JP2000263272A - Teaching method and its device for yag laser beam machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve teaching accuracy by correcting an ordinary JOB on the basis of a master JOB prepared by an image processor from three dimensional data which consist of positions in the height direction of a plurality of teaching points on a workpiece to be machined by a laser beam and positions in the front/rear and left/right directions. SOLUTION: The positions of a plurality of teaching points on a workpiece W are detected. The positions in the height direction are detected by a height direction detector installed in a laser machining head 13. A slit beam SB is emitted which is set so as to pass through the focal position of the YAG laser beam LB; and a vision coordinate on the display screen that is displayed by picking up a reflection beam is adjusted to the focal position of the YAG laser beam LB, thereby detecting positions in the front/back and the left/right directions. The three-dimensional data consisting of positions in the front/back and left/right directions and positions in the height direction are stored in an image processor to prepare the master JOB. On the basis of the three- dimensional data of the master JOB, a corrected JOB is prepared for each workpiece automatically by the image processor.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching method and apparatus for adjusting the focal position of a YAG laser beam to a laser processing point of a work in a YAG laser processing machine for performing three-dimensional laser processing.

[0002]

2. Description of the Related Art Conventionally, at the time of teaching, a mirror is used so that a laser processing point of a work can be photographed coaxially with a YAG laser beam, and the laser processing point of the work reflected by the mirror is imaged by a CCD camera. The captured image is transmitted electrically and displayed on a monitor.

A cross target is provided on the monitor, and the cross target is provided so as to be settable so that the optical axis of the YAG laser beam coincides with the cross target. The laser processing head is moved back and forth and left and right (two-dimensionally on the surface of the work) so that the cross target aligned with the optical axis of the YAG laser light is aligned with the work welding line on the monitor. Thus, teaching is performed so that the optical axis of the YAG laser beam coincides with the welding line of the work.

As a method of adjusting the Z direction (height direction) of the laser processing head, the focus of the CCD camera is adjusted in advance so as to coincide with the focal position of the YAG laser light, and the laser of the actual work is adjusted. To adjust the focal position of the YAG laser beam to the processing point, the position is determined by the position where the CCD camera is in focus.

While sequentially repeating the above method, teaching points are accumulated and a teaching program is created.

[0006] Even if the workpiece actually taught is not subjected to laser processing as it is, no defective product is produced. However, when the laser processing is performed by replacing the workpiece with the same shape, the accuracy of setting the workpiece and the precision of the shape of the workpiece itself are reduced. Therefore, in the same teaching program, the laser processing positions of the welding line and the like do not match, and a situation occurs in which the laser processing positions are deviated.

[0007] In order to prevent the occurrence of defective products, the operator performs idle running before actually machining to check whether the welding lines match, and if there is a deviation, corrects the teaching point and executes playback. I do. This checking and correcting work must be performed every time the work is replaced.

[0008]

By the way, if the worker is Y
When the focus position of the AG laser beam is determined, since the focus is determined by the focus of the CCD camera, there is a problem that the accuracy is poor and a processing failure may occur.

Further, when the work is replaced, it is necessary for the operator to always confirm and correct the teaching program. Even when there are many workpieces, it is necessary to check all of them, and there is a problem that it takes time and labor since it requires manual operation every time.

In order to reduce the above-mentioned manual work, a method of manufacturing a precise jig to improve the installation accuracy of a work may be considered. However, in the case of a small lot product of 20 to 50 pieces, a jig is used. There is a problem that the manufacturing man-hour and cost are too high.

Further, in order to improve the shape accuracy of the work, it is possible to manufacture each part constituting the work with high accuracy, but there is a problem that the cost of the product is increased.

[0012] Therefore, there is a problem that automation is difficult due to manual intervention every time the work is replaced.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to improve teaching accuracy and eliminate the need to confirm and correct a teaching point of an operator generated when a workpiece is replaced. It is an object of the present invention to provide a teaching method and a device for a YAG laser processing machine which do not require a high-precision jig or a component constituting a work.

[0014]

According to a first aspect of the present invention, there is provided a teaching method of a YAG laser processing machine according to the present invention, wherein a YAG laser beam oscillated by a laser oscillator is transmitted through an optical fiber into a laser processing head. In a teaching method of a YAG laser processing machine performed prior to performing three-dimensional laser processing by irradiating a work with a condenser lens provided, a plurality of teaching points on the work are detected by a height direction detection device provided in a laser processing head. The position in the height direction is detected, and a plurality of teaching points on the work are sequentially irradiated with measurement light set in advance so as to pass through the focal position of the YAG laser light from the measurement light source head external to the laser processing head. Each reflected light of the measuring light on the work is imaged by the imaging means and displayed on the display, and the reflected light is displayed. The vision coordinates on the display screen are aligned with the actual YAG laser light focal position in the front, rear, left, and right directions to detect front, rear, left, and right positions. A master job is created by automatically storing three-dimensional data for each of the plurality of teaching points by an image processing apparatus, and the same teaching as the plurality of teaching points of the master job is performed for a normal job as necessary. The points are automatically analyzed by the image processing device based on the three-dimensional data of each of the plurality of teaching points of the master JOB,
Confirmation and correction allow correction J for each work.
OB is created.

Therefore, three-dimensional data consisting of the position in the front-rear, left-right direction and the position in the height direction is automatically determined for each of a plurality of teaching points by the image processing apparatus, and the teaching is performed. Is performed and reflected in the program, so that teaching accuracy is improved and laser processing is stabilized.

Further, even if the work is exchanged, the confirmation and correction work is automatically performed by the image processing apparatus. Therefore, there is no need to confirm and correct the teaching point of the operator when the work is exchanged. This eliminates the burden and labor on the operator, and enables stable processing of small-lot products without using high-precision jigs or high-precision parts constituting a work.

