WO2016093053A1

WO2016093053A1 - Laser processing machine and nozzle mounting method

Info

Publication number: WO2016093053A1
Application number: PCT/JP2015/082923
Authority: WO
Inventors: 啓一中西
Original assignee: 村田機械株式会社
Priority date: 2014-12-08
Filing date: 2015-11-24
Publication date: 2016-06-16
Also published as: JPWO2016093053A1; JP6269859B2

Abstract

The present invention: makes it possible to recognize a nozzle to be mounted, prevent an incorrect nozzle from being mounted, and address automation of nozzle mounting; and reduces the amount of time for mounting a nozzle. Provided is a laser processing machine (1) for processing a workpiece (W), wherein the laser processing machine (1) includes: a hollow processing head (3) that has an exchangeable nozzle (13), a laser beam for processing the workpiece (W) being guided and emitted from the nozzle (13); an image-capturing unit (6) for obtaining, through the inside of the processing head (3), an image of the nozzles (13) held in a nozzle-accommodating unit (5) in which a plurality of nozzles (13) are arranged; and a nozzle identifying unit (41) for recognizing the nozzle type from the image of the nozzles (13) obtained by the imaging unit (6).

Description

Laser processing machine and nozzle mounting method

The present invention relates to a laser processing machine and a nozzle mounting method.

A laser processing machine is known which is used for processing such as cutting of a workpiece with laser light and in which a nozzle for emitting laser light is replaceable. It is necessary to select an optimum type (hole diameter, normal / double) of this nozzle according to the workpiece. Conventionally, the operator refers to the processing conditions and manually replaces the nozzle. Further, it has been proposed to recognize and confirm that the nozzle mounted on the processing head is appropriate by recognizing the image of the nozzle after mounting and the mark formed on the nozzle (see Patent Documents 1 and 2). In order to automate the replacement of nozzles, an exchange system called a nozzle changer has been proposed. In the nozzle changer, a plurality of nozzles are arranged in a nozzle accommodating portion, and one of the nozzles is selected and attached to the processing head. At this time, the operator sets a predetermined type of nozzle at a predetermined position of the nozzle accommodating portion, or after arranging a plurality of nozzles in the nozzle accommodating portion, the operator sets the position and type of the nozzle in the nozzle changer through a user interface. Was.

JP-A-2005-334922 JP 2004-322127 A

When the operator manually replaces the nozzle, not only will the automation be hindered, but if a different type of nozzle is installed by mistake, it will cause a processing failure of the workpiece. Further, since both

Patent Documents

1 and 2 check the nozzle after mounting, it is necessary to mount the nozzle again by an operator or the like in the case of an incorrect nozzle, and there is no change in that the operator has troublesome work. Even when a nozzle changer is used, if the operator sets a different type of nozzle by mistake, the wrong nozzle is mounted, leading to a processing failure of the workpiece. Similarly, when the position and type of the nozzle are set by the user interface, if the operator sets the nozzle position and type by mistake, a machining failure of the workpiece is caused. Furthermore, if the operator installs nozzles or makes settings using a user interface, there is a problem in that productivity is reduced because the operation takes time.

The present invention has been made in view of the above-described circumstances, and can recognize the nozzle to be mounted and avoid mounting an incorrect nozzle, and can cope with automation of nozzle mounting. An object of the present invention is to provide a laser processing machine and a nozzle mounting method capable of mounting a nozzle in a short time.

The laser processing machine of the present invention has a replaceable nozzle and is held by a hollow processing head that guides laser light for processing a workpiece and emits the laser light from the nozzle, and a nozzle housing portion in which a plurality of nozzles are arranged. An imaging unit that acquires a nozzle image via the inside of the processing head, and a nozzle identification unit that recognizes the nozzle type from the nozzle image acquired by the imaging unit.

