JP2000117466A - Teaching method of yag laser beam machine, and its device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a teaching method of a YAG laser beam machine which is capable of automatically matching the welding line with a cross target using one I/O device and correct the height direction, and easily effecting the teaching, and its device. SOLUTION: A work W is image-picked up in the X-axis, Y-axis and Z-axis directions by an image picking-up means 23 provided on a laser beam machining head 11 to form a three-dimensional figure prior to the three-dimensional laser beam machining, a rough teaching point and a welding position are inputted in this figure from an inputting means 21, a master JOB is prepared by an image processing device 15, the detailed data is detected, and a corrective JOB to correct the master JOB is prepared to effect the teaching.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching method for a YAG laser beam machine and an apparatus therefor.

[0002]

2. Description of the Related Art In general, a teaching device of a conventional YAG laser processing machine is provided with a CCD camera provided coaxially with a YAG laser optical axis inside a laser processing head. The work is imaged by the CCD camera, projected on a monitor, and teaching is performed.

In this case, a YAG laser optical axis and a CCD
Adjust so that the cross targets of the cameras match. The teaching point is determined by moving the laser processing head so that the welding line projected on the monitor and the cross target overlap.

The operation of the robot equipped with the laser processing head is performed by a programming pendant, and the height direction is adjusted at a position where the CCD camera is in focus.
Since the YAG laser is extremely dangerous to human eyes, it is covered with a partition or the like, and processing is performed after confirming that an operator is not in the partition.

[0005]

However, in such a conventional technique, an operator is required to work in the partition at the time of teaching and to go out of the partition every time to carry out machining, which is bothersome. However, there is a problem that work efficiency is poor.

Further, the operator must judge and adjust the position of the cross target and the welding line on the monitor, which requires experience, and the height direction is inaccurate because the CCD camera is focused. is there.

[0007] Furthermore, since the operator must check the monitor while operating with the programming pendant, there is a problem that skill is required.

SUMMARY OF THE INVENTION An object of the present invention is to focus on the above-described conventional technology, and to automate the coincidence of a welding line and a cross target and the correction of a height direction using one input / output device. It is an object of the present invention to provide a teaching method and a device for a YAG laser processing machine capable of performing teaching easily.

[0009]

According to a first aspect of the present invention, there is provided a teaching method for a YAG laser beam machine, which is relatively movable in a three-dimensional direction and has a desired welding position. In a teaching method of a YAG laser processing machine performed prior to performing three-dimensional laser processing on a work by a laser processing head, at least the X-axis, Y-axis, and Z-axis directions of the work are determined by an imaging unit provided in the laser processing head. To create a three-dimensional figure of the work, input a rough teaching point and a welding posture to the three-dimensional figure, create a master JOB from the three-dimensional figure and the welding posture, and generate a master job at each of the teaching points. Creating a correction job for correcting the master job based on the detailed data. .

Therefore, prior to the three-dimensional laser processing, a work is photographed by an image pickup means provided in the laser processing head to form a three-dimensional figure, and a rough teaching point and a welding posture are input to the figure to form a master job. Is created, a correction job for correcting the master job by detecting detailed data is created and teaching is performed.

In the teaching method of the YAG laser processing machine according to the second aspect of the present invention, prior to performing three-dimensional laser processing on a workpiece by a laser processing head capable of relatively moving in a three-dimensional direction and having a desired welding posture. YA performed
In the teaching method of the G laser processing machine, the work is photographed at least from the X-axis, Y-axis, and Z-axis directions by a plurality of fixedly provided imaging means, and a three-dimensional figure of the work is created. Inputting a rough teaching point and a welding posture to the original figure, creating a master JOB from the three-dimensional figure and the welding posture, and creating a correction JOB for correcting the master JOB with detailed data at each of the teaching points; It is characterized by the following.

Therefore, prior to the three-dimensional laser processing, the workpiece is photographed by a plurality of imaging means installed at a predetermined position to form a three-dimensional figure, and a rough teaching point and a welding posture are input to the figure and the master is input. After the job is created, a detailed job is detected, a correction job for correcting the master job is created, and teaching is performed.