According to a second aspect of the present invention, there is provided a teaching method for a YAG laser beam machine according to the first aspect of the present invention, wherein the data of the position in the height direction is determined in advance by the focus of the YAG laser beam. The measuring light set to pass through the position is sequentially irradiated from the measuring light source head outside the laser processing head to a plurality of teaching points on the work, and each reflected light of the measuring light on the work is imaged by the imaging means. And display the reflected light on the display screen in the height direction by adjusting the vision coordinates on the display screen to the actual focus position of the YAG laser light. It is a feature.

Therefore, each reflected light of the measuring light on the work radiated from the measuring light source head is picked up by the image pickup means, and the focus position of the YAG laser is shifted from the height direction and the front, rear, left and right directions by the image processing device. Since the three-dimensional data is automatically determined and taught, analyzed, confirmed and corrected and reflected in the program, the accuracy of the teaching is improved and the laser processing is stabilized.

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 of the G laser processing machine, the master job is created by inputting a pattern, and the teaching point of the created master job is automatically analyzed, confirmed, and corrected by the image processing apparatus. Is what you do.

Therefore, the teaching point of the master job created by the pattern input is automatically analyzed, confirmed, and corrected by the image processing apparatus, so that the master job can be easily created, and the master job easily created. However, the teaching accuracy is improved.

According to a fourth 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 of the G laser processing machine, the master job is created by an automatic program device, and the teaching point of the created master job is automatically analyzed, confirmed, and corrected by the image processing device. It is characterized by the following.

Therefore, the master job can be easily created by the automatic programming device, and the teaching point can be automatically analyzed, confirmed and corrected by the image processing device even if the master job is easily created in this way. The teaching accuracy is improved.

According to a fifth aspect of the present invention, there is provided the teaching method of the YAG laser processing machine according to any one of the first to fourth aspects, wherein the master job is performed after the laser processing is completed. The state of the laser processing unit is automatically inspected and confirmed by the image processing apparatus based on the three-dimensional data of each of the plurality of teaching points, and the state of the laser processing unit is fed back to the laser processing conditions. Things.

Therefore, the state of the laser processing part can be automatically inspected and confirmed after the laser processing is completed, and the state of the laser processing part is fed back to the laser processing conditions. Becomes stable.

According to the sixth 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 of the G laser processing machine, the accumulation of the correction JOB is managed by the image processing device, the correction JOB is downloaded from the image processing device to the control device of the YAG laser processing machine, and a start command is issued to the control device. The characteristic is to give.

Therefore, the correction JOB is performed on the image processing apparatus side.
Since the accumulation of the work is completely performed from the management, the download of the correction job, and the start, for example, if there is a work loading / unloading device, complete automation is facilitated by using a work loading / unloading completion signal.

According to a seventh aspect of the present invention, there is provided a teaching device for a YAG laser beam machine according to the present invention.
In the teaching device of the YAG laser processing machine, which is performed prior to performing 3D laser processing by irradiating AG laser light to the work from a condenser lens provided in the laser processing head via an optical fiber, a plurality of teaching points on the work A height direction detecting device for detecting the position in the height direction is provided in the laser processing head, and an image pickup means for picking up a teaching point on the work is provided, and a display for displaying an image picked up by the image pickup means is provided, The vision coordinates of the teaching point displayed on the display are aligned with the actual YAG laser light focal position in the front, rear, left and right directions to detect the position in the front, rear, left and right directions, and the position in the front, rear, left and right directions and the height in the above height direction are detected. The master job is created by automatically storing the three-dimensional data consisting of the position and the normal job.
For B, if necessary, automatically analyze and confirm at the same teaching point as the teaching point of the master JOB based on the three-dimensional data of the master JOB.
An image processing apparatus is provided for creating a correction job for each work by performing the correction.

Therefore, the operation is the same as that of the first aspect, and three-dimensional data consisting of the position in the front-rear, left-right direction and the position in the height direction is automatically generated by the image processing device for each of a plurality of teaching points. It is determined and taught, analyzed, confirmed, corrected and reflected in the program, so that the teaching accuracy is improved and laser processing is stabilized.

Further, even if the work is replaced, the confirmation and correction work is automatically performed by the image processing apparatus, so that there is no need to confirm and correct the teaching point of the operator when the work is replaced. This eliminates the burden and labor on the operator, and enables stable processing of small lot products even if they are not high-precision jigs or parts constituting a work.

According to an eighth aspect of the present invention, there is provided a teaching device for a YAG laser processing machine according to the seventh aspect of the present invention, wherein the height direction detecting device passes through a focal position of the YAG laser beam in advance. A measuring light source head for irradiating a measuring point set to perform measurement to a teaching point on a work is provided outside the laser processing head.

Therefore, the operation is similar to that of the second aspect, and each reflected light of the measurement light on the work radiated from the measurement light source head is imaged by the imaging means, and the focus of the YAG laser is adjusted by the image processing device. The position is automatically determined in three dimensions consisting of the height direction and the front, rear, left and right directions, teaching is performed, analysis, confirmation, correction is performed and reflected in the program, so teaching accuracy is improved and laser processing is improved. Stabilize.

[0032]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of a teaching method in laser processing according to the present invention will be described below with reference to the drawings.

Referring to FIG. 16, a YAG laser beam machine LB according to the present embodiment oscillates a YAG laser beam LB from a laser oscillator 5 provided separately from, for example, a robot controller 3 as a control device. A laser provided at the tip of an arm 11 of a so-called articulated robot, which is a robot 9 capable of moving in three-dimensional directions, for example, X, Y, and Z directions, as an automatic laser processing machine by guiding a YAG laser beam LB to an optical fiber 7. It is sent to the processing head 13.

