JPH01224194A - Position control method for cnc laser beam machine - Google Patents

Abstract

PURPOSE:To enable three dimensional laser machining at high speed by performing an interpolation by neglecting the movement of alpha axis and beta axis in controlling X, Y, Z axes and constituting so as to add the correction value for the movement of the alpha and beta axes. CONSTITUTION:When the locus (X, Y, Z) of the control point to be worked and the position (alpha, beta) of a nozzle are commanded, an interpolater 10 performs the interpolation of 5 axes at the same time. The interpolation of the X, Y, Z axes is performed by neglecting the movement of alpha axis and beta axis in the interpolator 10. The interpolation of the X, X, Z axes is therefore same as that of an ordinary numerical value control device and can be operated at high speed. A correction means 11 calculates the correction value X, Y, Z to be given to the X, Y, Z axes by the movement of the alpha and beta axes. This calculation can be operated at high speed and is simple compared with the case of performing the interpolation of five axes at the same time. An adder 12 controls a servomotor by taking the movement amt. of the X, Y, Z axes by adding the correction value X, Y, Z to the movement amt. of the X, Y, Z axes. The output of the interpolater 10 is given to the servomotor of the alpha and beta axes as it is.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention relates to an attitude control method for a CNC laser processing machine that performs three-dimensional processing to control the attitude of a nozzle with respect to a processing surface, and particularly relates to an offset The present invention relates to a posture control method for a CNC laser processing machine that enables high-speed control of a mold nozzle head mechanism.

[Conventional technology]

CN that combines a laser oscillator and numerical control unit (CNC)
C laser processing machines have become widely used. In particular, by combining the high-speed processing of laser processing machines with the features of numerical control equipment (CNC) that can control complex contours, it has become possible to process complex shapes at high speed and without contact. In particular, CNC laser processing machines that can perform three-dimensional processing, which was impossible with conventional punch presses, nibbling machines, etc., have come into practical use.

To perform three-dimensional processing with a CNC laser processing machine, X, Y,
In addition to controlling the Z axis, it is necessary to control the attitude of the nozzle at the tip, and the control axes for this purpose are referred to as the α axis and β axis. There are two methods for nozzle attitude control:

The first method is called a zero-offset type or one-point directional type, in which the α axis is the rotation axis relative to the Z axis, and the β axis is the rotation axis relative to the Z axis.
The axis is configured as a rotation axis having a constant inclination with respect to the Z axis.

The second method is called an offset type, in which the α axis is a rotation axis relative to the Z axis, and the β axis is configured as a rotation axis perpendicular to the Z axis.

The zero offset type has a complicated mechanism, but the nozzle tip position does not change even if the X, Y, and Z positions change, so it is easy to control. It is desirable from the ffD perspective. As a posture control system for such a zero-offset type CNC laser processing machine, Japanese Patent Application No. 1986-3 filed by the present applicant has been proposed.
There is No. 21115.

On the other hand, the offset type has a simple mechanical mechanism, but
Control is complicated, and it has been thought that it is not suitable for high-speed machining. FIG. 5 shows a conceptual diagram of an interpolator of a conventional three-dimensional laser processing machine. In the figure, IO is an interpolator that simultaneously controls the locus of control points (X, Y, Z) and the nozzle attitude (α, β) in five axes.

[Problem that the invention seeks to solve]

However, if the offset type can be controlled at high speed, the mechanism is simple and there is less interference with the workpiece during machining than the zero offset type, which makes it useful.

The present invention has been made in view of these points, and it is an object of the present invention to provide a posture control method for a CNC laser processing machine that enables high-speed control of an offset-type nozzle head mechanism.

[Means to solve the problem]

In order to solve the above problems, the present invention provides a posture control method for a CNC laser processing machine that controls the posture of a nozzle of a CNC laser processing machine that performs three-dimensional processing with respect to a processing surface. control means for controlling the nozzle in a rectangular coordinate system; α-axis control means for controlling the nozzle attitude, which is a rotation axis with respect to the Z-axis; β-axis control means for controlling the β-axis for the posture of the interpolation means for simultaneously interpolating the β-axis, and correcting the coordinate positions of the Z-axis, Y-axis, and Z-axis according to changes in the α-axis and the β-axis so that the tip of the nozzle does not deviate from the target point. Provided is a posture control method for a CNC laser processing machine, characterized in that it comprises a correction means for:

[Effect]

Constantly interpolating the values of the α-axis, β-axis, I have no choice but to make the spacing coarser. This results in inaccurate processing paths.

For this purpose, ignoring the amount of movement of the α- and β-axes,
By performing interpolation on the X, Y, and Z axes, calculating the amount of correction due to the movement of the α and β axes, and adding it to the amount of movement on the X, Y, and Z axes, calculation speed is increased and practical Enables three-dimensional laser processing.

〔Example〕 Hereinafter, one embodiment of the present invention will be described based on the drawings.

FIG. 2 shows a partial configuration diagram of a nozzle head mechanism according to an embodiment of the present invention. In the figure, 1 is an α-axis servo motor that drives the α-axis, and 2 is a β-axis servo motor that drives the β-axis. Reference numeral 3 denotes a laser beam, which is guided to the tip of the nozzle by a reflection mirror (not shown) and is irradiated onto the workpiece.

The α-axis is a rotation axis relative to the Z-axis, and the rotation of the α-axis servo motor 1 is rotationally controlled by rotating the member 5 using gears 4a and 4b.

For the β-axis, the rotation of the β-axis servo motor 2 is controlled by gears 6a and 6b.
The control is performed by rotating the shaft 7 by rotating the shaft 7, and rotating the shaft 9 by the fully toothed gears 8a and 8b. 9a is a nozzle fixed to the shaft 9.

