JP2572082Y2 - Teaching machine for processing machine - Google Patents

Description

[Detailed description of the invention]

[0001]

This invention relates to an apparatus for processing a tool by positioning a tool at a predetermined distance from a workpiece, such as a laser beam irradiation torch (tool) separated from a steel plate (work) by a predetermined distance (focal length). The present invention relates to a laser processing machine or the like that melts or welds a steel sheet by applying a focused laser beam to the steel sheet.

[0002]

2. Description of the Related Art In the case of a processing machine of the above type, the following teaching processing is usually performed to designate a tool position. This will be described with reference to FIG. (1) The operator sends a command to a device for changing the position and orientation of the tool mounting portion using an appropriate input device so that the tool is directed to the reference point position Q to be taught. That is, the tool is positioned on the line L4 in FIG. (2) From here, the operator sends a command using an appropriate input device, and causes the tool to approach the workpiece W along the line L4. (3) Fine adjustment is made until the distance between the tool and the work W becomes the gap G at the time of actual machining (adjustment to the position / posture of T1 in FIG. 3). (4) In this state, the operator sends a command using an appropriate input device, and rotates the tool until the tool takes a posture orthogonal to the workpiece W. In this operation, the control is performed so that the tool rotates around a point Q that is G ahead of the position (T1) at the start of rotation so that the reference point position Q does not shift with the rotation of the tool. As a result, the tool is rotated to the position R1. (5) In this state, the coordinates of point Q and the rotation angle of the tool are detected and
It is calculated and stored. During actual machining, the position and orientation of the tool are controlled based on the stored data.

[0003]

In the conventional teaching process, the tool is moved from the workpiece W to the gap G at the time of actual machining.
It must be adjusted to a distance only. Here, the gap G at the time of actual processing is usually extremely small, and is set to about 1 mm in the case of a laser cutting machine or the like. At the time of actual machining, the gap between the workpiece W and the tool is detected by a gap sensor, and the minute gap G is maintained by performing feedback control so that the gap becomes a predetermined value G.

However, during teaching, an operator uses an appropriate input device to move a tool from a workpiece to a small gap G.
It is difficult to move it to a distant position. In particular, when teaching is repeated over a large number of points, the operator is severely fatigued, and the tool may collide with the workpiece. Therefore, at the work site, the teaching position (T) is set in a state where the gap between the workpiece and the tool is reduced to a value considerably larger than the gap G in actual machining, for example, to about 3 mm.
2) Even in this case, the gap between the workpiece and the tool does not cause a significant problem because the gap is managed by the gap sensor during actual machining.

[0005] However, as shown in FIG.
When the teaching is performed in the state described above, the rotation center of the tool is set to Q1 because the rotation is set about the point in front of G by the center. In this state, the tool is rotated until it is perpendicular to the workpiece (that is, the tool position is rotated from T2 to T3), and the gap is controlled by the gap sensor. Will be done. That is, the point Q2 is processed where the point Q should be processed.
This is not allowed when precision machining is required. Therefore, in the present invention, the teaching device is designed so that the teaching can be performed at a position farther than the gap G at the time of actual machining so that the operator can easily operate at the time of teaching. Is to develop.

[0006]

