JPH10277759A - Teaching device in three-dimensional laser beam machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a simple teaching device capable of improving workability in a three-dimensional laser beam machining. SOLUTION: In the case of teaching a teaching point PT with the indicating point P0 being the tip end of the teaching head 17, the teaching head 17 is freely movable in X, Y, Z axial directions and moreover allowed to take the attitude in the normal direction of a three-dimensional work W, and the position and attitude of the teaching head 17 at this time is calculated with an arithmetic processing part 13 from the length and angle of a first connecting member 9 and a second connecting member 11 installed to the teaching head 17. The length or the like of the first connecting member 9 and the second connecting member 11 are measured with a first detector 5 and a second detector 7. The calculated coordinate value and angle are successively stored in a memory 15. The first detector 5 and the second detector 7 are allowed to provide in various places when the coordinate value is already known. A first wire and a second wire are used as the first connecting member 9 and the second connecting member 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a teaching device for a three-dimensional laser beam machine which can be easily performed.

[0002]

2. Description of the Related Art Conventionally, in three-dimensional teaching in laser machining, generally, a laser torch of a machining head is mechanically moved to match a teaching point, and then coordinate input is generally performed.

[0003]

However, such a conventional technique has a problem that time is required because the operation is performed at a predetermined axis, direction, and speed.

[0004] Further, with the recent increase in size and speed of manipulators and the like, the necessity for preventing occurrence of accidents and the like due to erroneous operations has increased.

An object of the present invention is to provide a simple teaching device capable of improving the workability of three-dimensional laser processing, which has been made by paying attention to the above-mentioned conventional technology.

[0006]

According to a first aspect of the present invention, there is provided a teaching device for a three-dimensional laser beam machine according to the present invention. , A teaching head movable in the Y- and Z-axis directions and rotatable about each coordinate axis, a first fastening member and a second fastening member having their tips fastened at predetermined intervals in the teaching head; A first detector and a second detector that support the base ends of the fastening member and the second fastening member so as to be able to expand and contract and detect the length of each fastening member and an angle with respect to each coordinate axis; and the first detector and the second detector. An arithmetic processing unit that calculates the coordinates of the designated point and the posture of the teaching head from the length and angle measured by the two detectors, and a memory that stores the coordinates and posture, It is provided, and is characterized in.

Therefore, when teaching the teaching point by the designated point which is the tip of the teaching head, the teaching head must be movable in the X, Y, and Z axes and take a posture in the normal direction of the three-dimensional work. Therefore, the arithmetic processing unit calculates the position and orientation of the teaching head at this time from the lengths and angles of the first and second fastening members measured by the first and second detectors. The calculated coordinate values and angles are sequentially stored in the memory.

According to a second aspect of the present invention, in the teaching device of the three-dimensional laser beam machine, the first detector and the second detector according to the first aspect can be set to arbitrary positions having known coordinate values. , Is characterized.

Therefore, since the first detector and the second detector can be provided at various places if the coordinate values are known, teaching is performed by selecting a suitable place according to the condition of the work or the like.

According to a third aspect of the invention, there is provided a teaching device for a three-dimensional laser beam machine, wherein the first fastening member and the second fastening member according to the first aspect are wire members.

Therefore, when teaching points are taught by the teaching head, coordinate values and angles are obtained from the lengths and angles of the first and second wires.

[0012]

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

FIG. 1 shows a teaching device 1 (not shown) in a three-dimensional laser beam machine.

The teaching device 1 has a first detector 5 and a second detector 7 provided at predetermined positions on a frame 3 of a laser beam machine. The first detector 5 and the second detector A first wire 9 as a first fastening member;
And the 2nd wire 11 as a 2nd fastening member is provided. Further, the first detector 5 and the second detector are connected to a memory 15 via an arithmetic processing unit 13.

A teaching head 17 is attached to the tip of each of the first wire 9 and the second wire 11. The teaching head 17 has the shape of a example, a cylindrical shape, the tip has a designated point P ₀ pointed to indicate the desired teaching point P _T.

A bar member 19 is attached to the rear end side. The first wire 9 and the second wire 11 are attached to two points P ₁ and P ₂ at a fixed distance d in the bar member 19. Are rotatably fastened so as to have a rotation center at the axial position of the rod member 19.

The length of the first wire 9 is L _1, the length of the second wire 11 is L _2, the distance from point P ₂ to the tip of the teaching head 17 is L _T. These lengths L ₁ and L ₂ change depending on the position of the teaching point _PT , and the first detector 5 and the second detector 7
Are measured and transmitted to the arithmetic processing unit 13. In addition, the distance L _T is teaching head 17
This is a unique value and is a constant value stored in the memory 15 in advance.

Referring also to FIG. 2, when the teaching point _PT is taught by the designated point P ₀ , the first wire 9 has an angle α 1 from the X axis in the XY plane, and XY The angle formed by the plane is β1. Similarly,
The second wire 11 (shown in parentheses in FIG. 2) is XY
In the plane, the angle is α2 from the X axis, and the angle formed with the XY plane is β2.

Therefore, the angles α1, β1, α2, β2
Are changed in accordance with the position of the teaching point _PT . Α1 and β1 are measured by the first detector 5, and α2 and β2 are measured by the second detector 7.

Next, the principle of obtaining the coordinates of the teaching point _{PT in} the state having the above-described distance and angle will be described with reference to FIGS.

When the distance L ₁ from the first detector 5 to the point P ₁ is detected by the first detector 5, the coordinates (P _x1 , P _y1 , P _z1 ) of the point P ₁ are given by the following equations. Can be here,
The coordinate origin is taken at the position of the first detector 5. Note that the positions of the points P ₁ and P ₂ are both known.

