JP2009056488A - Teaching device in three-dimensional laser beam machine - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a teaching device in a three-dimensional laser beam machine capable of easily performing the teaching work. <P>SOLUTION: A joystick box 41 comprises a first joystick lever 45 for controlling the movement of a teaching head of a laser beam machine in the three axial directions of X, Y and Z axes, and a second joystick lever 46 for controlling the attitude of the teaching head by the rotational C-axis around the vertical axis and the rotational A-axis around the inclined axis. The joystick box 41 further comprises a linear interpolation key 47 for setting and registering a machining movement path between teaching points in a linear interpolation manner, a circular interpolation key 48 for setting and registering the path in a circular interpolation manner, a rapid feed key 49 for setting and registering the path in a rapid feed manner, and a data deletion key 50 for deleting the data. The joystick box 41 is mounted on a head supporting frame, and the keys 47-50 are operable by the blind touch. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a teaching device in a three-dimensional laser processing machine for securing laser processing data.

In general, a tertiary that can be controlled in five axes by three-dimensional coordinate axes of X, Y, and Z axes orthogonal to each other as shown in FIG. 2 and, for example, C and A head orientation axes constituting a one-point-oriented machining head 18. In the original laser beam machine, teaching operation for inputting the movement path coordinates of the machining head 18 is performed as follows. That is, the teaching work 14 with the ruled lines 15 as teaching lines is placed on the jig 13 on the table 12. Further, the function of the processing head 18 of the laser processing machine is changed so as to function as a teaching head 18a capable of outputting visible light. Then, the first joystick lever 45 or the C-axis and the A-axis for operating the three axes X, Y, and Z mounted on the teaching box 43 or the joystick box 41 shown in FIG. By manipulating the second joystick lever 46, necessary axes among the five axes of the laser beam machine are operated. Thereby, the table 12 shown in FIG. 2 or the teaching head 18a is moved relative to the X, Y, Z axis and C, A axis to move the tip of the teaching head 18a to a predetermined position of the teaching work 14, It is made to oppose the teaching point on the ruled line 15. In this opposed state, the teaching point data, that is, the coordinate data and the posture data of the teaching head 18a at the teaching point are fetched and stored in the memory. This operation is performed at many places on the ruled line 15 to create teaching data. (See Patent Document 1)
On the other hand, the teaching box 43 is arranged so as to be positioned in the vicinity of the joystick box 41. For example, as shown in FIG. 6, the teaching box 43 is provided with a display 55, and a numeric key 56, a mode setting key 57 for setting a teaching mode, and a teaching head 18a are arranged on the teaching point and the normal line. A plurality of axis operation keys 58 for operating the X, Y, Z, C, and A axes are provided. Also, the teaching point data is stored for storing the teaching point data, the linear interpolation key 59 for linearly interpolating the machining head 18 between the teaching points by machining feed, and an arc for circular interpolation by machining feed. An interpolation key 60, a fast-forward key 61 for fast-forward movement in a straight line, a data deletion key 62 for deleting teaching data, and the like are provided. Further, a joystick lever 63 for operating the X, Y, Z, C, and A axes is also provided at the top.
Japanese Patent No. 3205183

  However, in the conventional teaching apparatus, the joystick box 41 is operated at a position away from the machining head 18 as the machining head 18 moves in the Y-axis (left and right) direction, and the direct visual observation of the head position becomes far. Accurate operation cannot be performed. For this reason, the joystick box 41 is attached to the outer surface of the head support frame 17 of the machining head 18 so that it can always be operated at a position close to the machining head 18. However, a first joystick lever 45 that performs three-axis movement operations of the X, Y, and Z axes and a second joystick lever 46 that performs two-axis rotation operations of the C-axis and the A-axis with respect to the joystick box 41 are provided. Since it was only provided, there were the following problems.

  That is, when performing the teaching work, the operator operates the two joystick levers 45 and 46 of the joystick box 41 to move the tip of the teaching head 18 a to a predetermined position of the teaching work 14. After that, it is necessary to operate the linear interpolation key 59, the circular interpolation key 60, the fast-forward key 61, the data deletion key 62, and the like of the teaching box 43 away from the joystick box 41 for route designation. For this reason, in order to create a series of teaching data, the operator alternately repeats the operation of the joystick levers 45 and 46 of the joystick box 41 and the operation of the various keys 59, 60, 61, 62 and the like of the teaching box 43. There was a problem that teaching work was very troublesome.