According to a third aspect of the present invention, there is provided a teaching method for a YAG laser beam machine according to the first or second aspect.
In the teaching method for a laser beam machine, the correction J
The dry operation is performed without emitting the YAG laser by OB to confirm that the welding line is appropriate.

Therefore, the dry operation is performed without emitting the YAG laser by the correction job prepared to correct the master job, and after confirming whether or not the welding line is appropriate, the main welding is performed.

According to a fourth aspect of the present invention, there is provided a method of teaching a YAG laser beam machine according to the first or third aspect.
In the teaching method for a laser beam machine, the cross target of the imaging means may be a YAG of the laser beam head.
It coincides with the focal point of the laser.

Therefore, in the captured image, the cross target indicates a focal point during processing by the YAG laser.

According to a fifth aspect of the present invention, there is provided a teaching method for a YAG laser beam machine according to the first, third or fourth aspect.
In a teaching method of an AG laser processing machine, a slit light is emitted from the laser processing head to a work,
Data in the Z direction is obtained from the position of the slit light captured by the imaging means.

Therefore, when a workpiece is imaged by the imaging means, slit light having a predetermined width is emitted from the laser processing head, and Z-axis direction data of the image is obtained from the position of the slit light in the displayed image.

In the teaching device for a YAG laser processing machine according to the present invention, prior to performing three-dimensional laser processing on a workpiece by a laser processing head capable of relatively moving in a three-dimensional direction and having a desired welding posture. YA performed
A teaching device for a G laser processing machine, wherein:
Imaging means for photographing from the axis, Y-axis, and Z-axis directions, display means for creating and displaying a three-dimensional figure of the workpiece, and rough teaching points and welding postures on the three-dimensional figure displayed by the display means. Input means for inputting, and an image processing apparatus for creating a master JOB from the three-dimensional figure and the welding posture and creating a correction JOB for correcting the master JOB based on detailed data at each of the teaching points. It is characterized by the following.

Therefore, prior to the three-dimensional laser processing, the X-axis, Y-axis,
3D figures are created by shooting the workpiece from the axis and Z-axis directions.
A rough teaching point and welding position are input to this figure from the input means, and the master
After creating B, detect the detailed data and
Is created and teaching is performed.

In the teaching device for a YAG laser processing machine according to the present invention, prior to performing three-dimensional laser processing on a workpiece by a laser processing head capable of relatively moving in a three-dimensional direction and having a desired welding posture. YA performed
A teaching device of a G laser processing machine, comprising: a plurality of imaging means fixedly provided for photographing the work from at least the X-axis, Y-axis, and Z-axis directions; and forming a three-dimensional figure of the work. Display means for displaying, input means for inputting a rough teaching point and a welding posture to the three-dimensional figure displayed by the display means, and creating a master JOB from the three-dimensional figure and the welding posture and each of the teaching points And an image processing apparatus for creating a correction job for correcting the master job based on the detailed data in the above.

Therefore, prior to the three-dimensional laser processing, the workpiece is photographed from the X-axis, Y-axis, and Z-axis directions by a plurality of imaging means fixedly installed at a predetermined position to create a three-dimensional figure. A rough teaching point and a welding posture are input to this figure from the means, and a master JOB is created by the image processing apparatus. Then, detailed data is detected to create a correction JOB for correcting the master JOB, and teaching is performed.

According to the eighth aspect of the present invention, there is provided a teaching device for a YAG laser beam machine according to the sixth or seventh aspect.
In a teaching device of a laser processing machine, the image processing device performs a dry operation without emitting a YAG laser by the correction JOB, and can confirm whether a welding line is appropriate or not. Is what you do.

Therefore, the master job is executed by the image processing apparatus.
The dry operation is performed without emitting the YAG laser by the correction JOB created to correct the error, and the welding is performed after confirming whether or not the welding line is appropriate.

According to the ninth aspect of the present invention, there is provided a teaching device for a YAG laser beam machine according to the sixth, seventh or eighth aspect.
In the teaching device of the AG laser processing machine, a cross target of the imaging means is coincident with a focal point of a YAG laser of the laser processing head.

