JPH0798609A - Working allocation deciding device for two torch type laser beam machine - Google Patents

Abstract

PURPOSE:To shorten working cycle time by operating a cumulative locus length in accordance with the allocation of respective operation loci, proportionally distributing the locus of a common area in areas decided for the respective operation loci by the operated cumulative length and allocating them. CONSTITUTION:An operation program and teaching data, which are stored in respective controllers, are read into a working allocation deciding device main body 51 and are stored in a memory 53 by permitting a switch 50 to select the controllers 11 and 21. Data on the setting of the operation area is stored in the DA area of the memory 53. It is decided whether the respective loci exist in the area of a first torch 17 or a second torch 27 or whether the operation locus can be worked by the single torch or not based on teaching data and area data. CPU 32 operates the cumulative operation locus length worked in the respective torches 17 and 27, and the partial locus existing in the common area is allocated to the two torches 17 and 27 by proportional distribution in a direction where the operated cumulative length becomes a specified rate.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a two-torch type laser processing machine for efficiently determining the processing share of each torch which can obtain the shortest processing time.

[0002]

2. Description of the Related Art A two-torch type three-dimensional laser beam machine has two
Two laser beam machines (first unit and second unit) are arranged point-symmetrically around the center point of the processing area.
Further, this laser processing machine can shorten the processing cycle time not only by simultaneously processing two types of workpieces but also by simultaneously processing one workpiece by two units.

[0003]

In the above laser processing machine, since the two units are used, the teaching work is performed individually. In order to shorten the processing cycle time in the case where one workpiece is processed by two units at the same time, it is necessary that the two units started at the same time end at the same time. In order to achieve this, how the two units share the movement locus is an important issue. Such sharing of the movement locus is performed by a skilled worker at the time of teaching.
Therefore, it takes a long time for teaching, and it is necessary to modify the teaching data many times in order to realize a shorter machining cycle.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a two-torch type laser beam machine with a locus of movement to each torch that can shorten the machining cycle time. Optimal allocation is done automatically.

[0005]

The structure of the invention for solving the above-mentioned problems is a first region which can be processed by the first torch provided in the first unit, and a first region which can be processed by the second torch provided in the second unit. A processing area including two areas, a common area that can be processed by both the first torch of the first unit and the second torch of the second unit
When machining with the first torch of the unit and the second torch of the second unit, in the machining allotment determination device for allocating the movement trajectory to each torch at a specific ratio for machining allotment by each torch, the first torch and Teaching data storage means for storing teaching data indicating points on the locus of the second torch for each movement locus unit, and area data storage for storing area data indicating division of the first area, the second area, and the common area. By determining the existence area of the point on the locus indicated by the teaching data based on the means, the teaching data and the area data, whether all of the movement loci exist in the first area for each movement locus, Area determining means for determining whether the movement locus exists in two areas or exists in all areas and cannot be processed by each torch alone, and the movement locus is assigned to the first torch and the second torch. Flip and the cumulative length calculating means for calculating a cumulative operation path length to be processed by the first torch and the second torch,
The cumulative length calculation means calculates the cumulative motion locus length according to the allocation of each motion locus, and all the motion loci existing in the first region are allocated to the first torch, and all the motion loci are the second. The movement locus existing in the area is assigned to the second torch, and in the movement locus existing over the entire area, the partial locus not existing in the common area is assigned to the torch which can be processed, and the partial locus existing in the common area is This is to provide a motion locus allocating means for allocating the two torches by proportional distribution in a direction in which the cumulative lengths of the first torch and the second torch calculated by the cumulative length calculating means are in a specific ratio.

According to a second aspect of the present invention, in the device of the first aspect, the motion locus allocating means includes the first region and the second region.
Regarding the allocation of the motion locus existing only in the common region where the regions are overlapped, the entire motion locus is allocated only to the torches on which the cumulative lengths of the first torch and the second torch calculated by the cumulative length calculation means are equal. Is characterized by.