  An object of the present invention is to provide a teaching apparatus in a three-dimensional laser beam machine capable of solving the above-described problems in the prior art and easily performing teaching work.

  In order to solve the above-mentioned problems, the invention according to claim 1 is directed to a three-dimensional coordinate axis of X, Y, and Z axes orthogonal to each other and a rotation C axis centering on a vertical axis constituting a one-point head. And a teaching device in a three-dimensional laser processing machine capable of 5-axis control with a head attitude axis of rotation A about the tilt axis, the teaching box connected to the control device of the laser processing machine includes the X, A function for operating the Y and Z axes and the C and A axes is provided, and the head is pointed to the teaching points on the workpiece, and the type of interpolation between the teaching points and the input / editing of teaching data of machining conditions are performed. A joystick box provided with a plurality of operation keys that can be corrected and connected to the control device of the laser beam machine is moved in the Y and Z axis directions of the laser beam machine separately from the teaching box. The joystick box is attached to an outer surface of a head support frame that supports the head rotatably about the C axis. The joystick box includes a first joystick lever for operating the X, Y, and Z axes, and C , A second joystick lever for A-axis operation, and the joystick box is operated after the head is directed to a teaching point on the workpiece by each joystick lever, For blind touch teaching of the fast-forward key that can be set and registered for fast-feed linear movement, the linear interpolation key that can be set and registered for machining feed linear interpolation, and the circular interpolation key that can be set and registered for machining feed circular interpolation The gist is that an operation key is provided.

  According to a second aspect of the present invention, in the first aspect, when the operation keys are operated, the joystick box is provided with notification means for notifying that the operation of the keys has been performed by different voices. It is the gist.

  A third aspect of the present invention provides the joystick box according to the first or second aspect, wherein each joystick lever and each operation key are operated when an operator operates the joystick box with a predetermined pressing force. The gist is that a deadman switch is provided so as to be possible.

The gist of a fourth aspect of the present invention is that, in the third aspect, the deadman switch is configured as a wireless switch unit that can be held with one hand.
According to a fifth aspect of the present invention, in the joystick box according to any one of the first to fourth aspects, the joystick box is further provided with a data deletion key of a blind touch type capable of deleting already set teaching data. It is a summary.

(Function)
The present invention attaches the joystick box to the outer surface of the head support frame, and in addition to the first and second joystick levers, the joystick box has three types of operation keys: linear interpolation key, arc interpolation key, and fast-forward key that are particularly frequently used for teaching Is provided. For this reason, the operator can set the movement path data of the machining head between each teaching point by operating each operation key in the joystick box without moving from the vicinity of the machining head. Creation can be performed easily. Furthermore, by using the operation keys of the blind touch method, the operator can operate with one hand while viewing the machining head immediately.

  According to the present invention, the operation of creating a series of teaching data of the teaching point coordinate data and posture data and the movement path data between the teaching points in the joystick box is always performed at a distance close to the machining head by the operator and the lever of the joystick box. It can be performed by operating the operation keys, and the teaching work can be performed efficiently and easily.

Hereinafter, an embodiment of a teaching device in a three-dimensional laser processing machine embodying the present invention will be described with reference to FIGS.
First, the configuration of the three-dimensional laser processing machine of this embodiment will be described based on FIG. The laser beam machine according to this embodiment includes an X axis, a Y axis, and a Z axis as coordinate axes, and a rotation around a vertical axis as a head attitude axis constituting a one-point head as shown in FIG. This is a 5-axis control type having a C axis and a rotation A axis around the tilt axis. This laser processing machine has a teaching and teaching playback function based on storage of movement path data of the processing head 18.

  As shown in FIG. 2, a table 12 is supported on the upper surface of the bed 11 so as to be movable in the X-axis (front-rear) direction. A work (not shown) is placed. The teaching work 14 is provided with a ruled line 15 as a teaching line, and a large number of teaching points P1 to Pn are set on the ruled line 15 as shown in FIG. As shown in FIG. 2, a gate-shaped column 16 is erected on the bed 11, and a Y-axis (left / right) direction and a Z-axis (up / down) direction are arranged on the upper portion thereof by a Y-axis drive mechanism and a Z-axis drive mechanism (not shown). A head support frame 17 that is movable in two directions is attached, and a processing head 18 is attached to the frame 17.

