JPH08300171A - Method and device for detecting normal in three dimensional laser beam machine - Google Patents

Abstract

PURPOSE: To reduce teaching operation in a three-dimensional laser beam machine and also to accurately detect a normal. CONSTITUTION: In a three dimensional laser beam machine with a gap control means, the tip of the nozzle 19 of the machining head 16 is so positioned as to face nearly in the direction of the normal against the teaching point P0 on the face of a work W; and, on the basis of coordinate data and attitude data then, the coordinates are calculated of three points, P1, P2, P3 near the area surrounding the teaching point P0 so as to move the machining head 16 to the three points successively. In the position where a distance is constantly maintained between the nozzle 19 and the work W at that time, the coordinates are detected of three points Q1, Q2, Q3 on the surface of the work near the teaching point; a normal vector 40 is determined against a plane A formed by these three points; the attitude data α, β of the machining head 16 are computed so as to make the nozzle 19 attitude agree with this norm vector 40; and, based on the attitude data α, β, the attitude is changed for the machining head 16 at the teaching point P0.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a normal detecting method and apparatus for automating a normal to a work surface during teaching in a three-dimensional laser processing machine for processing a three-dimensional work.

[0002]

2. Description of the Related Art Conventionally, in a three-dimensional laser processing apparatus for cutting or welding a three-dimensional work using a laser beam,
A device for controlling the X, Y, and Z axes and controlling the posture of the nozzle provided in the machining head in the normal direction to the machining surface is well known.

FIG. 1 shows the overall configuration of a conventional three-dimensional laser processing machine. Reference numeral 1 denotes a main body of a gate type structure, and a bed 3 is provided with a table 3 on which a three-dimensional work W is placed so as to be slidable in the X-axis direction, that is, in the direction perpendicular to the paper surface. Saddle 4 for machine body 1
Is provided slidably in the Y-axis direction, that is, in the left-right direction on the paper surface, and further, the processing head main body 5 is provided on the saddle 4 so as to be slidable in the Z-axis direction, that is, the vertical direction on the paper surface.
The table 3 is driven by an X-axis motor (not shown), the saddle 4 is driven by a Y-axis motor (not shown), and the machining head body 5 is driven by a Z-axis motor (not shown).

The processing head body 5 has a cylindrical shape so that laser light can pass therethrough, and its optical axis L is oriented in the Z-axis direction. A processing head 6 is attached to the processing head body 5.

The machining head 6 is rotatably attached to the machining head main body 5 about its optical axis L so that the optical axis of the laser light is at a predetermined angle with respect to the head main body 5 via two mirrors M1 and M2. A first rotating cylinder 7 to be guided, and an optical axis of the laser beam provided rotatably around the optical axis of the first rotating cylinder 7 with respect to the first rotating cylinder 7 via two mirrors M3 and M4. The second rotary cylinder 8 for guiding the angle and the second rotary cylinder 8
The nozzle 9 is provided at the tip of the nozzle so as to be movable in the optical axis direction. The first rotary cylinder 7 is rotationally driven by an α-axis motor (not shown), and the second rotary cylinder 8 is rotationally driven by a β-axis motor (not shown). The attitude of the nozzle 9 is controlled by controlling the α and β axes. It is changeable.

The laser light oscillated from the laser oscillator 10 is guided into the processing head body 5 through the mirror M5, and the mirror M1 provided inside the first rotary cylinder 7 and the second rotary cylinder 8 of the machining head 6, It is guided to the nozzle 9 at the tip via M2, M3 and M4. Then, the laser light is condensed by the lens 24 provided in the nozzle 9 and is irradiated so as to form the focal point P at a predetermined point from the tip of the nozzle 9. In the case of this processing head 6, the extension lines of the respective optical axes at the positions radiated from the processing head main body 5, the first rotary cylinder 7 and the second rotary cylinder 8 always intersect at one point P. The focus P position of the laser light from the nozzle 9 does not move even if the head posture with respect to the α axis and the β axis of the optical axis L shown in FIG. That is, the processing position is determined by the three orthogonal axes X, Y, and Z, and the nozzle posture is determined by the two rotation axes α and β.

