obtain the processing of the irradiation area of machining area along the shape of machining area.
Shown in the process flow diagram of Figure 11, circular cone is moved on the framework of welding on the starting point, as Figure 12 (A) but institute is shown on each framework successively the circular cone of configuration conduct irradiation area model till the last framework on the welding track.That is to say, shown in Figure 12 (A), along the shape of machining area, the circular cone that configuration is made according to the process flow diagram of Fig. 9 (S21～S24).
Processing so far is the processing with the simple overlapping arrangement of circular cone when a resolution is staggered in the position of conical tip at every turn of the shape along the workpiece processing zone.
When this processing finished, a plurality of circular cones were by the shape configuration along the workpiece processing zone.In addition, as Fig. 6, shown in Figure 10, but the circular cone that irradiation area is made as the bottom surface is configured on any vertical direction in relative workpiece processing zone.
Then, shown in Figure 12 (B), a plurality of circular cones that will dispose shown in Figure 12 (A) synthesize and superpose, and it is presented on the display 170 of simulator 150 (S25).But the bottom surface 210 of the circular cone that is synthesized becomes the irradiation area to a machining area.
Like this, form a plurality of circular cones, but can discern the irradiation area of whole relatively machining area by synthetic formed a plurality of cones along the shape of machining area.
But by the identification irradiation area, when but processing is positioned at this irradiation area (on the surface) with the point of irradiation of beam irradiation device 104, only make machining beams scan (irradiating angle that changes laser) and the mobile position that processes with beam irradiation device 104 with beam irradiation device 104, just can the machining area of S word shape be welded by processing.
Then, under the situation that is set with a plurality of machining areas on the workpiece, process flow diagram as shown in figure 13,165 pairs of the arithmetic units of simulator 150 are set on whole pads on the workpiece, but carry out the above processing of a machining area being obtained irradiation area.That is to say that the model that will synthesize a plurality of circular cones as Figure 12 (B) is configured on whole machining areas as the workpiece pad (S31～S33) one by one.
All carried out at whole machining areas as shown in figure 14, but on workpiece, each machining area having been arranged irradiation area separately respectively under the situation of processing of S31～S33 to workpiece shown in Figure 6.In Fig. 6 illustration the situation of configuration circular cone, in Figure 14 illustration the situation of configuration rib vertebra.Like this, but both can utilize circular cone to obtain irradiation area, but also can utilize the rib vertebra to obtain irradiation area.Under the situation that is the rib vertebra also with the situation that forms circular cone similarly, but input focus apart from F with to any size on one side length for example of irradiation area in workpiece processing zone, thereby form the rib vertebra.Length on one side also can be to be the polygonal length of side that is comprised in the circular cone bottom surface of r at above-mentioned radius.For example, be connected on the foursquare length of side in the circle that radius is r in can importing.In addition, if the quadrilateral of the maximum magnitude that processing can scan to directions X and Y direction with the interior catoptron 11 of beam irradiation device 104 is included in the above-mentioned circular cone bottom surface, then also can obtain the circular cone that this quadrilateral is made as the bottom surface.
[embodiment 2]
But in embodiment 1, illustrated to have fixed under the situation of processing with the focal length of light beam how to obtain irradiation area, but and illustrated in specialized range, to change under the situation of processing with the focal length of light beam how to obtain irradiation area in the present embodiment.
The laser welding robot 101 who uses as prerequisite is identical with Fig. 1, therefore omits its explanation.
In the laser welding robot 101 of Fig. 1, can changing focal length smoothly between F 1 and F2 to some pads, to shine processing be following zone with the zone of light beam.
As shown in figure 15, but when processing with the irradiating angle of light beam be θ °, can be when justifying shape and process the scanning of usefulness light beam on the X-Y direction, can make processing with light beam with illustrated coniform scanning, but the 3D region 260 that circular cone 250 these two conical bottom bread that its irradiation area becomes circular cone 240 when being F2 by focal length and focal length when being F1 enclose.
