JPH09164494A - Copying axis control method in three dimensional laser beam machine and device therefor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide the copying axis control method and device therefor in a three dimensional laser beam machine not requiring W axis for copying in the three dimensional laser beam machine. SOLUTION: A copying sensor 37 arranged to a machining head is traveled to a machining position with controlling steroscopic three axes (that is, X axis, Y axis, Z axis), a position of the copying sensor 37 is set in the normal direction of the surface of a work W at machining position with controlling rotation two axes (that is, e.g. A axis, C axis), in the state a position of the copying sensor 37 is kept with controlling steroscopic three axes based on operation of a divider 37, coordinate values are corrected so that the machining head is traveled in order to keep the fixed gap between the copying sensor 37 and work surface.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling a profile axis in a three-dimensional laser beam machine and an apparatus therefor, and more particularly, to a profile axis control in a three-dimensional laser beam machine that does not use independent W axis control as a profile axis. The present invention relates to a method and an apparatus thereof.

[0002]

2. Description of the Related Art Conventionally, in a three-dimensional laser processing machine, a three-dimensional three-axis (X-axis, Y-axis,
It is generally provided with a Z axis), two rotation axes for controlling the attitude of the processing head, for example, a C axis (rotates around the Z axis) and an A axis (an axis perpendicular to the C axis).

In such a five-axis controlled three-dimensional laser beam machine, not only the posture of the machining head but also the distance to the work must be accurately controlled. Therefore, in addition to the five axes, the center of the machining head It is general to provide a contour axis indicated by a W axis that moves in the axial direction, and perform the contour axis control by this W axis.

Referring to FIG. 7, a tracing sensor 101 is provided at the tip of a processing head (not shown).
This tracing sensor 101 is connected to the CPU 107 of the NC device 105 via the amplifier 103, and
An arithmetic unit 109 provided inside 05 performs a comparison calculation on the basis of a signal sent from the profiling sensor 101 via the amplifier 103 whether or not the distance from the surface of the work W is constant.

The NC device 105 also controls the W-axis drive motor 111. That is, the tracing sensor 101 detects the gap G between the surface of the work W and the surface of the work W, and the NC device 105 controls the W-axis drive motor 111 so that the capacitance becomes constant. The axis control is performed so as to keep the distance from the sensor 101 constant.

[0006]

However, in such a conventional technique, a mechanism called the W-axis is required to control the follower axis in the direction perpendicular to the surface of the work W. Further, since the W axis is provided at the tip of the processing head, it is not possible to physically take a large stroke. For this reason, there is a problem that the amount of tracing becomes small.

Further, unlike the two-dimensional laser beam machine, there is a problem that the controlled axis control cannot be started from a certain distance (for example, 50 mm from the surface of the work W).

The object of the present invention has been made by paying attention to the above-mentioned conventional techniques, and the profile axis control in the three-dimensional laser processing machine which does not require the W axis for the profile in the three-dimensional laser processing machine. A method and an apparatus therefor are provided.

[0009]

In order to achieve the above object, a contour axis control method in a three-dimensional laser beam machine according to a first aspect of the present invention positions a machining head by controlling three-dimensional three axes. A three-dimensional laser beam machine for three-dimensionally processing a workpiece by controlling the attitude of a processing head by controlling two rotating axes, and moving the processing head to a processing position by controlling three-dimensional three axes. , The orientation of the machining head is determined in the normal direction of the work surface at the machining position by controlling the two rotation axes, and the machining head and the work surface are maintained in a state in which the orientation of the machining head is maintained by the control of the three-dimensional three axes. The coordinate value of the processing head is corrected in the direction of the normal line so as to keep the distance between and constant.

Accordingly, the three-dimensional three axes (ie, X axis, Y axis)
By correcting the coordinate values of the axes (Z axis and Z axis), the machining head is moved in the direction normal to the work surface while maintaining the attitude of the machining head determined by the two rotating axes (that is, A axis and C axis, for example). The moving axis is controlled so that the distance between the machining head and the work is kept constant.

According to a second aspect of the invention, there is provided a profile axis control method for a three-dimensional laser beam machine, wherein a profile sensor provided in the machining head maintains a constant distance between the machining head and the surface of the work. It is characterized by that.

Therefore, the tracing sensor detects the gap between the work and the work, for example, as an electrostatic capacitance, and controls the value to be constant so that the distance between the machining head and the work is kept constant.

According to a third aspect of the invention, a contour axis control device in a three-dimensional laser machining machine positions a machining head by controlling three-dimensional three axes, and controls the posture of the machining head by controlling two rotating axes. A three-dimensional laser processing machine for performing three-dimensional processing with respect to the three-dimensional laser processing machine, which has a control device for controlling the three-dimensional three-axis and two rotation axes, and the control device has a posture of the processing head with respect to the work surface. With the angle of the two rotation axes held so as to be in the normal direction,
And a distributor for calculating correction coordinate values of the three-dimensional three-axis so as to move the processing head in the normal direction so that the distance between the processing head and the work is constant. Is.

