JP2542598B2 - Work processing equipment - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a workpiece processing apparatus that performs processing such as cutting or welding along a processing line of a workpiece, and particularly, automatically weaving the processing line during teaching. The present invention relates to a work processing device that can be copied.

[Prior Art] It has been well known that a workpiece is cut or welded using a laser beam or the like. In this type of work processing apparatus, a teaching playback method is used in which the processing line on the work is taught in advance and the processing is performed as it is. Normally, an operator drives the processing machine main body by manual control while teaching. I am doing it.

FIG. 5 is a schematic perspective view showing a shaft configuration of a general processing machine body (10) used in a conventional work processing apparatus. In the figure, (1) is a head mounting portion for mounting a processing head, for example, a laser cutting processing head (not shown), which is provided at the tip of the arm (10a) of the processing machine body (10). (2) is a β axis for rotating the head mounting portion (1) in the β direction via the motor (M5),
(3) is a head mounting part (1) via a motor (M4)
Axis for rotating the motor in the α direction, (4) is the motor (M
Z axis for moving the head mounting part (1) in the Z direction via 3), (5) Y axis for moving the head mounting part (1) in the Y direction via the motor (M2),
(6) is a head mounting part (1) via a motor (M1)
Is an X-axis for moving in the X direction.

Next, the operation of the conventional workpiece processing apparatus using the processing machine body (10) shown in FIG. 5 will be described.

First, a processing head is attached to the head attachment portion (1), and visible light is emitted from the tip of this processing head.
While visually confirming the spot of visible light, the operator drives the processing machine body (10) so that the processing head moves along the processing line on the workpiece (not shown), and inputs the processing line coordinates. Do one point at a time.

In general, the work is marked as a machining line so that it can be visually recognized, and the command input required to drive the machine body (10) is input to an NC control unit (not shown). It is performed via a connected teaching box (not shown).

Although the above teaching operation depends on the shape and length of the machining line, it usually takes several hours because it requires input of about 1000 points.

Based on the machining line coordinates thus obtained, the NC control unit (not shown) generates a machining program, which
The processing machine body (10) is driven to execute a predetermined processing operation.

[Problems to be Solved by the Invention] As described above, in the conventional work machining apparatus, since the machining line is manually input by the operator, there is a problem that much time and labor are required. It was

The present invention has been made to solve the above problems, and an object of the present invention is to obtain a work machining apparatus capable of automatically following a machining line by performing a slight initial setting.

[Means for Solving Problems] A work machining apparatus according to the present invention includes a measurement sensor provided in a head mounting portion of a processing machine body, a detection signal from the measurement sensor, and a position detection signal from the processing machine body. Based on the following, a singular line position coordinate signal of the singular line provided on the machining line is output and a scanning measurement calculation unit that outputs a weaving coordinate signal for detecting the singular line to the NC control unit,
And a data processing unit for outputting a machining program for machining a workpiece based on the singular line position coordinate signal to the NC control unit.

[Operation] In the present invention, the singular line on the processing line is automatically tracked while weaving the measuring sensor attached to the main body of the processing machine only by setting the starting point, the direction indicating point and the initial setting of the singular line, and the measuring sensor The scanning measurement calculation unit outputs the singular line position coordinate signal to the data processing unit based on the singular line detection signal and the height signal detected by and the position detection signal obtained from the main body of the processing machine.

[Embodiment] An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of the present invention.

In the figure, the processing machine main body (10) has the same structure as that shown in FIG. 5, and includes a motor section (11) composed of a plurality of motors (M1) to (M5) and respective motors (M1) to (M5). ), And a resolver section (1
2) and The resolver unit (12) is connected to each motor (M
A position detection signal L indicating the rotational position of 1) to (M5), that is, the position of a processing head or a sensor head (described later) provided in the head mounting portion (1) is output.

