JP4713705B2 - Three-dimensional laser processing machine positioning method and apparatus, and storage medium storing a three-dimensional laser processing machine positioning method program - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a positioning method and apparatus for a three-dimensional laser processing machine, and more particularly, a method and apparatus for preventing rotation around a rotation axis of a nozzle of a three-dimensional laser processing machine from causing a stroke over. About.
[0002]
[Prior art]
In general, for example, when cutting a cut shape included in a product, a plurality of types of nozzles for irradiating laser light can be taken at the processing start point of the cut shape.
[0003]
Then, when determining the posture of the nozzle at the machining start point of a certain cutting path, the posture at the end of the previous cutting (angle of rotation of the nozzle) is taken into account, for example, the rotational movement time of the nozzle rotating around the rotation axis The nozzle posture at the current machining start point is determined so that the amount of rotation decreases during the movement from the previous machining end point to the current machining start point so that shortening can be achieved.
[0004]
[Problems to be solved by the invention]
Such a conventional positioning method for a three-dimensional laser beam machine has, for example, the following problems.
[0005]
In the above-described method, when performing circular cutting of a cylinder whose center axis is parallel to the rotation axis, the posture of the nozzle at the processing start point can be selected from the following postures.
[0006]
For example, the nozzle posture is 0 degree with respect to the first rotation axis and 90 degrees with respect to the second rotation axis. Next, 180 degrees with respect to the first rotation axis and -90 degrees with respect to the second rotation axis. Furthermore, it is the case of -180 degrees with respect to the first rotation axis and the case of -90 degrees with respect to the second rotation axis.
[0007]
However, when the posture of the nozzle before the cutting of the ring ends at 120 degrees with respect to the first rotation axis and 90 degrees with respect to the second rotation axis, in the prior art, the first rotation Since the value rotating around the axis is selected to be the minimum, the case of 180 degrees with respect to the first rotation axis and -90 degrees with respect to the second rotation axis is selected.
[0008]
When the ring is cut from the position of the nozzle, it is necessary to rotate 360 degrees around the first rotation axis, and the stroke that rotates around the first rotation axis of the three-dimensional laser processing machine (restriction of the rotation angle). However, when the angle is -360 degrees to 360 degrees, there is a problem that a value that rotates around the first rotation axis in the middle of the stroke is overstroke.
[0009]
[Means for Solving the Problems]
The present invention has been made in view of the above-described problems, and the invention according to claim 1 is directed to a positioning method for a three-dimensional laser processing machine having an XYZ axis that is an orthogonal three axis and two rotation axes. A multi-direction calculation step of reading basic data such as data on the direction of a nozzle that irradiates laser light at a processing start point, and calculating a plurality of postures for directing the nozzle at the same processing start point; The relative rotation angle calculation step for calculating the relative rotation angle of the nozzle around the first rotation axis between the processing start point and the processing end point was obtained by the relative rotation angle calculation step and the relative rotation angle calculation step. Of the postures of the plurality of nozzles at the processing start point obtained in the multi-direction calculation step based on the maximum relative rotation angle among the relative rotation angles , the posture of the first rotation axis can be selected from the postures of the nozzles. Rotate around Wherein rotation of the nozzle is a posture determination step of determining does not cause the stroke over at each processing point leading to the machining end point from the machining start point, around the said first axis of rotation nozzle rotates determine the relative rotation angle, wherein each of the maximum of the relative rotation angle from the relative rotational angle is stored, three-dimensional laser beam machine to determine the stroke over or on the basis of the said maximum relative rotation angle between said plurality of posture This is a positioning method.
[0010]
In the invention according to claim 2, the relative rotation angle calculation step is relative to the end point of the line segment constituting the cut shape included in the three-dimensional shape that is a three-dimensional model of the product to be cut. The positioning method for a three-dimensional laser beam machine according to claim 1, wherein the rotation is calculated.