As a method of creating a machining program for such a three-dimensional laser beam machine, generally, a teaching play in which a machining locus is preliminarily taught from a marking line of a work W and machining is performed according to the taught machining program. The back method is used.

FIG. 2 is a detailed view of the processing head 6 for explaining the conventional teaching method. Reference numeral 11 indicates a marking line set on the surface of the work W, and P indicates the focal position of the laser light.

At the time of teaching, the nozzle 9 is removed from the tip of the processing head 6, and a teaching holder 12 as shown in FIG. 3 is attached instead. A pin 13 in the shape of a needle is provided at the tip of the teaching holder 12, and the pin 13 is fixed in the teaching holder 12 via a spring so that it can swing vertically and horizontally when an external force is applied. ing. The tip of the pin 13 is set at a position that coincides with the focal point P of the laser light emitted from the nozzle 9.

Then, for example, the joystick lever 14 as shown in FIG. 4 and the head teaching means of the teaching box 15 as shown in FIG. After aligning the pin 13 at the tip of the teaching holder 12 with the scribing line 11, the joystick lever 14 is moved so that the axis of the teaching holder 12 is oriented in the direction normal to the surface of the work W.
After adjusting the posture of the processing head 6 using the above, etc., the coordinate data X, Y, Z and the posture data α, β at that point are stored in the memory of the control device. In this way, a plurality of points on the marking line are taught to create a machining program.

At the time of laser processing, as shown in FIG. 2, the teaching holder 12 is removed from the processing head 6 and the nozzle 9 is replaced again. In this case, the focal point P of the laser beam is configured to coincide with the coordinates of the tip of the pin 13 shown in FIG. 3, so that it coincides with the coordinates of the marking line 11 previously taught.

[0012]

In the teaching work of the conventional three-dimensional laser beam machine, the nozzle 9 is removed from the machining head 6 and replaced with the teaching holder 12 before the laser machining is started, and when the teaching is completed, the teaching holder 12 is removed. It was necessary to remove the nozzle 9 and replace it with the nozzle 9 again, which wasted work time.

Further, the pin 13 of the teaching holder 12
To match the tip with the marking line 11 on the surface of the work W,
In order to orient the teaching holder 12 in the normal direction with respect to the machining surface, the α axis and the β axis are set to the joystick lever 1
It is troublesome to adjust the posture while operating with 4, etc., and requires skill, which is a time-consuming operation.

The present invention has been made in view of the above points, and an object thereof is to reduce teaching work in a three-dimensional laser beam machine.

[0015]

Therefore, according to the inventions of claims 1 and 3 of the present invention, a rectangular coordinate system of X, Y and Z axes and α,
A nozzle is movably provided in the optical axis direction at the tip of the processing head controlled by the attitude axis of β axis, and the gap amount is held constant by a gap sensor that detects the gap amount between the nozzle tip and the workpiece. In a three-dimensional laser processing machine provided with gap control means for controlling the amount of movement of the nozzle, the nozzle tip of the processing head is positioned so as to be oriented in a direction substantially normal to the teaching point on the work surface. Based on the coordinate data and the posture data, three points near the teaching point surrounding the teaching point are calculated, the machining head is sequentially moved to the three points, and at the position where the distance between the nozzle and the work is kept constant, The coordinates of three points on the surface of the work near the teaching point are detected, the normal vector to the plane formed by these three points is calculated, and the nozzle orientation is made to match this normal vector. Attitude data of the machining head is calculated in the processing head on the basis of this position data is obtained so as to position change in the teaching point.

According to a second aspect of the present invention, the three points near the teaching point are on a circle having a predetermined radius centered on the teaching point on a plane orthogonal to the optical axis of the nozzle positioned at the teaching point. It seeks three points.