Reference numeral (20) is a sensor head attached to the head attaching portion (1), and a measurement sensor (21) incorporating a semiconductor laser, a light receiving element, and a signal processing unit (not shown).
It has. In the measurement sensor (21), the semiconductor laser light (infrared) diffusely reflected by the surface of the work is input, and the signal processing unit causes the work from the tip of the sensor head (20) based on the light receiving position on the light receiving element. The height detection signal H indicating the height up to is output. Further, the signal processing unit inputs a control signal for keeping the amount of reflected light received constant to the semiconductor laser drive circuit,
The steep rise of the control signal indicates a singular line detection signal D indicating the presence of a non-reflective singular line T (for example, black tape).
Is output as.

(30) is an NC control unit for driving the processing machine body (10), which is input from the CPU (31), the memory (32) belonging to this CPU (31), and the data processing unit (described later). Non-volatile memory for storing machining program R (33)
And a transmission interface (34) for transmitting and receiving signals to and from the data processing section, and an operation panel interface (35) for transmitting and receiving signals to and from an operation panel (described later).
And a teaching box interface (36) for transmitting and receiving signals to and from a teaching box (described later) and a driving signal M for driving each of the motors (M1) to (M5) are output to the motor section (11). Position detection signal L from the motor interface (37) and resolver (12)
And a sensor interface (39) for taking in the height detection signal H from the measurement sensor (21). Further, these components (32) to (39) are connected to the CPU (3
1) interconnected to.

Reference numeral (40) is a scanning measurement calculation unit, which detects the singular line T based on the position detection signal L from the resolver unit (12) and the height detection signal H and the singular line detection signal D from the measurement sensor (21). Singular line position coordinate signal C indicating position coordinates and weaving coordinate signal W used for scanning and detecting the singular line T
And are calculated. Then, the copy measurement calculation unit (40)
A CPU (41) and a memory (42) belonging to this CPU (41),
A transmission interface (43) for outputting the singular line position coordinate signal C to the data processing unit, and a weaving coordinate signal W
Memory (44) for sharing the data with the NC controller (30)
And a resolver interface (45) for taking in the position detection signal L, the height detection signal H and the singular line detection signal D
And a sensor interface (46) for taking in. Further, these constituent elements (42) to (46) are interconnected to the CPU (41) via the bus (40B).

Reference numeral (50) is a data processing unit equipped with a well-known computer, display, keyboard, printer, etc. (not shown), which is used for machining a workpiece based on the singular line position coordinate signal C from the scanning measurement calculation unit (40). The machining program R is calculated and this machining program R is output to the NC control unit (30).

(60) is an operation panel equipped with a display, a keyboard, operation switches and the like (not shown).
NC) for initial setting commands and operation commands when driving 0)
Input to the control unit (30).

Reference numeral (70) is a teaching box including a handheld keyboard connected to the NC control unit (30), and the processing machine body (10) can be driven by manual operation.

FIG. 2 is a functional block diagram showing the functions of the NC control unit (30) and the scanning measurement calculation unit (40) in FIG. 1 during teaching.

In the figure, (81) is a singular line height detection that outputs a singular line height signal U indicating the height from the sensor head (20) to the singular line T based on the height detection signal H and the singular line detection signal D. Processing means, (82) present position calculation processing means for outputting singular line position coordinates CS based on the singular line height signal U and position detection signal L, and (83) sequentially recording the singular line position coordinates CS. Singular line position coordinate recording means for outputting the line position coordinate signal C to the data processing section (50), and (84) the sensor head (20).
A weaving pattern generating means pre-stored with a weaving pattern WP for tracking the singular line T by weaving the singular line T; Is a target position calculation processing means for outputting a weaving coordinate signal W indicating the above to the NC control section (30). In addition, each of these means (81) to (85) is a CPU (4
It is realized by 1).

