JP2661034B2 - A processing machine with a surface detection function - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a processing machine which is instructed so that a processing tool is straight on a processing position on a workpiece. <Prior Art> Generally, in a processing machine having a teaching function used for welding and cutting, it is necessary to make a processing tool straight on a workpiece in order to process the cut surface well. For this reason, the operator first uses a small interactive operation panel, etc.
JOG feed (feed by manual operation) positions the machining tool directly on the surface, and the coordinate position data of the teaching position at this time is converted into a numerical value by a signal from a position detector such as a rotary encoder provided on the drive motor that moves the machining tool. It is read and stored in the control device. <Problems to be Solved by the Invention> However, in such a conventional apparatus, since the straightness state between the workpiece and the processing tool is visually confirmed by an operator and is positioned at the teaching position, the teaching work is performed. However, there is a problem that it takes a lot of time, and positioning accuracy is poor due to visual positioning of an operator. <Means for Solving the Problems> FIG. 1 is an overall configuration diagram for clarifying the present invention. In a processing machine in which teaching is performed before processing on a workpiece W so that the processing tool is straight on a processing position P on the workpiece W, a floodlight mounted on a mounting portion of the processing tool; An optical detecting means 100 having a light receiver, and the optical detecting means 100 being circularly moved by a radius centered on the processing position P, and at the time of this circular movement, the projector and the light receiver are on an arc moving surface. Arc moving means 200 for moving as described above, and an arc moving direction for changing the moving direction of the arc moving means 200 in order for the optical detection means 100 to detect a plane including a plane perpendicular to the processing position P. Arc moving direction changing means for changing the optical detecting means 10
It is characterized in that there are provided a judging means 300 for judging the straightness according to the output of 0, and a face direct notifying means 400 for notifying the straightness state based on the output of the judging means 300. <Operation> The optical detection means 100 detects the straightness state of the machining tool with respect to the machining position P on the workpiece W. Arc moving means
By means of 200, the optical detector 100 can be moved in an arc with a radius centered on the processing position P, so that the light emitter and the light receiver are on the arc movement surface. The direction in which the arc moving means 200 moves the optical detection means 100 can be changed by the arc moving direction changing means. The determination means 300 can determine whether or not the optical detection means 100 is in a state perpendicular to the processing position P from the output of the optical detection means 100 when the circular movement is performed by the circular movement means 200. When the determination section 300 determines that the face is straight, the face notification section 400 notifies that the face is straight. <Example> Hereinafter, an example of the present invention will be described with reference to the drawings. Second
FIG. 1 is a diagram illustrating a configuration of a laser processing machine according to an embodiment of the present invention. 10 is a laser beam machine, 11 is a laser oscillator, C is a cover for protecting the laser beam from being blocked, 20 is a numerical controller, 30 is an interactive operation panel attached to the numerical controller, 31
Is a portable small interactive control panel. The mounting head 19 (mounting portion of the processing tool) of the laser processing machine 10 and the optical detection means S mounted on the mounting head 19 are rotated by driving the servo motors provided on each of one to six axes by the drive unit 12. Be moved. The numerical control device 20 includes a central processing unit 21, a memory 22,
The drive unit 12 is constituted by interfaces 24, 25, 26, and 27, and a command pulse sent from the pulse generation circuit 23 is supplied to the drive unit 12. The memory 22 has an area in which the machining position coordinate value of the machining tool and the numerical control perogram are stored.
A plurality of numerical control programs for machining corresponding to machining cycles are stored in the numerical control program storage area. In the data storage area, the workpiece W taught by the operator is stored.