Therefore, in the image taken and displayed, the cross target of the image pickup means indicates the focal point at the time of processing by the YAG laser.

According to a tenth aspect of the present invention, there is provided a teaching device for a YAG laser processing machine according to the sixth, seventh, eighth or ninth aspect,
The laser processing head emits slit light to a work in order to obtain data in the Z direction from the position of the slit light captured by the imaging unit.

Therefore, when a workpiece is imaged by the imaging means, slit light having a predetermined width is emitted from the laser processing head, and the Z-axis direction data of the image is obtained from the position of the slit light in the displayed image.

[0029]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIG. 1 shows an entire laser processing machine 3 provided with a teaching device 1 for a YAG laser processing machine according to the present invention. In this laser processing machine 3, a robot 7 is provided inside a partition 5 for ensuring safety during laser processing.
A laser processing head 11 is provided at the end of the arm 9 so as to be movable in a three-dimensional direction and to be freely postured. Outside the partition 5, a robot controller 13 for controlling the robot 7 and an image processing device 15 used for teaching are provided.

The image processing device 15 includes a display 17 and a main body 1 as display means for displaying information like a personal computer.
The main body 19 is connected to a keyboard 21 serving as input / output means, a mouse (not shown), and the like.

Referring to FIG. 3, on the side of the laser processing head 11, a CCD as an example of an image pickup means is provided.
A camera 23 is attached, and an image of the work W placed on the surface plate 25 is taken. Accordingly, the image captured by the CCD camera 23 and the cross target 27 (see FIG. 24) are displayed on the display 17.

Next, a teaching method of the YAG laser beam machine will be described.

In this teaching method, an image of the CCD camera 23 mounted on the laser processing head 11 is projected on the display 17, and while the operator checks the image and the cross target 27 on the display 17, the operator uses a programming pendant (not shown). It is for teaching. In addition, the operation performed in the YAG laser system is confirmed by creating a teaching job using the image processing device 15 outside the system.

First, the setting of the work W by the operator will be described with reference to FIG. The operator sets the work W on the surface plate 25. For example, the maximum size of the work W is set to 500 mm × 500 mm × 500 m
m (this size can be arbitrarily set depending on the resolution). 500 mm at the center of the upper surface of the platen 25
A mark 29 of × 500 mm is provided, and the work W is set inside the marking 29.

Next, data acquisition from above the work W will be described with reference to FIGS. The robot 7 is fixed at a fixed position, the arm 9 of the robot 7 is moved above the work W, the laser processing head 11 is set downward (see FIGS. 3 and 4), and mounted on the laser processing head 11. The work W is imaged by the CCD camera 23. Referring to FIG. 5, the display 17 at this time shows the shape of the work W viewed from above. The repetitive positioning accuracy of the robot 7 is ± 0.1 mm.
Degree.

With reference to FIGS. 6 to 8, data acquisition on the front side of the work W will be described. The arm 9 of the robot 7 is moved to the front of the work W (the lower side in FIG. 6), the laser processing head 11 is set horizontally (see FIG. 7), and the work W is imaged by the CCD camera 23. Referring to FIG.
At this time, the display 17 shows the shape of the work W viewed from the front.

The data acquisition on the left side of the work W will be described with reference to FIGS. The arm 9 of the robot 7 is moved to the left side of the work W (left side in FIG. 9), the laser processing head 11 is set (see FIG. 10), and the work W is imaged by the CCD camera 23. Referring to FIG. 11, the display 17 at this time shows the shape of the work W as viewed from the left side.

The acquisition of data on the right side of the work W will be described with reference to FIGS. The arm 9 of the robot 7 is moved to the right side of the work W (the right side in FIG. 12), and the laser processing head 11 is set (see FIG. 13).
The work W is imaged by the D camera 23. Referring to FIG. 14, the display 17 at this time shows a shape of the work W viewed from the right side.

With reference to FIG. 15, the creation of three-dimensional data performed based on the top surface data, front data, left side data and right side data obtained as described above will be described. The robot coordinates and CCD camera 2
The coordinates of each surface obtained in step 3 are calibrated,
For example, they match with an accuracy of about ± 1 to 2 mm.