(91) is a locus interpolating means for outputting an interpolated position coordinate signal A indicating an interpolated weaving locus based on the weaving coordinate signal W, and (92) is based on the interpolated position coordinate signal A and the height detection signal H. , Corrected sensor head (2
The height correction control means for outputting the height correction signal B indicating the height position of (0), (93) determines the drive signal M of the motor section (11) based on the height correction signal B and the position detection signal L. It is a position control means for outputting. Incidentally, each of these means (91) to (93)
Is realized by the CPU (31) in the NC control unit (30).

Next, the operation of the embodiment of the present invention shown in FIGS. 1 and 2 will be described with reference to the flow chart of FIG. 3, the weaving operation explanatory diagram of FIG. 4 and FIG.

First, the singular line processing is performed on the machining line of the work to form the singular line T (step S1). As the singular line T,
For example, a 0.4 mm wide non-reflective black tape is used so that it can be reattached if necessary.

Next, the copying (teaching) mode is selected via the operation panel (60) (step S2), and the NC control unit (30) is set to the copying measurement mode. Further, the sensor head (20), that is, the measurement sensor (21) is attached to the head mounting portion (1) of the chemical engineering machine body (10).
Attach (step S3).

Next, input each program and the type of copying via the operation panel (60), and teach the teaching box (70).
Via the singular line T start point P _S , direction indicator P _D and end point P
_E (see FIG. 4) is manually input to perform initial setting for the copying operation (step S4). At this time, the points P _S , P _D, and P _E are visually determined by the operator by irradiation with visible light or the like, but may include some errors.

Next, the start button (not shown) of the operation panel (60) is pressed (step S5) to execute the weaving operation for automatic teaching (step S6).

At this time, the irradiation point of the laser light from the measurement sensor (21) is moved in a direction perpendicular to the direction indicating point P _D from the starting point P _S, and a predetermined amount is moved after detecting the intersection P ₁ with the singular line T. The point made is referred to as a first weaving point Q ₁ . Then, it is folded back along a straight line connecting the starting point P _S and the first weaving point Q ₁ (in the drawing, they are shown separated for convenience, but the intersection point P ₁ ′ coincides with the intersection point P ₁ ), and it moves by a predetermined amount. The point made is the second weaving point Q ₂ . This weaving width WD is usually about 1 cm. Thus, the first weaving points Q ₁ and Q ₂ detect the _first intersection P ₁ with respect to the singular line T.

Next, it moves to the next weaving point Q ₃ while inclining toward the direction indicating point P _D , and further turns back sequentially to Q ₄ , Q ₅ , ..., Qn ₊₁ and each intersection point P ₂ with the singular line T _2. ~ Pn is detected. This weaving operation ends when the intersection point Pn near the end point P _E is detected by the weaving points Qn and Qn _{+ 1} .

If the intersection point P ₁ with the singular line T is not detected in the _first weaving operation, the pair of weaving points when the intersection point P ₁ is detected when the intersection point P ₁ is folded back with a slight inclination toward the direction indicating point P _D. Be Q ₁ and Q ₂ . Also, start point P _S and end point P _E
If and match, the intersection points P ₁ , P ₂ with the initial singular line T,
The weaving operation is not stopped until a predetermined number of ... Is detected.

Next, the operation for obtaining the drive signal M and the singular line position coordinate signal C at the time of weaving will be described in detail with reference to FIG.

First, based on the height detection signal H and the singular line detection signal D, the singular line height detection processing means (81) corresponds to the height from the tip of the sensor head (20) to the singular line T. The signal U is output. That is, the laser beam is not reflected by the singular line T, and the actual distance (height) from the sensor head (20) to the singular line T cannot be detected by the measurement sensor (21). The height to the center of the singular line T is calculated based on the height to the workpiece.

The current position calculation processing means (82) calculates, based on the singular line height signal U and the position detection signal L, singular line position coordinates CS indicating the three-dimensional position of the intersection Pi of the singular line T and the three-dimensional posture. The singular line position coordinates CS are sequentially stored in the singular line position coordinate recording means (83), that is, the memory (42), and as a series of singular line position coordinate signals C corresponding to the respective intersection points P _{1 to} Pn of the singular line T. It is output to the data processing unit (50).

