JPH01306091A - Teaching device for five axis control machine - Google Patents

Abstract

PURPOSE:To easily and quickly perform teaching operation by providing a laser beam output means, a work end driving means for two shafts of rotation and a point selection means for five axes on a teaching device for five axis control machine. CONSTITUTION:A laser output means is provided to take a focus at a place far by a specified distance from a work end and to output laser beam LB. Besides, a work end driving device 23 is provided to read numeric values of two axes A, B of rotation when the laser beam LB irradiates from the normal direction to the teaching point P of the profile 21 of a work piece and to drive the work end in the normal direction. Further, a point selection means 23a is provided to select numeric values of all five axes A, B, X, Y, Z of rotation in the teaching point P when the focus is set to the profile. The direction of the laser beams LB is made in parallel with the normal of the teaching point P of the profile 21 of the work piece, the laser beam LB is set by operating three axes X, Y, Z to the teaching point P and the tip of the teaching needle 15 is set by the work end driving means 23b to the teaching point P to select the point.

Description

Detailed Description of the Invention [Objective of the Invention] (Industrial Application Field) The present invention is a five-axis control machine equipped with three axes for three-dimensional movement and two rotation axes for controlling the posture of the processing end. Concerning the Teing device.

(Prior Art) A laser processing machine or a welding machine capable of three-dimensional processing may be equipped with three axes for three-dimensional operation and two rotating axes for controlling the posture of a processing end such as a processing head or a torch.

In teaching this five-axis controlled machine, the posture of the machining end must be controlled, so indirect teaching is difficult and direct teaching is often required.

In conventional direct teaching, a teaching needle is provided at the processing end,
The tip of the teaching needle is brought into contact with the profile of the workpiece from the normal direction. Also, recently,
Attempts have also been made to use a dedicated teaching machine that simulates the actual machine and to perform teaching using a teaching needle in the same way as the actual machine.

(Problem to be solved by the invention) However, the conventional 5-axis handle 'gfJ' as described above
In direct teaching with an IR machine, if you change the orientation of the processing end, the position will shift, and if you change the position, the orientation will shift, so you have to repeatedly operate the 5 axes through delusion while looking into the tip of the teaching needle. However, it took a considerable amount of effort and time to obtain a single teaching point.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a teaching device for a five-axis controlled machine that allows direct teaching to be performed easily and quickly.

(Means and operations for solving the problems) The present invention for solving the above problems firstly provides a five-axis control system D that includes three axes for three-dimensional movement and two rotational axes for controlling the posture of the processing end. machine(
(including a dedicated teaching machine that simulates an actual machine), the teaching device includes a laser output means for outputting a narrow laser beam to be focused at a position a predetermined distance away from the processing end, and a laser output means for outputting a narrow laser beam to be focused at a position a predetermined distance away from the processing end, and a teaching device for directing the laser beam to the workpiece. a machining end driving means for driving the machining end in the normal direction by reading numerical values of the two rotational axes when the teaching point is applied from the normal direction to the teaching point of the profile; The present invention is characterized in that it includes a point selection means for selecting values of all five axes at a time as teaching points.

In this invention, the direction of the laser beam output from the laser output means is made parallel to the normal direction of the teaching point of the profile of the workpiece, and then the spot of the laser beam is adjusted by three-axis operation for three-dimensional operation. The laser beam is focused on the teaching point using the processing end driving means, and the point is selected. To align the laser beam spot with the teaching point, if the axes for three-dimensional movement are three orthogonal axes, the posture of the processing end will not change by operating each axis, so you can operate it arbitrarily in sequence. good. 3
If the axes are not orthogonal coordinates, the operation may be performed using orthogonal coordinates through a conversion means that converts the axes into orthogonal coordinates.