According to a fourth aspect of the present invention, the head positioning means includes an image pickup means which is provided in the nozzle and which shows a marking line on the surface of the work, and a visible light spot generation means which irradiates the work through a lens in the nozzle. A monitor device for displaying the marking line and a visible light spot corresponding to the marking line on the screen, and X, Y, Z of the processing head so that the visible light spot may be aligned with the marking line while observing the monitor device.
and a head operating means for operating the α and β axes.

According to a fifth aspect of the present invention, the teaching posture changing means changes the position of the teaching point when the posture of the machining head is changed using the posture data of α and β obtained by the normal vector. The X, Y, Z coordinate data of the machining head is calculated with respect to the taught point so that the teaching point does not exist, and the machining head is moved to this coordinate position.

[0019]

When teaching, the nozzle is brought close to the teaching point on the surface of the three-dimensional work in the direction of the normal line approximately, and the X, Y, Z, α, β data and the movement amount data of the nozzle at that position are fetched. The coordinates of three points around the teach point surrounding the teach point are calculated, the machining head is moved to that position, and the X, Y, Z, α, β and nozzle movement amount data of the gap-controlled machining head at that position are calculated. The coordinates of three points on the surface of the work near the teaching point are detected, and the normal vector to the plane formed by these three points is calculated. As a result, attitude data of α and β for matching the nozzle attitude with this normal vector is obtained.
Therefore, it is not necessary to replace the nozzle with the teaching holder as in the prior art, and the normal detection can be automatically performed with the nozzle, and the teaching work can be easily performed. Moreover, since the plane coordinates are detected from three points surrounding the teaching point, even when the teaching point is on a curved surface, for example, the machined surface at that point can be accurately measured.

Further, since the coordinates near the teaching point are obtained by calculating three points from the circumference of a predetermined radius with the teaching point as the center,
It is possible to easily set the plane closest to the machined surface of the teaching point, and it is possible to easily detect the three coordinate points on the work surface near the teaching point including the nozzle movement amount component by the gap control by moving the head.

Further, when positioning is performed with respect to the teaching point, the working head is positioned and operated so that the visible light spot generated from the nozzle coincides with the marking line while looking at the monitor. Coordinates can be detected with high accuracy, and work teaching can be performed accurately.

Furthermore, when the posture of the machining head is changed using the posture data of α and β corresponding to the detected normal line data, the teaching point position based on the first teaching point data is not changed. For the processing head X, Y, Z
By calculating the coordinate data of and the machining head is moved to this coordinate position, the machining head of any shape can be accurately positioned at the first taught point in the posture in the normal direction.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. Since the control axis configuration of the three-dimensional laser beam machine of this embodiment is the same as that of the conventional one shown in FIGS. 1 and 2 described above, the same parts are designated by the same reference numerals and the description thereof will be omitted. In addition to the control axes X, Y, Z, α, β described above, the three-dimensional laser beam machine of the present invention further includes a gap control axis (C axis) for moving the nozzle 19 of the processing head 16 back and forth in the optical axis direction. There is.

FIG. 6 is a sectional view showing the tip portion of the processing head 16. The nozzle 19 is attached so that its mounting cylinder portion 19a is inserted into the tip cylinder portion of the second rotary cylinder 8 and is slidable in the optical axis direction. The nozzle 19 is connected to the nozzle moving means which is driven in the optical axis direction by a C-axis motor (not shown) in the mounting cylinder portion 19a. A gap sensor 20 is provided at the tip of the nozzle 19 to detect the amount of the gap between the nozzle 19 and the work W by electrostatic capacitance. The gap sensor 20 is connected via a sensor cable 21 to a gap control unit 23 in a CNC device 22, which will be described later, and the C-axis motor is controlled so that the gap amount is always kept constant and the nozzle 19 is connected.
Are moved and adjusted. The gap sensor 20, the sensor control unit 23, the C-axis motor, and the CNC device 22 constitute a gap control means.

