JP7245056B2 - Machining head device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a processing head device having a detachable structure for reducing damage when a processing head device that irradiates a laser beam onto a work piece collides with the work piece or the like.

2. Description of the Related Art Conventionally, there has been known a laser processing machine that processes a workpiece by moving a machining head main body that irradiates the workpiece with a laser beam relative to the workpiece along a preset trajectory. In such a laser processing machine, when the processing head body collides with an obstacle such as a workpiece, the impact force applied to the processing head body is reduced to suppress damage to the processing head device including the processing head body. A collision protection mechanism is provided to

For example, in Patent Document 1, a processing head main body portion having a magnetized plate and a holding mechanism portion having an electromagnet and a permanent electromagnet facing the magnetized plate are provided. A laser processing machine having an attachment/detachment structure for attachment/detachment is disclosed.

JP 2012-139691 A

However, the technique described in Patent Document 1 does not take into account the attachment/detachment structure when the laser beam propagates from the holding mechanism to the processing head main body. There is a problem that the detachable structure between the processing head main body and the holding mechanism is enlarged.

The present invention has been made in view of the above, and provides a detachable structure capable of suppressing an increase in size while detachably connecting a processing head main body to a holding mechanism for propagating a laser beam to the processing head main body. It is an object of the present invention to obtain a machining head device having a

In order to solve the above-described problems and achieve the object, a processing head device according to the present invention includes a processing head main body for irradiating a laser beam onto a workpiece, and a hollow portion for propagating the laser light to the processing head main body. and a holding mechanism for detachably holding the processing head main body, and a permanent magnet and an electromagnet. The permanent magnet and the electromagnet are arranged on the flange of the holding mechanism, and detachably connect the flange of the processing head body to the flange of the holding mechanism by magnetic force. The machining head device includes a positioning pin arranged in a through hole provided in the center of the permanent magnet, and the tip of the positioning pin has a tapered shape.

ADVANTAGE OF THE INVENTION According to this invention, there exists an effect that a processing head main-body part can be connected detachably with respect to the holding|maintenance mechanism part which propagates a laser beam to a processing head main-body part, and the enlargement can be suppressed.

1 is an external perspective view showing a configuration example of a laser processing machine according to Embodiment 1 of the present invention; 1 is a side view showing a configuration example of a machining head device according to a first embodiment; FIG. A diagram for explaining the attachment/detachment structure according to the first embodiment. Cross-sectional view along the IV-IV line shown in Fig. 3 A diagram for explaining the locking structure according to the first embodiment. FIG. 2 is a diagram for explaining the attachment/detachment sensor according to the first embodiment; FIG. 2 is a diagram for explaining the attachment/detachment sensor according to the first embodiment; FIG. 4 is a diagram for explaining an attachment/detachment sensor having another configuration according to the first embodiment; FIG. 4 is a diagram for explaining an attachment/detachment sensor having another configuration according to the first embodiment; Flowchart showing an example of processing including recovery operation of the laser processing machine according to the first embodiment

A processing head device according to an embodiment of the present invention will be described in detail below with reference to the drawings. In addition, this invention is not limited by this embodiment.

Embodiment 1.
FIG. 1 is an external perspective view showing a configuration example of a laser processing machine according to Embodiment 1 of the present invention. A laser processing machine 1 shown in FIG. 1 processes a workpiece W with a laser beam. For example, the laser processing machine 1 can irradiate the workpiece W with a laser beam to perform hole processing for forming a hole in the workpiece W or to shape the workpiece W. .

A laser processing machine 1 includes a processing table 2 on which a workpiece W is placed, a laser oscillator 3 that emits laser light generated by laser oscillation, and a laser beam emitted from the laser oscillator 3 that propagates and converges. and a processing head device 4 that houses an optical system. In addition, the laser processing machine 1 is connected between a laser oscillator 3 and a processing head device 4, and includes a fiber cable 5 for propagating a laser beam, a control device 6 for controlling the laser oscillator 3, and a gas supply to the processing head device 4. and a gas supply device 7 that supplies the

In FIG. 1, for convenience, the X-axis and the Y-axis are horizontally parallel and perpendicular to each other, and the Z-axis is vertically parallel and perpendicular to the X-axis and the Y-axis. The control device 6 moves the machining head device 4 in the directions of the X-axis, the Y-axis, and the Z-axis, singly or simultaneously, within a predetermined stroke range in the directions of the X-axis, the Y-axis, and the Z-axis. can be moved. The control device 6 can perform desired shape processing by moving the processing head device 4 in the X-axis, Y-axis, and Z-axis directions. The workpiece W is placed, for example, on a surface of the machining table 2 parallel to the X-axis and the Y-axis.

The laser oscillator 3 emits laser light generated by laser oscillation to the fiber cable 5 when receiving the ON signal from the control device 6 . When the laser oscillator 3 receives an off signal from the controller 6 while emitting laser light to the fiber cable 5 , it stops laser oscillation and stops emitting laser light to the fiber cable 5 . .

