JPS63245359A - Machining line teaching method - Google Patents

Abstract

PURPOSE:To automatically, rapidly, and reliably teach a machining line, by a method wherein, based on orientation of a sensor head, the position and the orientation of the sensor head to a subsequent weaving point are calculated, and a singular line position orientation signal containing the position of a measuring point and orientation data is produced. CONSTITUTION:When profile measurement is effected on a singular line by effecting the weaving action of a sensor head 20, an abnormal in a measuring point detected on a singular line T, and orientation of the sensor head 20 is varied so that a deviation angle between the abnormal and the optical axis of the sensor head 20 is within a tolerance angle. Based on orientation of the sensor head 20, the position and orientation of the sensor head 20 to a subsequent weaving point are calculated by means of a measuring computing part 40. A height from the sensor head 20 is maintained at a specified value and an optical axis is maintained approximately vertically to the singular line T to generate a singular line position signal C containing a coordinate and orientation at each of a series of measuring points, and the signal is transmitted to a data processing part 50. A machining program R is prepared by the processing part 50 to transmit the program to an NC control part 30.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a machining line teaching method for detecting measurement points while tracing a singular line from weaving motion C, and particularly for machining in which the posture of the sensor head can follow the tracing surface. This invention relates to a line teaching method.

[Prior Art] Devices for cutting or welding workpieces using laser light or the like have been well known, and generally speaking, there is a teaching method in which a machining line on a workpiece is taught in advance and the workpiece is machined in accordance with the teaching. A playback method is used.

In order to perform this teaching, conventionally, the operator manually controls the machining head to drive it along the machining line and inputs the position and orientation of the machining head one point at a time. It depends on the situation, but it usually takes several hours.

[Problems to be Solved by the Invention] As described above, the conventional machining line teaching method was carried out manually by an operator, and therefore had the problem of requiring a lot of time and effort.

The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a processing line teaching method that can reliably teach processing lines automatically and at high speed.

[Means for Solving the Problems] The processing line teaching method according to the present invention includes a first step of tracing a singular line by weaving the sensor head and calculating a normal line at a measurement point detected on the singular line. , a second step of calculating the deviation angle between the normal line and the optical axis of the sensor head, a third step of comparing the deviation angle and the tolerance angle of the sensor head, and a third step of calculating the deviation angle between the normal line and the optical axis of the sensor head. If the deviation angle is larger than the tolerance angle, the sensor head attitude is not changed, and the fourth step is to change the sensor head attitude so that the optical axis follows the normal line, and based on the sensor head attitude. The method includes a fifth step of calculating the position and orientation of the sensor head with respect to the next weaving point, and a sixth step of generating a singular line position and orientation signal including the position and orientation data of the measurement point.

[Operation] In this invention, when tracing and measuring a singular line by weaving operation, the attitude of the sensor head with respect to the next weaving point is determined according to the normal at the detected measurement point, and the singular line position including this attitude data is determined. Generate attitude signals.

[Example] Hereinafter, an example of the present invention will be described with reference to the drawings. 1st
The figure is a block diagram showing a processing device to which an embodiment of the present invention is applied.

In the figure, (10) is a three-dimensionally movable processing machine body, which is equipped with a plurality of (for example, 5 motors corresponding to the 5 axes of X to Z, α, and β) (not shown), and each motor Based on the rotational position, the arm tip (10) of the processing machine main body (10)
It outputs a position detection signal indicating the position and orientation of a).

T is a singular line provided along the processing line of the workpiece,
For example, it consists of a non-reflective black tape with a width of 0.4 TIII pasted on the processing line.

(20) is a sensor head attached to the arm tip (10M), which includes a semiconductor laser that emits infrared laser light (see broken line), a light receiving element that receives the laser light diffusely reflected on the surface of the workpiece, It has a built-in signal processing unit (all not shown) that outputs a height detection signal H and a singular line detection signal based on the signal obtained by the light receiving element.

The signal processing unit in this sensor head (20) inputs a control signal to a semiconductor laser drive circuit (not shown) to keep the amount of received light constant, and the sharp rise of this control signal is It is designed to output as a singular line detection signal indicating the presence of a non-reflective singular line T, for example, a black tape.

(30) is an NC control unit for driving the processing machine main body (10), which outputs a drive signal M for positioning the arm tip (10a) based on the position detection signal. There is.

(40) is a scanning measurement calculation section, which receives a position detection signal.

Based on the height detection signal H and the singular line detection signal RI, a singular line position/orientation signal C consisting of measurement point data indicating the coordinates and attitude of the singular line T is output, and is used for weaving operation that follows the singular line T. Weaving coordinate signal W to N
It is designed to output to the C control section (30).