Referring to FIGS. 16 and 17, when three-dimensional data is created from each surface data obtained by the CCD camera 23 as described above, the accuracy of each surface data is ± 1-2 mm. Since it is set, the target value is ± 2 to 4 mm.

Next, with reference to FIGS. 18 to 22, a description will be given of a welding line instruction by an operator based on the three-dimensional data obtained as described above. The operator indicates the welding line and the welding direction at the same time. Further, an inclination angle can be indicated.

Referring to FIG. 18, the operator operates each point Pi on the welding line from welding start point PAS to welding end point PAE.
Is indicated by a mouse in a box 31. PAS ~ PA1 ~
When PA2 to PA3 to PAE is instructed, the end point of a straight line or a line segment is set as a teaching point. Also,
In the middle of the arc, such as at point PA2, box 31
The intersection of the center and the arc is the teaching point.

Referring to FIG. 19, a welding posture at the teaching point Pi shown in FIG. 18 is specified. That is, for example, when arrow A is clicked with the mouse at welding start point PAS, arrow B disappears and arrow A is selected.

Thereafter, a question is asked as to whether or not the welding posture is suitable for the normal direction of the teaching line. If an instruction is to be given instead of the normal direction, an arrow is selected to give an instruction. FIG.
Referring to (A), when the arrow is further clicked, the inclination angle is asked. For example, when 30 degrees is input, the arrow is inclined to indicate the welding posture (see FIG. 20 (B)).

Referring to FIG. 21, the welding start point P is also set for the opposite surface as shown in FIG.
A box 31 indicates BS to PB1 to PB2 to PB3 to the welding end point PBE.

Referring also to FIG. 22, FIG.
PBS-PB1 on the opposite side as shown in FIG.
~ PB2 ~ PB3 ~ PBE
PAS and PBS are designated as welding start points,
E and PBE are designated as welding end points.

Next, creation of a teaching job will be described. The teaching job created here is rough data and is a master job for creating a correction job. The teaching job is created in consideration of the offset since the center of the laser processing head 11 and the CCD camera 23 are mounted offset.

Referring to FIG. 23, in the master job, first, approach from the reference point P0 to the vicinity of the starting point PAS (MOVJ), and approach the starting point PAS while maintaining the welding posture (MOVJ). ,
Start welding. Linear interpolation (MOVL) is performed while changing the welding posture from the starting point PAS to the position of the point PA1.
Circular interpolation is performed while changing the welding posture from A1 to point PA2 to point PA3 (MOVC). End point PAE from point PA3
Linear interpolation while changing the welding position (MOV
L), the welding ends at the end point PAE.

Thereafter, it is retracted from the position of the point PAE (MO
VJ), approach the vicinity of the position of the starting point PBS on the opposite side (MOVJ), approach the position of the starting point PBS while maintaining the welding posture (MOVJ), and start welding. Linear interpolation (MOVL) while changing the welding posture from the start point PBS to the position of the point PB1, the point PB1 → the point PB
2 → Circular interpolation is performed while changing the welding posture from point PB3 (MOVC). Linear interpolation (MOVL) is performed while changing the welding posture from the point PB3 to the end point PBE, and the end point PB
At the position of E, the welding is completed, the welding is retracted from the end point PBE (MOVJ), and the welding is moved to the reference point P0 (MOVJ).
J). It is necessary to check for interference with the work W.

Next, referring to FIGS. 24 and 25, the acquisition of correction data for creating a correction job will be described. The laser processing head 11 is provided with a CCD camera 23 coaxially with the processing point by the YAG laser.
Since the optical axis of the AG laser is not always at the center of the CCD camera 23, the cross target 27 is set in advance to a focusing point (not shown) of the YAG laser. Further, the slit light 33 of the semiconductor laser is irradiated from outside with a certain width at an angle, and the position is adjusted so that the line is centered at the optimum focus position.

The workpiece W is moved to the start point PAS in FIG. 23 in accordance with the previously created master job, and the work W is imaged by the CCD camera 23 at this position (see FIG. 24). On the display 17, the inner diameter of the processing nozzle 35, the cross target 27, and the slit light 33 of the semiconductor laser are shown.