But in order to make this irradiation area, shown in the process flow diagram of Figure 16, use the shortest focal length F2 and the longest focal length F1 (S41, S42) of light beam with the processing of beam irradiation device 104 irradiations from processing from input media 155 inputs of simulator 150, in addition, but but input when the longest focal length is F1 to the workpiece processing zone any irradiation area size, specifically the input irradiation area radius r (S43).But can use irradiating angle θ ° and the processing maximum focal length F1 of light beam of light beam according to the processing that can shine with beam irradiation device 104 from processing, but obtain the radius r of irradiation area.
Then, the arithmetic unit 165 of simulator 150 forms circular cone 250 as shown in figure 15, this circular cone 250 with 1 A0 of the machining area of S word shape be summit (with reference to Fig. 7) but, will comprise that distance with 1 A0 of machining area serve as that the irradiation area of processing with the point of the maximum focal length F1 of light beam is made as bottom surface (S44).Then it is made as infrastructural frame A (S45).
Then, the circular cone 240 that arithmetic unit 165 forms as shown in figure 15, this circular cone 240 is the summit with 1 A0 of the machining area of S word shape, but will comprise with the distance of 1 A0 of machining area and be made as bottom surface (S46) for processing with the irradiation area of the point of the minimum focal length F2 of light beam.Then it is made as infrastructural frame B (S47).
For example as shown in figure 17, will be configured in by the circular cone 240,250 that above process is made on a bit (A0 of Fig. 7) of machining area of workpiece 300.In the present embodiment, the shape of machining area also is illustrated in figure 7 as the S word shape.Be configured to make the summit of two kinds of circular cones 250,240 on 1 A0 of machining area.In addition, in the present embodiment illustration the machining area of S word shape, but the shape of machining area is not limited to the S word shape, so long as by continuous straight line or curve constitutes or that be made of continuous straight line and curve, open or closed shape, no matter be which kind of shape can both be used the present invention.For example, different shapes such as 8 word shapes, I word shape, L word shape, コ word shape have been considered as the shape of machining area.
Then, shown in the process flow diagram of Fig. 9 of enforcement mode 1, from input media 155 transmission ranges of simulator 150 as resolution.When having imported resolution, to making as shown in figure 15 two kinds of circular cones 240,250 every resolution till welding starting point A1.That is to say, from 1 A0 of the machining area of Fig. 7 to a stagger resolution and make two kinds of circular cones 240,250 till welding starting point A1 of welding starting point direction.To the two kinds of circular cones of any be stored in the memory storage 160 as a framework.And, make two kinds of circular cones 240,250 till an A2 is finished in welding every a resolution.That is to say, make two kinds of circular cones 240,250 till an A2 is finished in welding from 1 A0 of the machining area of Fig. 7 resolution that staggers at every turn.
Dispose one by one to the resolution that will stagger as a plurality of circular cones that frame manufacture goes out till an A2 is finished in welding at every turn from welding starting point A1.
When this processing finishes, a plurality of two kinds of circular cones 240,250 upward are configured along the shape in workpiece processing zone as shown in figure 18 from welding starting point A1.In addition, as shown in figure 18, but be two kinds of circular cones 240,250 of bottom surface with irradiation area, vertically be configured in the workpiece processing zone a bit on.
Then shown in the process flow diagram of Figure 19, do not have superposed part from shown in Figure 20 (B), only extracting a plurality of set that are configured to two kinds of circular cones shown in Figure 20 (A), its display 170 by simulator 150 is shown (S51, S52) as shown in figure 21.But the 3D region 260 of the part that is clipped by the bottom surface of two kinds of circular cones that extracted just becomes the irradiation area to a machining area.
Like this, can change under the situation of processing with the focal length of light beam, but but can discern irradiation area by only extracting from cone with processing with the relevant range of exposures of the focal length of light beam.
But if make processing be positioned at the irradiation area of being obtained with the point of irradiation of beam irradiation device 104, then do not move the position of processing with beam irradiation device 104, as long as process focus, processing scanned with light beam with beam irradiation device 104 adjustment by processing, just can the machining area of S word shape be welded with light beam.
And, under the situation of having set a plurality of machining areas on the workpiece, process flow diagram as shown in figure 22 is such, 165 pairs of the arithmetic units of simulator 150 are set in the whole machining areas on the workpiece, carry out above but a machining area being obtained the processing of irradiation area, but further configuration irradiation area that each machining area is formed (S61～S63).