In order to solve the above-mentioned problem, in the present invention, a teaching device whose schematic diagram is conceptually shown in FIG. 1, that is, a tool mounting in which a tool K is mounted. forward and backward movement of the tool K position and posture and the tool mounting section drive unit F to change the to the tool mounting portion H of part H
Comprising a tool advancing and retracting device J for, and at the same time direct the tool to the reference point position, the predetermined value detects a gap G between the <br/> tool K and the workpiece W by the gap sensor D noncontact A teaching device for a processing machine that performs processing while adjusting, wherein the tool advance / retreat device J is used during teaching.
Group offset length OS the tool K from the tool reference length L in
An offset command device B for sending a command to retreat
Based on the offset command device B, the tool advance / retreat device
Machining the gap between the tool K and the work W by T
In the state where it is larger than the time, the tool mounting portion driving device F
Accordingly, a teaching position / posture control device E for causing the tool mounting portion H to take a position / posture at the time of teaching, and a tee
Detecting the position and orientation of the tool mounting part H during teaching
A tool mounting position / posture detecting device P and the tool mounting portion
The detection value detected by the
The reference point position is calculated based on the component reference length, and this reference point position is calculated.
The reference point position storage device M for storing the position and the tool K
With the tool reference length L, the reference point position storage device
The tool mounting based on the reference point position stored in M
Position at the time of machining on the tool mounting part H by the part driving device F
A teaching device for a processing machine having a processing position / posture control device for taking a posture was created (this corresponds to the invention of claim 1).

[0007] Schematic views is teaching apparatus which is conceptually illustrated in Figure 2 in place of this, that the tool K is
Tool changing the position and orientation of the mounted tool mounting portion H
It is equipped with a mounting part driving device F, and directs the tool to the reference point position, and at the same time, detects the gap G between the tool K and the work W by the non-contact type gap sensor D and adjusts the gap G to a predetermined value to perform machining. a teaching device for machine for the engineering by the tool mounting section drive unit F
The tool mounting part H is turned from the machining based on the offset length OS.
To set the gap between the tool K and the workpiece W
With the position larger than during machining ,
A teaching position / posture control device E for taking a posture,
Wherein the tool mounting portion tool mounting portion position and posture detecting device P for detecting the position and orientation of the H at teaching, the tool attachment
Before the detection value detected by the unit position / posture detection device P
Calculating a reference point position is corrected on the basis of the serial offset length OS, the reference point position storage unit M to store the reference point position
And the reference point stored in the reference point position storage device M.
Based on the position, the tool mounting unit driving device F
Machining position where the tool mounting part H takes the position and orientation during machining
A teaching device for a processing machine having an attitude control device was also created (this corresponds to the invention of claim 2).

[0008]

According to the teaching device of the first aspect, during the teaching, the tool K is retracted from the tool mounting portion H by the offset length OS from the tool reference length L shown in FIG. 4A (see FIG. 4B). Position shown). For this reason, during teaching, the operator can teach at the position where the tool tip is separated by the distance L2 obtained by adding the offset length OS to the gap G at the time of actual machining. As is clear from FIGS. 4A and 4B, the position and posture of the device F for changing the position and posture of the tool mounting portion H are the teaching positions ((A) in FIG. The reference point position Q, which is exactly the same as that of (1) and (2), can be taught at exactly the same position as when teaching by the conventional method.

According to the teaching device of the present invention, as shown in FIG. 4C, the entire device F for changing the position and orientation of the tool K and the tool mounting portion H during teaching is shown in FIG.
As compared with the case of the conventional method of (A), it is located at a position separated by the offset length OS and teaching is performed at this position. In this case, the correction is performed in the device N2 in the same manner as in the case where the teaching is performed by the conventional method using the tool K2 having the length L3 obtained by adding the offset length OS to the tool reference length L. Is determined and stored. As described above, according to the present invention, an accurate reference point position Q is taught even if the gap is adjusted to be larger than the gap G at the time of actual machining. At the time of actual machining,
Processing is continued in a non-contact manner by adjusting the gap G.

[0010]

Next, an embodiment in which the present invention is applied to a laser beam machine will be described. FIG. 5 is a configuration diagram showing a configuration of a laser processing machine to which the present invention is applied. The movable base 12 is guided by rails 10 and 11 and is driven by a servo motor (not shown) to move in one axis (X) direction. The carrier 13 is slidably disposed on the movable base 12, and is moved in two axes (Y) directions by a feed screw 14 rotated by the rotation of the servo motor M2. 3 axes (Z) on carrier 13
A head stock 18 is provided so as to be able to move up and down in the direction. The tip of the headstock 18 is 4
Wrists 15, 16, 1 that pivot around axes 5, 5 and 6
7 are sequentially connected. In order to change the position and angle in each axis direction, the servo motors M1
M6 is provided (only M2 is shown in FIG. 5).