A lens 24 for condensing laser light is provided inside the nozzle 19, and the lens 24 is also provided.
The irradiation port 19 of the nozzle 19 is located in the space portion closer to the tip side.
CCD camera 2 as an imaging means for imaging the processing line 11 and the visible light spot 25 on the work W within the range visible from b
6 is provided. The camera 26 is made compact and is attached to the inner side portion of the nozzle 19 at a predetermined angle with respect to the optical axis C of the laser light so as not to interfere with the laser light.

FIG. 7 shows a CN for controlling a three-dimensional laser beam machine.
The C device 22 is shown. CPU 27 in this CNC device 22
The plane coordinate measuring means 28 for moving the machining head 16 at the teaching point to measure the coordinates of three points on the surface of the work W near the teaching point, and 3 on the surface of the work W.
A normal vector calculating unit 29 that calculates a normal vector from the coordinates of the points and calculates α and β attitude data so that the direction of the normal vector and the nozzle attitude match, and the first rotary cylinder 7 and the The teaching posture changing means 30 for adjusting the posture by rotating the two-rotating cylinder 8 to change the posture and moving the head 16 to the original teaching point is provided.

The CPU 27 is provided with a position detector 33, a gap controller 23, a memory 34, and a data bus 32.
The motor control unit 35, the I / O interface unit 36, and the image processing unit 37 are connected to each other.

The position detecting unit 33 has X, Y, Z, α, β and C
It is composed of a position counter that counts the pulses given from the position detection pulses of an encoder (not shown) attached to the shaft motor. The gap control unit 23 sends a signal to the motor control unit 35 based on the electrostatic capacitance detected by the gap sensor 20 to control the C-axis motor so that the gap amount between the tip of the nozzle 19 and the work W is always constant. The nozzle 19 is moved and adjusted. The memory 34 stores a system program for controlling the three-dimensional laser beam machine, a plurality of coordinate data used in the process of detecting a normal line to be described later, posture data, movement amount data of the nozzle 19, and the like. The motor control unit 35 controls the control axes X, Y, Z,
It controls the α, β and C axis motors respectively. I / O
The interface section 36 is connected to the teaching box 15 and the laser oscillator 10 as head teaching means,
The control signal is relayed with the CPU 27 of the CNC device 22. A monitor device 38 is connected to the image processing unit 37, and the monitor device 38 projects the marking line 11 and the visible light spot 25 on the work W captured from the camera 26.

The visible light spot 25 is the laser oscillator 10
A He-Ne laser oscillating unit (not shown) as a visible light laser provided in the inside of the machining head 16 oscillates a He-Ne laser light so as to oscillate near the tip of the nozzle 19 from inside the processing head 16 via the lens 24. It is displayed as a spot on the work W.

Next, referring to FIG. 8, the processing flow of the normal detection performed by the plane coordinate measuring means 28, the normal direction calculating means 29, and the teaching attitude changing means 30 at the time of teaching is shown in FIG. The operation will be described in order from FIG.

In FIG. 9, a point P0 is one teaching point on the marking line 11 on the surface of the work W taught first, and 39
Is an imaginary line indicating the optical axis of the nozzle 19 when the point P0 is taught by the processing head 16. Points P1, P2, P3 are three virtual points near the teaching point surrounding the teaching point P0, and are equally divided points on the circumference of a predetermined radius centered on the point P0 on the plane orthogonal to the optical axis 39. . Also, P0 ', P1',
P2 'and P3' are the optical axes 3 from P0, P1, P2 and P3, respectively.
It is an imaginary point in the space set in a direction away from the surface of the work W by a predetermined distance H in 9 directions. Furthermore, point Q1,
Q2 and Q3 indicate three points on the surface of the work near the teaching point, and the amount of increase / decrease in the nozzle movement amount component (C-axis component) by gap control when the machining head 16 is moved to points P1, P2, and P3, respectively. It is a coordinate point on the work W calculated including. These coordinate values are measured by the plane coordinate measuring means 28.