Carry out at whole machining areas under the situation of processing of S61～S63, but will each irradiation area of each machining area be arranged on the workpiece as shown in figure 23 workpiece shown in Figure 21.
[embodiment 3]
But in embodiment 1 and embodiment 2, do not consider barrier and discern the irradiation area of processing, but and illustrate that in the present embodiment the method for making of processing with irradiation area under the situation of the barrier of light beam blocked in existence between processing is with beam irradiation device 104 and machining area with light beam.
Because prerequisite is that employed laser welding robot 101 is identical with Fig. 1, therefore omit its explanation.In addition, but considering that welding region before the barrier is but that the three-dimensional welding region of explanation in the embodiment 2 is a prerequisite, but therefore the process of making this welding region is carried out simplified illustration.
Shown in the process flow diagram of Figure 24, select to be set in machining area (S71) on the workpiece by simulator 150, to simulator 150 inputs from the shortest focal length F2 and the longest focal length F1 (S72) of processing with beam irradiation device 104 irradiations.Then, but any the radius r (S73) of irradiation area to workpiece processing zone of input when the longest focal length is F1.Then, the circular cone 250 that simulator 150 forms as shown in figure 15, this circular cone 250 is the summit with 1 A0 of the machining area of S word shape, is made as bottom surface for processing with the irradiation area of the point of the maximum focal length F1 of light beam but will comprise with the distance of 1 A0 of machining area; The circular cone 240 that simulator 150 forms as shown in figure 15, this circular cone 240 is made as the summit with 1 A0 of the machining area of S word shape, but will comprise with the distance of 1 A0 of machining area and be made as bottom surface (S74) for processing with the irradiation area of the point of the minimum focal length F2 of light beam.Then, make infrastructural frame (S75).Suppose machining area a bit on configuration have light source (S76) with circular cone 240,250 same widths of made.Then, form the bottom surface (S77) identical by this light source by the circular cone of imagination configuration with circular cone 240,250.In this case, exist as shown in figure 25 under the situation about blocking, can on the circular cone bottom surface of imagination configuration, form as shown in figure 26 shadow 280 by light source from the barrier 270 of the light of light source.This shadow 280 is modeled as plane (S78).Then, make modeled shadow 280 near the pad benchmark, specifically along the axial illustrated below of Z to the extension of staggering.Shown in Figure 27 (B), form the circular cone 290 (S79) that lacks a part owing to barrier 270 thus.
When further specifying, shown in Figure 28 (A), when having barrier 270 near the machining area on being set in workpiece, blocked by this barrier 270 from the part of the light of the rib vertebra shape of machining area radiation diffusion.Therefore, the bottom surface of rib vertebra is not complete quadrilateral, and is subjected to the influence of barrier 270, and rib vertebra bottom surface becomes trapezoidal shown in Figure 28 (B).
Then, shown in the process flow diagram of Fig. 9 of enforcement mode 1, to simulator 150 input resolutions.When input during resolution, make the circular cone resolution that staggers, be configured every a resolution along the shape of machining area.When this processing finishes, for example shown in Figure 27 (A), with be subjected to barrier 270 influence lacked a part of circular cone 290 and be not subjected to the circular cone 295 of influence of barrier 270 synthetic, shown in Figure 27 (B), form 3D region 310, and it is presented in the display 170 of simulator 150.But the 3D region 310 after synthetic becomes can avoiding obstacles 270 and shine the irradiation area of a machining area.Promptly, but if make processing be arranged in this irradiation area (3D shape) with the point of irradiation of beam irradiation device 104, then only adjust processing by processing with beam irradiation device 104 and use light beam with the focus and the scanning processing of light beam, the machining area to the S word shape welds with the position of beam irradiation device 104 just can not move processing.
And, under the situation of having set a plurality of machining areas on the workpiece, the whole machining areas that are set on the workpiece are carried out above processing, but further dispose the formed irradiation area of each machining area.In Figure 29, do not dispose circular cone but disposed the rib vertebra, but when carrying out above processing, a plurality of as shown in figure 29 three-dimensional machining areas are arranged on the workpiece.