The last list 17 is provided with a laser torch T for irradiating a laser beam. List 17 corresponds to the tool mounting portion H of the present invention, and the laser torch T
Can move forward and backward with respect to the list 17 by the DC servo motor SM. FIG. 1 shows a laser oscillation device,
The laser light thus oscillated is guided to the carrier 13 by the light guide paths 5 and 6, and is irradiated from the laser torch T to the workpiece. The light guide path 5 is connected to the light guide path 6 by a slider 4 that slides in a guide 3 formed parallel to the rails 10 and 11 on the side of the laser oscillation device 1 so as to be expandable and contractible.

FIG. 6 shows the lists 16 and 17 and the laser torch T.
FIG. 6 is an enlarged view of the periphery, and FIG.
As shown in (A) and (B), it is moved forward and backward by the DC servo motor SM. A ring-shaped capacitance gap sensor S is built in the vicinity of the tip of the laser torch 17 and detects a gap between the tip of the torch T and the work W.
During actual machining, the DC servo motor SM is feedback-controlled based on the detection result of the sensor S, and the gap between the torch T and the work W is adjusted to a predetermined value G as shown in FIG.

FIG. 7 shows a configuration of an electric device of the laser beam machine. In FIG. 7, reference numeral 20 denotes a central processing unit (CPU). The central processing unit (CPU) 20 includes a memory 25, servo CPUs 22a to 22f for driving the servo motors M1 to M6, and a sensor controller S for controlling the capacitance type gap sensor S.
C, a DC servo CPU 28 for driving the DC servo motor SM, and the teaching box 26 are connected.

Each of the servo CPUs 22a to 22f and the DC servo CPU 28 includes rotation angle command data θ1 to θ7 output from the central processing unit 20 and servo motors M1 to M7.
Outputs α of encoders E1 to E7 connected to M6 and SM
1 to α7, and calculates the servo motors M1 to M6, SM at a speed corresponding to the magnitude of the calculated deviation.
Acts to rotate. Other DC servo CPU
28 is a DC servo motor based on the detection value of the sensor S
M is feedback controlled.

The memory 25 stores a teaching point, an attitude of the laser torch T approaching the workpiece W, and a program for operating the laser processing machine in accordance with the information. That is, the memory 25 forms the storage point position storage device M. The gap sensor S is connected to the central processing unit 20 via a sensor controller SC.

The operating box 26 includes a key 37 for activating the teaching mode and a headstock 18 while the teaching mode is selected.
Key 3 to be operated when moving in the X-axis (1-axis) direction
1, 32, keys 33, 34 operated when moving in the Y-axis (two-axis) direction, keys 35, 36 operated when moving in the Z-axis (three-axis) direction, and four-axis Keys 38 and 39 that are operated to rotate around, and keys 4 that are operated to rotate wrist 16 around five axes
0, 41, keys 42, 43 operated when rotating the wrist 17 around six axes, an input key 44 operated when the torch T is adjusted to a predetermined teaching position using these keys, and will be described later. Keys 45 and 46 for increasing and decreasing the offset length of the torch T are provided.

Next, the processing method of the central processing unit 20 in the robot control device of the present invention will be described with reference to the flowchart of FIG. In step S1, the teaching mode is activated using the key 37 of the teaching box 26. When the teaching mode is activated, the operator first sets the offset length OS using the keys 45 and 46 in step S2. If this operation is not performed, the current offset length OS is used as it is. In step S3, the CPU 20 determines whether the DC servo CP
The DC servo motor S is instructed to U28 at a rotation angle θ7 required to retract the torch T by the offset length OS.
Rotate M to retract the torch T by OS. At the start of this mode, as described later, the torch T is the length of the torch T at the time of machining, that is, the tool reference length L (see FIG. 4A).
, The torch T is retracted from the tool reference length L by the offset length OS by executing step S3.