According to a third aspect of the present invention, in the above-mentioned apparatus of the first aspect, the motion locus allocating means is taught at the time of teaching, regarding the motion locus allocation existing only in the common area. It is characterized in that it is assigned only to the torches on the side of the arm.

Further, the invention of claim 4 generates a first operation program for moving the first torch and a second operation program for moving the second torch in accordance with the motion locus assigned by the motion locus allocating means. It is characterized by having an operation program generating means for performing.

[0009]

ACTION AND EFFECTS OF THE INVENTION How to process each motion locus based on teaching data by the first torch and the second torch becomes a problem. The processing areas are a first area that can be processed by the first torch, a second area that can be processed by the second torch, and a common area that can be processed by both torches, that is, a first area and a second area. Are divided into overlapping areas. The allocation procedure is performed as follows.

1. The motion locus unit existing in the first area is the first
Allocate to torches. 2. The unit of motion trajectory existing in the second area is assigned to the second torch. 3. In the motion locus unit that exists over the entire area, the partial loci that do not exist in the common area are assigned to the torch that can be processed, and the partial loci that exist in the common area are the cumulative length of the first torch and the second torch. The two torches are allocated by proportional distribution in the direction in which is a specific ratio.

By allocating in this way, the cumulative length of the motion locus processed by the first torch and the second torch can be set to a substantially specific ratio, and the operation program with a shortened processing cycle time can be automatically generated. It will be possible.

Further, the allocation of motion locus units existing only in the common area is selected in the direction in which the cumulative lengths become equal, and the first torch or the second torch is selected, and the motion locus unit is processed by either one of the torches. In such a case, the processing time by the first torch and the second torch can be set to a desired ratio, and the processing cycle time can be shortened as a whole.

Further, when the torch of which the teaching is performed is assigned to the motion locus units existing only in the common area, the teaching intention of the operator can be reflected, so that the interference in the common area is prevented. Will be easier.

Further, when the automatic program generating means is provided, an operation program that defines the movement and machining procedure of each torch is automatically generated according to the allocation of the operation loci to the first torch and the second torch. As a result, the preparation for processing the workpiece becomes extremely easy.

[0015]

EXAMPLES The present invention will be described below based on specific examples. FIG. 1 is a mechanism diagram showing the mechanism of a two-torch three-dimensional laser processing machine. In FIG. 1, pillars 1 erected on the ground are arranged at four corners of a rectangular shape centered on a workpiece 3. A traveling strut member 2 is bridged over the two long-side struts 1 of the rectangular shape, and connected to two short-side struts 10 (not shown) by a connecting member (not shown). There is. This laser processing machine has a configuration in which a first unit 10 and a second unit 20 are provided in a frame body constituted by the four columns 1, the traveling column members 2 and the connecting members described above. Since the first unit 10 and the second unit 20 have the same configuration except that they are arranged facing each other, only the first unit 10 is shown in FIG. explain.

A rail 2a is provided on the traveling support member 2. The traveling body 12 is guided by the rails 2a and driven by a servomotor M11 provided on the traveling body 12 to move in the first axis (X axis) direction. The traveling body 22 of the second unit 20 is also guided by the rail 2a and is used in common. The carrier 13 is slidably arranged on the traveling body 12,
The feed screw 14 rotated by the servomotor M12 moves in the second axis (Y-axis) direction.
The carrier 13 is provided with an elevating table 15, and the elevating table 15 is provided with a third screw (Z
It is designed to move in the (axis) direction. A work head 16 that rotates around each of the fourth axis and the fifth axis is provided at the tip of the lift table 15. A first torch 17 that emits a laser beam is attached to the tip of the work head 16.
Is provided.

Reference numeral 18 denotes a laser oscillator (see FIG. 1), and the laser light oscillated by the laser oscillator 18 is guided to the carrier 13 by a mirror (not shown) and a light guide path 19. The laser light is emitted from the first torch 17 to the work piece on the work table 3.

Next, the structure of the control device of the laser processing machine will be described with reference to FIG. First unit 10, second
The units 20 are individually controlled by the control devices 11 and 21. Since the control devices 11 and 21 have the same configuration, the control device 11 will be described.