In processing so far, discerned in each machining area from which position irradiation processing better with light beam, but, also can't know and weld the path that is dispersed in all machining areas on the whole work-piece expeditiously only by processing so far.
[embodiment 4]
Present embodiment shows in order to weld whole machining areas expeditiously and is used for extracting the process in the zone as shown in figure 30 of required minimum from the machining area that is dispersed on the whole work-piece.According to this process of flowchart text shown in Figure 31.
At first, but whole irradiation areas of arranging are as shown in Figure 32 paid add processing sequence and number.For example shown in Figure 32 A, but but with additional 1 to irradiation area A, to the numbering (S81) but till irradiation area F of the such methods additional 1～6 of irradiation area B additional 2.
Then, the value with counter n is set at 1 (S82).Then, whether the value of judging counter n is final numbering 6 (S83), and the value of counter m is set at 2 (S84).Then, the value of judging counter n is whether 1 zone and 2 zone overlap.But but whether the zone of just judging irradiation area A shown in Figure 32 B and irradiation area B overlaps (S85).Under the situation of two area coincidences, make the AB zone (S86) shown in Figure 32 C.The additional numbering of getting ready on this model of making.Shown in Figure 32 C, on the AB zone additional 1 get numbering (S87) ready.Then, the value of counter m is set at 3 (S88), whether the value of judging counter m is greater than finally getting numbering 6 (S89) ready.If the value of counter m is greater than finally getting numbering 6 ready, then the value with counter n is set at 2, repeats above processing (S90) till the value of counter n becomes 6.
That is to say, but but by above processing additional numbers on each irradiation area of for example irradiation area A～F shown in Figure 32 A, but from the configuration of the irradiation area A～F shown in Figure 32 B, take out two zones superposed part respectively, the zone of making shown in Figure 32 C, further in these zones, take out two zones superposed part respectively, the zone of making shown in Figure 32 D, finally further in these zones, take out two zones superposed part respectively, make the difference distinct area shown in Figure 32 E.
Which kind of order to provide priority ranking with reference to Figure 31 explanation with to distinct area.
At first, but the big order decision of few, the regional area of region quantity few according to welding region quantity, that be assigned to is assigned to the priority ranking in zone.When observing Figure 32 E, a zone has three number of regions of ABC, and another zone has three number of regions of ACD, and another zone has three number of regions of BCE, and another zone has only the F zone.This state representation is the table as Figure 33 (A).When observing the table of (A), region D, E, F can only weld in a zone as can be known.Thereby, shown in figure (B), provide an allotment to ACD zone, BCE zone, F zone.Then, when observing the table of (A), what number of regions was secondly few is the a-quadrant, therefore shown in figure (C), provides an allotment to the ABC zone that does not also have to distribute.Then, when observing the table of (A), what number of regions was secondly few is the B zone, can in ABC zone or BCE zone, weld, but when relatively ABC zone and BCE were regional, the area in BCE zone was bigger, therefore shown in figure (D), provide an allotment to the BEC zone.Be the C zone at last, though can weld in the few ABC of allotment zone and ACD zone, when relatively ABC zone and ACD were regional, the area in ABC zone was bigger, so provided an allotment to the ABC zone as scheming shown in (E).
When considering path of welding, operator considers can weld effectively by which path according to the result shown in Figure 33 (E) with reference to simulation result.
[embodiment 5]
In said method, operator must be considered the path of welding with reference to the result of emulation, and it may not be the situation of optimal path that the path of making also may produce because the skill level of operator is different.
Following method is provided in the present embodiment: but in order can in the irradiation area that distributes as shown in figure 30, to weld along high efficiency path, but but, can automatically set best mobile route by connecting initial point from laser welding robot 101 successively to the shortest point of irradiation area, from this shortest the shortest point to next one irradiation area.
But suppose to implement processing shown in enforcement mode 1～embodiment 3 with the irradiation area recognition methods of beam irradiation device, but be regional A～regional F shown in 34 irradiation area that certain workpiece finally obtains.In this case, with in the mobile route establishing method of beam irradiation device, following automatically the setting processed the mobile route of using beam irradiation device 104 (with reference to Fig. 1) in the processing relevant with the present invention.