(50) is a data processing unit that generates a cannibalogram R based on the singular line position/orientation signal C and outputs it to the NC control unit (30).

(60) is an operation panel connected to the NC control unit (30), which is used to input initial setting commands, operation commands, etc. when driving the processing machine main body (10) to the NC control unit (30). ing.

(70) is a teaching box connected to the NC control unit (30), and allows drive commands for the processing machine body (10) to be input into the NCflt control unit (30) by manual operation.

Next, an embodiment of the present invention will be described with reference to FIG. 1, an explanatory diagram in FIG. 2 showing a weaving operation, an explanatory diagram in FIG. 3 showing a measurement point detection operation, and a flowchart diagram in FIG. do.

First, a singular line T is formed on the machining line of the workpiece, a sensor head (20) is provided at the arm tip (10M), and the NC control unit (30) is set to teaching mode via the operation panel (60).

Next, the singular line T is transmitted through the teaching box (70).
In addition to inputting the starting point Ps, direction indicating point pD, and end point PE, the weaving width A0 (usually about 101) and the pitch 1 for weaving operation (usually several wheels -) are initially set. Then, the NC control unit (
30) to execute tracing measurement (weaving operation) for automatic teaching as shown in FIG. 2'.

That is, the irradiation point of the laser beam from the sensor head (20) was moved from the starting point PS in a direction perpendicular to the direction indicating point po, and after detecting the intersection with the singular line T, that is, the measurement point P1, it was moved by a predetermined amount. Let this point be the first weaving point Q. The starting point PS and the first weaving point Q are shown spaced apart for convenience in the drawing along the straight line connecting the starting point PS and the first weaving point Q, but the measurement point P1' coincides with the measurement point P1), and the predetermined amount (
The moved point (corresponding to a weaving width of 1llD) is
The weaving point is Q2.

Subsequently, while tilting the light spot of the laser beam by a predetermined pitch l toward the direction indicating point Po, it moves to the third weaving point Q, and hereinafter, weaving point Q1,...
In this way, measuring points P1 to Pn are detected while tracing the singular line T until reaching the vicinity of the end point PE.

In addition, since the singular line T does not reflect light, each measurement point P, ~P
Although the coordinates of n cannot be directly detected, as shown in Fig. 3, the coordinates of the midpoint of both ends TS and T of the singular line T measured between a pair of weaving points Qi to Qi+1 can be measured. It is assumed to be a point Pi. At this time, since the reflected laser light is disturbed at the edges of the singular line T, both ends Ts, T,
As each coordinate, a point on the workpiece slightly spaced from the edge of the singular line T is used.

At the same time, the scanning measurement calculation unit (40) constantly calculates the weaving attitude of the sensor head (20) based on the program shown in FIG.

Here, it is assumed that the laser beam irradiation point from the sensor head (20) moves from the weaving point Qi to Q i++, and the attitude of the sensor head (20) between the weaving points Qi = QiH is the same as the previous one. Measurement point P i,
It is assumed that this is determined in advance based on the normal line at +.

First, when the current measurement point Pi is measured between the weaving points Qi=Qi++, the normal line at this measurement point Pi is calculated (first step SL>).

At this time, the local coordinate system (90) of the machined surface including the measurement point Pi is actually determined. That is, the previous measurement point P i
The vector between -+ and the measurement point Pi of the gold circle is defined as the X-axis direction, the cross product of this vector in the X-axis direction and the vector between both ends Ts and 72 is defined as the Z-axis direction, and furthermore, the X-axis direction and Z
Let the cross product of each vector in the axial direction be the X-axis direction. In the local coordinate system (90) thus calculated, the XY plane represents the machined surface at the measurement point Pi, and 2 represents the normal line.

Next, calculate the deviation angle θ between the optical axis A of the sensor head (20) at the weaving points Qi to Qi++ and the normal Z at the measurement point Pi (second step S2), and convert this deviation angle θ into a predetermined value. Tolerance angle θ. (which is the permissible angle of the sensor head with respect to the workpiece, approximately 15°) (third step S3).

Here, the deviation angle θ is the tolerance angle θ. If it is within the range, the current attitude is used for the next weaving attitude without changing the attitude of the sensor head (20) (fourth step S4), and the deviation angle θ is the tolerance angle θ. If it is larger, the attitude of the sensor head (20) is changed so that the optical axis A follows the normal line Z (fourth
Step S4').