On the other hand, the target position calculation processing means (85) moves from one weaving point Qi to the next weaving point Qi ₊₁ based on the singular line position coordinate CS and the singular line height signal U, and surely the singular line T. In order to detect the intersection point Pi with and, the basic weaving pattern WP is calculated, and each weaving point Q _{1 to} Qn
_The weaving coordinate signal W corresponding to ₊₁ is shared memory (4
It is sequentially output to the NC control unit (30) via 4).

The locus interpolating means (91), based on the weaving coordinate signal W, has a plurality of sampling points q _{1 to} qm (for example, a weaving width WD of 1 cm) between one weaving point Qi and the next weaving point Qi _+1. On the other hand, each coordinate of about 20 points) is interpolated and obtained, and output as an interpolated position coordinate signal A to the height correction control means (92). Height correction control means (9
2) is based on the interpolated position coordinate signal A and the height detection signal H so that the light receiving position is within the measurement range of the measurement sensor (21) even when the sensor head (20) is moving. A height correction signal B for keeping the height up to a constant is output. In these trajectory interpolation operation and height correction operation, the memory (32) is used for temporary storage.

The position control means (93) outputs a drive signal M for moving the sensor head (20) provided in the processing machine body (10) based on the height correction signal B and the position detection signal L, to the motor section (11). ) Is output.

As described above, the next weaving point Qi ₊₁ is calculated based on the sequentially calculated weaving point Qi and the previous intersection point Pi ₋₁ . Therefore, while keeping the height from the sensor head (20) to the work constant and keeping the angle of the sensor head (20) perpendicular to the work surface, the singular line T is surely traced to perform the weaving operation, and the singular line T Upper intersection P ₁ ~ Pn
Will be detected. If the tracking of the singular line T becomes impossible during the teaching operation, an alarm (not shown) is activated, so that the mode can be switched to the manual mode as appropriate.
You can switch to a special weaving mode that can be tracked.

An intersection point Pn of the singular lines T near the end point P _E is detected, and P ₁ ~
When the detection of the singular line position coordinate signal C corresponding to Pn is completed, the series of singular line position coordinate signals C is transmitted to the data processing unit (50) as detection data (step S7). Next, it is determined whether or not the copying operation is completed (step S
8) If it is not completed, the initialization step S4 is performed again.
Then, the above operation is repeated, and if the operation is completed, a processing head (not shown) is attached to the head attachment portion (1) of the processing machine body (10) (step S9).

The data processing section (50) calculates a machining program R for machining the workpiece along the singular line T based on the singular line position coordinate signal C, and transmits this to a transmission interface (34).
It is stored in the non-volatile memory (33) in the NC control unit (30) via (step S10). This processing program R is designed to be obtained from the minimum necessary amount of data in which unnecessary detection data C is thinned out. For example, when the singular line T can be approximated by a straight line, only the coordinates of the two points at both ends are used in the machining program R.

Hereinafter, similarly to the above, the NC control unit (30) drives the processing machine body (10) by the drive signal M according to the processing program R and executes a predetermined welding or cutting processing operation (step
S11).

Although the singular line detection signal D is obtained by using the control signal of the signal processing unit in the above embodiment, the light amount signal may be used as it is as the singular line detection signal.

Further, the sensor head (20) is provided in the head mounting portion (1), but only the measurement sensor (21) is provided in the vicinity of the processing head so as to receive visible light selectively emitted from the processing head. Good. In this case, the sensor head (2
The mounting operation of 0) is unnecessary.

[Effects of the Invention] As described above, according to the present invention, the height detection signal and the singular line detection signal input from the measurement sensor provided in the processing machine main body and the position detection signal input from the processing machine main body are realized. Based on, based on the singular line position coordinate signal and the scanning measurement calculation unit that outputs the singular line position coordinate signal corresponding to the machining line and the weaving coordinate signal for detecting the singular line to the NC control unit. With a data processing unit that outputs a machining program for machining to the NC control unit, the measurement sensor automatically performs the teaching operation while tracking the singular line on the machining line with a slight initial setting. There is an effect that a work processing device can be obtained in which teaching labor can be saved and teaching time can be shortened.