Reference numeral 40 denotes a normal vector to the plane formed by connecting the three points Q1, Q2 and Q3.
This normal vector 40 is the normal vector calculation means 29.
Is calculated in.

In FIG. 8, the operator first uses the visible light spot 25 as the head positioning means, the camera 26, the monitor device 38, and the teaching box 15 to display the marking line 11 on the surface of the work W on the monitor device 38. To the teaching point P0 so that the spot 25 projected on the monitor device 38 coincides with the marking line 11 so that the nozzle 19 is moved to a position where the nozzle 19 is oriented in a direction substantially normal to the surface of the work W. Position (S1).

Next, at this position, the teaching box 1
When the teaching start button 41 provided on No. 6 is pressed (S2), the coordinate data (X0, Y0, Z) of the teaching point P0 of the head 16 at this time is pressed.
0), attitude data (α0, β0) and nozzle movement amount data (C
0) is stored in the first memory 34a of the memory 34 (S
3).

Next, the three points P near the teach point P0 are calculated by the coordinate calculating means near the teach point provided in the plane coordinate measuring means 28.
1, P2, P3 coordinates (X1, Y1, Z1), (X2, Y2, Z2), (X
(3, Y3, Z3) are calculated as equidistant points on a predetermined circle of a plane including P0 with the optical axis of the head 16 as a normal line and stored in the memory 34 (S4).

Subsequently, the teaching point P0 and the above-mentioned three points P1, P2,
Points P0 ', P1', P above the coordinate of P3 by a predetermined distance H
The coordinates of 2'and P3 'are calculated (S5).

Next, the head 16 is moved from P0 → P0 '→ P1' → P1 while the nozzle 19 maintains the posture at the P0 position (S6). This movement is head 1 from P0 directly to P1
6 may be moved, but if there is a protrusion or the like on the surface of the work W, it is moved away from the surface of the work W by H so that the nozzle 19 does not interfere with it.

At this time, the nozzle 19 is the gap control unit 2
3 is moved and adjusted, and the position where the gap amount with the work W is kept constant is detected and stopped. That is, P1
When the nozzle 19 is too close to the surface of the work W with the coordinate value calculated as, the nozzle 19 is positioned above P1, and in the opposite case, it is positioned below.

Then, the coordinate data, the attitude data and the nozzle movement amount data X1 of the head 16 at this position P1,
Y1, Z1, α0, β0, and C1 are the second memory 3 of the memory 34.
It is stored in 4b (S7).

Subsequently, in the same manner as the above operation, the nozzle 1
The head 16 moves P1 → P1 '→ P2' → without changing the posture of 9.
It is moved to P2 (S8). Similarly, the coordinate data, attitude data and nozzle movement amount data X2, Y2, Z2, α0, β0 and C2 of the head 16 at the position P2 are stored in the second memory 34b.
(S9).

Further, subsequently, the head 16 is moved to P2 → P2 ′ → P3 ′ → P3 without changing the posture of the nozzle 19 (S10). Similarly, the coordinate data of the head 16 at this position P3, the posture data, and the nozzle movement amount data X3, Y
3, Z3, α0, β0 and C3 are stored in the second memory 34b (S11).

Next, the surface coordinate calculating means provided in the plane coordinate measuring means 28 determines the three points Q1, Q2 and Q3 on the surface of the work W near the teaching point from the data of the three points stored in the second memory 34b. Are calculated and stored in the third memory 34c of the memory 34 (S12).

Subsequently, by the normal direction computing means 29, the plane A on the surface of the work W near the teaching point P0 is calculated based on the coordinates of the three points Q1, Q2 and Q3 stored in the third memory 34c.
Is required. The normal vector 40 in the normal direction to the plane A is calculated by the outer product of the vector Q1Q2 and the vector Q1Q3 (S13). Then, the posture data α for matching the head posture with the normal vector 40,
β is calculated and stored in the fourth memory 34d of the memory 34 (S14).

