JPH04120106U - Teaching device of processing machine - Google Patents

Abstract

(57) [Summary] [Purpose] To facilitate teaching operations when teaching the position of a tool K in a processing machine that performs processing at a point separated by a predetermined gap G from a workpiece W. [Configuration] Further offset length OS from the predetermined gap G
The correct reference point position is taught while the position is aligned at a position that is separated by a certain amount. In the first method, teaching is performed by shrinking the tool by the OS. In the second method, the reference point position is calculated on the assumption that teaching is performed using a tool that is longer than the actual one by the OS.

Description

[Detailed explanation of the idea]

0001

[Industrial application field]

This idea is a device that positions the tool at a predetermined distance from the workpiece and processes it there. For example, the laser beam irradiation torch (tool) is placed at a predetermined distance (focal length) from the steel plate (workpiece). The steel plate is positioned at a distance of It relates to laser processing machines and the like that cut or weld steel plates.

0002

[Conventional technology]

For the above types of processing machines, the following teaching is usually used to specify the tool position. Processing is performed. This will be explained with reference to FIG. (1) The operator uses an appropriate input device for the device that changes the position and orientation of the tool mounting section. and send a command so that the tool points to the reference point position Q that you want to teach. . That is, the tool is positioned on line L4 in FIG. (2) From here, the operator sends commands using an appropriate input device to move the tool onto the line. The workpiece W is approached along L4. (3) Finely adjust the distance between the tool and the workpiece W until it matches the gap G during actual machining ( (Adjust to the position and orientation of T1 in Figure 3). (4) In this state, the operator sends commands using an appropriate input device to cause the tool to work. Rotate it until it is in a position perpendicular to the cross. In this operation, the base is rotated as the tool rotates. To prevent the quasi-point position Q from shifting, select a point that is G ahead of the position at the start of rotation (T1). The tool is controlled to rotate around Q. As a result, the tool is in the R1 position. be rotated. (5) In this state, the coordinates of point Q and the rotation angle of the tool are detected and calculated, and these are stored in memory. be done. During actual machining, the position and orientation of the tool are controlled based on this stored data. be done.

0003

[Problem that the idea aims to solve]

In the conventional teaching process described above, the tool is moved from the work W to the gap G during actual machining. You have to adjust it to a position that is far away. Here, the gap G during actual processing is usually extremely small and is 1 in the case of a laser cutting machine, etc. It is set to about mm. During actual machining, the gap between the work W and the tool is By detecting it with a sensor and performing feedback control so that it becomes a predetermined value G. This minute gap G is maintained.

0004 However, during teaching, the operator uses an appropriate input device to manipulate the tool. It is difficult to move it to a position separated by a minute gap G from. Especially when it comes to multiple points. If the teaching is repeated after standing, the operator will become very fatigued and the tool and workpiece may collide. It may also happen that you bump into someone. Therefore, at the work site, the gap between the workpiece and the tool is equal to the gap G during actual machining. The teaching position is (T2). Even if you do this, the gap sensor mentioned above will not be used during actual machining. Therefore, since gap management is performed, the distance between the workpiece and the tool is greatly reduced. Does not cause any problems.

[0005] However, as shown in Fig. 3, the gap between the tool and the workpiece W during actual machining is If taught in the state of T2, which is further away than G, the center will be centered on a point ahead by G. Since the tool is set to rotate at the same time, the center of rotation of the tool will be Q1. this In this state, rotate the tool until it is perpendicular to the workpiece (i.e. change the tool position from T2 to T3). ), and further perform gap control using the gap sensor, During actual machining, the tool is at the position indicated by R2, and point Q2 is machined. Sunawa Instead of processing point Q, point Q2 ends up being processed. This is precision processing is not allowed if it is required. Therefore, in this invention, in order to make it easier for the operator to operate during teaching, we have developed By making it possible to teach at a position that is further away than the time gap G. In addition, there is a teaching device that does not teach the wrong reference point position even if this is done. The purpose of this project is to develop the system.

[0006]

[Means to solve the problem]

In order to solve the above problem, in this invention, the schematic diagram is conceptually shown in Figure 1. The teaching device F, which changes the position and orientation of the tool mounting part H, and its Equipped with a tool K that can move forward and backward with a tool advancing and retracting device J with respect to the tool mounting part H, and the reference point position At the same time, the tool K is directed to the reference point position stored in the storage device M. The gap between the tool K and the work W is detected by the sensor D, and the gap is set to a predetermined value G. A teaching device for a processing machine that processes while making adjustments. During the process, the tool K is moved to the tool advancing/retracting device J by an offset length OS from the tool reference length L. A device B that sends a command to withdraw the tool, and a device F that changes the position and orientation of the tool mounting part are connected to the machine. Teach with the tool K offset from the workpiece W by the offset length OS. Device E that takes the position/attitude during tooling, and the position/attitude of the tool mounting part H at that time a device P that detects the and a device N for storing this in the reference point position storage device M. A teaching device was created (this corresponds to the invention of claim 1).