The robot 9 is provided with a boom 17 rotatably in the front-rear direction on an upper portion of a robot body 15 rotatable in a horizontal plane on the floor surface. The arm 11 is provided at the tip of the boom 17. It is provided rotatably in the up-down direction. A laser processing head 13 is provided at the tip of the arm 11 such that the laser processing head 13 can be swung in a horizontal plane direction by a head support arm 19 and is rotatable in a direction orthogonal to the longitudinal direction of the head support arm 19.

The position of the optical fiber 7 between the laser oscillator 5 and the processing point of the laser processing head 13 is basically free.

The tip of the laser processing head 13 has a YA
A condensing lens (not shown) for condensing the G laser light LB is provided. The YAG laser light LB is emitted from the nozzle 21 provided in the laser processing head 13 toward the work W and Laser processing such as cutting or welding processing is performed on the shape of.

The robot 9 is not limited to the above-mentioned articulated robot, but may be a robot of a rectangular coordinate system in which the arm 11 can move on rectangular coordinates. In this case, the laser processing head 13 is provided on the arm 11 so as to be able to move up and down.

Referring to FIG. 17, the YAG laser light LB emitted from the tip of the optical fiber 7 is converted into parallel light by a collimator lens (not shown) provided in the laser processing head 13, and the parallel light is collected. It is configured to be condensed by an optical lens. Note that a protective glass (not shown) is provided between the condenser lens and the work W to protect it from spatter and fumes.

The work W is irradiated with the YAG laser beam LB collected by the condenser lens through a nozzle 21 provided at the tip of a nozzle holder provided below the laser processing head 13.

Note that an assist gas (shield gas) is supplied into the laser processing head 13, and this assist gas is injected coaxially with the YAG laser beam LB from the nozzle 21.

Further, in the laser processing head 13, for example, a CCD camera 23 as an imaging means constituting an image processing system for confirming a welding line on the work W coaxially with the YAG laser beam LB during teaching. Is arranged. In the present embodiment, the rotary bend mirror 25 is configured to rotate in a substantially horizontal plane by a rotary actuator 27 as shown by an arrow in FIG. 17, and the YAG between the collimator lens and the condenser lens described above is provided.
The YAG laser beam LB is provided coaxially with the laser beam LB so as to be able to protrude and retract freely. A fixed bend mirror 28 is provided below the CCD camera 23.

Referring again to FIG. 16, the CCD camera 23 is connected to the camera 9 via an image processing device 31 constituting an image processing system as an image processing device via a camera signal cable 29. It is connected to a monitor 33. The image processing device 31 is electrically connected to the robot controller 3 via a communication cable 35.

Accordingly, the welding line on the workpiece W is reflected by the rotating bend mirror 25 and is imaged by the CCD camera 23 via the fixed bend mirror 28, and the image obtained by the CCD camera 23 is displayed on the monitor 33. A cross target CT that can be moved and positioned in the up, down, left, and right directions is displayed on the screen of the monitor 33.

Referring to FIG. 17, for example, a semiconductor laser head 37 as a measuring light source head is moved in the same direction as the optical axis of the YAG laser beam LB via a bracket on a head support arm 19 supporting the laser processing head 13. It is provided to be adjustable. The semiconductor laser head 37 has a built-in light-emitting device such as a light-emitting diode that emits semiconductor laser light, and the emitted semiconductor laser light is applied to the work W as slit light SB in this embodiment, The SB is configured to irradiate the work W at an angle of about 50 ° (about 40 ° with respect to the work W) with respect to the optical axis of the YAG laser beam LB.

The semiconductor laser head 37 is attached to a portion that does not affect the processing area as much as possible. At the tip of the semiconductor laser head 37, there is provided a condenser lens 39 capable of condensing and adjusting the semiconductor laser light. In the present embodiment, the configuration is such that the slit light SB is formed on the work W as reflected light.

Further, the light emitting device in the semiconductor laser head 37 is provided with a volume capable of adjusting the amount of semiconductor laser light, and the semiconductor laser light used in the present embodiment is not particularly limited in wavelength or output. , May be arbitrary.

With the above configuration, first, the distance between the laser processing head 13 and the work W is set to the optimum focal position.
For example, the focus position of the YAG laser beam LB is adjusted in advance so as to be located on the surface of the work W. Next, the reflected light on the work W of the slit light SB emitted from the semiconductor laser head 37 is imaged by the CCD camera 23 via the rotating bend mirror 25 and passed through the image processing device 31 to the monitor 33.
It is displayed together with the work W.

The semiconductor laser head 37 does not move the laser processing head 13 and the cross target CT on the monitor 33, but moves the semiconductor laser head 37 so that the center of the slit light SB on the screen of the monitor 33 coincides with the cross target CT on the monitor 33. The slit light SB is moved in the vertical direction (the Z-axis direction in FIG. 17) with respect to the processing head 13.
Are positioned so as to pass through the focal position of the YAG laser beam LB, and the semiconductor laser head 37 is fixed to the laser processing head 13 in this state.

Therefore, when the laser processing head 13 is moved up and down, the slit light SB of the semiconductor laser light is moved up and down on the screen of the monitor 33. For example, when the laser processing head 13 is moved upward in the Z direction in FIG. 17, the semiconductor laser head 37 is also moved upward, so that the slit light SB of the semiconductor laser light travels on the work W to the left in the Y direction in FIG. Since the slit light SB moves, the slit light SB moves downward on the monitor 33 in the present embodiment. Conversely, when the laser processing head 13 is moved downward in the Z direction, the slit light SB on the screen of the monitor 33 moves upward.

