JPH0321825Y2 - - Google Patents

Description

[Detailed Description of the Invention] <Industrial Application Field> The present invention relates to a laser processing machine equipped with a distance sensor that measures the distance between a workpiece and a wrist.

<Prior art> For example, when a laser torch is moved along a marking line drawn on the surface of a three-dimensional workpiece and the workpiece is cut using a laser beam irradiated from the laser torch toward the workpiece, three-dimensional workpieces are cut in advance. A distance sensor is attached to the wrist of the robot that moves and turns in the dimensional direction instead of the laser torch, or on the opposite side of the laser torch, and the distance sensor is used to optimize the distance between the workpiece and the wrist for machining. It is necessary to move the wrist and memorize the position of the wrist.

<Problems to be solved by the invention> Since the external shape of the distance sensor is different from that of the laser torch, even if there is no problem of interference between the distance sensor and the workpiece during teaching, there is a problem of interference between the laser torch and the workpiece during processing. It was hot.

<Means for Solving the Problems> The present invention has been made to solve the above-mentioned problems, and includes attaching a simulated torch having a space inside which accommodates the distance sensor to the wrist portion,
The simulated torch is made up of a cylindrical body and a conical conical part that is continuous with the cylindrical body so that the external shape resembles that of a laser torch. A light path is formed on the line of light that communicates the space with the outside.

<Operation> A distance sensor covered with a simulated torch is set on the work side of the wrist, and the position of the wrist is taught while checking for interference between the work and the simulated torch. Next, a laser torch is set on the workpiece side of the wrist, and processing is performed using laser light directed toward the workpiece from this laser torch.

<Example> Hereinafter, an example of the present invention will be described based on FIGS. 1 and 2. Reference numeral 10 denotes a linear motion part that moves in the three-dimensional directions of X, Y, and Z. A first rotation part (not shown) that rotates around J1 is connected to this translation part 10, and a first rotation part is connected to this first rotation part. A second pivoting section 11 that pivots around J2 is connected to the front side of the pivoting section, and a wrist section 12 that pivots around J3 is connected to this second pivoting section 11.

A laser torch 20 is attached to the lower side of the wrist portion 12, and a condensing lens (not shown) that converges a beam-shaped processing laser beam 21 into a spot light is built into the laser torch 20. The laser torch 20 is comprised of a cylindrical body and a conical conical part continuous to the body from its external appearance. The processing laser beam 21 passes through the linear motion part 10, the first turning part, the second turning part 11, and the wrist part 12 by refraction and reflection of a mirror (not shown) and reaches the laser torch 20.
It is now being sent to

Further, a mounting base 22 is attached to the upper side of the wrist portion 12, and an L-shaped base 23 is attached to the mounting base 22 so that its position can be adjusted in the front-back and left-right directions in the plane of the drawing. The base 23 has a movable base 2
4 is attached so that its position can be adjusted in the vertical direction, and a swivel table 25 is attached to this movable table 24 so that its phase can be adjusted around an axis parallel to J3. Swivel stand 25
A distance sensor 33 is attached to the distance sensor 33, which is provided with a window 32 that irradiates a measurement laser beam 30 toward the work W through a window 31 and receives scattered light reflected from the work W. The base 23 and the swivel table 25 are
When the distance sensor 33 is attached to the rotating table 25, it is moved so that the processing laser beam 21 and the measurement laser beam 30 are coaxial, and the movable table 24 is moved so that the processing laser beam 21 and the measurement laser beam 30 are coaxial. The focal position of 21 is moved so that the distance from J3 is the same.

A simulated torch 40 resembling the laser torch 20 is attached to the base 22, and the simulated torch 4
0 is fixed to the base 22 via a bolt 41 and has a body part 42 having almost the same shape and size as the body part of the laser torch 20, and a bolt 43 attached to the body part 42.
The laser torch 20 has a conical portion 44 fixed thereto and has substantially the same shape and size as the conical portion of the laser torch 20. A notch space 45 is formed in the body part 42 so that the distance sensor 33 can be moved a little, and a light path 46 is formed in the conical part 44 to pass the measuring laser beam 30.
is formed. The simulated torch 40 is made of a material with good transmittance that allows light to pass through without reflecting scattered light, such as acrylic.

Next, the operation will be explained based on the above-mentioned embodiment. When teaching the position of the wrist part 12, rotate the rotating part 12 and move the workpiece W below.
Aim the distance sensor 33 to the side. The wrist portion 12 is lowered in a direction approaching the workpiece W while irradiating the measuring laser beam 30 from the distance sensor 33 toward the workpiece W. The distance between the wrist part 12 and the workpiece W is detected by a distance sensor 33, and when this distance becomes a distance suitable for processing, the approaching movement of the wrist part 12 is stopped and the position of the wrist part 12 is taught. At this time, the operator visually checks whether the simulated torch 40 is interfering with the workpiece W, and if there is interference, the direction of the simulated torch 40 is changed by rotating the wrist portion 12 or the like. The position of the wrist part 12 at all teaching points is determined by repeating the action of moving the wrist part 12 to the next teaching point, the action of bringing the wrist part 12 closer to the workpiece W, and the action of teaching the position of the wrist part 12. Make me remember.

When the teaching is completed, the rotating part 12 is turned to direct the laser torch 20 toward the workpiece W, and the wrist part 12 is moved based on the teaching data while irradiating the processing laser beam 21 from the laser torch 20 toward the workpiece W. . Since an interference check between the simulated torch 40 and the work W is performed in advance, there is no interference between the laser torch 20 and the work W.

In addition, in the above-mentioned embodiment, the distance sensor 33 is attached to the side opposite to the laser torch 20, but the wrist part 1
A distance sensor 33 may be attached to the lower side of the laser torch 20 together with a simulated torch 40 and a mounting base 22 instead of the laser torch 20.

<Effects of the Invention> As described above, in the present invention, a simulated torch having a space for accommodating the distance sensor inside is attached to the wrist part, and the simulated torch has a shape similar to the external shape of the laser torch. It is composed of a cylindrical body part and a conical cone part formed continuously with the body part, and the space and the outside communicate with each other on the line of light irradiated to this cone part from the distance sensor. Since the passage is formed, there is an advantage that interference between the work and the laser torch can be checked while measuring the distance between the work and the wrist even if the laser torch is not directed toward the work.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention, and FIG. 1 is a side view of the wrist portion, and FIG. 2 is a view taken along the - line in FIG. 1. 12... Wrist part, 20...
Laser torch, 21... Laser light for processing, 30...
...Measurement laser light, 33...Distance sensor, 40...
...Mock torch, 46...Passway of light.

Claims (1)

[Scope of utility model registration request] A wrist part that can move and rotate in three dimensions is provided, and a laser torch consisting of a cylindrical body part and a conical part continuous to this body part is attached to the wrist part, and a workpiece is removed from the laser torch. A distance sensor is attached to the wrist instead of the laser torch, or a distance sensor is attached to the wrist on the opposite side of the laser torch, and the distance is In a laser processing machine equipped with a distance sensor that measures the distance between the workpiece and the wrist by directing the sensor toward the workpiece, a simulated torch with a space for accommodating the distance sensor inside is attached to the wrist. The simulated torch is constructed of a cylindrical body and a conical conical part formed continuously with the body so that the simulated torch has a shape similar to the external shape of the laser torch. A laser processing machine equipped with a distance sensor, characterized in that a light path communicating between the space and the outside is formed on a line of light emitted from the distance sensor.