Here, the distance from the center of the Z axis to the center of the irradiation beam is R1, and the distance from the center of the axis 9 to the focal point of the irradiation beam on the workpiece is L.

FIG. 1 shows a block diagram of a posture control system for a CNC laser processing machine according to an embodiment of the present invention. In the figure, 10 is an interpolator, and the locus (X, Y, Z) of the control point to be processed,
The nozzle attitude (α, β) is commanded. The interpolator 10 receives commands and simultaneously performs five-axis interpolation. Originally, X, Y, Z
The axes should be interpolated by taking into account the movements of the α and β axes, but this would require vector calculations, which would take an enormous amount of time, making it impossible to perform laser processing at a practical speed. The device 10 performs interpolation on the x, y, and z axes, ignoring movement on the α and β axes. Therefore, the interpolation of the X, Y, and Z axes is the same as that of a normal numerical control device, and calculations can be performed at high speed.

Reference numeral 11 denotes a correction means, which corrects the
, the correction values ΔX, ΔY, and ΔZ to be given to the Y and Z axes are calculated. This calculation is simpler and faster than when interpolating five axes at the same time.

12 is an adder, which adds a correction value Δ to the movement amount of the X, Y, and Z axes.
The servo motor is controlled by adding X, ΔY, and ΔZ as the amount of movement of the X, Y, and Z axes. The output of the interpolator 10 is directly applied to the α-axis and β-axis servo motors.

Control of the interpolator 10, correction means 11, adder 12, etc. described above is processed by a microprocessor in the numerical control device, but in particular, in order to speed up processing, the correction means 11 is controlled by a dedicated microprocessor. High-speed three-dimensional laser processing becomes possible by configuring the processing to be performed using the following methods.

FIG. 3 shows a diagram for determining the amount of correction on the X and Y axes due to movement of the α axis. R is the distance from the center of the Z axis to the center of the irradiation beam, as shown in FIG. The correction values ΔX(α) and ΔY(α) for the X and Y axes are given by the following formulas.

ΔX(α)=Rcosα ΔY(α)=Rsinα FIG. 4 shows a diagram for determining the amount of correction on the x and Y axes due to the movement of the β axis. As shown in FIG. 2, L is the distance from the center of the axis 9 to the focal point of the irradiation beam on the workpiece.

The correction values ΔY(β) and ΔZ(β) for the Y and Z axes are given by the following equations.

ΔY(β)=Lsinβ ΔZ(β)=−Lcosβ Further, the correction values for the X, Y, and Z axes when the α and β axes move simultaneously are determined by the following equations.

ΔX=ΔX(α)−ΔY(β)sinα=Rcosα−
Ls 1ncx-s inβΔY=ΔY (α)+ΔY
(β)cosα=R3inα+LCO3α°S inβ
ΔZ; ΔZ(β)=−Lcosβ In this way, the correction values ΔX, ΔY, and ΔZ can be easily obtained, and especially trigonometric functions can be obtained more quickly by using a co-processor or the like.

In the above explanation, instructions for automatic driving have been described, but movement in manual driving can also be processed in the same way.

〔Effect of the invention〕

As explained above, in the present invention, when controlling the nozzle posture of a CNC laser processing machine, the X, Y, and Z axes are controlled by performing interpolation while ignoring the movements of the α and β axes. Since the configuration is such that a correction value for movement is added, three-dimensional laser processing can be performed at high speed even with an offset type nozzle head.

[Brief explanation of the drawing]

Fig. 1 is a block diagram of a posture control system of a CNC laser processing machine according to an embodiment of the present invention, Fig. 2 is a partial configuration diagram of a nozzle head mechanism according to an embodiment of the present invention, and Fig. 3 is a movement of the α-axis. Figure 4 is a diagram for determining the amount of correction for the Y and Z axes due to movement of the β axis. Figure 5 shows the concept of interpolation in a conventional three-dimensional laser processing machine. FIG. l−・・−・・−・・−α axis servo motor 2−−−−
・−・−・β axis servo motor 3−−−1−−−−
--Laser beam 9a --- Nozzle 10 --- Interpolator 11 ---
······Correction means 12······················Adder patent applicant Fanuc Co., Ltd. agent Patent attorney Takeshi Hattori Figure 1 Figure 3 Figure 4

Claims (3)

[Claims] (1) In the attitude control method of a CNC laser processing machine that controls the nozzle attitude of a CNC laser processing machine that performs three-dimensional processing with respect to the processing surface, control is performed to control the X-axis, Y-pongee, and Z-axis in a rectangular coordinate system. means, an α-axis control means that is a rotation axis with respect to the Z-axis and controls the attitude of the nozzle; and a rotation axis that is a rotation axis with respect to an axis perpendicular to the Z-axis and controls a β-axis for the nozzle attitude. and an interpolation means for simultaneously interpolating the X-axis, Y-axis, Z-axis, α-axis, and β-axis while ignoring the movement amount of the α-axis and β-axis for the X-axis, Y-axis, and Z-axis. and a correction means for correcting the coordinate positions of the X-axis, Y-axis, and Z-axis according to changes in the α-axis and the β-axis so that the tip of the nozzle does not deviate from the target point. A posture control method for a CNC laser processing machine characterized by the following. (2) Claim 1, characterized in that the correction means is configured to be processed by providing a dedicated processor.
Attitude control method of CNC laser processing machine described in Section 1. (3) The CNC according to claim 2, characterized in that a co-processor is coupled to the dedicated processor.
Attitude control method for laser processing machines.