In FIG. 3, reference numeral 30 is a central processing unit including a microcomputer and the like. This central processing unit 3
A memory 35, servo CPUs 22a to 22e for driving the servomotors M11 to M15, and an operation panel 36 for instructing jog operation, instructing teaching points, etc. are connected to 0. The servo motors M11 to M15 attached to the laser processing machine respectively have servo CPUs 32a to 32.
driven by e.

Each of the servo CPUs 32a to 32e is arranged between the output angle data θ1 to θ5 output from the central processing unit 30 and the outputs α1 to α5 of the encoders E11 to E15 connected to the servomotors M11 to M15. The deviation is calculated, and each of the servomotors M11 to M15 is rotated at a speed according to the magnitude of the calculated deviation.

From the PA area in which the operation program for operating the work head 16 according to the coordinate position data such as the teaching point is stored in the memory 35, and the attitude vector indicating the teaching point and the attitude of the work head 16 at that time are stored. A PDA area for storing the teaching point data is provided. or,
An output signal corresponding to the laser beam output value Pi is output from the central processing unit 30 to the laser oscillator 18.

Next, the machining allotment determining device will be described with reference to FIG. The work sharing determination device includes a main body 51, a display 54 for displaying an operation path, and a keyboard 55.
It is composed of a personal computer consisting of. Further, the control devices 18, 28 of the above laser processing machine
Is connected to the switch 50, and the switch 50 is connected to the main body 51 of the operation program creating device. In the switch 50, the control device 11 on the first unit 10 side and the control device 21 on the second unit 20 side can be selected by a switch. Therefore, by selecting the control device 11 and the control device 21 by the switch 50, the operation program stored in the PA area in the memory 35 of each control device and the teaching data stored in the PDA area are selected. It can be read into the main body 51.

The main body 51 comprises a central processing unit 52 and a memory 53. The switching unit 5 is provided in the central processing unit 52.
0, the display 54, and the keyboard 55 are connected. Further, the memory 53 includes the control devices 11 and 21.
An IPA area for storing an automatic generation program for automatically creating an operation program based on the data read from the controller, an IDAA area for storing teaching data read from the controller 11, and a teaching data read from the controller 21 There are provided an IDAB area, a DA area for storing data relating to the setting of the operation area, and a PA area for storing the automatically generated operation programs for the first torch and the second torch.

Next, the operation of this apparatus will be described with reference to the flow charts of FIGS. First, the teaching of the motion locus is executed for the first torch 17 and the second torch 27 as shown in FIG. The teaching data of the first torch 17 and the second torch 27 for each of the motion locus units L1 to L5 is as shown in FIG. That is, in the motion locus L1, the first
Teaching points W1 (1) to W1 (10), W1 (1) are given by the torch 17, and by the second torch 27 on the motion locus L2,
Teaching points W2 (1) to W2 (8), W2 (1) are given. In the movement locus L3, the left half is given the teaching points W1 (11) to W1 (21) by the first torch 17, and the right half is given W2 (9) to W2 (24) by the second torch 27. ing. On the movement locus L4, the teaching point W1 (22)-
W1 (25) and W1 (22) are given. In the motion locus L5,
Teaching points W1 (26) to W1 (3
1) is given, and the right half is driven by the second torch 27 to W2 (2
5) ~ W2 (36) are given. Each teaching point is given by coordinates (X, Y, Z) in the O-XYZ coordinate system fixed on the floor.

The data for determining the processing area is given by the X coordinate indicating the boundary of each area, as shown in FIG. That is, the first region that can be processed by the first torch 17 is X ≦ T, and the second region that can be processed by the second torch 27 is S ≦ X. The common area that can be processed by both torches 17 and 27 is S ≦ X ≦ T.