That is, since the slit light SB is preset so as to pass through the focal position of the YAG laser light LB, when the slit light SB on the screen of the monitor 33 coincides with the horizontal axis of the cross target CT, the YAG laser light Laser light LB
Is located on the surface of the workpiece W.

Since the center position of the cross target CT is the optical axis of the YAG laser beam LB in the XY direction, the laser processing head 13 is moved forward, backward, left and right so that the center of the cross target CT is aligned with the laser processing position. In the direction (X-Y direction).

Referring to FIG. 16, the image processing device 3
For example, a CPU 41 as a central processing unit in 1 is connected to an input device 43 and a display device 45 for inputting data such as laser processing conditions and a processing program. X, Y, between the teaching point and the focal position of the YAG laser beam
A memory 47 for storing a master JOB composed of three-dimensional data as positioning data in the Z direction, and a command unit for giving a command to transmit or store the master JOB stored in the memory 47 to the image processing apparatus 31 4
9 are connected to the CPU 41. The robot controller 3 controls the robot 9.

Hereinafter, the teaching method will be described by taking as an example a case of welding a semi-cylindrical workpiece W as shown in FIG.

The first work W is set on the surface plate 51 by the operator. At this time, the work W
Can be easily positioned by a setting tool 53 such as a magnet base, and the area that can be imaged from inside the nozzle 21 of the laser processing head 13 has a diameter of 1 mm.
Since it is about 0 mm, it can be set within ± 3 mm.

Referring to FIG. 8, the first work W is a work W for teaching, and the operator views the image obtained by the CCD camera 23 on the monitor 33 while viewing the arrow numbers (0) to
Image processing including the teaching points up to (9) is performed, and a job for image processing correction (master job) is created and registered in the memory of the robot controller 3. Arrow numbers (0), (1), (7), (8) and (9) are approach teaching points, and the teaching points where data is actually corrected are arrow numbers (2) to (6).

The master JOB is transferred to the image processing device 31 via the communication cable 35 in response to a request command from the image processing device 31 which is an image processing system. The master job is duplicated in the image processing device 31 and corrected
B is created.

Since the first workpiece W has been taught in the above-described steps and the welding lines coincide with each other, the pre-back is executed as it is, and the automatic welding is performed. After the automatic welding is completed, the product is taken out.

Referring to FIG. 9, the second work W is set by abutting against a setting tool 53 such as a magnet base and positioning pins on the surface plate 51 described above. At this time, the actual welding line slightly deviates from the data of the master JOB due to an error in the work W or an error in the setting.

The laser processing head 13 is moved to the welding start point by the operation of the robot 9 in accordance with the step data of the master JOB.

A communication flowchart for creating a corrected job by analyzing, confirming, and correcting the second work W at the same teaching point based on the master job described above is as follows.
This is shown in FIGS. Hereinafter, description will be made based on this communication flowchart.

Referring to FIG. 1, a communication port between the robot controller 3 and the image processing device 31 is connected to a communication cable 35.
And the first J of the robot controller 3
The OB name is obtained. Subsequently, the next JOB name of the robot controller 3 is obtained, and thereafter all the JOBs are sequentially obtained until the signal of “no JOB” returns. (Steps S1 to S3).

The communication port from the image processing device 31 to the robot controller 3 is opened via the communication cable 35, and all the job names in the memory of the MRC are acquired by the processing of steps S1 to S3 so far (step S4). ).

From the displayed names of all JOBs,
A name is selected (step S5).

Next, the communication port is connected again and the designated file is received (step S6).

The communication port is opened.
The specified file is obtained from all the jobs on the RC memory (steps S7 and S8).

Each step data is extracted from the received designated file. That is, the step data to be analyzed and confirmed and corrected by the JOB, that is, the positions of the teaching points indicated by the arrow numbers (0) to (9) in FIG. 8 are extracted (step S9).

Next, it is confirmed again that the communication port is connected and the one-cycle / play mode / command remote servo-on is turned on and the others are turned off in order to obtain the robot status of the robot controller 3 (see FIG. 4). Steps S10 and S11).

The robot 9 operates to operate the laser processing head 1.
The nozzle 21 of No. 3 moves to the designated pulse position indicated by the arrow number (0) in FIG. 8, and the end is repeatedly confirmed until the signal of “operating” falls, and the robot status of the robot controller 3 is obtained (step S12). And S
13).

Referring to FIG. 2, next, the robot 9 operates to move the nozzle 21 of the laser processing head 13 to the designated pulse position indicated by the arrow number (1) in FIG. 8, and the signal "operating" falls. The end is repeatedly confirmed until the robot status is obtained (steps S14 and S15).

Next, the robot 9 operates to move the nozzle 21 of the laser processing head 13 to the designated pulse position indicated by the arrow number (2) in FIG. 8, and the end is repeatedly confirmed until the signal of "operating" is dropped. To obtain the robot status. As the operation of the robot, the laser processing head 13 is stepped from the image processing device 31 side,
It stops immediately before "CALLJOB: processing start" (steps S16 and S17).

At the designated pulse position indicated by the arrow number (2), first, teaching in the Z direction is performed. The rotary actuator 27 shown in FIG.
The AG laser beam LB is rotated to move forward on the
An image on the optical axis of the YAG laser beam LB can be captured by the D camera 23.

The semiconductor laser light ON command is given from the robot controller 3 to confirm that the semiconductor laser light is ON, and the semiconductor laser light is irradiated from the semiconductor laser head 37 onto the work W as the slit light SB (steps S18 and S18). S19).