The processing head device 4 processes the workpiece W with laser light incident from the laser oscillator 3 via the fiber cable 5 and high-pressure gas supplied from the gas supply device 7 . The machining head device 4 includes a machining head body portion 10 and a holding mechanism portion 20 . The processing head main body 10 is, for example, a processing nozzle that processes the workpiece W by laser light and high-pressure gas passing through the center. The holding mechanism 20 has a hollow portion for propagating the laser beam to the processing head main body 10 and holds the processing head main body 10 detachably. In addition, in the example shown in FIG. 1, the configuration of the processing head device 4 is shown in a simplified manner.

The machining head device 4 is an articulated machining head device. By controlling the holding mechanism section 20, the control device 6 can freely change the position and attitude of the processing head body section 10 three-dimensionally. For example, when the workpiece W is a three-dimensional workpiece, the control device 6 moves the machining head main body 10 while moving the machining head main body 10 by three-axis control of the X-axis, the Y-axis, and the Z-axis. By changing the posture according to the surface shape of the workpiece W, the workpiece W can be processed with high accuracy. In this case, the control device 6 keeps the irradiation optical axis of the laser beam from the processing head body 10 always normal to the surface of the workpiece W, so that the workpiece W can be processed in a more appropriate state. state.

FIG. 2 is a side view showing a configuration example of the machining head device according to the first embodiment; As shown in FIG. 2, the holding mechanism portion 20 has a hollow portion 20a through which laser light propagates. The holding mechanism section 20 includes a fixed bracket 21 , a first rotating bracket 22 and a second rotating bracket 23 . Each of the fixed bracket 21, the first rotating bracket 22, and the second rotating bracket 23 has a hollow structure, and this hollow structure forms a hollow portion 20a. A laser beam incident on the fixing bracket 21 from the laser oscillator 3 shown in FIG. be.

A laser beam emitted from the laser oscillator 3 is incident on the proximal end portion of the fixed bracket 21 via the fiber cable 5 . The fixed bracket 21 includes a collimator unit 31, which is a collimating optical system, and a total reflection mirror 32 inside. The collimator unit 31 collimates the laser light emitted from the fiber cable 5 to the fixing bracket 21 . In the example shown in FIG. 2, the collimator unit 31 collimates the laser light incident in the Y-axis negative direction. The total reflection mirror 32 is arranged at the bent portion 30 of the fixed bracket 21, and totally reflects the laser beam propagating in the Y-axis negative direction parallel to the horizontal direction in the Z-axis negative direction parallel to the vertical direction.

A first rotating bracket 22 is rotatably connected to the distal end of the fixed bracket 21 . Specifically, a first drive motor 34 is attached to the distal end of the fixed bracket 21 via a mounting member 33, and the shaft of the first drive motor 34 and the proximal end of the first rotary bracket 22 are connected. A first rotation mechanism 35 is provided between them. The first rotating mechanism 35 transmits rotation of the first drive motor 34 to the first rotating bracket 22 to rotate the first rotating bracket 22 . Although the first rotating mechanism 35 has a belt structure in the example shown in FIG. 2, it may have a gear structure instead of the belt structure.

The first drive motor 34 rotates the shaft by the amount of rotation according to the command from the control device 6 . As the shaft of the first drive motor 34 rotates, the first rotating bracket 22 pivots about the first rotation axis A<b>1 with respect to the fixed bracket 21 via the first rotating mechanism 35 . The first rotation axis A1 is a rotation axis parallel to the direction perpendicular to the XY plane, that is, a rotation axis parallel to the Z-axis direction. By controlling the first drive motor 34, the control device 6 can turn the first rotary bracket 22 through 360° about the Z-axis.

The first rotating bracket 22 has total reflection mirrors 42 and 43 inside. The total reflection mirror 42 is arranged at the bent portion 40 of the first rotary bracket 22, and totally reflects the laser light propagating in the negative Z-axis direction parallel to the vertical direction in the positive Y-axis direction parallel to the horizontal direction. Further, the total reflection mirror 43 is arranged at the bent portion 41 of the first rotary bracket 22, and directs the laser light propagating in the Y-axis positive direction parallel to the horizontal direction to the second rotation axis A2 that intersects the Y-axis direction. Total internal reflection in all directions.

A second rotating bracket 23 is rotatably connected to the tip of the first rotating bracket 22 . Specifically, a second drive motor 45 is attached to the distal end of the first rotary bracket 22 via an attachment member 44, and the shaft of the second drive motor 45 and the proximal end of the second rotary bracket 23 are connected. A second rotation mechanism 46 is provided between them. The second rotating mechanism 46 transmits the rotation of the second drive motor 45 to the second rotating bracket 23 to rotate the second rotating bracket 23 . Although the second rotating mechanism 46 has a belt structure in the example shown in FIG. 2, it may have a gear structure instead of the belt structure.