Figure 35 is used to illustrate the figure that but irradiation area shown in Figure 34 is set the situation of mobile route.In addition, but Figure 36 is the action flow chart of process of the irradiation area recognition methods of the expression processing relevant with the present invention usefulness beam irradiation device.
As shown in figure 35, the arithmetic unit 165 of simulator 150 is discerned laser welding robots 101 point of origin P 0, but obtains the shortest point (to the shortest point of the initial point distance) PA (S100) of the a-quadrant from this point of origin P 0 to the conduct irradiation area.Then, obtain from being set in the shortest PA on the a-quadrant to the shortest PB (S101) in B zone.Then, obtain from being set in the shortest some PB on the B zone to the shortest some PC (S102) in C zone.Then, obtain from being set in the shortest some PC on the C zone to the shortest some PD (S103) in D zone.Then, obtain from being set in the shortest some PD on the D zone to the shortest some PE (S104) in E zone.Then, obtain from being set in the shortest some PE on the E zone to the shortest some PF (S105) in F zone.At last, point of origin P 0 connection PA, PB, PC, PD, PF, the P0 from laser welding robot 101 makes best path (S106).
In above example, made mobile route to right rotation, but can certainly make to anticlockwise.
Like this, but but by connecting initial point from laser welding robot 101 successively to the shortest point of irradiation area, from this shortest the shortest point to next one irradiation area, mobile route that can automatic setting the best.In addition, in above-mentioned example, but narrated irradiation area is the situation of two dimensional surface, therefore but, but but obtain initial point from laser welding robot 101 to the shortest point of irradiation area, from this shortest the shortest point to next one irradiation area because but the actual irradiation area of obtaining is a three-dimensional shape three-dimensionally.
As mentioned above, have to change processing and use beam irradiation device with the processing of the structure of the direction of illumination of light beam the time when in robot, installing, but the welding region of certain optional position (range of exposures) is approaching cubical zone with the focal length of light beam and processing.Only weld by just getting ready with beam irradiation device change focal length and direction of illumination to the welding that enters into this zone by processing.Usually, move and time that processing is scanned with light beam, make processing with the catoptron action of beam irradiation device and make the time that processing scans with light beam want much shorter, therefore shortened the cycle of welding on the whole compared with robot.In addition, synchronously move with the catoptron of beam irradiation device and the action of robot body's axle, can not stop robot body's axle and weld continuously, so further shorten the cycle significantly by making processing.
Under the situation of the action that utilizes prototype teaching laser beam welding robot, processing exists with the range of exposures of the light beam form with three-dimensional, veils such as anchor clamps are arranged in the equipment of reality, can't correctly discern range of exposures etc., be difficult to therefore judge welding gets whether be in range of exposures ready.In addition, even the range of exposures of entering into, must consider the irradiating angle of processing in order to weld also with light beam, although therefore tentative mistake also must be carried out teaching, but by using the present invention, irradiating angle be need not consider to process, best path of welding and point of irradiation just can be found in the welding region easily but only point of irradiation is set in light beam.
In addition, in the above embodiment, processing shows the example of processing with the light beam welding as light beam, but is not limited to this, and for example, the present application can also be applied to process with light beam perforation processing, processing light beam cutting processing.
Industrial utilizability
But the processing relevant with the present invention irradiation area recognition methods of beam irradiation device But set with the mobile route of beam irradiation device with irradiation area recognition device and processing Method for example can be used in the field that laser beam welds.
Claims (21)
- But 1. irradiation area recognition methods of processing with beam irradiation device, but be that identification can change the processing processing of the direction of illumination of the light beam method of the irradiation area of beam irradiation device, it is characterized in that,With workpiece on any distance of machining area be the position of above-mentioned processing with the focal length of light beam, with above-mentioned machining area a bit is the summit, even mobile above-mentioned processing is made as the bottom surface with the zone that beam irradiation device also can shine above-mentioned summit, utilize above-mentioned summit and above-mentioned bottom surface to form closed cone, but discern irradiation area any of above-mentioned machining area.
- 2. but the processing according to claim 1 irradiation area recognition methods of beam irradiation device is characterized in that,And then, but form a plurality of above-mentioned irradiation areas along the shape of above-mentioned machining area, but but, formed a plurality of irradiation areas discern the irradiation area all to above-mentioned machining area by being synthesized.
