Classifications

• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B19/00—Program-control systems
  • G05B19/02—Program-control systems electric
  • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form
  • G05B19/41—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of program data in numerical form characterised by interpolation, e.g. the computation of intermediate points between programmed end points to define the path to be followed and the rate of travel along that path
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
  • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
  • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
  • B23K26/08—Devices involving relative movement between laser beam and workpiece
  • B23K26/10—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/45—Nc applications
  • G05B2219/45165—Laser machining
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/50—Machine tool, machine tool null till machine tool work handling
  • G05B2219/50297—Compensation of positioning error due to a-axis, b-axis tool rotation
• • G—PHYSICS
  • G05—CONTROLLING; REGULATING
  • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
  • G05B2219/00—Program-control systems
  • G05B2219/30—Nc systems
  • G05B2219/50—Machine tool, machine tool null till machine tool work handling
  • G05B2219/50356—Tool perpendicular, normal to 3-D surface

Definitions

• the present invention relates to an attitude control method of a CNC laser processing machine for controlling a nozzle attitude of a CNC laser processing machine for performing three-dimensional processing with respect to a processing surface, and particularly to a CNC laser processing machine which is configured to compensate for turning.
• the attitude control method Background technology
• CNC laser processing machines which combine a laser oscillator and a numerical controller (CNC) have come into wide use.
• CNC numerical control device
• CNC laser machines capable of three-dimensional processing which were not possible with conventional punch presses, nibbling machines, etc., have come to be put to practical use.
• axis and axis There are the following two types of nozzle head mechanisms for controlling the attitude of the nozzle.
• the first method is a zero offset type or a one point type.
• the axis is configured as a rotation axis with respect to the Z axis, and the axis is configured as a rotation axis having a constant inclination with respect to the Z axis.
• the second type is called an offset type, in which the axis is a rotation axis with respect to the Z axis, and the axis is a rotation axis perpendicular to the Z axis.
• the offset type has a simple mechanical mechanism, but its control is complicated, and it has been considered that it is not suitable for high-speed machining.
• As a method of controlling the attitude of an offset-type nozzle there is Japanese Patent Application Laid-Open No. 122224/1992 by the present applicant.
• the present invention has been made in view of such a point, and is capable of correcting a rotation, and is capable of arbitrarily determining a gear ratio of a gear connecting a vertical axis and a horizontal axis of a ⁇ axis.
• One The purpose is to provide an expression.
• the rotation correction means reads the interpolation output of the axis and calculates a rotation correction value corresponding to the gear ratio of the gear joining the horizontal axis and the vertical axis of the axis.
• the rotation correction value is added to the axis interpolation output by an adder.
• FIG. 1 is a block diagram of a numerical controller for controlling a CNC laser machine according to one embodiment of the present invention
• FIG. 2 is a partial configuration diagram of an offset type nozzle head mechanism according to an embodiment of the present invention
• FIG. 3 shows a zero offset type nozzle according to an embodiment of the present invention.
• FIG. 3 is a partial configuration diagram of a head mechanism. BEST MODE FOR CARRYING OUT THE INVENTION
• BEST MODE FOR CARRYING OUT THE INVENTION an embodiment of the present invention will be described with reference to the drawings.
• FIG. 1 is a block diagram of a numerical controller for controlling a CNC laser beam machine according to one embodiment of the present invention.
• the trajectory (X, Y, Z) of the control point to be machined and the attitude of the nozzle ( «, ⁇ ) are commanded to the interpolator 1, respectively.
• Interpolator 1 receives this command and simultaneously interpolates 5 axes.
• the X, ⁇ , and ⁇ axes should be interpolated, taking into account the movement of the “axis and the ⁇ axis,” but this would require vector calculations, which would require enormous computation time and a practical speed Therefore, interpolator 10 ignores the axis and axis movements and interpolates the X, ⁇ , and ⁇ axes. Therefore, interpolation of X, ⁇ , and ⁇ axes is It is the same as interpolation of a numerical controller, and can calculate at high speed.
• the rotation correction means 2 calculates the rotation correction value of the axis from ⁇ axis interpolation means ⁇ ⁇ . The details will be described later.
• the swirl correction means 2 has a register 3 for storing a remainder when the swirl correction value is calculated.