The second rotary bracket 23 rotates with respect to the first rotary bracket 22 around a second rotary axis A2 different from the first rotary axis A1 under the control of the control device 6 . The mounting angle θ of the second rotating bracket 23 with respect to the first rotating bracket 22 is, for example, 45°, but is not limited to 45°. The mounting angle θ can also be said to be the angle between the horizontal direction and the second rotation axis A2.

The second rotating bracket 23 has a total reflection mirror 51 inside. The total reflection mirror 51 is arranged at the bent portion 50 of the second rotation bracket 23, and totally reflects the laser beam propagating in the direction parallel to the second rotation axis A2 in the direction intersecting the second rotation axis A2.

The base end of the processing head main body 10 is detachably connected to the tip of the second rotary bracket 23 . The processing head main body 10 includes a total reflection mirror 61 and a condenser lens 62 inside. The total reflection mirror 61 is the most downstream total reflection mirror in the propagation path of the laser light among the plurality of total reflection mirrors provided in the processing head device 4, and can also be called a final mirror. Such a total reflection mirror 61 is arranged at the bent portion 60 of the processing head main body 10, and totally reflects the laser beam incident from the second rotation bracket 23 in the axial direction of the first rotation axis A1. The condensing lens 62 condenses the laser beam reflected by the second rotating bracket 23 and irradiates the surface of the workpiece W with the condensed light from the exit port 64 .

By controlling the rotation angle of the first rotation bracket 22 and the rotation angle of the second rotation bracket 23 , the control device 6 moves the processing head body 10 and adjusts the posture of the processing head body 10 to the workpiece W. It can be controlled according to the surface shape.

Here, in the machining head device 4, the first rotation axis A1, which is the rotation axis of the first rotary bracket 22, and the center axis of the tip of the machining head main body 10 are coaxial. That is, the optical axis of the laser light emitted from the fixed bracket 21 to the first rotary bracket 22 and the optical axis of the laser light emitted from the processing head body 10 toward the workpiece W are coaxial.

In the processing head device 4 , the center axis of the tip of the processing head body 10 intersects the axis of the second rotation axis A<b>2 that is the rotation axis of the second rotation bracket 23 . That is, the axis line of the optical axis of the laser light emitted from the first rotary bracket 22 to the second rotary bracket 23 and the axis line of the optical axis of the laser light emitted from the processing head main body 10 toward the workpiece W intersect. The processing head device 4 may be configured such that the tip of the processing head main body 10 is arranged on the axis of the second rotation axis A2.

The processing head device 4, which is an articulated processing head device, reflects the laser light by total reflection mirrors 32, 42, 43, and 51 arranged in the hollow portion 20a of the holding mechanism portion 20, and transmits the laser light to the processing head body portion 10. It has a propagating configuration. Therefore, the accuracy of the rotational position of the first rotary bracket 22 and the accuracy of the rotational position of the second rotary bracket 23 are greatly related to the positional accuracy of the laser beam. High position accuracy is required.

The machining head device 4 has an attachment/detachment structure 70 that allows the machining head main body 10 to fall off the holding mechanism 20 when it collides with the workpiece W or the like. The attachment/detachment structure 70 is provided for the purpose of preventing damage to the machining head device 4 from impact received by a collision with the workpiece W or the like. It has a structure in which the processing head main body 10 can be easily removed from it. Here, the dropping means that the connection between the processing head body 10 and the holding mechanism 20 is released, in other words, the processing head body 10 is removed from the holding mechanism 20 .

The attachment/detachment structure 70 is arranged between the total reflection mirror 61 of the processing head body 10, which is the final mirror in the propagation path of the laser beam, and the second rotary bracket 23. As shown in FIG. Therefore, when the machining head device 4 collides with the workpiece W or the like, the force generated by the collision can be released in any of the X-axis direction, the Y-axis direction, and the Z-axis direction.

Here, it is assumed that a detachable structure is provided downstream of the total reflection mirror 61 in the propagation path of the laser light. For example, suppose that a detachable structure is provided downstream of the total reflection mirror 61 and upstream of the condenser lens 62 in the propagation path of the laser beam. In this case, the impact force in the XY directions, that is, the horizontal direction, can be reduced, but the force in the Z-axis direction, that is, the vertical direction cannot be reduced. Therefore, there is a possibility that a large impact is given to the processing head device 4 .

In addition, the attachment/detachment structure 70 is provided downstream of the first rotation bracket 22 and the second rotation bracket 23, which rotate respectively, in the propagation path of the laser light. Therefore, even when the detachable portion of the processing head main body 10 is detached by the detachable structure 70, it is possible to suppress disconnection of the wiring of the first drive motor 34 and the second drive motor 45 due to the force generated at the time of collision. . Further, even when the processing head device 4 is restored after the processing head main body 10 has fallen off from the holding mechanism 20 , the optical axis adjustment of the processing head device 4 is performed by the total reflection mirror 61 provided on the processing head main body 10 . The machining head device 4 can be easily restored only by partial adjustment.