[0007] Alternatively, there is a teaching device whose schematic diagram is conceptually shown in Figure 2. In other words, it is equipped with a device F that changes the position and orientation of the tool K and the tool mounting part H, and At the same time, the tool K is directed to the reference point position stored in the position storage device M. The gap between the tool K and the workpiece W is detected by the gap sensor D and set to a predetermined value G. A teaching device for a processing machine that processes while adjusting the tool installation. In a device F that changes the position and orientation of a part, the tool K has an offset length O with respect to the workpiece W. A device E that takes the position and posture at the time of teaching while being offset by S; A device P that detects the position/orientation of the tool mounting part H at that time, and a device P that detects this detected value The reference point position is calculated by correcting it with the set length OS, and this is stored in the reference point position storage device M. He also created a teaching device for a processing machine that has a device N2 that stores information in corresponds to the invention of claim 2).

[0008]

[Effect]

According to the teaching device of claim 1, the tool K during teaching is attached to the tool mounting portion H. On the other hand, the position ( 4(B)). Therefore, during teaching, the operator The tip of the tool is separated by a distance L2, which is the gap G during actual machining plus the offset length OS. Can be taught in position. Even in this way, it is clear from Figures 4(A) and (B) that For clarity, the position and orientation of the device F that changes the position and orientation of the tool mounting part H are the same as the conventional one. The teaching position is exactly the same as the teaching position using the formula ((A) in Figure 4), and the teaching position using the conventional method is It is possible to teach the reference point position Q that is exactly the same as the teaching position.

[0009] According to the teaching device according to claim 2, during teaching, as shown in FIG. 4(C). The entire device F that changes the position and orientation of the tool K and the tool mounting part H is shown in Figure 4(A). Compared to the conventional method, it is placed at a position separated by an offset length OS, and the taught at the location. In this case, in the device N2, it is as if the offset is set to the tool reference length L. Teaching using the conventional method using tool K2 with length L3 including cut length OS Since the correction is made in the same way as when Q is determined and stored. In this way, according to the present invention, the gap G is larger than the gap G during actual machining. Even if the adjustment is made with , the accurate reference point position Q will be taught.

0010

【Example】

Next, an embodiment in which the present invention is applied to a laser processing machine will be described. FIG. 5 is a configuration diagram showing the configuration of a laser processing machine to which the present invention is applied. The movable table 12 is guided by rails 10 and 11 and is driven by a servo motor (not shown). and moves in one axis (X) direction. The carrier 13 is slidably arranged on the movable base 12. The feed screw 14 is rotated by the rotation of the servo motor M2, and the 2-axis Move in the (Y) direction. There is a head on the carrier 13 that can be moved up and down in three axes (Z) directions. A stock 18 is provided. At the tip of this headstock 18, each Wrists 15, 16, and 17 that rotate around the 4th, 5th, and 6th axes are sequentially connected. Ru. In addition, in order to change the position and angle of each axis, servo motors are set for each axis. M1 to M6 are provided (only M2 is shown in FIG. 5).

[0011] The last list 17 is provided with a laser torch T that irradiates laser light. List 17 corresponds to the tool mounting part H of the present invention, and the laser torch T is equivalent to the tool mounting part H of the present invention. It can move forward and backward relative to the wrist 17 by a C servo motor SM. 1 is a laser oscillation device, and the laser beam oscillated by it is transmitted through a light guide path 5. , 6 to the carrier 13, and the workpiece is irradiated from the laser torch T. It will be done. The light guide path 5 is extendable and has rails 10 and 11 on the side of the laser oscillation device 1. It is connected to a light guide path 6 by a slider 4 that slides within a guide 3 formed in parallel.

0012 FIG. 6 is an enlarged view showing the wrists 16 and 17 and the vicinity of the laser torch T. The torch T is driven by a DC servo motor SM as shown in FIGS. 6(A) and 6(B). Advances and retreats. In addition, there is a ring-shaped capacitive gap near the tip of the laser torch 17. A sensor S is built-in and detects the gap between the tip of the torch T and the workpiece W. During actual machining, the DC servo motor SM provides feedback based on the detection results of the sensor S. The gap between the torch T and the workpiece W is controlled to a predetermined value G as shown in Fig. 6(A). is adjusted to

[0013] FIG. 7 shows the configuration of the electrical device of the laser processing machine. In Figure 7, 20 is a central processing unit (CPU). This central processing unit (CPU) 20 has a memory a servo CPU 22a for driving the servo motors M1 to M6 described above; ~22f, sensor controller that controls capacitive gap sensor S SC, a DC servo CPU 28 for driving the DC servo motor SM, and A teaching box 26 is connected to.