In step 100, each movement locus L1 to L
For 5, the existence area is determined. This is executed by comparing the X-coordinate of the teaching point on each motion locus with the boundary values T and S. As is clear from FIG. 8, the movement locus L1 is in the first area, the movement locus L2 is in the second area, and the movement locus L3 is in the entire area (the union of the first area and the second area).
It is determined that the movement locus L4 exists in the common area (a product set of the first area and the second area), and the movement locus L5 exists in the entire area.

In step 102, the motion locus that can be processed by the first torch 17, that is, all the motion loci are the first motion loci.
All motion loci existing in the area (for example, L1 in FIG. 8)
Are assigned to the first torch 17. And step 1
In 04, the locus length A of each of these motion loci (for example, L1 in FIG. 8) is calculated, and the cumulative motion locus length S1 of all motion loci existing in the first region is obtained.
The initial value of the cumulative movement trajectory length S1 is 0.

In step 106, similarly, the second torch 2
The operation region that can be processed by 7, that is, all the movement loci of which the movement locus exists in the second region (for example, L2 in FIG. 8) is assigned to the second torch 27.
Then, in step 108, the locus length B of each of these motion loci (for example, L2 in FIG. 8) is calculated,
Cumulative motion locus length S of all motion loci existing in the first region
2 is required. The initial value of the cumulative motion path length S1 is 0.
Is.

Next, in step 110 of FIG. 6, a motion locus existing only in the common area is allocated to each torch according to the cumulative length in motion locus units, or to the torch which is forcibly taught. It is determined whether the mode is the second mode. This mode setting is set by inputting data from the keyboard 55. When it is determined that the mode is the first mode, it is calculated at what ratio the motion locus existing only in the common area is assigned to the first torch 17 and the second torch 27. That is, in step 112, the lengths W1 (1) to W1 (n) and W2 (1) to W1 of each motion locus existing only in the common area are obtained.
2 (n) (However, in the case of FIG. 8, W1 belonging to the motion locus L4
(22) to W1 (25)) are calculated, and the total length F thereof is calculated. Next, in step 114, the first torch 17
And the allocation to the second torch 27 is executed.

Assuming that the length F is assigned to the first torch 17 and the second torch 27 at a ratio of x: 1, the cumulative lengths of the first torch 17 and the second torch 27 after the assignment are made equal. Then, the following formula is established.

[0031]

## EQU1 ## S1 + F × x = S2 + F (1-x)

## EQU00002 ## x = (S2-S1 + F) / 2F

However, in the case of x <0, all the lengths F, that is, all the movement loci existing only in the common area are assigned to the second torch 27, and in the case of 1 <x, all the lengths F, that is, , All the motion trajectories existing only in the common area are assigned to the first torch 17, and only when 0 <X <1, it becomes the closest to the ratio of x: 1 according to the value x shown in Formula 2. Then, all the motion loci existing only in the common area are allocated in units of motion loci. This allocation method can be easily determined by selecting the one whose length ratio in all the two combinations is closest to x: 1. When there is one motion locus that exists only in the common area, the cumulative motion locus up to the calculation is assigned to the shorter torch. Next, in step 116, the cumulative operating length S1 of the first torch 17 and the cumulative operating length S2 of the second torch 27 are updated according to the allocation (lengths A and B).

On the other hand, if the mode 2 is determined in step 110, then in step 118, all the motion loci existing only in the common area are assigned to the taught torch. For example, in the example shown in FIG. 8, since the motion locus L4 is taught by the first torch 17, it is assigned to the first torch 17.

Next, the processing relating to the allocation of the motion loci (L3, L5 in FIG. 8) existing over the entire area is executed. In step 120, the first torch 17
Parts that can only be processed are extracted. This is performed by extracting the teaching point closest to the boundary line S in the common area. The example shown in FIG. 8 is as follows.

[0035]

[Equation 3] W1 (12) -W1 (15), W1 (17) -W1 (20) for motion locus L3 W1 (27) -W1 (31) for motion locus L5

Similarly, a portion that can be processed only by the second torch 27 is extracted. This is performed by extracting the teaching point closest to the boundary line T in the common area.
The example shown in FIG. 8 is as follows.