As described above, in the processing head device 4 according to the first embodiment, the attachment/detachment structure 70 is provided between the second rotating bracket 23 and the total reflection mirror 61 . As a result, the impact of the collision can be suppressed as much as possible, and when the machining head device 4 collides with the workpiece W or the like, the machining head device 4 can be easily restored.

FIG. 3 is a diagram for explaining the attachment/detachment structure according to the first embodiment, and FIG. 4 is a cross-sectional view taken along line IV-IV shown in FIG. The attachment/detachment structure 70 is provided at the connecting portion between the second rotary bracket 23 and the processing head main body 10, and a pair of portions constituting the attachment/detachment structure 70 has a hollow structure. The laser light passes through the hollow portion, thereby propagating the laser light from the holding mechanism section 20 to the processing head main body section 10 .

In order to hold the processing head main body 10 by the holding mechanism 20, a holding force capable of withstanding the weight of the processing head main body 10 itself and the acceleration generated when the processing head main body 10 moves is required. If an attempt is made to obtain such a holding force with electromagnets and permanent electromagnets, the attachment/detachment structure 70 may become large due to the arrangement of the electromagnets and permanent electromagnets. Therefore, in the attachment/detachment structure 70 according to the first embodiment, a permanent magnet 71 is used instead of the permanent electromagnet.

Some permanent magnets 71 are relatively small and have strong magnetic force, but the magnetic force cannot be adjusted like an electromagnet. Therefore, when the holding force described above is obtained only by the permanent magnet 71, the attraction force between the processing head body portion 10 and the holding mechanism portion 20 is large and cannot be adjusted. It may be difficult for the operator to easily attach and detach the device. In addition, at the time of recovery or the like, it may become difficult to align the machining head main body 10 and the holding mechanism 20 .

Therefore, the attachment/detachment structure 70 has an electromagnet 72 in addition to the permanent magnet 71 . As a result, for example, the permanent magnet 71 can have a magnetic force sufficient to hold the weight of the processing head body 10, and the electromagnet 72 can adjust the holding force required when the processing head body 10 moves. Therefore, the attachment/detachment structure 70 can hold the machining head body 10 with an appropriate holding force both when the machining head body 10 is stopped and when it is moved.

The attachment/detachment structure 70 includes the flange 52 of the second rotating bracket 23 and the flange 63 of the processing head main body 10 . A permanent magnet 71 and an electromagnet 72 are embedded in the flange 52 of the second rotary bracket 23 with their surfaces exposed. The flange 63 of the machining head main body 10 is attracted to the flange 52 of the second rotary bracket 23 by the magnetic force of the permanent magnet 71 and the electromagnet 72, and the machining head main body 10 and the second rotary bracket 23 are connected. When the machining head main body 10 and the second rotary bracket 23 are connected to each other, one side surface 63a of the flange 63 of the machining head main body 10 is positioned at one end of the flange 52 of the second rotary bracket 23, as shown in FIG. It is in contact with the side surface 52a.

Thus, in the detachable structure 70 , the flange 63 of the processing head body 10 is detachably connected to the flange 52 of the second rotary bracket 23 , and the permanent magnet 71 and the electromagnet 72 are arranged on the flange 52 . Therefore, the processing head body portion 10 can be detachably attached to the holding mechanism portion 20 that propagates the laser beam to the processing head body portion 10 . Moreover, since the attachment/detachment structure 70 is configured to provide the permanent magnet 71 instead of the permanent electromagnet, it is possible to suppress an increase in the size of the machining head device 4 .

In the example shown in FIG. 4, three permanent magnets 71 are arranged at equiangular intervals on the first circumference C1, that is, at equal intervals, and three electromagnets 72 are arranged at equal intervals on the second circumference C2. . The first circumference C1 and the second circumference C2 are concentric circles having the same center O, and the first circumference C1 is larger than the second circumference C2. In addition, the angles formed by the permanent magnets 71 and the electromagnets 72 that are adjacent in the circumferential direction of the flange 52 with respect to the center O are the same in any combination of the adjacent permanent magnets 71 and the electromagnets 72 . The number of permanent magnets 71 and electromagnets 72 is not limited to three, and the arrangement of permanent magnets 71 and electromagnets 72 is not limited to the example shown in FIG. For example, each of the permanent magnets 71 and the electromagnets 72 is not limited to an equidistant arrangement.

Further, as shown in FIG. 4, the permanent magnet 71 and the electromagnet 72 have circular surfaces facing the flange 63 of the machining head main body 10 . The shape of the permanent magnet 71 and the electromagnet 72 is not limited to circular, and may be polygonal. The flange 52 of the second rotary bracket 23 is formed of a steel plate called a yoke around the permanent magnets 71 and the electromagnets 72 in order to increase the attracting force of the permanent magnets 71 and the electromagnets 72 . As a result, the directionality of the magnetic force generated by the permanent magnets 71 and the electromagnets 72 can be concentrated in one direction, and the magnetic flux density can be increased.