Based on the posture of the sensor head (20) thus determined, the scanning measurement calculation section (40) calculates the position and posture of the sensor head (20) with respect to the next weaving point Qi+z (fifth step S5).

That is, the next weaving point Qi+2 is a point that is away from the measurement point Pi by the pitch ρ in the X-axis direction and half of the weaving width 14D (free width), and the area between weaving points Q1+1 and Qi+2 is defined as the next weaving point Qi+2. The attitude of the sensor head (20) during movement is controlled so that the optical axis A substantially coincides with the normal liZ direction at the measurement point P1.

In this way, as the sensor head (20) weaves, the normals at each measurement point P1 to Pn are sequentially determined, so if the initial local coordinate system at the starting point ps is set at startup, then the The next measurement point can be detected automatically by following the machined surface.

Also, based on the weaving signal W from the scanning measurement calculation unit (40) calculated in this way, the NC control unit (40) keeps the height from the sensor head (20) to the workpiece constant and sets the optical axis A to the singular line T. Since the optical sensor head (20) is always maintained substantially perpendicular to the (copying surface), the tolerance angle θ.

The weaving operation can be continued reliably within the range.

The above weaving operation repeatedly executes each step 81 to S5, and ends when the last measurement point Pn is detected.

Finally, the scanning measurement calculation unit (40) calculates a series of measurement points P,
A singular line position/orientation signal C including each locus and attitude data of ~Pn is generated and transmitted to the data processing unit (50) (sixth
Step S6).

At this time, since the normal Z at each measurement point P, to Pn has already been determined, this can be used as posture data on the singular line T, that is, the processing line.

The data processing section (50) calculates a cutting program R for workpiece machining based on each measurement point data in the singular line position and orientation signal C, and transmits this to the NC control section (30).

Then, instead of the sensor head (20), a processing head (not shown) that emits processing laser light is attached to the arm tip (1).
0a), and predetermined processing is performed along the processing line.

In the above embodiment, the sensor head (20) is provided at the arm tip (10a), but only the light receiving section is placed near the processing head, and the processing head selectively emits laser light for teaching. You may also do so.

[Effects of the Invention] As described above, according to the present invention, the first step is to calculate the normal line at the measurement point detected on the singular line, and the deviation angle between the normal line and the optical axis of the sensor head is calculated. The second step is to compare the deviation angle with the tolerance angle of the sensor head, and the third step is to compare the deviation angle with the tolerance angle of the sensor head. If it is large, the fourth step is to change the attitude of the sensor head so that the optical axis follows the normal line, and the fifth step is to calculate the position and attitude of the sensor head for the next weaving point based on the attitude of the sensor head. step, and a sixth step of generating a singular line position/orientation signal including the position and orientation data of the measurement point. Determine the attitude of the sensor head with respect to the weaving point,
Since a singular line position/orientation signal including this attitude data is generated, an automatic, high-speed, and reliable machining line teaching method can be obtained.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing a processing device to which an embodiment of the present invention is applied, FIG. 2 is an explanatory diagram showing a weaving operation according to the invention, and FIG. 3 is an explanatory diagram showing a measurement point detection operation according to the invention. , FIG. 4 is a flowchart diagram for explaining the present invention. (10)...Processing machine body (10a)...Arm tip (20)...Sensor head T...Singular line q, ~Qn+1...Weaving points P1-Pn...Measurement point C. ...Singular line position/orientation signal Z...Normal line A...Optical axis θ...
Misalignment angle θ. ... Tolerance angle S1 ... First step S2 ... Second step S3 ... Third step S4. S4'...Fourth step S5...
・Fifth step S6...Sixth step Note that in FIG. 1, the same reference numerals indicate the same or corresponding parts. Trap 2 figure 0n 01~On++・-Weebinogu temple, heron figure 4

Claims (1)

[Claims] A sensor head provided at the tip of the arm of the processing machine main body is operated to weave to trace a singular line provided along the processing line of the workpiece, and to detect measurement points detected on the singular line. a first step of calculating a normal line in the sensor head; a second step of calculating a deviation angle between the normal line and the optical axis of the sensor head; and a comparison of the deviation angle and a tolerance angle of the sensor head. a third step; if the deviation angle is within the tolerance angle, the attitude of the sensor head is not changed; if the deviation angle is larger than the tolerance angle, the optical axis follows the normal line; a fourth step of changing the attitude of the sensor head as follows; a fifth step of calculating the position and attitude of the sensor head for the next weaving point based on the attitude of the sensor head; and the position and attitude of the measurement point. A processing line teaching method comprising: a sixth step of generating a singular line position/orientation signal including data;