Next, the teaching posture changing means 30 moves the head 16 further to P3 → P3 ′ → P0 ′ → P0 and positions it again at the teaching point P0 (S15). At this position, the head attitude is changed based on the α and β data of the fourth memory corresponding to the normal direction (S16). As a result, the state in which the head 16 is correctly oriented in the normal direction with respect to the teaching point P0 can be confirmed.

In this state, by pressing the coordinate storage button 42 of the teaching box 15 (S17), the memory 3
4, the current coordinate data of the processing head 16, the posture data,
The nozzle movement amount data X, Y, Z, α, β, and C are stored in the memory 3
4 is stored (S18), and the teaching of the first point is completed.

The above steps S1 to S18 are repeated at the next teaching point, and when the teaching of all teaching points is completed, the teaching is ended.

In the above embodiment, the three-dimensional laser processing machine using the one-point-oriented processing head has been described, but the present invention is not limited to this, and the attitude axes α and β can be provided to change the head attitude. Any processing head may be used as long as it has a configuration. However, in this case, since the nozzle tip position changes by changing the head posture, when the normal vector is detected and α and β in the normal direction are determined in S1 to S14 in FIG. , Β, it is necessary to calculate the head movement coordinates for moving to the teaching point P0.

Therefore, in the teaching posture changing means 30,
When the posture of the processing head 16 is changed using the α and β posture data stored in the fourth memory 34d, the teaching point P0 based on the data stored in the first memory 34a does not change X, Y. , Z coordinate data is calculated, and the machining head 16 is moved to this coordinate position.

[0049]

As described above, according to the present invention, by utilizing the gap control function of the nozzle, the coordinate is measured from the machining head with the nozzle mounted, and the normal direction to the teaching point of the three-dimensional work is automatically determined. And the work of adjusting the machining head in the normal direction to the work surface in the teaching work is simplified. There is no need to replace the nozzle with the teaching holder as in the prior art, and the normal detection is automatically performed with the nozzle as it is, and the teaching work can be performed easily. Moreover, since the plane coordinates are detected from the three points near the teaching point surrounding the teaching point, even if the teaching point is on a curved surface, for example, the machined surface at that point can be accurately measured and therefore the normal line can be accurately measured. Can be detected.

Further, since the coordinates near the teaching point are obtained by calculating three points on the circumference of a predetermined radius centered on the teaching point, the plane closest to the machined surface of the teaching point can be easily set,
By moving the head, it is possible to easily detect three coordinate points on the surface of the work in the vicinity of the teaching point including the nozzle movement amount component by the gap control.

When positioning the teaching point, the working head is positioned so that the visible light spot generated from the nozzle coincides with the marking line while observing the monitor. Coordinates can be detected with high accuracy, and work teaching can be performed accurately.

Further, when the posture of the machining head is changed by using the posture data of α and β corresponding to the detected normal line data, the teaching point position based on the first teaching point data is not changed. For the processing head X, Y, Z
By calculating the coordinate data of and the machining head is moved to this coordinate position, the machining head of any shape can be accurately positioned at the first taught point in the posture in the normal direction. .

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a conventional three-dimensional laser beam machine.

FIG. 2 is a configuration diagram of a conventional processing head.

FIG. 3 is a front view showing a conventional teaching holder.

FIG. 4 is a plan view showing a joystick lever.

FIG. 5 is a plan view showing a teaching box.

FIG. 6 is a cross-sectional view showing a tip end portion of a processing head of a three-dimensional laser beam machine as one embodiment of the present invention.

FIG. 7 is a block diagram showing a CNC device used in the present invention.

FIG. 8 is a flowchart showing an example of a normal line detecting operation during teaching according to the present invention.

9 is a perspective view for explaining a head moving point with respect to the work W at the time of detecting a normal line in FIG.