- But 3. according to the irradiation area recognition methods of claim 1 or 2 described processing usefulness beam irradiation devices, it is characterized in that,But can not irradiation area, but discern above-mentioned irradiation area by what remove from above-mentioned irradiation area that above-mentioned processing can't shine owing to there is barrier with light beam.
- 4. but an irradiation area recognition methods of processing with beam irradiation device is characterized in that,Under the situation that is set with a plurality of machining areas on the workpiece, but use the irradiation area recognition methods of the described processing of claim 2 or claim 3, but discern above-mentioned processing with the irradiation area of beam irradiation device each machining area with beam irradiation device.
- But 5. use the irradiation area recognition methods of beam irradiation device according to claim 1,2 or 4 described processing, it is characterized in that,The shape of above-mentioned machining area is that be made of continuous straight line or curve or that be made of continuous straight line and curve, open or closed shape.
- But 6. irradiation area recognition methods of processing with beam irradiation device, but be that identification can change the processing processing of the direction of illumination of the light beam method of the irradiation area of beam irradiation device, it is characterized in that,With workpiece on any distance of machining area be the position of above-mentioned processing with the focal length of light beam, will with above-mentioned machining area a bit be summit and what form in vertical direction is but that the face that comprises in the facies basialis pyramidis of height is set at irradiation area with above-mentioned focal length, even obtain above-mentioned bottom surface with angular range and above-mentioned focal length that beam irradiation device also can shine above-mentioned summit according to mobile above-mentioned processing.
- 7. but the processing according to claim 6 irradiation area recognition methods of beam irradiation device is characterized in that,Even but above-mentioned irradiation area is also can shine the bottom surface of the angular range and the circular cone that above-mentioned focal length is obtained on above-mentioned summit with beam irradiation device according to moving above-mentioned processing.
- 8. but the processing according to claim 6 irradiation area recognition methods of beam irradiation device is characterized in that,Even but above-mentioned irradiation area is and also can shines the polygon that connects in the angular range on above-mentioned summit and the circular cone bottom surface that above-mentioned focal length is obtained with beam irradiation device according to moving above-mentioned processing.
- 9. but the processing according to claim 6 irradiation area recognition methods of beam irradiation device is characterized in that,Corresponding to above-mentioned processing with the longest focal length of light beam and the shortest focal length and set two above-mentioned bottom surfaces, but above-mentioned irradiation area is by these bottom surface area surrounded.
- But 10. irradiation area recognition device, but but be to be used to discern from processing with the processing of beam irradiation device irradiation irradiation area recognition device with the irradiation area of light beam, it is characterized in that possessing:Input block, but it imports the size of above-mentioned processing with the focal length and the irradiation area of light beam; AndArithmetic element, but it is according to the size of the focal length of being imported and irradiation area, form with the machining area on the workpiece be the summit a bit, be the cone of height with the focal length, but the bottom surface of this cone is above-mentioned irradiation area.
- But 11. irradiation area recognition device according to claim 10 it is characterized in that,But above-mentioned arithmetic element forms a bit corresponding above-mentioned irradiation area a plurality of and above-mentioned machining area along the shape of above-mentioned machining area, but but discerns the irradiation area all to above-mentioned machining area by formed a plurality of above-mentioned irradiation areas are synthesized.
- But 12. irradiation area recognition device according to claim 11 it is characterized in that,Above-mentioned input block is also imported the longest focal length and the shortest focal length of above-mentioned processing with light beam,But above-mentioned arithmetic element is by the part between extraction the longest above-mentioned focal length and the shortest focal length from a plurality of irradiation areas synthetic claim 11, thereby but the identification irradiation area all to above-mentioned machining area.
- But 13. irradiation area recognition device according to claim 12 it is characterized in that,Above-mentioned input block is also imported the zone that above-mentioned processing is blocked by barrier with light beam,But above-mentioned arithmetic element from claim 12, extract to removing the zone that above-mentioned processing is blocked by barrier with light beam in all irradiation areas of above-mentioned machining area, but discern the irradiation area that above-mentioned processing can be shone in fact with light beam.