At this time, as shown in FIG. 25, since the workpiece W is shifted, the X direction correction amount δX, the Y direction correction amount δY, and the Z direction correction amount δZ become clear. Alternatively, for the Z direction correction amount δZ, data such as the distance in the Z direction can be extracted from the width of the slit light 33 displayed on the display 17.

Next, the coordinates are corrected. First, FIG.
26, the laser processing head 11 is moved rightward in FIG. 26 by δX in order to perform correction in the X direction. Also, referring to FIG. 27, in order to perform correction in the Y direction,
The laser processing head 11 is moved downward by δY in FIG. Further, referring to FIG. 28, in order to perform the correction in the Z direction, the laser processing head 11 is moved in the direction of the workpiece W by δ.
Close by Z.

The movement in each axis direction as described above can be changed by inputting a correction amount with a key by a worker, and further fine adjustment is possible. Alternatively, the adjustment may be made by a command switch. Actually, after correcting the Z direction, XY may be corrected simultaneously.

Referring to FIG. 29, as described above, δ
By correcting X, δY, δZ, the starting point PAS
Since the correction at the position is completed, the correction is similarly performed for each point Pi thereafter.

Subsequently, a correction job is created for the master job using the correction coordinates obtained for each point as described above. Correction J created in this way
OB indicates that the repeat positioning accuracy of the robot 7 is, for example, ±
Since it is 0.1 mm, if the workpiece W does not move, it should fall within this accuracy.

Using this correction JOB, the dry operation is performed without emitting the YAG laser, and the operator can check whether the welding line is appropriate, the optimum focus position, and the like. When the operator can confirm that the welding is proper, the YAG laser is emitted and the main welding is started.

After the teaching is performed as described above, the laser processing is performed. As shown in FIG. 30, when there are products having the same shape but different sizes, the three-dimensional A master job can be created by expanding or contracting data. For example, if there is a length 1.5 times in the longitudinal direction (X direction), it is set to 150% in the X direction. In the case of a half length, 50% is set in the X direction.

From the above results, since the operation can be performed by one input / output device outside the partition 5, safety can be ensured, and the burden on the operator can be reduced to improve the work efficiency.

Further, since the welding line and the cross target 27 are matched by the image processing device 15, the burden on the operator can be reduced, and the operation can be performed by a non-expert.

It should be noted that the present invention is not limited to the above-described embodiment of the present invention, but by making appropriate changes,
It can be implemented in other aspects. That is, in the above-described embodiment of the present invention, teaching is performed by attaching one CCD camera 23 to the laser processing head 11 attached to the robot 7, but is attached to a fixed device such as a partition. A CCD camera for photographing the whole may be provided. However, in this case, it is necessary to provide a plurality of CCD cameras for photographing from various angles.

[0063]

As described above, in the teaching method of the YAG laser processing machine according to the first aspect of the present invention, prior to the three-dimensional laser processing, the work is photographed by the imaging means provided on the laser processing head to perform the Make the original figure,
After inputting a rough teaching point and a welding posture into this figure and creating a master job, a detailed job is detected to create a correction job that corrects the master job. Teaching operation can be performed, safety can be ensured, and the burden on the operator can be reduced to improve work efficiency.

In the teaching method of the YAG laser processing machine according to the second aspect of the present invention, prior to the three-dimensional laser processing, a workpiece is photographed by a plurality of imaging means installed at a predetermined position to form a three-dimensional figure. After creating a master job by inputting a rough teaching point and welding posture, a correction job that detects detailed data and corrects the master job is created, so teaching operation with one input / output device outside the partition This makes it possible to secure the safety and reduce the burden on the worker, thereby improving the working efficiency.

In the teaching method of the YAG laser processing machine according to the third aspect of the present invention, the dry operation is performed without emitting the YAG laser by the correction JOB created to correct the master JOB, and whether or not the welding line is appropriate is determined. Since proper welding is performed after confirmation, proper welding processing can be reliably performed.

In the teaching method of the YAG laser processing machine according to the fourth aspect of the present invention, since the cross target indicates the focal point of the YAG laser in the captured image, the teaching point and the welding position can be easily and accurately input. Can be.