[0011]
The invention according to claim 3 is a positioning device for a three-dimensional laser processing machine having an XYZ axis that is three orthogonal axes and two rotation axes, and is based on the orientation data of the nozzle that irradiates laser light at the processing start point. A plurality of direction calculation means for reading a certain basic data and calculating a plurality of postures to be directed in the same direction as the nozzle at the machining start point, and a first rotation axis between the machining start point and the machining end point Relative rotation angle calculation means for calculating how much relative angle the nozzle rotates about the nozzle, and the plurality of the rotations based on the maximum relative rotation angle among the relative rotation angles obtained in the relative rotation angle calculation step. From the postures of the plurality of nozzles at the machining start point obtained in the direction calculating step, it is determined which posture the nozzle is to rotate so that the rotation of the nozzle rotating around the first rotation axis does not cause a stroke over. And a posture determination unit at the machining start point the machining end point reaches each processing point from obtains the relative rotation angle around the nozzle and the rotation of the first rotation axis, in said each relative rotation angle from the maximum of the relative rotational angle is stored, a positioning device of a three-dimensional laser beam machine to determine the stroke over or on the basis of the said maximum relative rotation angle between said plurality of positions.
[0012]
The invention according to claim 4 is a computer-readable storage medium storing a control program for controlling a positioning device of a three-dimensional laser processing machine by a computer, and the control program stores a laser at a processing start point. Multi-direction calculation program that reads basic data such as the data of the direction of the nozzle that irradiates light, and calculates a plurality of postures that are directed to the same direction as the nozzle at the processing start point, and processing from the processing start point A relative rotation angle calculation program for calculating the relative rotation angle of the nozzle around the first rotation axis while reaching the end point, and a relative rotation angle calculated in the relative rotation angle calculation step . maximum relative rotation angle from the orientation of the plurality of nozzles at the machining start point obtained by the plurality of directions calculated step on the basis on which orientation the nozzle And a posture determination program for determining whether the rotation of the nozzle rotating around the first rotation axis does not cause a stroke over, and further, at each processing point from the processing start point to the processing end point. Then, a relative rotation angle obtained by rotating the nozzle around the first rotation axis is obtained, a maximum relative rotation angle is stored from among the respective relative rotation angles , and the maximum relative rotation angle and the plurality of postures are stored. Is a computer-readable storage medium storing a program for a positioning method of a three-dimensional laser beam machine that stores a program for determining whether or not the stroke is over based on the above.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a schematic configuration diagram of a CAD / CAM system 1 including a positioning device for a three-dimensional laser beam machine 31 according to the present embodiment. In the case of the rotation of the nozzle NZ, the rotation of the nozzle NZ provided in the machining head that rotates to process the cutting shape around the first rotation axis, the second rotation axis, and the like, which are rotation axes. It is used for convenience. That is, since the laser light is emitted from the nozzle NZ, the direction of the nozzle NZ and the direction of the laser light irradiation are the same.
[0014]
The CAD / CAM system 1 is composed of a computer and includes, for example, a computer main body (not shown) and input / output devices such as a mouse and a keyboard. In the following description, the program processes the data for the solid shape MD, the cut shape, and the like.
[0015]
The CAD / CAM system 1 includes a CAD / CAM unit 3 that creates a 3D shape MD, a display unit 5 that displays the 3D shape MD, and a figure such as a 3D shape MD created by the CAD / CAM unit 3. A CAD / CAM data file 7 for storing data, NC data and the like for processing this solid shape, and each process for determining the posture of the nozzle NZ at the processing start point P1 of the cut shape included in the solid shape MD And a position determination control unit 9 for managing.
[0016]
The CAD unit / CAM 3 and the position determination control unit 9 are coupled by a link control unit 13. Thus, the program can edit the CAD / CAM data Ai while using the function of the CAD / CAM unit 3. For example, a unit vector VT or the like perpendicular to the surface of the three-dimensional shape MD at the processing start point P1 is generated, and the posture of the nozzle NZ at the processing start point P1 can be obtained from this unit vector VT.
[0017]
On the other hand, the position determination control unit 9 further includes a basic data extraction unit 13, a plurality of posture calculation units 15, a relative rotation angle calculation unit 17, and a posture determination unit 19.