If dust or the like adheres to the electromagnet 72 and the permanent magnet 71 after the flange 63 of the machining head main body 10 is disengaged from the flange 52 of the second rotary bracket 23, there is a possibility that detachment failure or positioning failure will occur. Therefore, in the attachment/detachment structure 70 according to the first embodiment, as shown in FIG. A dustproof bellows 79 is provided for covering. As a result, attachment/detachment failure or positioning failure can be prevented.

The attachment/detachment structure 70 also has a positioning pin 73 and a positioning groove 74, as shown in FIG. A through hole 71a is formed in the center of the permanent magnet 71, and the positioning pin 73 is arranged on the flange 52 of the second rotary bracket 23 in a state of protruding through the through hole 71a. Also, the positioning groove 74 is formed in the flange 63 of the processing head main body 10 .

The tip of the positioning pin 73 has a tapered shape, and the diameter decreases toward the tip. Therefore, when the machining head body 10 collides with the workpiece W or the like, it starts to move along the tapered shape of the positioning pin 73, and the engagement state between the positioning pin 73 and the positioning groove 74 has play. become a state. As a result, when the machining head main body 10 collides with the workpiece W or the like, the force applied to the positioning pin 73 can be reduced.

The attachment/detachment structure 70 has three sets of positioning pins 73 and positioning grooves 74 , and the three sets of positioning pins 73 and positioning grooves 74 allow the flange 52 of the second rotary bracket 23 and the machining head main body 10 to be mounted on each other. Alignment with the flange 63 can be performed. In addition, in the detachable structure 70, the positioning pin 73 protrudes from the center of the permanent magnet 71, so that the detachable structure 70 can be made space-saving.

Although the number of positioning pins 73 is three in the example shown in FIG. 4, the number of positioning pins 73 may be two. That is, the number of positioning pins 73 may be less than the number of permanent magnets 71 . Further, the attachment/detachment structure 70 may have a configuration in which some of the plurality of positioning pins 73 are arranged outside the central portion of the permanent magnet 71 .

The detachable structure 70 also has a wire 75 and a pair of stoppers 76 and 77, as shown in FIG. The wire 75 is inserted through a wire insertion hole 73 a provided in the positioning pin 73 . The wire insertion hole 73a is, for example, a through hole having a diameter of approximately 1 to 2 mm. A pair of stoppers 76 and 77 are attached to one end and the other end of the wire 75, respectively.

When the processing head body 10 is removed from the holding mechanism 20 , the stopper 76 engages the other side 63 b of the flange 63 of the processing head body 10 , and the stopper 77 engages the other side 52 b of the flange 52 of the holding mechanism 20 . match. Thereby, it is possible to prevent the machining head main body 10 from completely falling off from the holding mechanism 20 . In addition, since the wire 75 is inserted through the wire insertion hole 73a of the positioning pin 73, space saving of the attachment/detachment structure 70 can be achieved.

Also, the length Ls1 of the portion of the wire 75 exposed from the flange 63 of the processing head main body 10 and the flange 52 of the holding mechanism 20 is shorter than the length L used for positioning by the positioning pin 73 . In the example shown in FIG. 3, the stopper 77 is in contact with or fixed to the other side surface 52b of the flange 52 in the holding mechanism portion 20, and the length Ls1 is the distance between the stopper 76 and the other side surface 63b of the flange 63. Distance.

As described above, since the length Ls1 is shorter than the length L, the machining head body 10 is held by the holding mechanism 20 by the stoppers 76 and 77 before the positioning pin 73 is completely removed from the positioning groove 74 . The number of wires 75 to which the pair of stoppers 76 and 77 are attached is preferably two or more, but may be one. Also, the number of wires 75 may not be the same as the number of positioning pins 73 .

In addition, the locking structure for preventing the machining head main body 10 from completely falling off from the holding mechanism 20 is not limited to the example described above. 5A and 5B are diagrams for explaining the locking structure according to the first embodiment. FIG. In the attachment/detachment structure 70 shown in FIG. 5 , a stopper 80 is provided whose base end portion is continuous with the second rotary bracket 23 and whose tip end portion faces the flange 63 of the processing head main body portion 10 . A flange 63 of the processing head main body 10 is arranged between the tip of the stopper 80 and the flange 52 .

Thereby, it is possible to prevent the machining head main body 10 from completely falling off from the holding mechanism 20 . 5, the distance Ls2 between the stopper 80 and the flange 63 of the processing head main body 10 is shorter than the length L used for positioning by the positioning pin 73. As shown in FIG. Also, although not shown, the proximal end portion of the stopper 80 may be configured to continue from the flange 52 of the second rotary bracket 23 . Also, the laser processing machine 1 may have a configuration in which a stopper 80 shown in FIG. 5 is added to the configuration shown in FIG.

As shown in FIG. 3, an attachment/detachment sensor 78 is embedded in the flange 52 of the second rotary bracket 23 with its tip exposed. The attachment/detachment sensor 78 detects that the flange 63 of the processing head body 10 is separated from the flange 52 of the second rotary bracket 23 . The attachment/detachment sensor 78 outputs an OFF signal to the control device 6 when the flange 63 of the processing head main body 10 is separated from the flange 52 of the second rotary bracket 23 . The controller 6 stops the laser processing machine 1 as soon as the attachment/detachment sensor 78 outputs an off signal. In addition, although the number of attachment/detachment sensors 78 is two in the example shown in FIG. 4, it may be one or three or more.