  As shown in FIG. 2, the machining head 18 is rotatably supported inside the head support frame 17 and is rotated around a C axis by a rotation mechanism having a servo motor (not shown). 19 and an A-axis rotation support cylinder 20 rotated by a rotation mechanism provided with a servo motor (not shown) around the A-axis inclined at the lower end of the C-axis rotation support cylinder 19. A nozzle 20 a is attached to the tip of 20. The nozzle 20a is disposed opposite to a predetermined position on an actual work (not shown) supported by the jig 13 with a predetermined distance on a normal passing through the position. In this state, the laser beam supplied from the laser oscillator 21 is irradiated onto the actual workpiece from the nozzle 20a attached to the tip of the A-axis rotation support cylinder 20, and laser processing is performed.

  The machining head 18 also functions as a teaching head 18a. A He—Ne laser oscillating unit (not shown) as a visible light laser provided inside the laser oscillator 21 of the processing head 18 oscillates He—Ne laser light, thereby collecting the inside of the teaching head 18 a. As shown in FIG. 4, a visible light spot is irradiated onto the teaching work 14 near the tip of the nozzle 20a through the optical lens.

  As shown in FIG. 2, a control device 31 is arranged on the right side of the bed 11, and a keyboard 32 for inputting various data is connected to the control device 31. As shown in FIG. 1, the control device 31 is provided with a main controller 33 for arithmetic processing and a memory 34 as storage means for storing work programs, teaching data, and the like. The control device 31 includes a servo controller 35 for controlling each servo motor (not shown) for driving the X, Y, Z axes, C, and A axes based on a control signal from the main controller 33. . An operation panel 36 and a CRT display 37 are connected to the main controller 33.

  As shown in FIG. 1, a joystick box 41 is movably connected to a main controller 33 of the control device 31 via a flexible cable 42. Similarly, a teaching box 43 is movably connected to the main controller 33 via a flexible cable 44. The teaching box 43 is usually hooked to the side of the column 16 as shown in FIG. 1, and the joystick box 41 is attached to a position below the outer surface (front surface) of the head support frame 17.

Next, the configuration of the joystick box 41 will be described with reference to FIG.
Below the joystick box 41, a first joystick lever 45 is provided for controlling the movement of the teaching head 18a in the X, Y, and Z axes. A diagram for displaying the operation content of the first joystick lever 45 is drawn on the lower front surface of the joystick box 41. The upper front surface of the joystick box 41 has a function for controlling the rotation of the C-axis rotation support cylinder 19 around the C-axis and a function for controlling the rotation of the nozzle 20a around the A-axis. 2 A joystick lever 46 is attached. Then, by operating the first joystick lever 45 or the second joystick lever 46 with respect to the ruled line 15 of the teaching work 14, the table 12 or the teaching head 18a is relatively moved in the X, Y, and Z axis directions. At the same time, the attitude of the nozzle 20a of the teaching head 18a is controlled around the C and A axes, and the tip of the nozzle 20a is directed in the normal direction toward the teaching point P of the ruled line 15 of the teaching work 14. So that it moves.

  Further, various keys 47 to 50 are provided on the upper surface of the central portion of the joystick box 41. The linear interpolation key 47 has a function for linearly interpolating the teaching head 18a from the already taught teaching point P to the newly set teaching point P by machining feed. The circular interpolation key 48 has a function for performing circular interpolation by machining feed from the teaching point P already taught to the newly set teaching point P to the teaching head 18a. The fast-forward key 49 has a function for moving the teaching head 18a in a straight line (non-machining) from the machining origin or the already taught teaching point P to the newly set teaching point P. When the linear interpolation key 47, the circular interpolation key 48, and the fast-forward key 49 are operated, the coordinate data of the X, Y, and Z axes set by the first and second joystick levers 45 and 46, and the C and A axes Attitude data is stored in the memory 34 of the control device 31.

  The data deletion key 50 has a function for sequentially deleting each teaching data taught. A speaker 51 is provided on the upper front surface of the joystick box 41. When each of the keys 47 to 50 is operated by the speaker 51, the operator is notified by a different voice that the key has been operated. For example, when each of the keys 47 to 50 is operated in sequence, “Peep”, “Pippy”, “Pippy”, and “Pippy” are generated. Instead, the actual operation content may be specifically notified by voice such as “linear interpolation”, “circular interpolation”, “fast forward”, “data deletion”.

  The keys 47 to 50 are formed so as to protrude from the front surface of the joystick box 41 so that the operator can operate by blind touch, and the front surfaces of the keys 47 to 50 represent the functions of the keys. Braille (not shown) is provided.