[Explanation of symbols]

 11 Scribing Line 15 Teaching Box as Head Teaching Means 16 Processing Head 19 Nozzle 20 Gap Sensor 22 CNC Device 24 Lens 25 Visible Light Spot 26 CCD Camera as Imaging Means 38 Monitor Device P0 Teaching Point P1, P2, P3 Near Teaching Point 3 points Q1, Q2, Q3 3 points on the surface of the work near the teaching point 40 Normal vector W Work

Claims (5)

[Claims] 1. A nozzle is movably provided in the optical axis direction at the tip of a processing head controlled by a Cartesian coordinate system of X, Y and Z axes and an attitude axis of α and β axes. In a three-dimensional laser beam machine equipped with gap control means for controlling the amount of movement of the nozzle so as to keep the gap amount constant by a gap sensor that detects the gap amount between Positioning is performed so as to be oriented almost in the normal direction to the teaching point, and three points near the teaching point surrounding the teaching point are calculated based on the X, Y, Z coordinate data and the α, β attitude data at this time. Then, the machining head is sequentially moved to the three points, and at the position where the distance between the nozzle and the work is kept constant at this time, the coordinates of the three points on the work surface near the teaching point are detected, and the three points are formed. To a flat surface A three-dimensional method characterized in that a normal vector is obtained, the attitude data of the machining head is calculated so that the nozzle attitude matches the normal vector, and the attitude of the machining head is controlled at the teaching point based on this attitude data. Normal detection method in laser beam machine. 2. The three points near the teaching point are three points on a circumference of a predetermined radius centered on the teaching point on a plane orthogonal to the optical axis of the nozzle positioned at the teaching point. The method for detecting a normal line in a three-dimensional laser beam machine according to claim 1, which is characterized in that. 3. A nozzle is provided movably in the optical axis direction at the tip of a processing head controlled by a Cartesian coordinate system of X, Y, and Z axes and an attitude axis of α, β axes. In a three-dimensional laser beam machine equipped with gap control means for controlling the amount of movement of the nozzle so as to keep the gap amount constant by a gap sensor that detects the gap amount between the nozzle tip and the teaching point on the workpiece surface. A head positioning means for positioning the machine head substantially in the normal direction, X, Y, Z coordinate data of the machining head positioned by this positioning means, α, β attitude data, and nozzle movement amount data. A first memory,
Teaching point vicinity coordinate calculating means for calculating coordinates of three points near the teaching point surrounding the teaching point based on the data of the first memory, and machining to the teaching point vicinity coordinate position sequentially without changing the posture of the machining head. A head moving means for moving the head,
Based on the second memory for storing data of X, Y, Z, α, β of the machining head and the amount of movement of the nozzle and the data of the three points of the second memory when each is moved to the coordinate position near each teaching point. The surface coordinate calculation means for calculating the coordinates of the three points on the surface of the work near the teaching point, the third memory for storing the calculated coordinates of the three points, and the three points based on the data of the three points in the third memory. A normal direction calculating means for calculating a normal vector in the normal direction with respect to a plane formed by the points and calculating attitude data of α and β for matching the nozzle direction with the normal vector, and the calculated α , Β for storing posture data, the first memory and the fourth memory
A normal detecting device in a three-dimensional laser beam machine, comprising: a teaching posture changing means for moving the machining head to a teaching point and changing the posture of the machining head based on each data in the memory. 4. The head positioning means is an image pickup means provided on a nozzle for projecting a marking line on the surface of the work, a visible light spot generating means for irradiating the work through a lens in the nozzle, the marking line and the marking. A monitor device for displaying a visible light spot for a line on a screen, and a head for operating the X, Y, Z, α, β axes of the processing head so that the visible light spot is aligned with the marking line while observing the monitor device. 4. A teaching means, comprising:
A normal detection device in the three-dimensional laser beam machine described. 5. The teaching attitude changing means is a teaching point based on the data stored in the first memory when the attitude of the machining head is changed using the attitude data of α and β stored in the fourth memory. 5. The three-dimensional laser according to claim 3, wherein X, Y, Z coordinate data of the processing head is calculated with respect to the teaching point so that the position does not change, and the processing head is moved to this coordinate position. Normal detection device for processing machines.