Here, the attachment/detachment sensor 78 will be described. As described above, two attachment/detachment sensors 78 are arranged on the flange 52 of the second rotation bracket 23 . When the machining head main body 10 receives an impact due to contact with the workpiece W or the like, the flange 63 of the machining head main body 10 moves along the tapered positioning pin 73 and the flange of the second rotary bracket 23 moves. Stay away from 52. Therefore, a gap is generated between the flange 63 of the processing head main body 10 and the flange 52 of the second rotary bracket 23 . The attachment/detachment sensor 78 determines attachment/detachment of the processing head main body 10 by detecting such a gap.

6 and 7 are diagrams for explaining the attachment/detachment sensor according to the first embodiment, and are cross-sectional views of the flange 52 of the second rotary bracket 23 and the flange 63 of the processing head body 10 on which the attachment/detachment sensor 78 is arranged. is shown. The attachment/detachment sensor 78 includes a projecting portion 81 that is biased in the projecting direction, and a detection portion 82 that detects attachment/detachment of the processing head body portion 10 based on the position of the projecting portion 81 .

In the state shown in FIG. 6 , the flange 63 of the processing head body 10 is in contact with the flange 52 of the second rotary bracket 23 , and the projection 81 of the attachment/detachment sensor 78 is moved by the flange 63 of the processing head body 10 to the second position. It is in a state of being pushed into the flange 52 of the rotary bracket 23 . In this case, the attachment/detachment sensor 78 determines that the machining head main body 10 has not fallen off, and outputs an ON signal.

As shown in FIG. 7 , when the flange 63 of the processing head main body 10 separates from the flange 52 of the second rotary bracket 23 , a gap G generated between the flanges 52 and 63 causes the protruding portion 81 of the attach/detach sensor 78 to move toward the flange 63 . It will be in a state of being pushed out towards. In this case, the attachment/detachment sensor 78 determines that the processing head main body 10 has fallen off, and outputs an OFF signal indicating the determination result to the control device 6 . Note that the gap G is a value larger than the determination threshold value of the detection unit 82 of the attachment/detachment sensor 78 .

In the attachment/detachment structure 70 according to the first embodiment, the flange 63 of the processing head main body 10 is separated from the flange 52 of the second rotary bracket 23 along the tapered positioning pin 73 . Therefore, in the attachment/detachment structure 70 according to the first embodiment, when the flange 63 of the processing head main body 10 separates from the flange 52 of the second rotary bracket 23, the gap G can be created with high accuracy.

The flange 63 of the processing head main body 10 is provided with an annular groove 63d around a contact portion 63c that contacts the projecting portion 81. As shown in FIG. Therefore, the attachment/detachment sensor 78 can detect not only the gap in the first direction, which is the opposing direction between the flanges 52 and 63, but also the positional deviation in the second direction orthogonal to the first direction.

As a result, for example, even if the position of the machining head main body 10 relative to the second rotary bracket 23 is displaced in the second direction due to breakage of the positioning pin 73 or the like, the machining head main body 10 can still be positioned relative to the second rotary bracket 23 . can be detected. By making the depth of the groove 63d in the first direction longer than the gap G and adjusting the length of the contact portion 63c in the second direction, the detection accuracy of the displacement in the second direction can be adjusted. can be done.

The attachment/detachment sensor 78 is not limited to the configuration shown in FIGS. 8 and 9 are diagrams for explaining another attachment/detachment sensor configuration according to the first embodiment. The cross section of the flange 52 and the flange 63 of the processing head main body 10 is shown.

The attachment/detachment sensor 78 shown in FIGS. 8 and 9 determines attachment/detachment of the machining head main body 10 by measuring the air pressure at the connecting portion between the machining head main body 10 and the second rotary bracket 23 . The attachment/detachment sensor 78 has an air circuit 83, and in the state shown in FIG. The interior of circuit 83 is brought to a pressure state different from atmospheric pressure. For example, when the inside of the air circuit 83 is pressurized, the inside of the air circuit 83 is in a positive pressure state. Further, when the pressure inside the air circuit 83 is reduced, the inside of the air circuit 83 is in a negative pressure state.

The detection unit 84 of the attachment/detachment sensor 78 determines attachment/detachment of the processing head main body 10 by constantly measuring the pressure state inside the air circuit 83 . For example, in the state shown in FIG. 8, the inside of the air circuit 83 is in a positive pressure state or a negative pressure state. It is determined that the state is in a state where it is in a state of being in a state of being determined, and an ON signal indicating the result of the determination is output.

Depending on the surface conditions of the flanges 52 and 63, even when the processing head main body 10 is connected to the second rotary bracket 23, there is a possibility that a slight leakage may occur. Therefore, a sealing material 85 such as an O-ring is arranged around the air circuit 83 in the flange 52 .