[0018]
The basic data extraction unit 13 reads, for example, a three-dimensional shape MD from the CAD / CAM data file 7, and determines the processing start point P1 and the end points of the line segments included in the cut shape from information on the cut shape included in the three-dimensional shape MD. The basic data Bi that is the coordinate value and the data of the direction of the nozzle NZ that irradiates the laser beam at these points is extracted and stored in the basic data file 21. Here, in order to generate the data of the direction of the nozzle NZ, the data of the direction of the unit vector VT perpendicular to the surface at each point on the three-dimensional shape MD is necessary. However, as described above, the data is linked with the CAD / CAM unit 3. Therefore, the unit vector VT can be generated using the function of the CAD / CAM unit 3.
[0019]
The plural posture calculation unit 15 reads the basic data Bi from the basic data file 21 so that the direction of the nozzle NZ becomes the same at the processing start point P1 from the combination of the rotation of the first rotation axis and the second rotation axis. A plurality of postures are calculated and stored in the multiple posture data file 23.
[0020]
For example, in this example, the relative rotation angle calculation unit 17 calculates the relative rotation angle at which the nozzle NZ at each processing point from the processing start point P1 to the processing end point P9 rotates around the rotation axis, A process of temporarily storing the angle at which the relative rotation angle becomes maximum in the program is performed.
[0021]
The posture determination unit 19 determines whether or not a stroke over occurs for a plurality of postures of the nozzle NZ obtained by the multiple posture calculation unit 15 at the machining start point P1. Then, a process of determining the attitude of the nozzle NZ at the machining start point P1 where no stroke over occurs and storing it in the appropriate attitude data file 25 as the appropriate attitude data Si is performed.
[0022]
Thereafter, the machining data update unit 27 reads the proper posture data Si from the proper posture data file 25 and performs a process of changing the NC data. This NC data is transmitted to the three-dimensional laser processing machine 31 via the communication cable 29 so that the actual product can be processed.
[0023]
A positioning method of the three-dimensional laser beam machine 31 will be described with reference to FIGS. 2, 3, 4, and 5. First, the coordinate axes of the three-dimensional laser processing machine 31 will be described with reference to FIG. As shown in FIG. 2A, the coordinate axes of a general machine tool are an XYZ coordinate axis, an A axis that rotates around the X axis, a B axis that rotates around the Y axis, and a C that rotates around the Z axis. An axis is defined. In addition, the direction of the arrow is a positive rotation direction for the A axis, the B axis, and the C axis.
[0024]
In the three-dimensional laser processing machine 31 of this example, XYZ axes that are orthogonal three axes are defined. Then, as shown in FIG. 2B, the axis that rotates the nozzle NZ that irradiates laser light in the direction of the arrow AR1 is defined as the A axis. An axis parallel to the Z axis serving as a reference for rotating the nozzle NZ in the direction of the arrow AR2 is defined as a C axis. Then, as shown in FIG. 2B, for example, the nozzle NZ that irradiates laser light when the rotation angle rotating around the C axis is 0 degree and the rotation angle rotating around the A axis is 45 degrees. As shown in FIG. 2C, the direction of the nozzle NZ is the same when the rotation angle rotating around the C axis is 180 degrees and the rotation angle rotating around the A axis is −45 degrees. . This is referred to as a plurality of postures of the nozzle NZ at the processing start point P1.
[0025]
Needless to say, the present invention can be carried out in other modes than the above by setting the axis of the three-dimensional laser beam machine 31. For example, depending on the characteristics of the processing machine, an XYZ axis that is three orthogonal axes, a rotation axis that is an axis parallel to the X axis direction may be defined as an A axis, and a rotation axis that is an axis parallel to the Y axis direction may be defined as a B axis. .
[0026]
In this example, the solid shape MD shown in FIG. The three-dimensional shape MD is displayed on the display unit 5 and is a cylindrical surface A. In addition, although an actual product has plate | board thickness, it abbreviate | omits for convenience. It is assumed that a hole HL to be cut exists. The hole HL has a ridge line L1, a ridge line L2, a ridge line L3, a ridge line L4, a ridge line L5, a ridge line L6, a ridge line L7, and a ridge line L8 as outlines. From the start point and end point of these ridge lines, the processing start point P1, the processing intermediate points P2, P3, P4, P5, P6, P7, P8, and the processing end point P9 are included.