The communication port is opened, and the slit light SB reflected on the work W is reflected on the rotating bend mirror 25 and captured by the CCD camera 23 via the fixed bend mirror 28, and the image obtained by the CCD camera 23 is displayed. It is displayed on the monitor 33 as shown in FIG. At this time, an image is acquired after the robot 9 stops and about 1 second has passed and stabilized.

In FIG. 10, the cross target CT
The slit light SB1 on the right side of the plate thickness of the work W is reflected by the work W, and the slit light SB2 on the left side of the plate thickness of the work W is
1 is reflected on top. Accordingly, the distance from the horizontal axis of the cross target CT as shown in FIG. 11 to the slit light SB1 is calculated vision coordinate as Z-direction correction amount [delta] _Z.

[0075] Image of the slit beam SB displayed on the screen of the monitor 33 is converted to the tool coordinate data in the Z direction correction amount [delta] _Z vision coordinate represents the actual operation of the robot processing as a Z-direction calibration data Is done.
(Steps S20 and S21).

Next, the communication port is connected again, and a semiconductor laser light OFF command is given from the robot controller 3 to confirm that the semiconductor laser light is OFF. The Z-direction correction amount converted to the tool coordinates is further converted to robot coordinates and a Z-direction correction amount movement command is given, and the laser processing head 13 is moved by the Z-direction correction amount (steps S22 to S25). .

The end is repeatedly confirmed until the signal "running" falls, the robot status of the robot controller 3 is obtained, and the communication port is opened (steps S26 and S27).

Referring to FIG. 3, arrow numbers in FIG.
At the designated pulse position (2), teaching in the XY direction is subsequently performed. The current image on the monitor is Z
Processing is performed in the same manner as the calculation of the direction correction amount, and analysis, confirmation, and correction are performed, and the XY direction correction amount is calculated. Distance from X-Y direction teaching point TP2 arrow number (2) as shown in FIG. 12 to the longitudinal axis of the cross target CT is calculated in vision coordinate as X-direction correction amount [delta] _X, teaching point TP2 the distance to the horizontal axis of the cross target CT is calculated in vision coordinate as Y direction correction amount [delta] _Y from (step S28).

Next, the communication port is connected again, and the X-direction correction amount converted from the vision coordinates to the tool coordinates and Y
The direction correction amount is further converted to robot coordinates and converted to XY
A direction correction amount movement command is given, and the laser processing head 13
Is moved by the XY direction correction amount (step S2).
9 and S30).

The end is repeatedly confirmed until the signal "running" falls, the robot status of the robot controller 3 is obtained, the pulse data of the current position is obtained, the communication port is opened, and the obtained pulse data is obtained. A correction step is added to the step at the designated pulse position indicated by the arrow number (2), and this correction step is a correction JO.
B. (Steps S31 to S34).

The same steps as steps S16 to S34 at the designated pulse position indicated by arrow number (2) in FIG. 8 are repeated to correct the step data for the designated pulse positions indicated by arrow numbers (3) to (6) in FIG. Is obtained as pulse data and stored in the correction job. As the operation of the robot, the welding end point is set to a step immediately before “CALLJOB: end of processing” (step S35).

For example, the nozzle 2 of the laser processing head 13
1 is the next step of the welding start point according to the master job as shown in FIG.
It moves to the specified pulse position in (3) and stops. This operation is sent stepwise by the image processing device 31 side.

FIG. 14 shows an image at the designated pulse position indicated by the arrow number (3). The thickness of the end face of the work W is confirmed on the left side of the cross target CT, and the slit light SB3 on the right side of the work W is displayed. Is reflected by the work W, and the slit light SB4 on the left side of the plate thickness of the work W is reflected on the surface plate 51. Accordingly, the distance from the horizontal axis of the cross target CT as shown in FIG. 15 to the slit light SB3 is calculated vision coordinate as Z-direction correction amount [delta] _Z.

[0084] Image of the slit light SB3 displayed on the screen of the monitor 33 is converted to the tool coordinate data in the Z direction correction amount [delta] _Z vision coordinate represents the actual operation of the robot processing as a Z-direction calibration data Is done. The Z-direction correction amount converted into the tool coordinates is further converted into robot coordinates and a Z-direction correction amount movement command is given, and the laser processing head 13 is moved by the Z-direction correction amount.

At the designated pulse position indicated by the arrow number (3), teaching in the XY directions is subsequently performed. The current image on the monitor is processed in the same manner as the calculation of the Z-direction correction amount described above, and is analyzed, confirmed, and corrected to calculate the XY-direction correction amount. Arrow number (3) as shown in FIG.
Distance from X-Y direction teaching point TP3 to the longitudinal axis of the cross target CT is calculated in vision coordinate as X-direction correction amount [delta] _X, teaching point T
Distance from P3 to the horizontal axis of the cross target CT is calculated in vision coordinate as Y direction correction amount [delta] _Y.

The above-mentioned vision coordinates are converted into tool coordinates, and the X-direction correction amount and the Y-direction correction amount of the tool coordinates are further converted into robot coordinates, and an XY direction correction amount movement command is given. 13 is moved by the XY direction correction amount (supplementary explanation of step S35).

Referring again to FIG. 3, the communication port is connected, the robot 9 operates, and the nozzle 21 of the laser processing head 13 moves to the designated pulse position indicated by the arrow number (7) in FIG. Is repeated until the signal "" drops, and the robot status of the robot controller 3 is obtained (steps S36 to S38).

Next, the nozzle 2 of the laser processing head 13
1 moves to the designated pulse position indicated by the arrow number (8) in FIG. 8, and the end is repeatedly confirmed until the signal "running" falls, and the robot status is acquired (steps S39 and S40).