[0037]

[Equation 4] W2 (11) -W2 (14), W2 (19) -W2 (22) for motion locus L3 W2 (26) -W2 (30) for motion locus L5

As described above, the portion which can be processed only on one side is assigned to the torch. Then, the total lengths A and B of the respective parts allocated to the first torch 17 and the second torch 27 are calculated, and thereafter, the cumulative movement locus lengths S1 and S2 of the first torch 17 and the second torch 27 are calculated. .

Next, in step 122, the total length F of the motion loci existing in the whole area is calculated, and the sum (A + B) of the above-mentioned total length is subtracted from this total length L to calculate the total of the parts existing in the common area. The length F is calculated. This total length F is
Since it is a part that is not assigned to each torch yet,
The allocation of this part is performed as follows. That is, it is assumed that the length F is allocated to the first torch 17 and the second torch 27 at a ratio of x: 1 by the same process as above, and the cumulative lengths of the first torch 17 and the second torch 27 after allocation are made equal. . Then, Formula 1 is materialized.

Similarly to the above, when x <0, the entire length F is assigned to the second torch 27, and when 1 <x, the entire length F is assigned to the first torch 17, and 0 <X < Only in the case of 1, the motion locus existing in the common area is assigned in units of teaching point intervals so as to be closest to the ratio of x: 1 according to the value x shown in the equation 2. This allocation method is step 1
At 20, at the first torch and the second torch, a line segment is extended from each end point of the assigned motion locus portion to the common area side, and a line segment is assigned to the first torch and a line segment is assigned to the second torch. When is connected, the movement locus is divided into two groups at this connection point. At this time, if the points that can be connection points are changed, the way of dividing the two groups is different. Therefore, it can be easily determined by moving the connection point and selecting the one having the ratio of the lengths of the movement loci closest to x: 1 in all the combinations divided into the two groups. For example, in the case of the movement locus L5, the end point assigned to the first torch 17 is W1 (31) and the second torch 2 is
The end point assigned to 7 is W2 (30). Therefore, the connection point can be set in any of the five W2 (31) to W2 (35). That is, similar to the motion locus L3, the one closest to x: 1 is selected in consideration of the combination. If the connection points are shown by the final result divided into the two groups shown in FIG.
The movement locus L3 is W1 (11), W2 (18), W1 (17), W2 (14), and the movement locus L5 is W2 (34). Next, in step 126, the total lengths A and B of the respective groups when the portions existing in the common area are allocated to the two groups are calculated, and the cumulative movement locus lengths S1 and S2 of the first torch 17 and the second torch 27 are calculated. To update.

In this way, the allocation to the first torch 17 and the second torch 27 is completed according to the region where the motion locus exists. In the example shown in FIGS. 8 and 9, all the motion loci are assigned as shown in FIG.

Next, as described above, the first torch 17 and the second torch 17
The processing order of the motion loci assigned to the torch 27, the piercing point (the point at which laser emission starts), the machining start point, and the machining end point in units of the motion loci are designated by the operator. In accordance with this designation, as shown in FIG. 11, during actual machining, an operation program indicating the movement path of the torch is automatically generated. The movement path of each torch in this case is as shown in FIG.

In the above embodiment, the motion loci existing only in the common area are allocated prior to the allocation of the motion loci existing in all areas. However, the motion loci existing in all areas are allocated. After the allocation, the motion locus existing only in the common area may be allocated. Further, in the above-mentioned embodiment, the motion locus existing only in the common area is configured such that the whole motion locus is allocated to either one of the torches, but like the motion locus existing over the entire area, a specific distribution is set. Then, it may be configured to be assigned to the first torch 17 and the second torch 27. If necessary, the processing ratio of the first torch 17 and the second torch 27 can be set to an arbitrary ratio instead of 1: 1. Further, although the teaching point in this embodiment is actually taught by the operator using the operation panel 36, a method of designating teaching data by data input on the screen by offline teaching may be used.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an entire laser beam machine used in an apparatus according to a specific embodiment of the present invention.