Px1 = L ₁ · cos β1 · cos α1 Py1 = L ₁ · cos β1 · sin α1 Pz1 = L ₁ · sin β1 The coordinates (P _x2 , P _y2 , P _z2 ) of the point P ₂ are as follows.
It is determined from the relationship between the point P _1. As a result, the vector P ₁ (hereinafter referred to as “Vec (P ₁ )”) and Vec
Using (P ₂ ), the vector Vec from the point P ₁ to the point _PT
(P ₁ · P _T )

Vec (P ₁ · P _T ) = ｛Vec (P ₂ ) −Vec
It is given by _{(P 1)} × (L} T + d) / d. Thus, the vector indicating the teaching point P _T can be determined by _{Vec (P T) = Vec (} P 1) + Vec (P 1 · P T).

[0023] In addition, from the fact that Vec (P ₁ · P _T) shows the teaching head 17 itself, Vec (P ₁
If P _T ) = (X _T1 , Y _T1 , Z _T1 ), the angles θx and YZ of the teaching head 17 in the XZ plane
The angle θy in the plane is

[Number 2] (θx, θy) = (tan -1 {Z T1 / X T1}, tan-
1 {Z _T1 / Y _T1 }), the normal direction of the workpiece W can be obtained. Note that the rotation angle around the axis of the teaching head 17 is not considered because it does not affect the coordinates or the normal direction in teaching.

From the above results, the teaching point P
_Since the coordinates of _T and the normal direction of the three-dimensional work W at _PT are determined, teaching can be easily performed with a simple device.

Referring to FIGS. 3 to 5, the positions of the first detector 5 and the second detector 7 to which the first wire 9 and the second wire 11 are attached may be various if the coordinates are known. Things are conceivable. In FIG. 3, the first detector 5 and the second detector 7 are provided at a high position, and in FIG. 4, the first detector 5 is provided at a high position, and the second detector 7 is provided at a low position. I have. In FIG. 5, both the first detector 5 and the second detector 7 are provided at lower positions.

As described above, the first detector 5 and the second detector 7 can be provided at free positions. However, in order to reduce the teaching error, the length L ₁ of the first wire 9 and the second wire short as possible 11 of length L _2, and the angle alpha, to place so that a change amount of the β increases are desirable. In particular, the first wire 9 and the second wire 11 must not interfere with other structures.

Further, accurate teaching can be performed by appropriately moving the positions of the first detector 5 and the second detector 7 in accordance with the position of the teaching point _PT .

The present invention is not limited to the above-described embodiment, but can be implemented in other modes by making appropriate changes. That is, in the above-described embodiment, a single teaching head 17 is used, but a teaching head 17 integrated with a processing head can be similarly applied.

Further, the first wire 9 and the second wire 11 are used as the first fastening member and the second fastening member. However, the present invention is not limited to this, and a rod member or the like may be used.

In the above embodiment, the first detector 5 and the second detector 7 are provided on the frame 3 of the laser beam machine.
Is provided, but may be provided at a known position of a structure separate from the laser beam machine.

[0031]

As described above, in the teaching device in the three-dimensional laser beam machine according to the first aspect of the present invention, when the teaching point is taught by the designated point which is the tip of the teaching head, the teaching head is moved to X, Y. , Can move in the Z-axis direction, and can take a posture in the normal direction of the three-dimensional work. Therefore, the position and posture of the teaching head at this time are measured by the first detector and the second detector. The arithmetic processing unit calculates the length and angle of the first fastening member and the second fastening member, and the calculated coordinate values and angles are sequentially stored in the memory, so that the teaching of the three-dimensional work can be performed with a simple device. Can be.

In the teaching device in the three-dimensional laser beam machine according to the second aspect of the present invention, the first detector and the second detector can be provided at various places as long as the coordinate values are known. Teaching can be performed by selecting a more suitable place.

In the teaching device in the three-dimensional laser beam machine according to the third aspect, when teaching points are taught by the teaching head, coordinate values and angles are obtained from the lengths and angles of the first and second wires. Workability is good.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a teaching device in a three-dimensional laser beam machine according to the present invention.

FIG. 2 is a coordinate diagram showing a tip position of a wire.

FIG. 3 is an example in which a first detector and a second detector are provided at a high position.

FIG. 4 is an example in which one of a first detector and a second detector is provided at a high position and the other is provided at a low position.

FIG. 5 is an example in which a first detector and a second detector are provided at a low position.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 teaching device 5 first detector 7 second detector 9 first wire (first fastening member) 11 second wire (second fastening member) 13 arithmetic processing unit 15 memory 17 teaching head W three-dimensional work P ₀ designated point

Claims (3)

[Claims] 1. A teaching head having a designated point at the tip for teaching a three-dimensional work, movable in X, Y, and Z directions and rotatable around each coordinate axis.
In this teaching head, the first fastening member and the second fastening member, the distal ends of which are fastened at predetermined intervals, and the base portions of the first fastening member and the second fastening member are elastically supported and the fastening members are A first detector and a second detector for detecting a length and an angle with respect to each coordinate axis, and the coordinates of the designated point and the teaching head from the length and the angle measured by the first detector and the second detector. A teaching device in a three-dimensional laser processing machine, comprising: a calculation processing unit that calculates a posture; and a memory that stores the coordinates and the posture. 2. The teaching device according to claim 1, wherein the first detector and the second detector can be set to any positions having known coordinate values. . 3. The teaching device according to claim 1, wherein the first fastening member and the second fastening member are wire members.