Next, the nozzle 2 of the laser processing head 13
1 moves to the designated pulse position indicated by the arrow number (9) in FIG. 8, and the end is repeatedly confirmed until the signal of "running" is dropped, and the robot status is acquired. In addition,
The rotating bend mirror 25 is rotated so that the rotary actuator 27 is operated and retracts from the same axis of the YAG laser beam LB (steps S41 and S42).

Referring to FIG. 4, the operation when actual welding is performed will be described with reference to a communication flowchart.

The communication port is opened, and the pulse data of each teaching point obtained in the steps S1 to S42 as described above is created by the image processing device 31 as a correction job. The communication port is connected, and the correction job is transmitted from the image processing apparatus 31 to the communication cable 3.
5 and transmitted to the robot controller 3 using a transmission command (steps S51 to S54).

The actual welding process is performed based on the transferred correction job.
To obtain the robot status of the robot controller 3 from one cycle / play mode /
Command remote servo ON turns ON, other than this is OF
F (Steps S55 and S5)
6).

An external start signal is input to the robot 9 from the image processing device 31 to start the operation, and welding is performed based on the corrected job (step S57).

The end is repeatedly confirmed until the signal "running" is dropped, and the robot status is obtained (step S58).

The above-mentioned correction job is duplicated on the image processing device 31 side and stored in the image processing device 31 side, and the correction job of the robot controller 3 is deleted. The communication port is opened (steps S59 to S61).

Referring to FIG. 5, the laser processing head 13
The operation when the idle operation for moving the nozzle 21 along the welding line and confirming the deviation of each teaching point is performed will be described with reference to a communication flowchart.
The operation of the idle operation is substantially the same as the operation of the actual welding described above.

The communication port is opened, and the pulse data of each teaching point obtained in the above-described steps S1 to S42 is created by the image processing device 31 as the idle operation correction job. The communication port is connected, and the idle operation correction job is transferred from the image processing apparatus 31 to the robot controller 3 using a transmission command via the communication cable 35 (steps S71 to S7).
4).

The idle operation is selected from the transferred idle operation correction job, and in order to acquire the robot status of the robot controller 3, one cycle / play mode / command remote servo-on is turned on, and the others are turned off.
(Steps S75 and S7)
6).

An external start signal is input from the image processing device 31 to the robot 9 to start the operation, and the idle operation correction J
Idle operation is performed based on OB (Step S7)
7).

The end is repeatedly confirmed until the signal "running" falls, and the robot status is obtained (step S78).

The above-mentioned idle operation correction job is performed by the image processing apparatus 3.
1 is stored in the image processing apparatus 31 side, and the idle operation correction job of the robot controller 3 is deleted.
The communication port is opened (steps S79 to S81).

In summary, in the present embodiment, a job created in the same manner as a normal program is called by the image processing device 31 as an image processing device, and the called job is analyzed and corrected. A teaching point is determined, and a master job is created. Based on this master job, a command is given from the image processing device 31 to the robot 9 to move to each teaching point in the order of the program.

When confirmation and correction of each teaching point are completed, a correction job is automatically created based on the correction data of each teaching point.

The correction job is downloaded from the image processing device 31 to the robot controller 3, and a start command is given from the image processing device 31 to the robot controller 3. The correction job in the robot controller 3 is deleted by a command from the image processing device 31 and the correction job is copied and stored in the image processing device 31.

Therefore, the image processing device 31
Is carried out, the JOB analysis, teaching point confirmation, correction, JOB download, and start are carried out completely automatically. If there is a work W loading / unloading device, the loading / unloading completion signal is used. And complete automation becomes possible. Image processing device 3 after the second work W
It works under the control of one side.

The image processing device 31 sends to the robot controller 3 the ON / OFF of the semiconductor laser and confirmation of the completion thereof, the current position coordinates (orthogonal coordinates, joint coordinates) of the robot, and the status signals of the robot (emergency stop, Communication such as various mode states).

If the manual mode is set, the confirmation and correction of each teaching point are completed.
Step feed becomes possible. The step feed enables the operator to move to each teaching point by using a “forward / return button” and determine whether or not the corrected point is sufficient.

Referring to FIG. 6, the operation of stepping will be described with reference to a communication flowchart.

The communication port is opened, and the pulse data of each teaching point obtained in the steps S1 to S42 is stored in the memory of the image processing device 31. (Steps S91 and S92) When the “advance button” is pressed, the communication port is connected, and a command to move to the next step is sent from the image processing device 31 via the communication cable 35 by the robot controller 3 based on the correction data.
(Steps S93 to S95).

The end is repeatedly confirmed until the signal of “driving” falls, and the robot status is obtained.
The communication port is opened (steps S96 and S9
7).

On the other hand, if the "return button" is pressed after the above-described step S92 is performed, the communication port is connected, and a command to move to the previous step is transmitted from the image processing apparatus 31 based on the correction data. The data is transferred to the robot controller 3 via the cable 35 (step S98)
To S100).

The end is repeatedly confirmed until the signal "operating" falls, and the robot status is obtained.
The communication port is opened (steps S101 and S10
2).

When the dry run is performed, YA
A job in which only the G laser emission command is omitted is downloaded and executed. This makes it possible to confirm the position where the robot 9 is moving the corrected welding line on the monitor image.

If the image processing apparatus 31 cannot identify the correction point, the operator can be notified by a warning, and the operator can identify the unspecified image by using an input device such as a mouse while checking the image. Step can be performed.

When the image processing apparatus 31 is started, the image processing apparatus 31 is configured to inquire and display a job list currently registered in the robot controller 3 and to allow the operator to select the list.

The present invention is not limited to the above-described embodiment of the present invention, but can be embodied in other modes by making appropriate changes.