FIG. 2 is a mechanism diagram showing a first unit of a laser processing machine.

FIG. 3 is a block diagram showing a configuration of a control device of the laser processing machine.

FIG. 4 is a block diagram showing a configuration of a processing share determination device according to the present embodiment.

FIG. 5 is a flowchart showing a processing procedure of the processing share determination device according to the present embodiment.

FIG. 6 is a flowchart showing a processing procedure of the processing share determination device according to the present embodiment.

FIG. 7 is a flowchart showing a processing procedure of the processing share determination device of the present embodiment.

FIG. 8 is an explanatory diagram showing a relationship between a motion locus and a teaching point.

FIG. 9 is an explanatory diagram showing teaching data for each torch.

FIG. 10 is an explanatory view showing a result of allocation of motion loci for each torch.

FIG. 11 is an explanatory diagram showing a generated operation program for each torch.

FIG. 12 is an explanatory diagram showing a machining route according to an operation program.

[Explanation of symbols]

10 ... 1st unit 20 ... 2nd unit 51 ... Main body of processing sharing determination device 52 ... Central processing unit (area determination means, cumulative length calculation means,
Operation locus allocating means, operation program generating means) 53 ... RAM (teaching data storage means, area data storage means) Step 100 ... Area determination means Steps 104, 108, 116, 126 ... Cumulative length calculation means Steps 102, 106, 114, 116, 120-1
26 ... Motion locus allocating means

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification number Office reference number FI technical display location 9064-3H G05B 19/403 E

Claims (4)

[Claims] 1. A first region that can be processed by a first torch included in the first unit, a second region that can be processed by a second torch included in the second unit, a first torch of the first unit, and a second region.
When a machining area composed of a common area that can be machined by the second torch of the unit is machined by the first torch of the first unit and the second torch of the second unit in accordance with teaching data, the machining sharing by each torch For this reason, in a machining allotment determination device for allocating a motion trajectory to each torch at a specific ratio, teaching data indicating points on the trajectory of the first torch and the second torch for each motion trajectory unit is stored. Teaching data storage means, area data storage means for storing area data indicating the division of the first area, the second area, and the common area, and the teaching data of the teaching data based on the teaching data and the area data. By determining the existence area of the point on the locus shown, all of the movement loci are present in the first area or in the second area for each movement locus. Area determining means for determining whether the movement locus exists or exists over the entire area and cannot be processed by each torch alone, and the movement locus is assigned to the first torch and the second torch. And a cumulative length calculation means for calculating a cumulative motion trajectory length processed by the first torch and the second torch, and a cumulative motion trajectory length calculated by the cumulative length calculation means in accordance with the allocation of each motion trajectory. , The movement locus in which all the movement loci exist in the first area is assigned to the first torch, and the movement locus in which all the movement loci exist in the second area is assigned to the second torch, In the trajectories that exist across, the partial trajectories that do not exist in the common area are assigned to the torch that can be processed,
The operation of allocating the partial loci existing in the common area to the two torches by proportional distribution in the direction in which the cumulative lengths of the first torch and the second torch calculated by the cumulative length calculating means are in the specific ratio. A processing allocation determining device for a two-torch type laser processing machine, which has a trajectory allocating means. 2. The machining allotment determination device according to claim 1, wherein the motion locus allocating means allocates a motion locus that exists only in the common region where the first region and the second region are overlapped. It is characterized in that the entire movement locus is allocated only to the torches on which the cumulative lengths of the first torch and the second torch calculated by the cumulative length calculation means are at a specific ratio. 3. The machining allotment determination device according to claim 1, wherein the operation locus allocating means is assigned to a motion locus that exists only in the common area, and the entire operation locus is taught at the time of teaching. It is characterized in that it is assigned only to the torch. 4. The machining allotment determination device according to claim 1, further comprising: a first operation program and a second torch for moving the first torch in accordance with an operation locus assigned by the operation locus allocating means. It is characterized by having an operation program generating means for generating a second operation program for moving.