Therefore, the machining head is moved to the machining position by the three-dimensional control of the controller (that is, the X-axis, Y-axis, and Z-axis), and the two rotational axes of the controller (ie, the A-axis,
The posture of the machining head is determined in the direction normal to the work surface at the machining position by controlling the C axis. The distributor of the control device moves the machining head in the normal direction by correcting the coordinate values of the three-dimensional three-dimensional axes, and performs axis control in which the distance between the machining head and the work is kept constant.

According to a fourth aspect of the invention, there is provided a contour axis control device in a three-dimensional laser beam machine, wherein the machining head according to the third aspect is provided with a contour sensor for measuring a distance from a work. Is.

Therefore, the tracing sensor detects the gap between the work and the work, for example, as an electrostatic capacitance, and controls the value to be constant so that the distance between the machining head and the work is kept constant.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described with reference to the drawings.

2 and 3, the three-dimensional laser processing machine 1 is shown.
It is shown. This 3D laser beam machine 1 has a base 3
The frame 5 is provided upright and extends in the X-axis direction. An X-axis guide 7 extending in the X-axis direction is provided near the upper end of the frame 5, and an X-axis carriage 11 that is moved and positioned in the X-axis direction by an X-axis drive motor 9 (see FIG. 1) is provided. Has been.

The X-axis carriage 11 is provided with a Y-axis guide 13 penetrating in the Y-axis direction, and can be extended and positioned in the Y-axis direction by a Y-axis drive motor 15 (see FIG. 1). A Y-axis carriage 17 is provided at the tip of the Y-axis guide 13, and a Z-axis drive motor 19 is provided.
A Z-axis carriage 21 that moves up and down in the Z-axis direction (see FIG. 1) is provided.

Referring also to FIG. 4, at the tip of the Z-axis carriage 21, a C-axis block 23 is attached which is rotatable in the C-axis direction by a C-axis moving mechanism (not shown).
Below the C-axis block 23, a processing head 25 rotatable in the A-axis direction by an A-axis moving mechanism (not shown) is provided, and a nozzle 27 for irradiating the tip of the processing head 25 with laser light is provided. It is detachably attached.

Referring back to FIGS. 2 and 3, a work table 29 for mounting and fixing the work W is provided on the lower front side of the frame 5. Also, the work table 29
An NC device 31 is provided on the right side of, and a laser oscillator 33 and an oscillation power source 35 are provided behind it.

Therefore, with respect to the work W placed and fixed on the work table 29, X is controlled by the NC device 31.
Drive the axis drive motor 9 to move the X-axis carriage 11.
Positioning, driving the Y-axis drive motor 15 to move and position the Y-axis carriage 17, driving the Z-axis drive motor 19 to move the Z-axis carriage 21 up and down to move the machining head 25.
Position, the posture of the processing head 25 is determined by a C-axis drive motor and an A-axis drive motor (not shown), and laser light is emitted from the nozzle 27 to perform laser processing.

The profile axis control in the three-dimensional laser beam machine 1 as described above is generally performed by mounting the profile sensor 37 on the nozzle 27 mounted on the processing head 25.

Referring to FIG. 1, the tracing sensor 37 is connected to the CPU 41 of the NC device 31 via an amplifier 39, and the arithmetic unit 43 provided inside the NC device 31.
Thus, the distance to the surface of the work W is determined based on the signal from the amplifier 39.

The NC device 31 is provided with a distributor 45. In the distributor 45, the posture of the processing head 25 is calculated from the coordinate values (that is, angles) of the C-axis and the A-axis, and the capacitance of the tracing sensor 37, for example, is kept constant while keeping this posture. The axes of the X-axis drive motor 9, the Y-axis drive motor 15, and the Z-axis drive motor 19 are corrected so that the machining head 25 is held at a constant distance from the surface of the work W. As a result, the conventional W
The machining head 25 is moved in the W-axis direction (see FIG. 4) without using the shaft.
Refer to), and perform follow-up axis control.

With reference to FIGS. 5 and 6, the distributor 4 described above is used.
The calculation contents in 7 will be described. In FIG. 5, the posture of the processing head 25 is shown by the direction of the line segment L, and the profile correction amount is shown by the length of the line segment L.

At this time, the profile correction amount of each of the X axis, Y axis, and Z axis is

[Formula 1] Z = L · sin β, Y = L · cos βsin α, X =
L · cos βcos α.

Here, when α and β are replaced with the angles (coordinate values) of the A axis and the C axis of the processing head 25, for example, α = 180 ° -A and β = 180 ° -C.

Therefore, the X-axis drive motor 9 and the Y-axis drive motor 1 are based on the profile correction amount thus obtained.
5. By correcting the control of the Z-axis drive motor 19,
The machining head 25 can be moved similarly to the conventional W-axis control.