  The joystick box 41 is provided with a wireless deadman switch unit 52. Then, only when the operator holds the deadman switch unit 52 with one hand and presses the switch 53 provided in the deadman switch unit 52 with a predetermined pressure, the first manifold provided in the joystick box 41 is provided. The first and second joystick levers 45 and 46 and the respective keys 47 to 50 are configured to be operable, so that an inadvertent operation of the teaching head 18a is prevented.

  On the other hand, as shown in FIG. 6, the teaching box 43 includes the display unit 55, the numeric keypad 56, the mode setting key 57, the plurality of axis operation keys 58, and the linear interpolation key 59, as described in the background section. A circular interpolation key 60, a fast-forward key 61, a data deletion key 62, and a joystick lever 63 are provided. In addition, a teaching key, keys for selecting various operations, an emergency stop button, and the like are also provided.

Next, the operation of the teaching device in the three-dimensional laser beam machine configured as described above will be described with reference to the flowchart shown in FIG.
First, as shown in FIG. 2, the teaching work 14 with the ruled lines 15 is set on the upper surface of the table 12. In this state, the mode setting key 57 on the teaching box 43 is operated by the operator to set the teaching mode (step S1).

  Next, the He—Ne laser light from the laser oscillator 21 shown in FIG. 2 is output as visible light from the nozzle 20a of the A-axis rotation support cylinder 20 of the teaching head 18a (step S2).

  Thereafter, the first joystick lever 45 of the joystick box 41 is operated to move the teaching head 18a from the origin position P0 to the teaching point P1 to be taught at the beginning of the ruled line 15 of the teaching work 14. That is, when the first joystick lever 45 is operated by an operator, the table 12 moves in at least one of the X-axis direction and the teaching head 18a moves in the Y-axis and Z-axis directions. The movement is performed (step S3). Accordingly, the tip nozzle 20a of the teaching head 18a is directed to the first teaching point P1 on the ruled line 15.

  Next, the second joystick lever 46 is operated by the operator as necessary to control the attitude of the teaching head 18a. That is, the C-axis and the A-axis are rotated and the nozzle 20a of the teaching head 18a is directed in the normal direction with respect to the surface (working surface of the workpiece) of the first teaching point P1 (step S4). Thereby, the visible light output from the nozzle 20a is irradiated in the normal direction as the visible light spot 39 to the teaching point P1.

  Thereafter, for example, when the fast-forward key 61 is operated, as shown in FIG. 4, the movement path data from the origin position P0 of the teaching head 18a to the first teaching point P1 is set as non-machining fast-forward (step S5). . As a result, the coordinate data of the X, Y, and Z axes and the attitude data of the C and A axes of the teaching head 18a at the first teaching point P1 are set, and these data are stored as teaching data in the memory 34 of the control device 31. Stored and registered (step S6).

  When the teaching data of the next teaching points P2 to Pn are sequentially registered, for example, by operating the linear interpolation key 59 at the teaching point P2 by the same operation as the above steps S3 to S6, Is designated by linear interpolation, and then the circular interpolation key 60 is designated at the teaching point P3, and the circular interpolation is designated between the teaching points P2 to P3 by operating the circular interpolation key 60 at the teaching point P4. (Step S7). A non-machining path can also be designated by operating the fast-forward key 61.

  Next, it is determined by the operator whether or not all teaching operations of rough teaching data of a series of machining paths by the joystick box 41 have been completed (step S8). If it is determined as YES in step S8, the operator moves from the joystick box 41 to the teaching box 43, and a series of ruled lines 15 of the teaching work 14 already taught by the joystick box 41 by the teaching box 43. Are inspected, and further, detailed data such as processing conditions such as feed speed and pattern dimensions are set (step S9). For example, when fast-forwarding is designated at the teaching point Pn, drilling at the teaching point Pn is set by inputting circle diameter data.

  When the above operation is completed, the teaching data of the ruled line 15 of the teaching work 14 is stored and set in the memory 34 as the processing data of the actual workpiece, and based on this, the actual workpiece can be processed.

According to the teaching device in the three-dimensional laser beam machine of the above embodiment, the following effects can be obtained.
(1) In the above embodiment, the joystick box 41 is attached to the outer surface of the head support frame 17, and the linear interpolation key 47 is used in addition to the first and second joystick levers 45 and 46 that are conventionally mounted on the joystick box 41. An arc interpolation key 48, a fast-forward key 49, and a data deletion key 50 are provided so that each key 47-50 can be operated by blind touch. For this reason, the operator can easily teach each ruled line 15 of the teaching work 14 by one-handed operation without moving the place while aligning the nozzle 20a of the processing head 18 with the teaching points P1 to Pn near the processing head 18. Coordinate data and posture data of the points P1 to Pn, interpolation data between the teaching points P1 to Pn, and the like can be consistently taught, and as a result, teaching work can be performed easily and quickly.