The coordinate position of the machining tool T at the time of machining is stored. As will be described later, the central processing unit 21 sequentially reads out the processing data stored in the data storage area in accordance with the processing order and performs numerical control. On the other hand, when the mode of the interactive operation panel 30 is set to the input mode, it is connected to the central processing unit 21 of the numerical control device 20 via the interface 24, and the processing numerical control program is stored in the memory via the central processing unit 21. It is stored in 22 numerical control program storage areas. The small interactive operation panel 31 is connected to the central processing unit 21 of the numerical controller 20 via an interface 25. By switching the mode of the interactive operation panel 30 to the teaching mode, the servo motors 13, 14, 15 (provided on the 1st to 6th axes of the laser beam machine 10 by the key operation of the small interactive operation panel 31) Servo motors (not shown) are also provided on the 4th to 6th axes). The servomotors 3, 14, and 15 are provided with rotary encoders 16, 17, and 18, respectively (servomotors (not shown) of four to six axes are also provided with not-shown encoders). The rotary encoders 16, 17, 18 and the encoders of 4 to 6 axes are connected to the central processing unit 21 of the numerical control device 20 via the interface 26, and the coordinates of the surface vertical sensor (optical detection means) S indicated by the teaching. The position data can be read into the central processing unit 21 and stored in the memory 22. The surface-in-plane sensor S is mounted on the mounting head 19 of the laser beam machine 10 in exchange for a processing tool (not shown). As shown in FIG. 3 (a), a well-known small laser oscillator (light projector) 40 and a light receiver It has 41. A small output laser beam output from the small laser oscillator 40 is applied to the workpiece W, and the reflected light is detected. The detection output of this reflected light is
The angle θ (tilt angle) between the surface sensor S and the workpiece W changes as shown in FIG. 3B, and the numerical controller 20 is controlled by the sensor controller (determining means) 50 and the interface 27. It is sent to the central processing unit 21. The sensor controller 50 converts the planar sensor S shown in FIG. 3 (a) into a plane (arc moving surface) as shown in FIG.
When an arc is moved with a radius centered on the machining position P above,
That is, when the small laser oscillator 40 and the light receiver 41 of the surface-in-plane sensor S are moved on an arc with a radius centered on the processing position P such that the small laser oscillator 40 and the light receiver 41 are on the arc moving surface,
If the output of the photodetector 41 for detecting the reflected light of the laser beam L _K irradiated to the workpiece W is greater than the level of FIG. 3 (b) pre-set as indicated in output value V _BD Is O
The N signal (the zone where the ON signal is output is set by _VBD ), and the OFF signal when the signal is low,
Output. Next, the operation of the numerical controller 20 when notifying the straightness of the workpiece W will be described with reference to the flowcharts of FIGS. When teaching the laser beam machine 10, the interactive operation panel
The mode 30 is switched to the teaching mode by a switch (not shown). On the other hand, an in-plane sensor S is mounted on the mounting head 19 of the laser processing machine 10 instead of the processing tool. Such preparation is performed, and in step 600, the surface sensor S is moved to the teaching device based on a command from the small interactive operation panel 31, and is positioned at a certain height from the surface of the processing position of the workpiece W. In step 610, the operator touches the flat surface sensor S positioned in step 600 with the small interactive operation panel 31 by the operator.
Based on the above command, the servomotors provided on the 1st to 6th axes are driven to move in an arc in any direction with a radius centered on the machining position P, and at the time of this arc movement, The small laser oscillator 40 and the light receiver 41 are moved so as to be on the surface where the arc is moved. Step 611
Then, the output of the sensor controller 50 for inputting the detection output of the surface sensor S is input. In step 612, it is determined whether or not the output of the surface sensor S is ON (vertical). If the output is OFF, the process returns to step 610 to move the surface sensor S in an arbitrary direction different from the previous one. The direction of the arc movement is changed in order to cause the movement. This change in the direction of the circular arc movement is such that the vertical sensor S is circularly moved on the plane including the vertical state with respect to the machining position P, and the output of the vertical sensor S is turned on in step 612.