[Brief description of drawings]

FIG. 1 is a block diagram showing an embodiment of the present invention, FIG. 2 is a functional block diagram showing an NC control unit and a scanning measurement calculation unit in FIG. 1, and FIG. 3 is an operation of an embodiment of the present invention. FIG. 4 is an explanatory view showing a weaving operation according to the present invention, and FIG. 5 is a schematic perspective view showing a shaft configuration of a general processing machine main body used in a conventional work processing apparatus. . (1) …… Head mounting part (10) …… Processing machine main body, (10a) …… Arm (21) …… Measurement sensor, (30) …… NC control part (40) …… Copy measurement calculation part, ( 50) Data processing unit (81) Singular line height detection processing unit (82) Current position calculation processing unit (83) Singular line position coordinate recording unit (84) Weaving pattern generation unit (84) 85) ... target position calculation processing means (91) ... locus interpolation means (92) ... height correction control means (93) ... position control means T ... singular line, M ... drive signal H ... high S detection signal, D ... singular line detection signal L ... position detection signal, U ... singular line height signal CS ... singular line position coordinate C ... singular line position coordinate signal, R ... machining program WP ... weaving pattern W ...... weaving coordinate signal A ...... interpolation position coordinate signal, B ...... height correction signal Q ₁ Qn ₊₁ ... Weaving point, P _S ...... origin P _D ...... direction indication point, P _E ...... endpoint In the figure, the same reference numerals denote the same or corresponding parts.

Claims (3)

(57) [Claims] 1. A processing machine main body having a head mounting portion at the tip of an arm and moving along a processing line of a work, an NC control section outputting a drive signal for driving the processing machine main body, and the head. A measurement sensor that outputs a height detection signal indicating the height up to the workpiece and a singular line detection signal indicating the presence of a singular line provided on the processing line, and the height detection signal and the Based on a singular line detection signal and a position detection signal indicating the position of the measurement sensor input from the processing machine body, a singular line position coordinate signal indicating the position of the singular line is output and the singular line is detected. A scanning measurement calculation unit that outputs a weaving coordinate signal used for the purpose to the NC control unit, and based on the singular line position coordinate signal, outputs a processing program for processing the workpiece to the NC control unit. A workpiece having a data processing unit, and the head mounting unit automatically follows the singular line by initially setting a starting point, a direction indicating point, and an ending point of the singular line during teaching. Processing equipment. 2. The profiling measurement calculation section includes singular line height detection processing means for outputting a singular line height signal indicating the height from the measurement sensor to the singular line based on the height detection signal and the singular line detection signal. The present position calculation processing means for outputting the singular line position coordinates indicating the three-dimensional position of the singular line based on the singular line height signal and the position detection signal from the processing machine main body, and the singular line position coordinates Singular line position coordinate recording means for sequentially recording and outputting a singular line position coordinate signal to the data processing unit, weaving pattern generating means for generating a pre-stored weaving pattern, the weaving pattern, the singular line position coordinates and the NC based on singular line height signal
The workpiece processing apparatus according to claim 1, further comprising a target position calculation processing unit that outputs a weaving coordinate signal to the control unit. 3. The NC control unit, based on the weaving coordinate signal from the scanning measurement calculation unit, a locus interpolating means for outputting an interpolated position coordinate signal that interpolates a locus from one weaving point to the next weaving point, Based on the height correction control means for outputting a height correction signal based on the interpolated position coordinate signal and the height detection signal from the measurement sensor, and based on the height correction signal and the position detection signal from the processing machine body, The work processing apparatus according to claim 1, further comprising: a position control unit that outputs a drive signal for driving the main body of the processing machine.