When the state shown in FIG. 8 changes to the state shown in FIG. 9, the internal pressure of the air circuit 83 becomes the atmospheric pressure. It determines that there is, and outputs an OFF signal indicating the determination result. In this manner, the attachment/detachment sensor 78 determines attachment/detachment of the processing head main body 10 based on the internal state of the air circuit 83 . Therefore, even when a slight gap is generated between the flanges 52 and 63, it is possible to detect that the processing head main body 10 is separated from the second rotary bracket 23.

Next, a recovery method in the case where the machining head main body 10 is detached due to the collision of the workpiece W after the machining process of the workpiece W is started will be described. 10 is a flowchart illustrating an example of processing including recovery operation of the laser processing machine according to the first embodiment; FIG. The control device 6 performs the processing of the workpiece W by moving the processing head body 10 along a preset trajectory.

After starting the processing of the workpiece W, the control device 6 determines whether or not an OFF signal is output from the attachment/detachment sensor 78 (step S10). When an external force stronger than the attracting force of the permanent magnet 71 and the electromagnet 72 attached to the flange 52 of the second rotary bracket 23 is applied to the machining head main body 10 , the machining head main body 10 separates from the second rotary bracket 23 . When the attachment/detachment sensor 78 detects that the processing head main body 10 is separated from the second rotary bracket 23, it outputs an OFF signal indicating the detection result. It should be noted that the attachment/detachment sensor 78 outputs an ON signal when the machining head main body 10 is connected to the second rotary bracket 23 .

When the controller 6 determines that the attachment/detachment sensor 78 does not output an OFF signal (step S10: No), that is, determines that the attachment/detachment sensor 78 outputs an ON signal, Continue processing. When the control device 6 determines that the off signal is output from the attachment/detachment sensor 78 (step S10: Yes), it determines that the processing head main body 10 has come off, and immediately stops the processing by the laser processing machine 1, and simultaneously stops the electromagnet. 72 is turned off (step S11).

Stopping the processing by the laser processing machine 1 includes, for example, stopping the operation of the first driving motor 34, stopping the second driving motor 45, stopping the operation of the laser oscillator 3, and stopping the operation of the gas supply device 7. be The electromagnet 72 is turned off by stopping the energization of the electromagnet 72 . The electromagnet 72 loses its magnetic force when the energization is stopped.

Thereafter, the restoration work of the laser processing machine 1 is performed by the operator who performs the restoration work of the laser processing machine 1 (step S12). The machining head main body 10 detached from the second rotary bracket 23 is suspended from the second rotary bracket 23 via the wire 75 by stoppers 76 and 77 attached to the wire 75 .

By pulling one of the stoppers 76 and 77 or the wire 75, the operator can restore the machining head main body 10 that has come off due to contact with the workpiece W or the like to its original position. At this time, since the magnetic force of the electromagnet 72 is gone, it is possible to easily align the flange 63 of the processing head main body 10 and the flange 52 of the second rotary bracket 23 .

After that, the control device 6 determines whether or not the ON timing, which is the timing for switching the laser processing machine 1 to the ON state, has come (step S13). For example, when the operator operates a recovery button (not shown) after attaching the processing head main body 10 to the second rotary bracket 23, the control device 6 can determine that the ON timing has come. The control device 6 can also determine that the on-timing has come when a preset period of time has elapsed since the attachment/detachment sensor 78 resumed outputting the on-signal.

If the controller 6 determines that the ON timing has not come (step S13: No), it repeats the process of step S13. If the control device 6 determines that the ON timing has come (step S13: Yes), the control device 6 turns on the electromagnet 72 (step S14), and terminates the processing shown in FIG. The electromagnet 72 is turned on by starting energization of the electromagnet 72 .

In the above-described embodiment, the processing head device 4 is described as being a multi-joint type processing head device, but it may not be a multi-joint type processing head device. That is, the holding mechanism part 20 having the hollow part 20a for propagating the laser light may be configured without the movable part.

As described above, the processing head device 4 according to the first embodiment has the processing head body portion 10 for irradiating the workpiece W with the laser beam, and the hollow portion 20a for propagating the laser beam to the processing head body portion 10. and a holding mechanism portion 20 for detachably holding the processing head body portion 10 . The laser processing machine 1 is provided with a permanent magnet 71 and an electromagnet 72 which are arranged on the flange 52 of the holding mechanism 20 and detachably connect the flange 63 of the processing head main body 10 to the flange 52 of the holding mechanism 20 by magnetic force. . This makes it possible to detachably connect the processing head main body 10 to the holding mechanism 20 that propagates the laser beam to the processing head main body 10 while suppressing an increase in the size of the processing head device 4 .

The machining head device 4 also includes a positioning pin 73 arranged in a through hole 71 a provided in the center of the permanent magnet 71 . As a result, it is possible to save the space of the detachable structure 70 while making the detachable structure 70 a detachable structure capable of being positioned.