For example, in the above-described embodiment of the present invention, since the image obtained by the CCD camera 23 from the inside of the laser processing head 13 is used, the visual field is narrow. Camera 23 is Y
By mounting at a position offset from the AG laser light LB, the field of view can be expanded and the applicable range can be expanded.

Alternatively, it is possible to create a teaching program using an image of the CCD camera 23 fixed outside the laser processing head 13.

Further, as a height direction detecting device for detecting a height direction, a slit light SB of a semiconductor laser and a CCD are used.
Although the camera 23 was used, a laser sensor, an ultrasonic sensor,
A sensor for detecting a distance, such as a proximity sensor or a capacitance sensor, or another sensor may be used.

In the above-described embodiment of the present invention, first, an operator creates a master job and creates the master job.
Is a system for correcting the teaching point of the master JOB by using a master JOB created online by an automatic programming device or the like.

In the embodiment of the present invention described above, the teaching point is corrected for the master JOB. However, after the completion of the welding process, the welding state is checked and repair welding is performed, or a defective welding position is detected. It is also possible to feed back a change in welding conditions to the laser oscillator 5 or the like.

[0122]

As will be understood from the above description of the embodiments of the present invention, according to the first aspect of the present invention, three-dimensional data consisting of positions in the front-rear, left-right directions and the above-described positions in the height direction Is automatically determined for each of a plurality of teaching points by an image processing device, teaching, analysis, confirmation, and correction are performed and reflected in the program, so that teaching accuracy can be improved and laser processing can be stabilized. Can be.

Further, even if the work is exchanged, the confirmation and correction work is automatically performed by the image processing apparatus, so that it is possible to eliminate the confirmation and modification work of the teaching point of the operator which occurs when the work is exchanged. Therefore, it is possible to eliminate the burden and labor on the operator, eliminate the need for high-precision jigs and high-precision parts constituting the work, and perform stable processing of small lot products.

According to the second aspect of the present invention, each reflected light of the measuring light on the work radiated from the measuring light source head is imaged by the imaging means, and the focal position of the YAG laser is raised by the image processing device. It is possible to automatically determine and teach in three dimensions consisting of the direction and the front, back, left and right directions, perform analysis, confirmation, correction and reflect it in the program, so that teaching accuracy can be improved and laser processing can be stabilized. .

According to the third aspect of the present invention, the teaching point of the master JOB created by the pattern input is automatically analyzed, confirmed and corrected by the image processing apparatus, so that the master JOB can be easily input by the pattern input. It can be created, and the accuracy of teaching can be improved even with this easily created master job.

According to the fourth aspect of the present invention, the master job can be easily created by the automatic program device, and even if the master job is easily created in this way, the image processing device automatically generates the master job with respect to the teaching point. Since the analysis, confirmation, and correction are performed, the accuracy of teaching can be improved.

According to the fifth aspect of the present invention, the state of the laser processing part can be automatically inspected and confirmed after the laser processing is completed, and the state of the laser processing part is fed back to the laser processing conditions. Therefore, laser processing can be stabilized.

According to the sixth aspect of the present invention, since the accumulation of correction jobs can be managed, the correction jobs can be completely downloaded, and the start can be completely performed on the image processing apparatus side. Complete automation can be easily performed by utilizing the output completion signal.

According to the seventh aspect of the present invention, the effect is the same as that of the first aspect, and three-dimensional data consisting of the position in the front-rear, left-right direction and the position in the height direction is obtained by a plurality of image processing devices. Teaching is automatically determined for each teaching point, teaching is performed, and analysis, confirmation, and correction are performed and reflected in the program. Therefore, teaching accuracy can be improved, and laser processing can be stabilized.

Further, even if the work is exchanged, the confirmation and correction work is automatically performed by the image processing apparatus, so that it is possible to eliminate the confirmation and modification work of the operator's teaching point which occurs when the work is exchanged. Therefore, it is possible to eliminate the burden and labor on the operator, eliminate the need for high-precision jigs and high-precision parts constituting the work, and perform stable processing of small lot products.

According to the eighth aspect of the invention, in the same manner as the effect of the second aspect, each reflected light of the measurement light on the work radiated from the measurement light source head is imaged by the imaging means to perform image processing. The focus position of the YAG laser is automatically determined in three dimensions consisting of the height direction and the front, rear, left and right directions by the device, teaching can be performed, analysis, confirmation, correction can be reflected in the program, and the teaching accuracy is improved. It is possible to stabilize laser processing.

[Brief description of the drawings]

FIG. 1 shows an embodiment of the present invention, and shows a correction job.
6 is a communication flowchart for creating a.

FIG. 2 is a communication flowchart continued from FIG. 1;

FIG. 3 is a communication flowchart continued from FIG. 2;

FIG. 4 shows an embodiment of the present invention and is a communication flowchart when an actual welding process is performed.

FIG. 5, showing an embodiment of the present invention, is a communication flowchart when idling is performed.

FIG. 6 shows an embodiment of the present invention, and is a communication flowchart of step feed.

FIG. 7, showing an embodiment of the present invention, is a schematic explanatory view of a teaching method for welding a work.

FIG. 8 shows an embodiment of the present invention, and is a schematic explanatory view of a teaching method for welding a work.

FIG. 9 shows an embodiment of the present invention, and is a schematic explanatory view of a teaching method indicated by an arrow number (2) for welding a second work.

FIG. 10 is an explanatory diagram showing a state of slit light of an image indicated by an arrow number (2) in FIG. 8;

11 is an explanatory diagram showing a Z-direction correction amount in an image indicated by an arrow number (2) in FIG. 8;

FIG. 12 is an explanatory diagram showing an X-Y direction correction amount in an image indicated by an arrow number (2) in FIG. 8;

FIG. 13 shows the embodiment of the present invention, and is a schematic explanatory view of a teaching method indicated by an arrow number (3) for welding a second work.