  (2) In the above-described embodiment, the speaker 51 is provided in the joystick box 41, and when each key 47 to 50 is operated, the operator is notified by a different voice that the operation is being performed. . For this reason, the operation content of each key 47-50 by a blind touch can be confirmed, As a result, teaching work can be performed more accurately and rapidly.

  (3) In the above-described embodiment, the first and second joystick levers 45 and 46 provided in the joystick box 41 and each of the joystick levers 45 and 46 only when the switch 53 provided in the deadman switch unit 52 is pressed with a predetermined pressure. Since the keys 47 to 50 are configured to be operable, it is possible to prevent an inadvertent operation of the teaching head 18a.

In addition, you may change the said embodiment as follows.
The joystick box 41 shown in FIG. 5 is not limited to the one shown in the embodiment, and operability can be further improved by adding other operation keys that are frequently used.

  By providing a feed speed setting key (not shown) in the joystick box 41, the feed speed data of the teaching head 18a between each teaching point is set specifically during the teaching work by the joystick box 41 by the operation. You may do it.

  The teaching head 18a is not limited to the method of teaching by irradiating a visible light spot while using the actual processing head 18, but not shown, but the teaching head 18a is used to teach the nozzle 20a portion of the processing head 18. It is also possible to use a contact type teaching method by replacing the stylus.

The wireless deadman switch unit 52 may be a wired system, or a switch 53 may be provided on the back surface of the joystick box 41, for example.
The data deletion key 50 provided in the joystick box 41 may be omitted.

Explanatory drawing which shows one Embodiment which actualized the teaching apparatus of the laser beam machine of this invention. The schematic perspective view which shows the whole laser beam machine. An explanatory view showing a posture axis. The perspective view which shows the teaching point on the ruled line on the workpiece | work for teaching. The front view of a joystick box. The front view of a teaching box. The flowchart which shows teaching operation. The front view of the conventional joystick box.

Explanation of symbols

  P, P1 to Pn ... teaching point, 14 ... teaching work, 17 ... head support frame, 18 ... machining head, 18a ... teaching head, 31 ... control device, 41 ... joystick box, 43 ... teaching box, 45 ... first 1 joystick lever, 46 ... second joystick lever, 47 ... linear interpolation key, 48 ... circular interpolation key, 49 ... fast forward key, 50 ... data delete key.

Claims (5)

5 axes including a three-dimensional coordinate axis of X, Y, and Z axes orthogonal to each other and a rotation posture C axis centering on a vertical axis constituting a one-point head and a rotation posture A axis centering on an inclination axis. In a teaching device in a controllable 3D laser processing machine,
A teaching box connected to the control device of the laser processing machine is provided with a function of operating the X, Y, Z axes and the C, A axes, and directs the head to a teaching point on a workpiece, There are multiple operation keys that allow input, editing, and correction of the teaching data of the interpolation type and machining conditions between each teaching point.
A joystick box connected to the control device of the laser beam machine is movable in the Y and Z axis directions of the laser beam machine and supports the head rotatably around the C axis, separately from the teaching box. Mounted on the outer surface of the head support frame, the joystick box includes a first joystick lever for operating the X, Y, and Z axes and a second joystick lever for operating the C, A axes. And
The joystick box is operated after the head is directed to the teaching point on the workpiece by the joystick lever, so that the head moving path between the teaching points can be set and registered as fast-forward linear movement. In a three-dimensional laser processing machine, comprising a key, a linear interpolation key that can be set and registered for machining feed linear interpolation, and a blind touch teaching operation key that can be set and registered for machining feed circular interpolation Teaching device. 3. The tertiary according to claim 1, wherein the joystick box is provided with notifying means for notifying that the operation of each of the operation keys has been performed by different voices when the operation keys are operated. Teaching device for original laser beam machine. 3. The deadman switch according to claim 1 or 2, wherein the joystick box is provided with a deadman switch so that each joystick lever and each operation key can be operated when an operator operates with a predetermined pressing force. A teaching device for a three-dimensional laser processing machine. 4. The teaching device according to claim 3, wherein the deadman switch is configured as a wireless switch unit that can be held with one hand. 5. The three-dimensional laser according to claim 1, wherein the joystick box is further provided with a data deletion key of a blind touch type capable of deleting already set teaching data. Teaching device for processing machines.

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