In this state, the operator operates the keys 31, 32,
33, 34, 35, 36, 38, 39, 40, 41, 4
The torch T is moved to the teaching position by using the steps 2 and 43 (S4), and the torch T is positioned at the teaching position according to the procedure described in the section of the prior art (S5). Here, the torch T is set to the offset length O by step S3.
As shown in FIG. 4 (B), since only S
The teaching position can be set at a position separated from the actual machining position (A) by the offset length OS. For this reason, occurrence of an accident such as the operator colliding the torch T with the workpiece W is suppressed, and the operator's work is also facilitated, so that the degree of fatigue can be reduced.

Step S6 is a step in which the operator determines whether or not the torch T has moved to the teach position extra away by the offset length OS in this manner.
If yes, the operator operates the key 44. On the other hand, if no, the operator continues the position adjustment operation of the torch T. When the key 44 is operated, the values of the encoders E1 to E6 are detected in step S8, and further, based on this information and information on the reference tool length (L) and the gap amount G from the reference tool length (L) to the work W, Data at the point position is calculated, and the data at this position is stored in the memory 25.

Here, although the torch T is retracted by the offset length OS in step S3, the torch T
The reference point position is calculated by the processing formula when is at the tool reference length L. Therefore, the reference point position calculated in step S8 is not point Q 'in FIG. 4B, but point Q is obtained.

[0021] Thus teaching of all points is finished in the, if all the reference point position is calculated and stored (becomes YES in S 9), it is illustrated torch T with motor SM in FIG 4 (A) Then, the offset length OS is set to zero (S11). In this state, the process waits until the actual machining mode is activated (S12). At the time of actual machining (S13), machining is performed with the torch T at the tool reference length L.

During the actual machining, the gap between the torch T and the work W is calculated by the sensor S, and the DC servomotor SM is feedback-controlled so that the gap becomes a predetermined value G. When a series of processing is completed, in step S14, the torch T
Is returned to the reference length again to prepare for the actual machining of the next work or execution of the teaching mode. This processing procedure corresponds to an embodiment that embodies the invention of claim 1.

Next, an embodiment of the present invention will be described with reference to FIG. Note that the same processes as those in FIG. 8 are denoted by the same reference numerals, and description thereof is omitted. In the case of this embodiment, although the offset length OS is set in step S2, the process in step S3 is not performed, so that the torch T is in the state of the reference length L as shown in FIG. 4 (A) or (C). I'm left. Thus, in step S4, as shown in FIG. 4C, both the torch T (tool K) and the wrist 17 (tool mounting portion H) are stored in the memory shown in FIG.
Is set as a teaching position at a position extra apart by an offset length OS from that at the time of actual machining shown in FIG. Therefore, in this embodiment, the DC servo motor as the tool advance / retreat device and the DC servo CPU 28 and the encoder E7 as the accompanying devices are not necessarily required. In this case, since the distance between the torch T and the work W is large, the operation of adjusting the torch T to the teaching position by the operator is facilitated.

If it is found in step S7 that the teaching position has been adjusted, the procedure proceeds to step S81 in which a reference is made to the tool length L3 obtained by adding the offset length OS to the tool reference length L and the gap amount G in step S81. The point position and the like are calculated. As a result, the correct reference point position Q is calculated as shown in FIG.

If the offset length OS is set to zero in step S11 after teaching in this way, the offset length is ignored during actual machining, so that the torch G is separated from the workpiece W by a predetermined gap amount G. The position will be adjusted where it is. In the present embodiment, an example is shown in which the offset length OS is selected by the operator, but a constant offset length OS may be used instead.