In the teaching method of the YAG laser beam machine according to the fifth aspect of the present invention, when a workpiece is imaged by the imaging means, a slit beam having a predetermined width is emitted from the laser processing head, and the slit light in the displayed image is emitted. The Z-axis direction data of the image can be easily obtained from the position.

In the teaching device of the YAG laser processing machine according to the sixth aspect of the present invention, prior to the three-dimensional laser processing, X-rays are taken by imaging means provided on the laser processing head.
Create a three-dimensional figure by photographing the workpiece from the axis, Y-axis, and Z-axis directions, input a rough teaching point and welding posture into this figure from input means, create a master JOB with the image processing device, and then create details. Creates a correction job for detecting the master data and correcting the master job, so that a teaching operation can be performed with a single input / output device outside the partition, ensuring safety and reducing the burden on the operator. Work efficiency can be improved.

In the teaching device for a YAG laser beam machine according to the present invention, prior to the three-dimensional laser beam machining, a plurality of image pickup means fixed at a predetermined position are used for the X-axis, Y-axis and Z-axis directions. A three-dimensional figure is created by photographing a workpiece from the device, a rough teaching point and a welding posture are input to this figure from input means, a master job is created by an image processing device, and detailed data is detected to detect a master job. Is created, a teaching operation can be performed with a single input / output device outside the partition, safety can be ensured, and the burden on the operator can be reduced to improve work efficiency. .

In the teaching device for a YAG laser processing machine according to the present invention, the master J is controlled by the image processing device.
The dry operation is performed without emitting the YAG laser using the correction job created to correct the OB, and the proper welding is performed after confirming whether the welding line is appropriate. Can be.

In the teaching device of the YAG laser processing machine according to the ninth aspect of the present invention, in the image taken and displayed, the cross target of the imaging means indicates the focal point at the time of processing by the YAG laser. The posture can be input accurately.

In the teaching device for a YAG laser beam machine according to the tenth aspect of the present invention, when a workpiece is imaged by the imaging means, a slit beam of a predetermined width is emitted from the laser processing head, and the slit beam in the displayed image is emitted. The Z-axis direction data of the image can be easily obtained from the position.

[Brief description of the drawings]

FIG. 1 shows a Y equipped with a teaching device according to the present invention.
It is a perspective view which shows an AG laser beam machine.

FIG. 2 is a plan view showing a surface plate on which a work is set.

FIG. 3 is a front view showing a state where an image is captured from above by a CCD camera.

FIG. 4 is a plan view seen from an IV direction in FIG. 3;

FIG. 5 is a display on which a work imaged from above is displayed.

FIG. 6 is a front view showing a state where an image is captured from the front by a CCD camera.

FIG. 7 is a plan view seen from the direction VII in FIG. 6;

FIG. 8 is a display on which a work imaged from the front is displayed.

FIG. 9 is a front view showing a state where an image is captured from the left side by a CCD camera.

FIG. 10 is a plan view seen from the X direction in FIG. 9;

FIG. 11 is a display showing a work imaged from the left side.

FIG. 12 is a front view showing a state where an image is taken from the right side by a CCD camera.

FIG. 13 is a plan view seen from the XIII direction in FIG.

FIG. 14 is a display showing a work imaged from the right side.

FIG. 15 is an explanatory diagram of a process of drawing a three-dimensional figure from obtained information.

FIG. 16 is a display showing a view of the obtained three-dimensional figure as viewed from the front.

FIG. 17 is a display showing a view of the obtained three-dimensional figure as viewed from behind.

FIG. 18 is a diagram for indicating a welding line by an operator.

FIG. 19 is a diagram for indicating a welding posture by an operator.

FIGS. 20A and 20B are perspective views showing a state in which a welding posture is changed.

FIG. 21 is a diagram for indicating a welding line by an operator.

FIG. 22 is a diagram for indicating a welding posture by an operator.

FIG. 23 is a display showing creation of a master job.

FIG. 24 is a display for acquiring correction data.

FIG. 25 is a display for acquiring correction data.

FIG. 26 is a display display when the processing head is shifted in the X direction.

FIG. 27 is a display display when the processing head is shifted in the Y direction.