- But 14. irradiation area recognition device according to claim 10 it is characterized in that,Above-mentioned arithmetic element will with above-mentioned machining area what a bit be that the summit vertically forms is but that the face that comprises in the facies basialis pyramidis of height carries out computing as above-mentioned irradiation area with above-mentioned focal length, even obtain above-mentioned bottom surface with angular range and above-mentioned focal length that beam irradiation device also can shine above-mentioned summit according to mobile above-mentioned processing.
- 15. mobile route establishing method of processing with beam irradiation device, be used on the path of regulation, moving and change workpiece is carried out in processing with beam irradiation device with the processing of the direction of illumination of light beam the man-hour that adds, preestablish the mobile route of above-mentioned processing with beam irradiation device, it is characterized in thatBe the position of above-mentioned processing with utilizing any distance of machining area of carrying out the processing of above-mentioned workpiece with light beam with the above-mentioned processing of beam irradiation device irradiation with the focal length of light beam from above-mentioned processing, with above-mentioned machining area a bit is the summit, even mobile above-mentioned processing is made as the bottom surface with the zone that beam irradiation device also can shine above-mentioned summit, utilize above-mentioned summit and above-mentioned bottom surface to form closed cone, but set the irradiation area corresponding, but in above-mentioned irradiation area, set the mobile route of above-mentioned processing with beam irradiation device with above-mentioned focal length.
- 16. the processing according to claim 15 mobile route establishing method of beam irradiation device is characterized in that,Above-mentioned processing can change the focus of using light beam from the processing of processing the oscillator output that is possessed with the light beam output unit with beam irradiation device in specialized range, obtain and to synthesize the zone that forms with the variable scope of the longest focal length and corresponding above-mentioned cone of the shortest focal length and above-mentioned focusIn the zone of being obtained, set the mobile route of above-mentioned processing with beam irradiation device.
- 17. the processing according to claim 15 mobile route establishing method of beam irradiation device is characterized in that,But above-mentioned irradiation area be with above-mentioned machining area what a bit be that the summit forms in vertical direction is the face that comprises in the facies basialis pyramidis of height with above-mentioned focal length, even obtain above-mentioned bottom surface with angular range and above-mentioned focal length that beam irradiation device also can shine above-mentioned summit according to mobile above-mentioned processing.
- 18. the processing according to claim 15 mobile route establishing method of beam irradiation device is characterized in that,Above-mentioned processing is arranged on beam irradiation device and moves above-mentioned processing with on the robot of beam irradiation device, change from the processing light beam of above-mentioned oscillator output with the catoptron that beam irradiation device possessed by moving above-mentioned processing, thereby adjust the direction of illumination of above-mentioned processing with light beam.
- 19. the processing according to claim 15 mobile route establishing method of beam irradiation device is characterized in that,But a plurality of above-mentioned irradiation areas are set corresponding to the Working position of above-mentioned workpiece, set the mobile route of above-mentioned processing with beam irradiation device according to above-mentioned cone area separately.
- 20. the processing according to claim 15 mobile route establishing method of beam irradiation device is characterized in that,But a plurality of above-mentioned irradiation areas are set corresponding to the Working position of above-mentioned workpiece, set the mobile route of above-mentioned processing with beam irradiation device according to the mutual distance of each cone.
- 21. the mobile route establishing method according to claim 19 or 20 described processing usefulness beam irradiation devices is characterized in that,About the mobile route of above-mentioned processing, the Working position that scatters is set mobile route along right rotation direction or anticlockwise direction with beam irradiation device.
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| CN1057721C (en) * | 1993-03-08 | 2000-10-25 | 三菱电机株式会社 | Laser beam machine and focusing method therefor |
| CN1701898A (en) * | 2004-05-26 | 2005-11-30 | 山崎马扎克公司 | Reflector-mirror drive shaft controller for laser beam machine |
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| CN1057721C (en) * | 1993-03-08 | 2000-10-25 | 三菱电机株式会社 | Laser beam machine and focusing method therefor |
| CN1701898A (en) * | 2004-05-26 | 2005-11-30 | 山崎马扎克公司 | Reflector-mirror drive shaft controller for laser beam machine |
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