[0027]
First, in the reading process of step S401, the process of reading the direction data V1x, V1y, V1z of the nozzle NZ at the processing start point P1 from the basic data file 21 is performed.
[0028]
V1x is the X-axis component of the unit vector VT in the direction of the nozzle NZ. V1y is the Y-axis component of the unit vector VT in the direction of the nozzle N. V1z is a Z-axis component of the unit vector VT in the direction of the nozzle NZ. Here, the basic data file 21 stores unit vectors and the like at each point generated from the cut shape of the solid shape MD by the basic data extraction unit 13.
[0029]
In the calculation process in step S403, the orientation of the nozzle NZ at the processing start point P1 is obtained from the components V1x, V1y, and V1z of the unit vector read in step S401. That is, the rotation angle C1 with respect to the C axis and the rotation angle A1 with respect to the A axis are calculated. In this example, it is assumed that the value of A1 is 90 degrees and the value of C1 is 0 degrees.
[0030]
In the input process in step S405, the value C1-180 is input as the value C2. Similarly, the value of C1 + 180 is input to the value of C3. Enter the value of -A1 for the value of A2. Similarly, the value of -A1 is input as the value of A3. As a result, a plurality of postures are generated in which the direction of the nozzle NZ that irradiates the laser beam at the processing start point P1 is the same, but the rotation angles with respect to the A axis and the C axis are different. That is, a posture in which the nozzle NZ does not cause a stroke over is selected from the plurality of postures by the subsequent processing.
[0031]
Subsequently, in the input process of step S407, 2 is input as an initial value to the value of N that is the number of each machining point. In addition, the value of C1 is input as an initial value to the value of Cb, which is the rotation angle of the (N-1) th nozzle NZ relative to the C axis. Further, 0 is input as an initial value to the value of Cz that stores the maximum relative rotation angle of the nozzle NZ.
[0032]
In the reading process of step S409, Vnx, Vny, and Vnz, which are data of the direction of the nozzle NZ at the Nth point, are read from the basic data file 21. In this example, the machining start point P1, the machining points P2, P3, P4, P5, P6, P7, and P8, and the machining end point P9 are sequentially read.
[0033]
Here, Vnx is an X-axis component of a unit vector perpendicular to the surface of the solid shape MD at the Nth point. Vny is also the Y-axis component of the unit vector VT. And Vnz are Z-axis components of the unit vector VT.
[0034]
Subsequently, in the calculation process of step S411, a process of calculating the value of the rotation angle Cn1 with respect to the C axis at the Nth point from Vnx, Vny, and Vnz is performed. Further, in the input process of step S413, the value of Cn1 + 180 is input as the value of Cn2. The value of Cn1-180 is input to the value of Cn3. Here, the values of Cn1, Cn2, and Cn3 are respectively determined, for example, from the (N−1) th point to the Nth point when the rotation amount around the C axis of the nozzle NZ of the three-dimensional laser beam machine 31 is minimized. This is for selection.
[0035]
In the selection process of step S415, a process of inputting the smallest difference from the value of Cb among the values of Cn1, Cn2, and Cn3 obtained in the above process to Cn is performed. As a result, the angle at which the nozzle NZ that irradiates laser light from the position of the (N−1) th point to the position of the Nth point rotates about the C axis is minimized.
[0036]
In the determination process of step S417, the magnitude of the value of Cz and the value of Cn−C1 are determined. If it is determined in step S417 that the value of Cz is smaller than the value of Cn−C1, the process proceeds to input processing in step S419. If it is determined in step S417 that the value of Cz is larger than the value of Cn−C1, the process proceeds to the substitution process in step 421.
[0037]
In the input process of step S419, the value of Cn−C1 is input as the value of Cz. Note that the maximum rotation angle at which the nozzle NZ has relatively rotated about the C axis up to the present time is stored in the value of Cz. In this example, since the relative rotation angle becomes maximum at the points P4 and P5, the angle at which the nozzle NZ is finally rotated at P4 and P5 is stored in the value of Cz. In the substitution process of step S421, the value of Cn is substituted for the value of Cb.