FIG. 28 is a display on the display when the processing head is shifted in the Z direction.

FIG. 29 is an explanatory diagram showing a state where correction is performed for each point.

FIG. 30 is a display display showing a case where only the length of the work changes.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Teaching apparatus 11 Laser processing head 15 Image processing apparatus 17 Display (display means) 21 Keyboard (input means) 23 CCD camera (imaging means) 27 Cross target 33 Slit light W Work

Claims (10)

[Claims] 1. A teaching method of a YAG laser processing machine performed prior to performing three-dimensional laser processing on a workpiece by a laser processing head capable of relatively moving in a three-dimensional direction and having a desired welding posture. The work is photographed from at least the X-axis, Y-axis, and Z-axis directions by imaging means provided on the processing head, a three-dimensional figure of the work is created, and rough teaching points and welding postures are input to the three-dimensional figure. Creating a master JOB from the three-dimensional figure and the welding posture, and creating a correction JOB for correcting the master JOB based on detailed data at each of the teaching points. 2. A teaching method of a YAG laser processing machine which is performed prior to performing a three-dimensional laser processing on a workpiece by a laser processing head capable of relatively moving in a three-dimensional direction and having a desired welding posture. At least X by a plurality of imaging means provided in
Axis, Y-axis, and Z-axis directions are taken, a three-dimensional figure of the work is created, a rough teaching point and a welding posture are input to the three-dimensional figure, and a master JOB is formed from the three-dimensional figure and the welding posture. The master J is created based on the detailed data at each teaching point.
A teaching method for a YAG laser processing machine, comprising: creating a correction job for correcting OB. 3. A Y operation according to claim 1, wherein a dry operation is performed without emitting a YAG laser by the correction job to confirm that a welding line is appropriate.
Teaching method for AG laser processing machine. 4. The teaching method for a YAG laser processing machine according to claim 1, wherein a cross target of the imaging means coincides with a focal point of the YAG laser of the laser processing head. 5. The laser processing head emits slit light to a workpiece, and obtains data in the Z direction from the position of the slit light captured by the imaging unit. 4. The teaching method of the YAG laser processing machine according to 4. 6. A teaching device of a YAG laser processing machine which is performed prior to performing a three-dimensional laser processing on a workpiece by a laser processing head which is relatively movable in a three-dimensional direction and has a desired welding posture, The laser processing head is provided at least on the X-axis, the Y-axis,
Imaging means for photographing from the Z-axis direction; display means for creating and displaying a three-dimensional figure of the work; input means for inputting a rough teaching point and a welding posture in the three-dimensional figure displayed by the display means An image processing apparatus for creating a master JOB from the three-dimensional figure and the welding posture and creating a correction JOB for correcting the master JOB based on detailed data at each of the teaching points. Teaching device for laser beam machine. 7. A teaching device of a YAG laser processing machine which is performed prior to performing a three-dimensional laser processing on a workpiece by a laser processing head which is relatively movable in a three-dimensional direction and has a desired welding posture, A plurality of image pickup means fixedly provided for photographing the work from at least the X-axis, the Y-axis, and the Z-axis directions; a display means for creating and displaying a three-dimensional figure of the work; Input means for inputting a rough teaching point and a welding posture to the obtained three-dimensional figure, and a correction for creating a master JOB from the three-dimensional figure and the welding posture and correcting the master JOB with detailed data at each of the teaching points. Teaching a YAG laser processing machine, comprising: an image processing device for creating a job. apparatus. 8. The apparatus according to claim 1, wherein the image processing apparatus performs a dry operation without emitting a YAG laser by the correction job, and can confirm whether or not a welding line is appropriate. 8. The teaching device for a YAG laser beam machine according to 6 or 7. 9. The YAG laser processing machine according to claim 6, wherein a cross target of said imaging means coincides with a focal point of a YAG laser of said laser processing head. Teaching device. 10. The laser processing head according to claim 6, wherein the laser processing head emits slit light to the workpiece in order to obtain data in the Z direction from the position of the slit light captured by the imaging unit. 10. The teaching device for a YAG laser beam machine according to 7, 8 or 9.