Further, the tip of the positioning pin 73 has a tapered shape. As a result, when the machining head main body 10 collides with the workpiece W or the like, the force applied to the positioning pin 73 can be reduced.

Further, the machining head device 4 is attached to the wire 75 inserted through the wire insertion hole 73 a provided in the positioning pin 73 and to the wire 75 , respectively. A pair of stoppers 76 and 77 that engage with corresponding flanges of the flange 63 of the body portion 10 and the flange 52 of the holding mechanism portion 20 are provided. In this manner, the wire 75 is inserted through the wire insertion hole 73a of the positioning pin 73, so that the attachment/detachment structure 70 can be made space-saving. Further, by pulling one of the stoppers 76 and 77 or the wire 75, the machining head body 10 that has come off due to contact with the workpiece W can be easily restored to its original position.

The machining head device 4 also includes an attachment/detachment sensor 78 that detects attachment/detachment between the machining head main body 10 and the holding mechanism 20 based on the air pressure at the connecting portion between the machining head main body 10 and the holding mechanism 20 . This makes it possible to detect that the machining head main body 10 is separated from the second rotary bracket 23 even when a slight gap is generated between the flanges 52 and 63 .

The holding mechanism 20 also includes a first rotary bracket 22 that rotates about a first rotation axis A1 and a second rotation bracket that relatively rotates about a second rotation axis A2 different from the first rotation axis A1. 23. The processing head main body 10 also includes a total reflection mirror 61 that reflects the laser beam incident from the second rotary bracket 23 and an emission port 64 that emits the laser beam reflected by the total reflection mirror 61 . The flange 52 of the second rotary bracket 23 is magnetically connected to the flange 63 of the processing head main body 10 . Thus, by providing the attachment/detachment structure 70 between the second rotating bracket 23 and the total reflection mirror 61 which is the final mirror, it is possible to suppress the influence of a collision as much as possible, and furthermore, the processing head device 4 can be It is possible to easily recover the processing head device 4 when it collides with the workpiece W or the like.

The configuration shown in the above embodiment shows an example of the content of the present invention, and it is possible to combine it with another known technology, and one configuration can be used without departing from the scope of the present invention. It is also possible to omit or change the part.

1 laser processing machine, 2 processing table, 3 laser oscillator, 4 processing head device, 5 fiber cable, 6 control device, 7 gas supply device, 10 processing head body, 20 holding mechanism, 20a hollow portion, 21 fixing bracket, 22 first rotating bracket, 23 second rotating bracket, 30, 40, 41, 50, 60 bent portion, 31 collimator unit, 32, 42, 43, 51, 61 total reflection mirror, 33, 44 mounting member, 34 first first rotating bracket Drive motor 35 First rotation mechanism 45 Second drive motor 46 Second rotation mechanism 52, 63 Flange 52a, 63a One side 52b, 63b Other side 62 Collecting lens 63c Contact part 63d Groove , 70 detachable structure, 71 permanent magnet, 71a through hole, 72 electromagnet, 73 positioning pin, 73a wire insertion hole, 74 positioning groove, 75 wire, 76, 77, 80 stopper, 78 detachable sensor, 79 bellows, 81 protrusion, 82, 84 detector, 83 air circuit, 85 sealing material, A1 first rotation axis, A2 second rotation axis, C1 first circumference, C2 second circumference, G gap, L, Ls1 length, Ls2 distance, O center, W work piece, θ mounting angle.

Claims (4)

Machining comprising a processing head body for irradiating a workpiece with a laser beam, and a holding mechanism having a hollow portion for propagating the laser beam to the processing head body and detachably holding the processing head body. in the head device,
a permanent magnet and an electromagnet arranged on the flange of the holding mechanism and detachably connecting the flange of the processing head main body to the flange of the holding mechanism by magnetic force;
a positioning pin arranged in a through hole provided in the center of the permanent magnet;
with
A machining head device, wherein a tip portion of the positioning pin has a tapered shape. a wire inserted through a wire insertion hole provided in the positioning pin;
A pair of stoppers respectively attached to the wire and engaged with corresponding flanges of the flange of the processing head main body and the flange of the holding mechanism when the processing head main body is disengaged from the holding mechanism. The processing head device according to claim 1, characterized by comprising: 3. The apparatus according to claim 1 or 2, further comprising an attachment/detachment sensor for detecting attachment/detachment between said machining head main body and said holding mechanism based on air pressure in a connecting portion between said machining head main body and said holding mechanism. Machining head device as described. The holding mechanism section is
a first rotating bracket that rotates about a first axis;
a second rotating bracket that rotates about a second axis different from the first axis;
The processing head main body is
a reflecting mirror that reflects the laser beam incident from the second rotating bracket;
and an emission port for emitting the laser beam reflected by the reflecting mirror,
The processing according to any one of claims 1 to 3, wherein the flange of the second rotating bracket is connected to the flange of the processing head main body as the flange of the holding mechanism by the magnetic force. head device.

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