[0038]
Subsequently, in the determination processing in step S423, it is determined whether or not the Nth point is the processing end point P9. In this example, as shown in FIG. 3, the machining start point is P1, the middle point of machining is P2 to P8, and the machining end point is P9. If it is determined in step S423 that the Nth point is the processing end point, the process proceeds to step S427. If it is determined in step S423 that the Nth point is not the processing end point, the process proceeds to the counting process in step S425. In the count process of step S425, a process of substituting N + 1 for the value of N is performed. Subsequently, the process is returned to the reading process in step S409 and the above-described process is continued.
[0039]
In the determination processing in step S427, it is determined whether C1 + Cz is a stroke over. The value of C1 is the rotation angle with respect to the C axis at the processing start point of the nozzle NZ, and the value of Cz is the maximum angle at which the nozzle NZ has relatively rotated around the C axis.
[0040]
If it is determined in step S427 that C1 + Cz is a stroke over, the process proceeds to step S431. If it is determined in step S427 that the value of C1 + Cz is not a stroke over, the process proceeds to the posture determination process in step S439.
[0041]
Subsequently, in the determination processing in step S431, it is determined whether the value of C2 + Cz is a stroke over. If it is determined in step S431 that the value of C2 + Cz is a stroke over, the process proceeds to the determination process in step S435. If it is determined in step S431 that the value of C2 + Cz is not a stroke over, the process proceeds to the posture determination process in step S439.
[0042]
Further, in the determination process in step S435, it is determined whether the value of C3 + Cz is a stroke over. If the value of step SC3 + Cz is determined to be a stroke over, the process is terminated as unprocessable. If it is determined in step S435 that C3 + Cz is not a stroke over, the process proceeds to the posture determination process in step S439. In the posture determination process in step S439, the value C and the value A are set to the posture of the nozzle NZ with respect to the C axis and the A axis at the machining start point P1, and the process ends. The nozzle NZ starts machining at the machining start point P1 in the posture set above. Then, proper processing can be performed without causing a stroke over rotation around the C axis.
[0043]
In addition, this invention is not limited to the above-mentioned embodiment, It can implement in another aspect by making an appropriate change.
[0044]
FIG. 7 shows a CD-ROM as an example of a storage medium storing a control program for controlling the positioning device of the three-dimensional laser beam machine 31 described above. The CD-ROM is a computer-readable storage medium that stores a control program for controlling a positioning device of a laser beam machine by a computer.
Multi-direction calculation that reads basic data such as the orientation data of the nozzle NZ that irradiates the laser beam at the processing start point, and calculates a plurality of postures that are directed to the same direction as the nozzle NZ at the processing start point. Program and
A relative angle calculation program for calculating how much relative angle the nozzle NZ rotates around the first rotation axis from the processing start point to the processing end point;
Based on the relative angle obtained in the relative angle calculation step, the posture of the nozzle NZ from among the postures of the plurality of nozzles NZ at the machining start point obtained in the multi-direction calculation step is the first rotation axis. And a machining start angle determination program for determining whether or not the rotation of the nozzle NZ rotating around the position causes a stroke over.
[0045]
【The invention's effect】
As described above, according to the present invention, for example, the nozzle attitude Cs with respect to the C axis that is the first rotation axis and the nozzle attitude As with respect to the A axis that is the second rotation axis at the machining start point are set. At the time of determination, a relative maximum rotation angle Cz that the nozzle rotates around the C axis from the machining start point to the machining end point is obtained (the middle point may be maximum), and Cs + Cz is the first. Since Cs is set so as to be within the limit of the rotation angle that rotates around the rotation axis, stroke over is less likely to occur, and appropriate three-dimensional laser processing can be performed.
[0046]
In addition, even when the stroke is over, it can be checked before the actual machining, so that there is no effect that the stroke over is caused in the actual machining.
[Brief description of the drawings]
FIG. 1 is a schematic diagram showing a schematic configuration of a positioning method and apparatus for a three-dimensional laser beam machine.
FIG. 2 is an explanatory diagram for explaining coordinate axes of a three-dimensional laser beam machine.
FIG. 3 is an explanatory diagram for explaining a processing locus of a three-dimensional shape.
FIG. 4 is a flowchart of a program for a positioning method of a three-dimensional laser beam machine.
FIG. 5 is a flowchart subsequent to FIG. 4;
6 is a flowchart subsequent to FIG.