[0026]

[Effects of the Invention] According to the present invention, the tool K at the time of teaching is offset length (O) from the gap G at the time of actual machining.
S) The adjustment to the teaching position by the operator can be facilitated because the adjustment to the extra distant position and posture can be made easy, and the fatigue of the operator can be reduced. Accordingly, it is possible to prevent the operator from teaching at a position other than the teaching position, or to prevent a tool from colliding with a workpiece during teaching, which greatly contributes to improvement of machining accuracy and reduction of machining defects.

[Brief description of the drawings]

FIG. 1 is a diagram schematically showing a concept of a first device of the present invention.

FIG. 2 is a diagram schematically showing a concept of a second device of the present invention.

FIG. 3 is a diagram illustrating a problem of a conventional teaching process.

FIG. 4 is a diagram schematically showing the principle of the present invention.

FIG. 5 is a diagram showing a configuration of a laser processing machine to which the present invention is applied.

FIG. 6 is an enlarged view of the vicinity of a tool of the laser beam machine shown in FIG. 5;

FIG. 7 is a control system diagram of a laser processing machine to which the present invention is applied.

FIG. 8 is a flowchart illustrating a first embodiment of the present invention.

FIG. 9 is a flowchart illustrating a second embodiment of the present invention.

[Explanation of symbols]

 Tool mounting part H: List 17 Tool advance / retreat device J: DC servo motor SM Tool K: Laser torch T Reference position calculating means N, N2: CPU20 Reference point position storage means: Memory 25 Tool reference length: L Offset length: OS

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G05B 19/42-19/427 B23K 26/04

Claims (2)

(57) [Scope of request for utility model registration] 1. A comprising a tool advancing and retracting device for advancing and retracting the tool tool and the tool mounting section drive unit for changing the position and orientation of the tool attachment portion attached to the tool mounting portion, the tool reference point position simultaneously directing, a teaching device for processing machine formic <br/> Yappusensa contactless processed while adjusting this by detecting a gap between the tool and the workpiece to a predetermined value, at teaching to an offset command device to send a command to retract the tool on the basis of the tool reference length offset length to the tool advancing and retracting device, to the tool advancing and retracting device on the basis of the offset command device
The gap between the tool and the workpiece is larger than during machining.
In a crisp state, the tool mounting unit drive device
Te to assume the position and orientation at the time of teaching to the tool mounting portion
A teaching position / posture control device, a tool attachment position / posture detection device that detects the position / posture of the tool attachment portion during teaching, and a tool attachment position / posture detection device.
Calculating a reference point position on the basis of the tool reference length and the detected value, and the reference point position storage device for storing the reference point position, in a state in which the tool was the tool reference length, the reference point position
Based on the reference point position stored in the storage device.
When the tool mounting part is driven by the tool mounting part drive device,
A teaching device for a processing machine having a processing position / posture control device for taking a position / posture . 2. A tool mounting part driving device for changing a position and a posture of a tool mounting part on which a tool is mounted , wherein the tool is directed to a reference point position and at the same time, a non-contact type gap sensor is used. A teaching device for a processing machine for processing while detecting a gap between a tool and a workpiece and adjusting the gap to a predetermined value, wherein the tool mounting portion is processed by the tool mounting portion driving device.
The tool is offset based on the offset length
State was greater than that at the time of processing the gap between said work
The teaching staff that takes the position and posture during teaching
And grayed position and posture control device, and a tool mounting portion position and posture detecting device for detecting the position and orientation of the tool mounting portion at teaching, the detection value detected by said tool mounting portion position and posture detecting device said offset calculating a reference point position is corrected based on the length, and the reference point position storage <br/> device for storing the reference point position, in the reference point position storage device stored the reference point position
The tool mounting unit is driven by the tool mounting unit based on the tool mounting.
Position / posture control to allow the part to take the position / posture during processing
Teaching apparatus of the working machine and a device.