From the above results, it is possible to omit the W-axis control used for the conventional profiling and perform the profiling-axis control by controlling the X-axis drive motor 9, the Y-axis drive motor 15, and the Z-axis drive motor 19. Therefore, the amount of movement without the restriction on the movement in the W-axis direction is greatly expanded.

Further, since the number of control shafts and drive motors is reduced by one, the control is simplified and the cost of the apparatus can be reduced.

The present invention is not limited to the above-described embodiment, but can be embodied in other forms by making appropriate changes. That is, in the above-described embodiment, the case where the A axis and the C axis are used as the two rotation axes has been described, but the present invention is not limited to this. For example, a three-dimensional processing machine having a zero offset processing head is also applied. Further, it is also applied to a table moving type three-dimensional processing machine.

[0033]

As described above, in the profile axis control method in the three-dimensional laser beam machine according to the first aspect of the invention, the three-dimensional three-axis, that is, the X-axis, Y-axis, and Z-axis coordinate values are corrected. , While maintaining the posture of the processing head in the direction of the normal to the workpiece, move it in the direction of this normal,
Since the contour axis control is performed by keeping the distance between the machining head and the work constant, a dedicated axis control for moving the machining head in the normal direction of the workpiece unlike the conventional contour axis control is unnecessary. This makes it possible to increase the amount of movement in the normal direction. Further, since the moving mechanism in the direction of the processing head is unnecessary, the cost of the device can be reduced.

In the profile axis control method in the three-dimensional laser beam machine according to the second aspect of the present invention, the profile sensor detects the gap between the workpiece and the workpiece, for example, as an electrostatic capacitance, and controls so that this value becomes constant. Since the distance between the head and the work is kept constant, the tracing axis control can be easily performed.

In the contour axis control device in the three-dimensional laser beam machine according to the third aspect of the invention, the machining head is moved to the machining position by the three-dimensional three-axis control of the control device, and the machining is performed by the control of the rotating two axes of the control device. After deciding the posture of the machining head in the direction normal to the workpiece surface at the position, the distributor of the controller corrects the coordinate values of the three-dimensional three axes and moves the machining head in the direction normal to the axis control. Since this is performed, a mechanism for moving the machining head in the direction of the central axis is not required as in the prior art, and the cost of the device can be reduced. Further, since it is not necessary to control the axis for moving the machining head in the normal direction of the workpiece, it is possible to increase the amount of movement in the normal direction.

In the profile axis control method in the three-dimensional laser beam machine according to the fourth aspect of the present invention, the profile sensor detects the gap between the workpiece and the workpiece, for example, as an electrostatic capacitance, and controls so that this value becomes constant. Since the distance between the head and the work is kept constant, the tracing axis control can be easily performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a control system for controlling a contour axis in a three-dimensional laser beam machine according to the present invention.

FIG. 2 is a front view of a three-dimensional laser beam machine to which the contour axis control method and device according to the present invention are applied.

FIG. 3 is a side view as viewed from a direction III in FIG. 2;

FIG. 4 is an enlarged view of a processing head.

FIG. 5 is an explanatory diagram showing a tracing amount.

FIG. 6 is an explanatory diagram of an equation showing a following amount according to an angle of an A axis and a C axis.

FIG. 7 is a block diagram showing a control system for controlling a contour axis in a conventional three-dimensional laser beam machine.

[Explanation of symbols]

 1 three-dimensional laser processing machine 25 processing head 31 NC device (control device) 37 tracing sensor 47 distributor W work

Claims (4)

[Claims] 1. A three-dimensional laser beam machine for performing three-dimensional processing on a workpiece by positioning a processing head by controlling three-dimensional three axes and controlling the attitude of the processing head by controlling two rotating axes. Then, the machining head is moved to the machining position by controlling the three-dimensional three axes, and the posture of the machining head is determined in the normal direction of the work surface at the machining position by controlling the two rotating axes. The three-dimensional laser corrects and controls the coordinate value of the processing head in the normal direction so as to keep the distance between the processing head and the work surface constant while maintaining the posture of the processing head. Profile axis control method for processing machines. 2. A profile axis control method in a three-dimensional laser beam machine according to claim 1, wherein the profile sensor provided on the machining head maintains a constant distance between the machining head and the work surface. . 3. A three-dimensional laser beam machine for performing three-dimensional machining on a workpiece by positioning a machining head by controlling three-dimensional three axes and controlling the posture of the machining head by controlling two rotating axes. A control device for controlling the three-dimensional three-axis and the two-axis rotation, and the controller holds the angle of the two-axis rotation so that the posture of the processing head is in a direction normal to the work surface. In the state, a distributor is provided for calculating the correction coordinate values of the three-dimensional three axes so as to move the processing head in the normal direction so that the distance between the processing head and the work is constant. A contour axis control device for a three-dimensional laser processing machine. 4. A profile axis control device in a three-dimensional laser processing machine according to claim 3, wherein said profile head is provided with a profile sensor for measuring a distance from the work.