FIG. 14 is an explanatory diagram showing a state of slit light of an image indicated by an arrow number (3) in FIG. 13;

FIG. 15 is an explanatory diagram showing a Z-direction correction amount and an XY direction correction amount in an image indicated by an arrow number (3) in FIG. 13;

FIG. 16 shows the embodiment of the present invention and is an overall view of a YAG laser processing machine.

FIG. 17 shows the embodiment of the present invention, and is a partial perspective view of a laser processing head.

[Explanation of symbols]

Reference Signs List 1 YAG laser processing machine 3 Robot controller (control device) 5 Laser oscillator 7 Optical fiber 9 Robot (automatic laser processing machine) 13 Laser processing head 23 CCD camera (imaging means) 31 Image processing device (image processing system) 33 Monitor (display) 37) Semiconductor laser head (measurement light source head) 43 Setting tool CT Cross target SB Slit light δ _X X direction correction amount δ _Y Y direction correction amount δ _Z Z direction correction amount TP2, TP3 Teaching point

Continued on the front page F-term (reference) 4E068 CA09 CA10 CA11 CA17 CB02 CB04 CB09 CC00 CC06 CE02 CE05 5H269 AB11 AB12 AB33 BB03 BB09 CC09 DD05 FF02 FF05 FF06 JJ09 JJ20 KK03 NN18 QC03 QC10 SA08 SA12 SA29 9A001H29 DD13H29H

Claims (8)

[Claims] 1. A teaching of a YAG laser processing machine performed prior to performing a three-dimensional laser processing by irradiating a work with a YAG laser beam oscillated by a laser oscillator through an optical fiber from a condenser lens provided in a laser processing head. In the method, a plurality of teaching points on a workpiece are detected in a height direction by a height direction detection device provided on a laser processing head, and a measuring beam set in advance so as to pass through a focal position of a YAG laser beam is emitted by a laser. A plurality of teaching points on the workpiece are sequentially irradiated from the measuring light source head outside the processing head, and each reflected light of the measuring light on the workpiece is imaged by the image pickup means and displayed on the display and displayed. Adjust the vision coordinates of the reflected light on the display screen to the actual focal position of the YAG laser light in the front, rear, left and right directions. Detecting the position, the master JOB automatically stored for each of the plurality each teaching point by the longitudinal and lateral directions of the position and the image processing apparatus a three-dimensional data composed of the position of the height direction
The normal JOB is automatically processed by the image processing apparatus as necessary at the same teaching point as the plurality of teaching points of the master JOB based on the three-dimensional data of the plurality of teaching points of the master JOB. A teaching method for a YAG laser processing machine, wherein a corrected job is created for each work by performing analysis, confirmation, and correction. 2. The data of the position in the height direction is obtained by transmitting a plurality of teaching light on a work from a measuring light source head external to a laser processing head to a measuring light set in advance so as to pass through a focal position of a YAG laser light. Irradiate the points sequentially,
Each reflected light of the measurement light on the work is imaged by the imaging means and displayed on the display, and the vision coordinates of the displayed reflected light on the display screen are set to the height of the actual focus position of the YAG laser light. 2. The teaching method for a YAG laser processing machine according to claim 1, wherein the position is a height position obtained by combining the directions. 3. The master job is created by inputting a pattern, and the teaching point of the created master job is automatically analyzed, checked, and corrected by the image processing apparatus. Or the teaching method of the YAG laser beam machine according to 2. 4. The master job is created by an automatic program device, and the teaching point of the created master job is automatically analyzed, confirmed, and corrected by the image processing device. Item 1 or 2
The teaching method of the YAG laser processing machine according to the above. 5. After completion of the laser processing, the master job
The image processing apparatus automatically inspects and confirms the state of the laser processing unit based on the three-dimensional data of each of the plurality of teaching points, and feeds back the state of the laser processing unit to the laser processing conditions. Item 5. The teaching method for a YAG laser beam machine according to any one of Items 1 to 4. 6. The image processing apparatus manages the accumulation of the correction job, downloads the correction job from the image processing apparatus to the control device of the YAG laser processing machine, and gives a start command to the control device. The teaching method of a YAG laser processing machine according to claim 1 or 2, wherein: 7. A teaching of a YAG laser processing machine performed prior to performing a three-dimensional laser processing by irradiating a work with a YAG laser beam oscillated by a laser oscillator through an optical fiber from a condenser lens provided in a laser processing head. In the apparatus, a height direction detecting device for detecting a height direction position of a plurality of teaching points on a work is provided in a laser processing head, and an image pickup means for picking up a teaching point on a work is provided. A display for displaying the displayed image is provided. The vision coordinates of the teaching point displayed on the display are aligned with the actual focal position of the YAG laser beam in the front, rear, left and right directions to detect the position in the front, rear, left and right directions. The 3D data consisting of the position in the direction and the position in the height direction is automatically stored and the master JOB is stored. The master JOB as needed for regular JOB thereby formed
An image processing apparatus is provided that automatically performs analysis, confirmation, and correction based on the three-dimensional data of the master JOB at the same teaching point as the teaching point of the above, thereby creating a correction JOB for each work. Teaching device of YAG laser processing machine. 8. The height direction detecting device is provided outside a laser processing head with a measuring light source head for irradiating a teaching point on a work with a measuring beam set in advance so as to pass through a focal position of a YAG laser beam. The teaching device for a YAG laser beam machine according to claim 7, characterized in that: