JP2001328085A - Controller for three-dimensional laser beam machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the working efficiency by shortening a working time by omitting a process for converting the coordinate at a real time while executing the work. SOLUTION: Coordinates of tip positions of a drilling reference point and a direction indicating point, and an attitude angle are stored when the command for drilling is inputted during the formation of a working program, a nozzle direction vector for directing a nozzle 10 for laser is calculated on the basis of the attitude angle of the drilling reference point, a conversion coordinate system is calculated on the basis of the nozzle direction vector, the drilling reference point and the direction indicating point, the coordinate position data formed on a reference coordinate system is read out corresponding to the kind of a designated hole, the readout coordinate position data is converted into the conversion coordinate system, and an insertion program is formed on the basis of the coordinate position data converted into the conversion coordinate system to be built in the working process.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a three-dimensional laser beam machine, and in particular, teaches the position and orientation of the tip of a nozzle in a three-dimensional laser beam machine, and creates a machining program based on the teaching. The present invention relates to a control device for a three-dimensional laser beam machine that controls machining according to a machining program.

[0002]

2. Description of the Related Art The configuration of a conventional general three-dimensional laser beam machine will be described with reference to FIGS. FIG. 8 schematically shows a processing head of a three-dimensional laser processing machine having a rotation axis (α axis) and a posture axis (β axis). In FIG. 8, the processing head is indicated by reference numeral 50 as a whole. The processing head 50 includes a rotating shaft 52 rotatable around the center axis of the Z axis by a bearing member 51 at the tip of a Z-axis member 60, and a rotating shaft 52. A posture axis 54 attached to a tip of a shaft 52 by a bearing member 53 and rotatable around an axis inclined with respect to the Z axis.
And a laser nozzle 61 is attached to the tip of the attitude shaft 54. In addition, the processing point is shown by the symbol N.

In three-dimensional laser processing of a free-form surface,
In order to keep the optical axis of the laser irradiating the processing surface normal to the processing surface, the laser nozzle is required to be always in a direction perpendicular to the processing surface. Teaching that satisfies the requirements, that is, teaching is performed prior to actual processing.

FIG. 9 shows a block configuration of a three-dimensional laser beam machine. 9, reference numeral 71 denotes a processing machine main body,
Reference numeral 50 denotes a processing head, 72 denotes an NC control unit for controlling the processing machine body, 73 denotes an operation unit, 74 denotes a laser oscillator, 75 denotes a teaching box for performing teaching, and W denotes a processing work. A motor (not shown) for driving each axis of the processing machine main body 71 is driven by a drive signal from the NC control unit 72, and a laser nozzle 61 for a workpiece on a work table (not shown) according to teaching data.
Is controlled so that the spot of the laser beam follows around the processing line and the direction and orientation of the laser nozzle 61 are substantially perpendicular (normal) to the surface of the work W.

An outline of a hole machining command in a conventional three-dimensional laser beam machine will be described with reference to FIG. FIG. 10 is an explanatory diagram for explaining an outline of a hole machining command in the three-dimensional laser beam machine. In FIG. 10, W is a processed work,
P1 is a hole processing reference point of a center or a reference point of hole processing, P2 is a direction designating point for determining a coordinate axis direction in hole processing, and P3 is a piercing position at which hole processing is started. When a drilling command is issued, a drilling reference point P1 and a direction indicating point P2 are set with respect to a plane portion on the workpiece W.
Is given, and the hole machining command is given, so that the three-dimensional laser beam machine keeps the posture of the machining head 50 (the direction of the machining nozzle 61) constant and the hole (round hole, length) designated from the piercing position P3. Holes, square holes, etc.).

Next, a description will be given of a procedure for creating a machining program in a conventional teaching operation based on a hole machining command with reference to FIG. FIG. 11 is a flowchart for explaining a procedure for creating a machining program in a conventional teaching operation based on a hole machining command. In FIG. 11, first, various settings of the teaching box 75 are performed, and the teaching operation for teaching a processing point using the three-dimensional laser processing machine can be started (step S30). Then
In the machining program, a command such as opening of the auxiliary function code, which is an initial setting, is given to the teaching box 7.
Each of the teaching points of the machining program is created by pushing the machining axis feed key arranged on the top 5 or moving it to the teaching point using the handle and the joystick and teaching (step S31).

[0007] In creating teaching points, the teaching box 7 is used in the teaching work of the drilled portion.
5 is moved to the teaching point of the hole machining reference point by pressing the machining axis feed key arranged on the upper side or using the handle and the joystick (step S32). Teaching is performed at the drilling reference point (step S33). The operator presses a hole drilling button arranged on the teaching box 75 to issue a hole drilling command. At this time, parameters such as the diameter of the hole drilling are input (step S34). Thereafter, similarly, at the direction indicating point, the machining axis feed key arranged on the teaching box 75 is pressed or the handle and the joystick are used to move to the teaching point of the direction indicating point (step S35). Teaching is performed at points (step S36).

[0008] When the program creation by the teaching operation of the hole machining command is completed, the machining axis feed key arranged on the teaching box 75 is depressed as a continuation or the teaching point of the machining point is taught using the handle and the joystick. By moving and teaching, each teaching point of the machining program is created (step S3).
7). If there is a hole machining portion again, step S32
Step S36 is repeatedly executed. Finally,
Commands such as the shutter closing and program end of the auxiliary function code are given, and the creation of the machining program is terminated.

Next, a description will be given of a conventional machining program including a hole machining command created by the procedure of FIG. 11 with reference to FIG. FIG. 12 is an explanatory diagram for explaining a machining program including a conventional hole machining command created by the procedure of FIG.

A conventional machining program has a main program and sub-programs as shown in FIG. First, the program is executed from the beginning of the main program, and a machining operation is performed according to a given command. If there is a drilling command while the program is in progress, when calling the sub-program considering the previous block as the drilling reference point and the next block as the direction designating point, the coordinates of the tip of the drilling reference point and the direction designating point and Executes coordinate conversion based on the posture angle. When the subprogram ends, the program returns to the main program, and the main program is continuously executed from that point until the program ends.

[0011]

However, as described above, in a conventional three-dimensional laser beam machine, a main program is created in a format for calling a preset sub-program in a hole machining command, and machining is performed. However, the coordinate conversion process is performed based on the drilling reference point and the direction indication point in a real-time method. However, this requires a lot of time for the coordinate conversion, and also requires a drilling command for one drilled workpiece. Since the number of times of performing the coordinate conversion increases as the number increases, there is a problem that the processing time is prolonged.

Further, in the conventional three-dimensional laser beam machine, the hole machining command converts a plane and performs two-dimensional machining, so that the hole machining command is used in a curved portion. There is a problem that processing becomes difficult. Furthermore, in the conventional three-dimensional laser beam machine, there is also a problem that it is not possible to change only a certain portion after allocating a determined shape on a work to be processed.

SUMMARY OF THE INVENTION The present invention has been made in view of the above, and has been made in consideration of the above circumstances. A three-dimensional laser capable of eliminating a process of performing coordinate conversion in a real-time manner while processing, shortening a processing time and improving work efficiency. An object is to obtain a control device for a processing machine.

[0014]

Means for Solving the Problems To solve the above-mentioned problems,
In order to achieve the object, in the control device for a three-dimensional laser processing machine according to the present invention, a tip position and a posture of a nozzle in the three-dimensional laser processing machine are taught, and a processing program is created based on the teaching. In a control device for a three-dimensional laser processing machine that controls machining according to the machining program, when a machining command is input during creation of the machining program, the coordinates of the tip position and the attitude angle of the machining reference point and the direction indicating point are stored. Storage means, a direction vector calculation means for calculating a nozzle direction vector indicated by the nozzle based on the attitude angle of the hole processing reference point, and a direction vector calculation method based on the nozzle direction vector, the hole processing reference point, and the direction indication point. Coordinate system calculating means for calculating the destination coordinate system by using the coordinates created on the reference coordinate system according to the specified hole type Conversion means for reading the position data and converting the read coordinate position data into a destination coordinate system, and a program insertion means for creating an insertion program based on the coordinate position data converted into the destination coordinate system and incorporating the program into the machining program And with.

According to the control device for a three-dimensional laser beam machine, when a hole machining command is input, the coordinates of the tip position and the attitude angle of the hole machining reference point as the previous block and the direction pointing point as the current block are stored. Then, a direction vector indicated by the nozzle is calculated from the attitude angle of the hole processing reference point, and a coordinate system of the conversion destination is calculated from the nozzle direction vector, the hole processing reference point, and the direction designating point. Read out the coordinate position data created on the coordinate system, project it on the destination coordinate system, create an insertion program based on the coordinate position data converted according to the specified hole shape, and insert it into the machining program Therefore, it is possible to omit the process of performing the coordinate conversion in the real-time method, and to improve the working efficiency by shortening the processing time.

In the control device for a three-dimensional laser beam machine according to the next invention, the drilling command is a drilling command for a round hole, a long hole, a square hole, and the like on a three-dimensional plane. According to the present invention, when a round hole, a long hole, a square hole, or the like is machined in a three-dimensional plane, it is possible to achieve an improvement in work efficiency by shortening the machining time.

In the control apparatus for a three-dimensional laser beam machine according to the next invention, the insertion program includes a program that associates coordinate position data converted into a destination coordinate system with linear interpolation and circular interpolation of a three-dimensional code. And an auxiliary function code command for instructing the start and end of machining. According to the control device for a three-dimensional laser beam machine, when a hole drilling command is issued when the hole drilling position is determined by teaching the hole drilling reference point and the direction indicating point, the coordinate position converted into the destination coordinate system is obtained. Since a program relating data to linear interpolation and circular interpolation of a three-dimensional code and auxiliary function code commands for instructing the start and end of machining and the like were to be inserted into the machining program, they were converted to the coordinate system of the conversion destination. A program relating coordinate position data to linear interpolation and circular interpolation of a three-dimensional code, and an auxiliary function code command for instructing the start and end of machining can be inserted into the machining program. The processing to be performed can be omitted, and an improvement in working efficiency by shortening the processing time can be achieved.

A control device for a three-dimensional laser beam machine according to the next invention is provided with a deletion means for deleting an unnecessary hole machining reference point and a direction designation point after incorporating an insertion program into a machining program. is there. According to the control device for a three-dimensional laser beam machine, when a hole drilling position is determined by teaching a hole drilling reference point and a direction indicating point, a hole drilling command is issued, and the hole drilling command is converted according to the designated hole shape. After inserting the insertion program corresponding to the coordinate position data into the machining program, the unnecessary drilling reference point and direction indication point are deleted, so that movement to unnecessary points can be reduced, and machining time can be reduced. The work efficiency can be improved by shortening the work time.

The control device for a three-dimensional laser beam machine according to the next invention further comprises a correction means for correcting the tip position and orientation at each transformed coordinate point after the insertion program is incorporated into the processing program. It is. According to the control device for a three-dimensional laser beam machine, when a hole drilling position is determined by teaching a hole drilling reference point and a direction indicating point, a hole drilling command is issued, and the hole drilling command is converted according to the designated hole shape. After incorporating the insertion program according to the coordinate position data into the machining program, only the specific part is changed in consideration of the machining work, so the degree of freedom of the machining shape can be improved and the teaching time can be shortened. Work efficiency can be improved.

In the control device for a three-dimensional laser beam machine according to the present invention, the insertion program may further comprise a machining speed calculated based on a designated type of hole machining, a hole diameter, and a preset machining speed setting condition. This includes a code command for the processing conditions. According to the control device for a three-dimensional laser beam machine, a hole drilling command is issued after a hole drilling position is determined by teaching a hole drilling reference point and a direction designating point. By setting the processing conditions of the processing speed by comparing with the set processing speed setting conditions, the processing speed can be set according to the shape of the drilling commanded, and the work of setting the automatic speed is omitted. The work efficiency can be improved by shortening the time.

The control device for a three-dimensional laser beam machine according to the next invention further comprises an input means for inputting the processing speed setting condition, and a parameter of the processing speed setting condition input by the input means in several steps. Registering means for registering each of the levels, and parameter setting means for selecting the level and setting the parameters of the processing speed setting condition, wherein the program inserting means comprises: The machining speed is calculated based on the type of the hole machining and the diameter of the hole.
According to the control device for a three-dimensional laser processing machine, the parameters of the input processing speed setting condition are registered for each of several levels, the level is selected, and the parameters of the processing speed setting condition are set and set. Since the machining speed was calculated based on the machining speed condition based on the set parameters, the type of hole machining specified and the hole diameter, parameters can be registered at several levels, and the machining speed setting condition You can expand your options.

The control device for a three-dimensional laser beam machine according to the next invention further comprises a switching instruction means for instructing whether the creation of the insertion program is valid or invalid. According to the control device for a three-dimensional laser beam machine, the instruction to switch the validity / invalidity of the creation of the insertion program is given, and when the validity of the creation of the insertion program is instructed, the process of creating the insertion program is executed. When it is instructed that the creation of the insertion program is invalidated, the process of creating the insertion program is not executed, so that execution / non-execution of the creation process of the insertion program can be instructed.

In the control device for a three-dimensional laser beam machine according to the next invention, the input means or the switching instruction means is a teaching box and a numerical control device. According to the control device for a three-dimensional laser processing machine, the input of the processing speed setting condition and the instruction to switch the validity / invalidity of the creation of the insertion program are performed by the teaching box and the numerical controller. Input can be performed by the teaching box and the numerical controller. Also, during the teaching operation or the operation of the numerical controller, the validity of the insertion program creation /
Invalidation can be switched, and work efficiency can be improved by shortening the time.

[0024]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view of a control device for a three-dimensional laser beam machine according to the present invention.

FIG. 1 shows an example of the configuration of a three-dimensional laser beam machine to which the control device according to the present invention is applied. The three-dimensional laser processing machine includes a work table 2 provided on a bed 1 so as to be movable in the X-axis direction, a cross rail 6 horizontally stretched between left and right columns 4 and 5, and a cross rail 6.
A Y-axis unit 7 movably provided in the Y-axis direction;
A Z-axis unit 8 provided on the Y-axis unit 7 so as to be movable in the Z-axis direction; a processing head 9 mounted on the Z-axis unit 8; and a laser nozzle (processing nozzle) mounted on the tip of the processing head 9. ) 10, a computer-type numerical controller 11, and a pendant-type teaching box 12 for performing teaching. The numerical control device 11 includes, as a man-machine interface, an operation panel 11A and a screen display unit 11B such as a CRT, and controls the three-dimensional laser beam machine in accordance with a machining program (teaching data) created in the teaching operation.

The work table 2, the Y-axis unit 7, and the Z-axis unit 8 are driven by an X-axis servo motor, a Y-axis servo motor, and a Z-axis servo motor (not shown), respectively. The position is controlled.

The machining head 9 is constructed in the same manner as the conventional one. As shown in FIG. 2, the machining head 9 is rotatable around the center axis of the Z-axis by a bearing member 13 at the tip of the Z-axis unit 8. It has a rotating shaft 14 and a posture shaft 16 attached to a tip of the rotating shaft 14 by a bearing member 15 and rotatable around an axis inclined with respect to the Z-axis. Installed. The rotating shaft 14 is driven to rotate by an α-axis servomotor 17, and the attitude shaft 16 is driven to rotate by a β-axis servomotor 18.

X-axis servo motor, Y-axis servo motor, Z
Axis servomotor (not shown) and α-axis servomotor 17
And the β-axis servo motor 18 is driven by a drive signal from the numerical controller 11, and drives the laser nozzle 1 for the workpiece on the work table 2 in accordance with the teaching data.
The laser beam spot is controlled so that the spot of the laser beam follows the periphery of the processing line while keeping the separation distance of 0 constant, and the direction and orientation of the laser nozzle 10 are substantially perpendicular (normal) to the surface of the workpiece W. .

FIG. 3 shows an optical system of the above-described three-dimensional laser beam machine and a control system including a control device for the three-dimensional laser beam machine according to the present invention. In FIG. 3, the work table 2, the Y-axis unit 7, the Z-axis unit 8, and the like are collectively referred to as a processing machine body 20. The three-dimensional laser processing machine has a laser oscillator 21 as an optical system, and a laser beam B output from the laser oscillator 21 reaches a laser nozzle 10 via a processing head 9 and is processed by the laser nozzle 10. The W is irradiated on the surface to be processed.

The control device for the three-dimensional laser beam machine has a numerical controller (NC) 11, a teaching box 12, a parameter setting unit 30, a coordinate calculation unit 31, a program insertion unit 32, and the like. The format of the machining program of the present embodiment is a preparation function (G code) and an auxiliary function (M code) of the numerically controlled machine tool defined in JIS B6314.
Code).

The parameter setting section 30 registers the parameters (for example, the moving direction and the moving amount) of the processing speed setting condition input from the teaching box 12 or the numerical controller 11 at several levels and selects the level. By doing so, the parameters of the processing speed setting condition are set.

The coordinate calculator 31 reads coordinate position data created on the reference coordinate system in accordance with the specified hole type, and calculates coordinate values obtained by projecting the read coordinate position data onto the destination coordinate system. And memorize.

The program insertion unit 32 includes a coordinate calculation unit 31
A program (G code) is created by associating the coordinate values of the conversion destination coordinate system converted in step 3 with the specified hole shape and linking the three-dimensional linear interpolation and the circular arc interpolation, and incorporating the program (G code) into the machining program. Further, the program insertion unit 32 reads the parameters of the processing speed setting conditions set by the parameter setting unit 30, and calculates the processing speed setting conditions based on the parameters, the type of hole processing specified, and the processing calculated according to the hole diameter. Processing conditions such as speed (F code) and auxiliary function code command (M code) are inserted into the processing program. Further, the program insertion unit 32 deletes unnecessary hole machining reference points and direction indication points after the program is incorporated into the machining program.

Next, a procedure for creating a machining program in a teaching operation according to a hole machining command will be described with reference to FIG. FIG. 4 is a flowchart for explaining a procedure for creating a machining program in a teaching operation based on a hole machining command.

In FIG. 4, first, various settings of the teaching box 12 are performed, and a teaching operation for teaching a processing point using a three-dimensional laser processing machine can be started (step S1). Next, the automatic generation of a hole machining command (creation of an insertion program) is effectively switched by the numerical controller 11 or the teaching box 12 (step S2). The validity / invalidity of automatic generation of a drilling command program is set in the parameter setting unit 30.

In the machining program, a command such as opening the shutter of an auxiliary function code which is an initial setting is given, and a machining axis feed key arranged on the teaching box 12 is pressed, or a handle and a joystick provided on the operation panel 11A are used. Then, each teaching point of the machining program is created by moving to the teaching point and teaching (step S3). In creating the teaching points, in the teaching work of the hole drilling part, a machining axis feed key arranged on the teaching box 12 is pressed to a hole drilling reference point, or a handle provided on the operation panel 11A is used. It is moved to a teaching point using a joystick (step S4). Teaching is performed at the drilling reference point (step S5).

Further, in the same manner, at the direction indicating point, the processing axis feed key arranged on the teaching box 12 is pressed or the handle and joystick provided on the operation panel 11A are used to move to the teaching point of the direction indicating point. The robot is moved (step S6), and teaching is performed at the designated direction point (step S7). Subsequently, the operator presses a drilling button arranged on the teaching box 12 to issue a drilling command, and inputs parameters such as a drilling diameter at that time (step S8).

As described above, when the drilling reference point and the direction designating point are taught and the drilling command is input, if the automatic generation of the drilling command program is set to be valid, it will be described later. Then, the parameter setting unit 30, the coordinate calculation unit 31, and the program insertion unit 32 perform a program for automatically generating a hole machining command (program insertion process).

When the creation of the program by the teaching operation of the hole machining command is completed, as a continuation, a machining axis feed key arranged on the teaching box 12 is pressed, or a handle and a joystick provided on the operation panel 11A are provided. Is used to move to the teaching point, and teaching is performed to create each teaching point of the machining program (step S9). If there is a hole machining portion again, the operations from step S4 to step S8 are repeated. Finally, commands such as the shutter closing and program end of the auxiliary function code are given, and the creation of the machining program is completed.

Next, a program for automatically generating a hole machining command in the parameter setting unit 30, the coordinate calculation unit 31, and the program insertion unit 32 (program insertion process).
Will be described. First, the processing of the coordinate calculator 31 will be described with reference to FIG. FIG. 5 is a flowchart for explaining the processing of the coordinate calculation unit 31.

In FIG. 5, first, the parameter setting unit 3
It is determined whether the automatic program generation of the hole machining command set at 0 is valid / invalid (step S10). If the automatic generation of the drilling command is determined to be "valid", the direction vector pointed by the nozzle is calculated from the attitude angle of the drilling reference point (step S11). A destination coordinate system (= conversion matrix) is calculated based on the calculated nozzle direction vector, the drilling reference point, and the direction indication point (step S12). Step S11 and step S1
In parallel with the process of 2, the coordinate position data including the variables created on the reference coordinate system is read out according to the type of the designated hole (step S13), and the coordinates are read out using parameters such as the diameter of the designated hole. Determine the position data (step S1
4). Then, the coordinate position data of step S14 is converted using the conversion matrix calculated in step S12, and the coordinate values of the conversion destination are calculated (step S15) and stored (step S16). On the other hand, in step S10, when the automatic generation of the hole machining instruction program is set to "invalid", a subprogram of the hole machining instruction is created in the program as in the related art (step S17). The processing after step S11 is not executed.

Here, a specific method of the above-described coordinate conversion will be described. First, a vector U from the drilling reference point to the direction designating point is created, the nozzle direction vector at the drilling reference point is set to W, and another axis V is calculated from the cross product between U and W.
Create Then, a destination coordinate system (= transformation matrix T) is calculated by the following equation (1). T = [U V W] (1)

Subsequently, each point of the reference coordinate system is transformed using the transformation destination coordinate system T and the hole machining reference point P1. More specifically, when the point on the reference coordinate system is X0, the coordinate value X after the conversion is calculated by the following equation (2). X = T.X0 + d (2) where d indicates the coordinate value of the hole machining reference point P1.

Next, the processing of the program insertion unit 32 will be specifically described. Here, a process of creating a “round hole” and “elongated hole” insertion program will be described. Fig. 6 shows a round hole
FIG. 5 is a layout diagram of coordinate data on a reference coordinate system and each command of a program to be inserted. In FIG.
Points D to D are points including variables on the reference coordinate system, and the reference coordinate values are determined by parameters such as the hole diameter I input at the time of a hole machining command.

The program shown in FIG.
The coordinate values converted with respect to the reference coordinate values determined in step 1 are linked to G code commands, which are interpolation functions such as straight lines and circular arcs, and incorporated (G2 to G8). Further, the parameters set by the parameter setting unit 30 are used. Machining speed setting conditions, machining conditions (F1) such as machining speed calculated based on the specified type of hole machining and hole diameter, and auxiliary function code commands (M1, M2) for machining start and machining end
It incorporates

FIG. 7 is a layout diagram of coordinate data on the reference coordinate system in the "long hole" and each command of the inserted program. In the drawing, points O to G are points including variables on the reference coordinate system, and the reference coordinate values are determined by parameters such as the hole diameters I and J input at the time of a hole machining command. .

The program shown in FIG.
The coordinate values converted with respect to the reference coordinate values determined in step 1 are linked to a G code command as an interpolation function for a straight line, a circular arc, or the like, and incorporated (G2 to G11). Processing speed setting conditions, processing conditions (F1) such as a processing speed calculated according to the type of hole processing and hole diameter instructed, and auxiliary function code commands (M1, M2) for processing start and processing end are incorporated. Things. The “long hole” program shown in FIG. 7 is different from the “round hole” program shown in FIG.
This is a program in which the parts from to G10 are converted for slotted holes. After incorporating the above-described insertion program into the machining program, the numerical control device 11 or the like can correct the tip position and orientation at each transformed coordinate point in consideration of the shape and the like of the machining workpiece W.

As described above, in the present embodiment, when a drilling command is input during the creation of a drilling program, the program insertion unit 32 converts the drilling according to the specified hole shape. Coordinate position data is linked to linear interpolation and circular interpolation and incorporated into the program, and the auxiliary function code command is automatically inserted into the program.This eliminates the need to perform coordinate conversion in real time while processing. In addition, it is possible to achieve an improvement in working efficiency by shortening the processing time.

After inserting the coordinate position data converted in accordance with the designated hole shape into the machining program by linking it with linear interpolation and circular interpolation, the program insertion unit 32 removes the unnecessary hole machining reference points and Since the direction indicating point is deleted, it is possible to reduce the movement to an unnecessary point, and it is possible to improve the working efficiency by shortening the processing time.

After the coordinate position data converted according to the specified hole shape is linked to the linear interpolation and the circular interpolation and incorporated into the program, the numerical controller 11 and the like take the shape of the work to be worked into consideration. Because only a specific part can be changed, the degree of freedom of the shape increases,
Work efficiency can be improved by shortening the teaching time.

Further, since the program inserting section 32 sets the machining speed according to the commanded hole machining shape, the operation of setting the automatic speed can be omitted, and the work efficiency is improved by shortening the time. The effect is achieved.

Further, since the processing speed setting condition can be input from the teaching box 12 and the numerical controller 11, the work of switching between the teaching box 12 and the numerical controller 11 can be omitted, and the time can be reduced. The work efficiency can be improved, and parameters can be registered at several levels, so that the range of condition specification selection can be expanded.

Further, since the automatic generation of the drilling command program (insertion program) is enabled / disabled from the teaching box 12 and the numerical controller 11, the teaching operation or the numerical controller 11 is performed.
The automatic generation of the drilling instruction program (insertion program) can be switched between valid and invalid even during the operation of, and the work efficiency can be improved by shortening the time.

It should be noted that the present invention is not limited to the above-described embodiment, and can be carried out with appropriate modifications without departing from the spirit of the invention.

[0055]

As described above, according to the present invention, when a hole machining command is input during the creation of a machining program, insertion is performed based on coordinate position data converted according to the commanded hole shape. Since the program is created and inserted into the machining program, it is possible to omit the process of performing the coordinate transformation in a real-time manner while machining, thereby achieving an effect of improving the working efficiency by shortening the machining time.

According to the next invention, the hole machining command is a machining command for a round hole, a long hole, a square hole, or the like on a three-dimensional plane. When machining a long hole, a square hole, or the like, there is an effect that the working efficiency can be improved by shortening the machining time.

According to the next invention, the insertion program is:
A program for relating the coordinate position data converted to the conversion destination coordinate system to linear interpolation and circular interpolation of a three-dimensional code,
Since auxiliary function code commands for instructing the start and end of machining are inserted into the machining program, a program relating the coordinate position data converted to the coordinate system of the conversion destination to linear interpolation and circular interpolation of three-dimensional codes is used. And an auxiliary function code command for instructing the start and end of machining, etc. can be inserted into the machining program. It has the effect that it can be achieved.

According to the next invention, after the insertion program is incorporated into the machining program, unnecessary drilling reference points and direction designation points are deleted, so that movement to unnecessary points can be reduced. Thus, there is an effect that the working efficiency can be improved by shortening the processing time.

According to the next invention, after the insertion program is incorporated into the machining program, the tip position and orientation at each transformed coordinate point are corrected, so that the degree of freedom of the machining shape can be improved and the teaching time can be improved. This leads to an effect that an improvement in work efficiency can be achieved by shortening the length.

According to the next invention, the insertion program includes a code instruction of a processing condition of a processing speed calculated based on a specified type of hole processing, a hole diameter, and a predetermined processing speed setting condition. Therefore, the processing speed can be set in accordance with the commanded hole drilling shape, the operation of setting the automatic speed can be omitted, and the working efficiency can be improved by shortening the time.

According to the next invention, the parameters of the processing speed setting conditions to be inputted are registered for each of several levels, the level is selected, the parameters of the processing speed setting conditions are set, and the set parameters are set. Processing speed conditions,
Since the processing speed is calculated based on the specified type of hole processing and the hole diameter, parameters can be registered at several levels, and the range of selection of the processing speed setting conditions can be expanded. This has the effect.

According to the next invention, the switching instructing means instructs the switching of the validity / invalidity of the creation of the insertion program, so that it is possible to instruct execution / non-execution of the creation processing of the insertion program.

According to the next invention, the input of the processing speed setting condition and the instruction to switch the generation / invalidation of the insertion program are made by the teaching box and the numerical controller, so that the input of the processing speed setting condition is taught. It can be performed by a box and a numerical control device, and it is possible to switch between enabling and disabling the creation of an insertion program even during a teaching operation or an operation of the numerical control device, thereby improving the work efficiency by shortening the time. It works.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a configuration example of a three-dimensional laser beam machine to which a control device according to the present invention is applied.

FIG. 2 is an illustrative view showing a configuration of a processing head of a three-dimensional laser processing machine to which the control device according to the present invention is applied;

FIG. 3 is a block diagram showing one embodiment of a control device for a three-dimensional laser beam machine according to the present invention.

FIG. 4 is a flowchart for explaining a process of creating a machining program in a teaching operation based on a hole machining command by the control device for a three-dimensional laser beam machine according to the present invention.

FIG. 5 is a flowchart for explaining processing of a coordinate value calculation unit of the control device for a three-dimensional laser beam machine according to the present invention.

FIG. 6 is a layout diagram of coordinate position data on a reference coordinate system in a “round hole” of the control device for a three-dimensional laser beam machine according to the present invention and instructions of a program to be inserted.

FIG. 7 is a layout diagram of coordinate position data on a reference coordinate system in a “long hole” of the control device for a three-dimensional laser beam machine according to the present invention and each command of a program to be inserted.

FIG. 8 is an illustrative view showing a configuration of a processing head used in a conventional three-dimensional laser processing machine.

FIG. 9 is a block diagram illustrating a configuration of a conventional three-dimensional laser beam machine.

FIG. 10 is an explanatory diagram for explaining an outline of a hole machining command in a conventional three-dimensional laser beam machine.

FIG. 11 is a flowchart for explaining a process of creating a machining program in a conventional teaching operation according to a hole machining command.

FIG. 12 is an explanatory diagram for explaining a machining program including a conventional hole machining command created by the procedure of FIG. 11;

[Explanation of symbols]

9 machining head, 10 laser nozzle, 11 numerical controller, 12 teaching box, 30 parameter setting section, 31 coordinate calculation section 32 program insertion section.

 ──────────────────────────────────────────────────続 き Continued on the front page F term (reference) 3F059 AA05 BA10 BC07 CA05 DA02 DA08 DC08 DD01 DD11 FA03 FA08 FB01 FB05 FB26 FC02 FC07 FC13 FC14 4E068 CB02 CB03 CE05 5H269 AB11 CC07 EE01 EE11 EE29 QB14 RB01 DD03

Claims (9)

[Claims] 1. A control device for a three-dimensional laser processing machine that teaches a tip position and a posture of a nozzle in a three-dimensional laser processing machine, creates a processing program based on the teaching, and controls the processing according to the processing program. When a drilling command is input during program creation, storage means for storing tip position coordinates and a posture angle of a drilling reference point and a direction designating point; and A direction vector calculating means for calculating a nozzle direction vector to be pointed; a transformation coordinate system calculating means for calculating a transformation destination coordinate system based on the nozzle direction vector, the hole machining reference point, and the direction indicating point; Reads the coordinate position data created on the reference coordinate system according to the type of Conversion means for converting, and a program insertion means for creating an insertion program based on the coordinate position data converted into the conversion destination coordinate system and incorporating the program into the machining program. Control device. 2. The control for a three-dimensional laser processing machine according to claim 1, wherein the hole processing command is a processing command for a round hole, a long hole, a square hole, or the like in a three-dimensional plane. apparatus. 3. The insertion program includes a program relating the coordinate position data converted into the conversion destination coordinate system to linear interpolation and circular interpolation of a three-dimensional code, and an auxiliary function code command for instructing a start and end of machining. The three-dimensional laser processing apparatus according to claim 1, further comprising: 4. The apparatus according to claim 1, further comprising a deletion unit configured to delete unnecessary drilling reference points and direction designation points after incorporating the insertion program into the drilling program. 4. The control device for a three-dimensional laser beam machine according to 3. 5. The apparatus according to claim 1, further comprising a correction unit configured to correct a position and an end of a tip at each transformation coordinate point after incorporating the insertion program into the machining program. A control device for a three-dimensional laser beam machine according to any one of the above. 6. The method according to claim 1, wherein the insertion program includes a code command of a machining condition of a machining speed calculated based on a designated type of machining, a hole diameter, and a preset machining speed setting condition. A control device for a three-dimensional laser beam machine according to any one of claims 1 to 5. 7. An input unit for inputting the processing speed setting condition, a registration unit for registering a parameter of the processing speed setting condition input by the input unit for several levels, and selecting the level. And a parameter setting means for setting parameters of the processing speed setting condition, wherein the program inserting means is configured to perform processing on the basis of the processing speed condition based on the set parameters, the type of hole processing instructed, and the diameter of the hole. 7. The control device for a three-dimensional laser beam machine according to claim 6, wherein the processing speed is calculated. 8. The three-dimensional laser beam machine according to claim 1, further comprising a switch instructing unit for instructing whether to enable or disable the creation of the insertion program. Control device. 9. The control device for a three-dimensional laser processing machine according to claim 7, wherein the input means or the switching instruction means is a teaching box and a numerical control device.