Second, the present invention provides a teaching device for a five-axis control machine (including a dedicated teaching machine that simulates an actual machine), which is equipped with three axes for three-dimensional movement and two rotational axes for controlling the posture of the processing end. a laser output means for outputting a thin laser beam from a hollow teaching set provided at the processing end; and numerical values of the two rotational axes when the laser beam is applied from the normal direction of the profile of the workpiece. processing end driving means for reading the processing end and driving the processing end in the normal direction;
The present invention is characterized in that it includes point selection means for selecting numerical values of all five axes as teaching points when the tip of the teaching needle is brought into contact with the profile.

In this invention, as in the above invention, the direction of the laser beam output from the laser output means is made parallel to the normal direction of the teaching point on the profile, and then, as in the above, by three-axis operation for three-dimensional movement. The spot of the laser beam is aligned with the teaching point, and then the tip of the teaching needle is brought into contact with the teaching point using the processing end driving means to select the point. This invention has the advantage that the teaching needle used in normal direct teaching can be shared.

(Example) Hereinafter, an example of the present invention will be described using an example of a 5-axis laser "off-line teaching machine that simulates a processing rock" as an example of a 5-axis control machine.

Figures 1 and 2 are a front view and a right side view of an offline teaching machine that simulates a 5-axis laser processing machine;
FIG. 3 is a block diagram of the control system, and FIG. 4 is an explanatory diagram showing the relationship between three orthogonal axes and two rotating axes.

As shown in Figures 1 and 2, the offline teaching machine has three orthogonal axes X, Y, and Z for three-dimensional movement, and two rotational axes A for posture control, in accordance with the actual machine (not shown).
, B.

Specifically, a column 3 that is movable in the X direction is provided on the base 1, a carriage 5 that is movable in the vertical (Z) direction is provided on the column 3, and the carriage 5 is provided with a column 3 that is movable in the X and Z directions. An arm 7 is provided that is movable in the Y direction orthogonal to the Y direction.

The three orthogonal axes X, Y, and Z are provided with servo motors MX, MY, and MZ that drive each axis, and a position detector (not shown) that detects the operation of each axis.

Further, a block member 9 is fixed to the tip of the arm 7, and a hand member 11 constituting an A-axis rotatable around a vertical axis is provided below the block member 9. A head member 13 is provided on the side surface of the hand member 11 and constitutes a B axis that is swingable around an axis perpendicular to the Δ axis.

A normal teaching needle 15 is attached to the lower end of the head member 13.
is attached removably. Further, a glass fiber 17 for guiding an l-1e-Ne (visible light) laser is guided at the upper end of the head member 13, and a laser beam LB introduced from the glass fiber 17 with the teaching needle 15 removed. A condensing lens 19 is built in to condense light at the teaching position (focal point) F.

For the rotations 2@△ and B, the driving device is omitted and only a rotation detector (not shown) is provided for the purpose of performing teaching with easier operation.

The offline teaching machine with the above configuration differs from this actual machine in the following points.

■ The base, each frame member, and the table on which the workpiece is placed have a simpler structure, and in particular, the table does not require a needle support mechanism or scrap ejector groove, and can be of any shape that is easy to work with. ing.

■ The head device consisting of the block 9, the hand member 11, and the head member 13 does not have a guiding mechanism or a cooling mechanism for a processing laser such as a carbon dioxide laser, and is hollow inside to make it simpler and lighter in weight. It is said that

■ The three orthogonal axes X, Y, and Z have shorter strokes than the actual machine, and the length can be corrected using software.

■ Extra cover parts are omitted to make teaching work easier.

As shown in FIG. 3, a teaching control device 23 that controls the off-line teaching machine with respect to the profile 21 of the workpiece includes a point storage circuit 23a and a machining edge layer assisting means 23b.

The point storage circuit 23a stores a point value for each teaching point, and stores this point value in the processing machine control device 2a.
5.

The processing end drive circuit 23b is a particularly necessary circuit in the actual machine of the present invention, and as shown in FIG. This circuit moves the head member 13 in an initially determined direction while maintaining the head member 13 in a predetermined posture.

Next, an example of the teaching method of the offline teaching machine having the above configuration will be explained.