The process is repeated until it is determined that the person is straightforward. If it is ON (determined to be face-to-face), the process proceeds to the next step 613, and the worker is notified of the face-to-face state by lighting the lamp 32 of the small interactive operation panel 31. When the lamp 32 is turned on, the operator stops the movement of the arc and presses a coordinate position data read button (not shown) to store the position data of the encoder provided for each axis in the read memory 22. If there is a next teaching point, the surface sensor S is moved to the teaching position, and the above operation is repeated to position the surface sensor S perpendicular to the workpiece W. In this way, the light receiver 41 of the laser beam L _K irradiated from a small laser oscillator 400 to the workpiece W, for detecting the reflected light
Is attached to the machining tool mounting portion 19, and when the output of the surface sensor S is ON, the operator is notified that the surface sensor S is facing the workpiece W with respect to the workpiece W. With this configuration, it is possible to shorten the time required for the operation of direct positioning on the surface and to improve the teaching accuracy, as well as to facilitate the teaching. Note that an arbitrary direction in which the surface sensor S moves in an arc until the surface sensor S detects a surface including the surface state with respect to the processing position P is set in the numerical controller 20 in advance. In this embodiment, the work is positioned by an operator in order to keep the distance between the workpiece and the surface vertical sensor constant. However, by using an optical displacement sensor (distance sensor) as the surface vertical sensor, The displacement output may be determined by a numerical controller, and the separation distance may be automatically fixed. In addition, the coordinate position of the face-to-face sensor when the face-to-face state is notified and the coordinate position of the face-to-face sensor until the face-to-face state is not notified are read into the numerical controller, and the position obtained by dividing the sum of the two coordinate positions by 2 You may make it memorize | store in a memory as a surface perpendicular position. <Effects of the Invention> As described above, according to the present invention, in a processing machine in which a processing tool is instructed before processing a workpiece so that a processing tool is in a straight position with respect to a processing position on the workpiece. Optical detecting means having a light emitting device and a light receiving device attached to a mounting portion of a tool; and moving the optical detecting device in an arc with a radius centered on the processing position. Arc moving means for moving the robot so that it is on an arc moving surface, and arc movement for changing the moving direction of the arc moving means so that the detecting means detects a plane including a plane perpendicular to the machining position. Since the direction changing means, the determining means for determining the straightness in accordance with the output of the optical detecting means, and the direct surface notifying means for notifying the straightness state based on the output of the determining means are provided, the optical detecting means can be processed. position Therefore, there is an advantage that the teaching operation time is greatly shortened and teaching can be performed with high accuracy as compared with a conventional worker who performs teaching by visual observation of wax.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram of the invention for clarifying the present invention, and FIGS.
FIG. 4 shows an embodiment of the present invention. FIG. 2 is a block diagram showing an embodiment of the present invention. FIG. 3 is an operation explanatory diagram for explaining the operation of the surface-in-plane sensor and the sensor controller. FIG. 4 is a flow chart for explaining the operation of the numerical control device when positioning is performed perpendicular to the workpiece. 10 laser processing machine, 20 numerical control device, 21 central processing unit, 30 interactive operation panel, 31 small interactive operation panel, S surface sensor, W workpiece .

   ────────────────────────────────────────────────── ─── Continuation of front page    (72) Inventor Shiro Takayama               1-1 1-1 Asahicho, Kariya City Toyota Koki Co., Ltd.               In the formula company (72) Inventor Yasuo Ishiguro               1 Toyota Town, Toyota City Toyota Motor Corporation               In the formula company (72) Inventor Yoshito Kato               1 Toyota Town, Toyota City Toyota Motor Corporation               In the formula company (72) Inventor Nobuyuki Suzuki               1 Toyota Town, Toyota City Toyota Motor Corporation               In the formula company                    Panel     Referee Kazuhisa Shinnobu     Judge Hideo Shimizu     Referee Yuki Yamada

Claims (1)

(57) [Claims] A processing machine in which teaching is performed before processing of a workpiece so that the processing tool is in a straight position with respect to a processing position on the workpiece, comprising a light emitter and a light receiver attached to a mounting portion of the processing tool. An optical detecting means, and an arc moving means for moving the optical detecting means in an arc with a radius centered on the processing position, and moving the light projecting device and the light receiving device on the arc moving surface during the arc moving. And an arc movement direction changing means for changing a movement direction of the arc movement means, in order for the optical detection means to detect a plane including a plane perpendicular to the processing position, and according to an output of the optical detection means. A processing machine having a surface straightness detection function, comprising: a determination unit for determining the straightness; and a surface direct notification unit for notifying a straightness state based on an output of the determination unit.