FIG. 7 is an explanatory diagram of a storage medium.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 CAD / CAM system 3 CAD / CAM part 5 Display part 7 CAD / CAM data file 9 Position determination control part 11 Link control part 13 Basic data extraction part 15 Multiple attitude | position calculation part 17 Relative rotation angle calculation part 19 Attitude determination part 21 Basic Data file 23 Multiple posture data file 25 Proper posture data file 27 Machining data update unit 29 Communication cable 31 3D laser processing machine

Claims (4)

In a positioning method of a three-dimensional laser processing machine having an XYZ axis that is three orthogonal axes and two rotation axes,
A multi-direction calculation step of reading basic data such as data on the direction of a nozzle that irradiates laser light at a processing start point, and calculating a plurality of postures for directing the nozzle at the same processing start point; ,
A relative rotation angle calculation step of calculating how much relative angle the nozzle rotates about the first rotation axis between the processing start point and the processing end point;
Based on the maximum relative rotation angle among the relative rotation angles obtained in the relative rotation angle calculation step, the posture of the nozzle from among the postures of the plurality of nozzles at the machining start point obtained in the multi-direction calculation step A posture determining step for determining whether the rotation of the nozzle rotating around the first rotation axis does not cause a stroke over,
At the processing start point the machining end point reaches each processing point from obtains the relative rotation angle around the nozzle and the rotation of the first rotary shaft, wherein the maximum relative rotation angle from among the relative rotation angle A positioning method for a three-dimensional laser beam machine, wherein the determination is made based on the stored maximum relative rotation angle and the plurality of postures to determine whether the stroke is over.   The relative rotation angle calculation step calculates a relative rotation from a processing start point for each end point of a line segment constituting a cutting shape included in a three-dimensional shape that is a three-dimensional model of a product to be cut. A positioning method for a three-dimensional laser beam machine according to claim 1. In a positioning apparatus for a three-dimensional laser processing machine having XYZ axes that are orthogonal three axes and two rotation axes,
A plurality of direction calculation means for reading basic data such as data on the direction of a nozzle that irradiates a laser beam at a processing start point, and calculating a plurality of postures to be directed in the same direction as the nozzle at the processing start point; ,
A relative rotation angle calculation means for calculating how much relative angle the nozzle rotates around the first rotation axis between the processing start point and the processing end point;
Based on the maximum relative rotation angle among the relative rotation angles obtained in the relative rotation angle calculation step, the posture of the nozzle from among the postures of the plurality of nozzles at the machining start point obtained in the multi-direction calculation step And a posture determining means for determining whether the rotation of the nozzle rotating around the first rotation axis does not cause a stroke over,
At the processing start point the machining end point reaches each processing point from obtains the relative rotation angle around the nozzle and the rotation of the first rotary shaft, wherein the maximum relative rotation angle from among the relative rotation angle A positioning apparatus for a three-dimensional laser beam machine, wherein the positioning device stores and determines whether or not the stroke is over based on the maximum relative rotation angle and the plurality of postures. A computer-readable storage medium storing a control program for controlling a positioning device of a three-dimensional laser processing machine by a computer,
A multi-direction calculation program that reads basic data such as data on the direction of a nozzle that emits laser light at a processing start point, and calculates a plurality of postures that are directed to the same direction as the nozzle at the processing start point; ,
A relative rotation angle calculation program that calculates how much relative angle the nozzle rotates around the first rotation axis from the processing start point to the processing end point;
Based on the maximum relative rotation angle among the relative rotation angles obtained in the relative rotation angle calculation step, the posture of the nozzle from among the postures of the plurality of nozzles at the machining start point obtained in the multi-direction calculation step And a posture determination program for determining whether the rotation of the nozzle rotating around the first rotation axis does not cause a stroke over,
At the processing start point the machining end point reaches each processing point from obtains the relative rotation angle around the nozzle and the rotation of the first rotary shaft, wherein the maximum relative rotation angle from among the relative rotation angle A computer storing a program for a positioning method for a three-dimensional laser processing machine, wherein the program stores a program for determining whether the stroke is over based on the maximum relative rotation angle and the plurality of postures. A readable storage medium.

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