[0014] Each of the servo CPUs 22a to 22f and the DC servo CPU 28 is a central processing Rotation angle command data θ1 to θ7 output from the device 20 and servo motors M1 to M6 , calculate the deviation between the outputs α1 to α7 of encoders E1 to E7 connected to SM. Then, each servo motor M1 to M6, S is operated at a speed corresponding to the magnitude of the calculated deviation. It operates to rotate M. In addition, the DC servo CPU 28 detects the sensor S. The DC servo motor SM is feedback-controlled based on the value.

[0015] The memory 25 stores the teaching point, the attitude of bringing the laser torch T closer to the workpiece W, and A program is stored to operate the laser processing machine according to this information. There is. That is, the memory 25 constitutes a memory point position storage device M. Ma The gap sensor S connected to the central processing unit 20 via the sensor controller SC has been done.

[0016] The operating box 26 includes a button for starting the teaching mode. key 37 and headstock 18 while teaching mode is selected. Keys 31 and 32 to be operated when moving in the axial (1st axis) direction and the Y-axis (2nd axis) direction keys 33 and 34 to be operated when moving in the Z-axis (3-axis) direction. keys 35 and 36 to be operated when rotating the wrist 15 around the four axes. Keys 38 and 39 to be operated and keys to be operated when rotating the wrist 16 around 5 axes Keys 40 and 41, and key 4 used to rotate the wrist 17 around 6 axes. 2, 43, the torch T was adjusted to the specified teaching position using these keys. An input key 44 that is operated at times, and a key that increases or decreases the offset length of the torch T, which will be described later. -45 and 46 are provided.

[0017] Next, we will discuss the processing method of the central processing unit 20 in the robot control device of the present invention. This will be explained with reference to the flowchart in FIG. In step S1, using the key 37 of the teaching box 26, start up mode. When the teaching mode is started, in step S2 First, the operator uses keys 45 and 46 to set the offset length OS. child If this operation is not performed, the current offset length OS will be used as is. . In step S3, the CPU 20 offsets the torch T with respect to the DC servo CPU 28. The DC servo motor SM Rotate and move the torch T back by the amount of OS. When starting this mode, The length of the torch T during machining is the tool reference length L (see Figure 4(A)). Since the torch T is adjusted to the tool reference length by executing step S3, It is moved back from L by the offset length OS.

[0018] In this state, the operator presses the keys 31, 32, 33, 34, 35, 36, 38, 3. 9, 40, 41, 42, 43 to move the torch T to the teaching position ( S4), place the torch T in the teaching position according to the procedure explained in the prior art section. position (S5). Here, in step S3, the torch T is set to an offset length. Since only the OS has moved backward, as shown in Fig. 4(B), it is the actual machining position of Fig. 4(A). The teaching position can be set at a position separated by the offset length OS from the . Therefore, accidents such as the operator colliding the torch T with the workpiece W may occur. This also makes the operator's work easier and reduces the level of fatigue. Can be done.

[0019] In this way, step S6 is performed at a teaching position that is an extra distance by the offset length OS. This is a step in which the operator determines whether the torch T has moved to the If so, the operator operates the key 44. On the other hand, if no, the operator will Continue adjusting the torch T position. When the key 44 is operated, the values of encoders E1 to E6 are detected in step S8. In addition, this information and the reference tool length (L) and from the reference tool length (L) to the work W The data of the reference point position is calculated from the information of the gap amount G, and the data of this position is It is stored in the memory 25.

[0020] Here, the torch T is moved back by the offset length OS in step S3. Regardless, the reference point position is calculated using the processing formula when the torch T is at the tool reference length L. Served. Therefore, the reference point position calculated in step S8 is point Q' in Fig. 4(B). You will get Q points instead.

[0021] In this way, teaching for all points is completed, and all reference point positions are calculated and stored. (if S is YES), the motor SM is used to move the torch T as shown in Fig. 4(A). (S10), and further set the offset length OS to zero (S10). S11). In this state, wait for the actual machining mode to start (S12), and During machining (S13), machining is performed with the torch T at the tool reference length L.

[0022] During actual machining, the gap between the torch T and the workpiece W is calculated by the sensor S, and this The DC servo motor SM is feedback-controlled so that the voltage becomes a predetermined value G. When the series of machining is completed, the torch T is returned to the standard length again in step S14, and the next Prepare for actual machining of the workpiece or execution of teaching mode. Furthermore, this processing method The order corresponds to an embodiment embodying the invention of claim 1.