First, the teaching operation is started while removing the teaching needle 15 and irradiating the laser beam L8 from the tip of the head member 13.

Next, three orthogonal axes X, Y, and Z are arranged so that the laser beam LB is arranged parallel to the normal direction to the teaching point P of the profile 21 of the workpiece.

and operate the two rotational axes A and B.

Next, the laser beam LB is adjusted by operating the three orthogonal axes X, Y, and Z.
should coincide with the normal direction.

Furthermore, by operating a predetermined switch, the processing end drive circuit 23b is activated to align the focus of the laser beam LB with the teaching point P, and the point storage circuit 23a is activated.
The point value is taken in and moved to the next teaching point.

Here, since the operation of aligning the laser beam LB parallel to the normal direction of the teaching point P can be performed with the position P sufficiently far away from the teaching point P,
It becomes extremely easy.

Also, other operations are not particularly difficult.

The teaching needle 15 may be hollow, the thin parallel laser beam 1B may be passed through it, and the focal point F may be indicated by the tip of the teaching needle 15.

In addition, it goes without saying that the offline teaching machine described above can perform normal teaching operations using the normal teaching frequency t15.

In addition, in this example, the three axes for three-dimensional movement are shown as three orthogonal axes to simulate the actual machine, but even if other coordinates such as a polar coordinate system are used, the three orthogonal axes can be used as appropriate. This can be converted to implement the present invention.

The present invention is not limited to the above-mentioned embodiments, but can be implemented in other appropriate forms by making appropriate design changes.

[Effects of the Invention] As described above, according to the teaching device for a 5-axis control machine of the present invention, the direction of the laser beam output from the laser output means is adjusted relative to the normal direction of the teaching point of the profile of the workpiece. parallel, then adjust the spot of the laser beam to the teaching point by three-axis operation for three-dimensional operation, and then use the processing end drive means to align the focal point of the laser beam or the tip of the teaching needle through which the laser beam passes to the teaching point. Since points can be selected at the same time, the teaching operation can be performed extremely easily and quickly.

[Brief explanation of the drawing]

The drawings all show examples, and FIGS. 1 and 2 are a front view and a right side view of the offline teaching machine,
FIG. 3 is a block diagram of the control system, and FIG. 4 is an explanatory diagram showing the relationship between three orthogonal axes and two rotating axes. 13... Head member 17... Glass fiber 2
1...Profile of the workpiece 23...Teaching control device 23b...Machining end drive circuit agent Yasuo Miyoshi, patent attorney Fig. 3 Fig. 4

Claims (4)

[Claims] (1) A teaching device for a five-axis control machine equipped with three axes for three-dimensional movement and two rotational axes for controlling the posture of the processing end, the teaching device being configured to focus at a position a predetermined distance from the processing end. a laser output means for outputting a narrow laser beam;
processing end driving means for driving the processing end in the normal direction by reading numerical values of the two rotational axes when the laser beam is applied from the normal direction to the teaching point of the profile of the workpiece; and the focal point. A teaching device for a five-axis control machine, comprising point selection means for selecting numerical values of all five axes when applied to the profile as teaching points. (2) The teaching device for a 5-axis controlled machine according to claim 1, wherein the 5-axis controlled machine is a teaching-only machine that simulates an actual machine. (3) A teaching device for a five-axis control machine equipped with three axes for three-dimensional movement and two rotational axes for controlling the posture of the processing end, in which a thin laser beam is emitted from a hollow teaching needle provided at the processing end. and a processing end driving means for reading the numerical values of the two rotational axes when the laser beam is applied from the normal direction to the profile of the workpiece and driving the processing end in the normal direction. A teaching device for a five-axis control machine, comprising: and a point selection means for selecting numerical values of all five axes as teaching points when the tip of the teaching needle is brought into contact with the profile. (4) The 5-axis controlled machine teaching device according to claim 3, wherein the 5-axis controlled machine is a teaching-only machine that simulates an actual machine.