• An adder 4 adds the rotation correction value to the axis interpolation output ⁇ . These outputs are sent to the axis control circuits 5a and 5b, amplified by the servo amplifiers 5a and 5b, and drive the servomotors 7a and 7b to control the o-axis and the -axis.
• the nozzle position correcting means 8 calculates the correction values ⁇ - ⁇ , ⁇ , and ⁇ ⁇ ⁇ to be given to the X, Y, and ⁇ axes by moving the axes. Calculate. This calculation can be performed easily and at high speed compared to the case of performing 5-axis interpolation simultaneously.
• the adders 9 a, 9 b, and 9 c add the correction values ⁇ ⁇ , ⁇ ⁇ , ⁇ ⁇ to the X, Y, ⁇ axis interpolation outputs ⁇ X, X ⁇ , ⁇ ⁇ , and X, ⁇ , ⁇
• the servo motor is controlled as the movement amount of the axis. As a result, control is performed so that the position of the nozzle does not change even when the shaft rotates.
• the control of the interpolator 1, the rotation correction means 11, the nozzle position correction means 8, the adder 4, and the like described above are processed by the microphone port processor in the numerical controller.
• the nozzle position correction means 8 is configured to perform processing by a dedicated microprocessor to achieve high-speed three-dimensional laser processing.
• the nozzle position correcting means 8 is a means necessary for an offset type nozzle head mechanism.
• the zero offset type nozzle head mechanism is unnecessary because the position of the tip of the nozzle does not change due to the rotation of the shaft.
• FIG. 2 is a partial configuration diagram of an offset type nozzle head mechanism according to an embodiment of the present invention.
• the servomotor 21 drives a shaft
• the servomotor 22 drives the shaft.
• the laser beam 3 is guided to the tip of the nozzle 29a by a reflection mirror (not shown) and is irradiated on the work.
• the axis is a rotation axis with respect to the Z axis, and the rotation of the servomotor 21 is controlled by rotating the arm 25 by the gears 24a and 24b.
• the servomotor 22 rotates, the vertical shaft 27 is rotated by the gears 26a and 26b, and the horizontal shaft 29 is controlled by the bevel gears 28a and 28b to control the shaft.
• 29 a is a nozzle fixed to the shaft 29.
• the gear ratio of the bevel gears 28a and 28b is a to b.
• the correction value ⁇ can be obtained. Therefore, the bevel gears 28 a and 28 b Gear ratio can be arbitrarily selected.
• the correction value of the nozzle position correction means 8 can be obtained by the following equation.
• ⁇ X ⁇ X ( ⁇ )- ⁇ ⁇ ⁇ ) s i n
• ⁇ Y ⁇ Y (a) + ⁇ Y ( ⁇ ) c os
• trigonometric functions can be obtained at a higher speed by using a co-processor or the like.
• FIG. 3 is a partial configuration diagram of a zero-offset type nozzle head mechanism according to an embodiment of the present invention.
• servo motor 31 drives the shaft
• servo motor 32 drives the shaft.
• the laser beam 33 is guided to the tip of the nozzle 42 by a reflection mirror (not shown), and is irradiated on the work.
• the axis is a rotation axis with respect to the axis ⁇ .
• the rotation of the servomotor 31 is controlled by rotating the arm 35 by the gears 34a and 34b.
• the rotation of the servomotor 32 rotates the vertical shaft 37 by the gears 36a and 36b, the horizontal shaft 39 by the bevel gears 38a and 38b, and the bevel gear 4
• the axis is controlled by the rotation of the axis 41 by 0a, 40b.
• the servomotor 31 rotates and the arm 35 rotates
• the horizontal shaft 39 also rotates around the shaft, and the relationship between the bevel gears 38a and 38b rotates
• the axis is twisted by the movement of the axis, and the offset is also offset at this time.
• the correction can be performed by the rotation correction means 2 in the same manner as in the case of the die nozzle head mechanism. That is, assuming that the gear ratio of the bevel gears 38a and 38b is a to b, ⁇ ⁇ is obtained from the above-described equation and added to the axis interpolation output P9. Of course, the ratio of a 3 ⁇ 4 b need not be an integer.
• the rotation correction means is provided to correct the rotation by the shaft regardless of the gear ratio of the gear connecting the three vertical axes and the eternal shaft.
• the gear ratio of the sliding head mechanism can be freely selected.

Landscapes

• Engineering & Computer Science (AREA)
• Physics & Mathematics (AREA)
• Optics & Photonics (AREA)
• Theoretical Computer Science (AREA)
• Mechanical Engineering (AREA)
• Computing Systems (AREA)
• Plasma & Fusion (AREA)
• Human Computer Interaction (AREA)
• Manufacturing & Machinery (AREA)
• General Physics & Mathematics (AREA)
• Automation & Control Theory (AREA)
• Laser Beam Processing (AREA)
• Manipulator (AREA)
• Numerical Control (AREA)

Applications Claiming Priority (2)

Publications (1)

Family

ID=13753446

Family Applications (1)

Country Status (4)

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Citations (3)

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• 1990
  • 1990-03-29 JP JP2081693A patent/JPH03281083A/ja active Pending
• 1991
  • 1991-03-13 WO PCT/JP1991/000357 patent/WO1991014531A1/ja not_active Ceased
  • 1991-03-13 US US07/773,594 patent/US5216222A/en not_active Expired - Lifetime
  • 1991-03-13 EP EP91906284A patent/EP0480046A1/en not_active Ceased

Patent Citations (3)

Non-Patent Citations (1)

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