[0023] Next, an embodiment embodying the invention of claim 2 will be described with reference to FIG. Ru. Note that the same numbers are used for processes that are the same as those in Figure 8, and explanations are omitted. do. Now, in the case of this embodiment, although the offset length OS is set in step S2, Since the process of step S3 is not executed, the torch T is as shown in (A) or (C) of Fig. 4. The standard length L is set as follows. Therefore, in step S4, the Both the torch T (tool K) and wrist 17 (tool mounting part H) are attached The test is performed at a position that is an extra offset length OS from that shown in (A) during actual machining. Set to teaching position. Therefore, in this embodiment, the DC servo motor which is the tool advancing/retracting device is The DC servo CPU28 and encoder E7, which are the motor and accompanying devices, are required. Sushi is not necessary either. In this case, the distance between the torch T and the workpiece W is large, so the operator The operation of adjusting T to the teaching position is facilitated.

[0024] Now, when it is found that the teaching position has been adjusted in step S7, this process If the procedure is followed, in step S81, the offset length OS is added to the tool reference length L. The reference point position and the like are calculated using the tool length L3 and the gap amount G. This result Figure 4 The correct reference point position Q is calculated as shown in (C).

[0025] After teaching in this way, the offset length OS is set to zero in step S11. If this is done, the offset length will be ignored during actual machining, so the The position of the reach G is adjusted to be a predetermined gap amount G away from the workpiece W. become. In the case of this embodiment, an example in which the offset length OS is selected by the operator is shown below. However, even if a fixed offset length OS is used instead, good.

[0026]

[Effect of the idea]

Now, according to the present invention, during teaching, the tool K is set to be smaller than the gap G during actual machining. The offset length (OS) can be adjusted to a position and posture that is further away, making it easier to operate. Adjustment work to the teaching position using the rotor is made easier, reducing operator fatigue. can be reduced. Also, due to this, the operator is not in the teaching position. teaching in the current state, or colliding the tool and workpiece during teaching. This will help improve machining accuracy and reduce machining defects. is large.

[Brief explanation of drawings]

FIG. 1 is a diagram schematically showing the concept of a first invention of the present invention.

FIG. 2 is a diagram schematically showing the concept of the second invention of the present invention.

FIG. 3 is a diagram illustrating problems in conventional teaching processing.

FIG. 4 is a diagram schematically showing the principle of the present invention.

FIG. 5 is a diagram showing the configuration of a laser processing machine to which the present invention is applied.

6 is an enlarged view of the vicinity of the tool of the laser processing machine shown in FIG. 5. FIG.

FIG. 7 is a control system diagram of a laser processing machine to which the present invention is applied.

FIG. 8 is a diagram showing one procedure for embodying the first idea of the present invention.

FIG. 9 is a procedure diagram for embodying the second invention of the present invention.

[Explanation of symbols]

Tool mounting part H: List 17 Tool advancement/retraction device J: DC servo motor SM Tool K: Laser torch T Reference position calculation means N, N2: CPU20 Reference point position storage means: memory 25 Tool standard length: L Offset length: OS

Claims (2)

[Scope of utility model registration request] Claim 1: A device for changing the position and orientation of a tool mounting portion, and a tool that can move forward and backward with respect to the tool mounting portion using a tool advancement/retraction device, and the tool is moved to a reference point position stored in a reference point position storage device. A teaching device for a processing machine that simultaneously detects the gap between the tool and the workpiece using a gap sensor and adjusts the gap to a predetermined value while processing the tool. A device that sends a command to move the tool backward by an offset length from the tool reference length, and a device that changes the position and orientation of the tool mounting section.
A device that allows the tool to assume the teaching position and orientation with the tool offset by the offset length from the workpiece, a device that detects the position and orientation of the tool mounting section at that time, and a device that uses this detected value as a reference for the tool. A teaching device for a processing machine, comprising: a device for calculating a reference point position by correcting the length and storing the same in the reference point position storage device. 2. A device that changes the position and orientation of the tool and the tool attachment part, which directs the tool to the reference point stored in the reference point position storage device, and at the same time directs the tool to the reference point stored in the reference point position storage device. A teaching device for a processing machine that detects a gap and processes it while adjusting it to a predetermined value, and the device changes the position and orientation of the tool mounting part when the tool is offset by an offset length with respect to the workpiece. A device that takes the position and orientation at the time of teaching, a device that detects the position and orientation of the tool attachment part at that time, and a device that corrects this detected value with the offset length to calculate the reference point position and calculates the reference point position. A teaching device for a processing machine, comprising: a device for storing information in the reference point position storage device.