Further, an illumination unit that irradiates illumination light to a nozzle for which an image is acquired by the imaging unit may be included. Further, the illumination unit may irradiate the nozzle with illumination light through the processing head. Further, an identification mark may be formed on the nozzle at a position where the imaging unit can capture an image, and the nozzle identification unit may recognize the identification mark from the image acquired by the imaging unit and recognize the nozzle type. Further, the identification mark may be formed around the nozzle hole when viewed from the penetration direction of the nozzle hole of the nozzle. The identification mark may include a main part having a nozzle type and a reference mark formed at a position defined with respect to the main part. Further, a nozzle determination unit that determines whether the nozzle type recognized by the identification mark and the nozzle type recognized by extracting the characteristic portion of the nozzle shape from the image acquired by the imaging unit may be included. Further, the nozzle identification unit may extract the characteristic part of the nozzle shape from the image acquired by the imaging unit and recognize the nozzle type. Moreover, you may include the moving part which moves a process head and a nozzle accommodating part relatively. Further, the nozzle identification unit may recognize the nozzle position based on the amount of movement between the processing head and the nozzle housing unit by the moving unit. Further, the moving unit may scan the image recognition area of the imaging unit in the circumferential direction by relatively moving the processing head and the nozzle accommodating unit in the circumferential direction centering on the penetrating direction of the nozzle hole of the nozzle. . In addition, for a plurality of nozzles arranged in the nozzle accommodating portion, a nozzle management table that associates the nozzle position recognized by the nozzle identification portion and the nozzle type, and a processing that associates a plurality of processing conditions and nozzle types according to the workpiece A table and a mounting nozzle specifying unit that specifies a nozzle to be mounted by referring to the processing table and the nozzle management table based on the processing conditions may be included. In addition, it includes a nozzle mounting instruction unit that instructs to mount the nozzle of the nozzle storage unit on the processing head, and after the nozzle mounting instruction unit acquires the nozzle types for all the nozzles of the nozzle storage unit, or of the nozzle storage unit When the nozzle type is sequentially acquired from the nozzles and the target nozzle is found, the mounting of the target nozzle may be instructed. In addition, the imaging unit is capable of imaging a workpiece that is being processed or processed by laser light, and a processing state detection unit that detects a processing state of the workpiece from an image obtained by the imaging unit imaging the workpiece that is being processed or processed. May be included.

The nozzle mounting method of the present invention has a replaceable nozzle and is held in a hollow processing head that guides a laser beam for processing a workpiece and emits it from the nozzle, and a nozzle housing portion in which a plurality of nozzles are arranged. In a laser processing machine including an imaging unit that acquires an image of a nozzle through the processing head, the nozzle type is recognized from the nozzle image acquired by the imaging unit, and among the recognized nozzles, the mounting target Mounting a nozzle on the machining head.

According to the present invention, since an image of the nozzle in the nozzle accommodating portion is acquired and recognized by the nozzle identifying portion, it is possible to prevent erroneous nozzle mounting and to cope with automation of nozzle mounting. Further, since the image of the nozzle is acquired through the inside of the processing head, the nozzle can be mounted on the processing head in a short time after the target nozzle is found, and the time required for mounting the nozzle can be shortened.

Moreover, in the case of including an illumination unit, a good image can be acquired because the nozzle is illuminated with illumination light. In addition, in the case of irradiating the nozzle with illumination light through the processing head, the illumination light can be efficiently applied to the area to be imaged. Further, when the nozzle identification unit recognizes the nozzle type from the identification mark of the nozzle, the nozzle type can be efficiently recognized from the identification mark. Further, when the identification mark is formed around the nozzle hole, the identification mark can be easily imaged by the imaging unit. In addition, when the identification mark includes a main part and a reference mark, the image recognition area of the imaging unit can be reliably guided to the main part by finding the reference mark. In addition, the apparatus including the nozzle determination unit can determine whether the nozzle type recognized by the identification mark matches the actual nozzle type. In addition, when the nozzle identifying unit extracts the characteristic part of the nozzle shape and recognizes the nozzle type, it is not necessary to form an identification mark or the like on the nozzle. In addition, in the case of including a moving unit that relatively moves the processing head and the nozzle housing unit, the moving unit can easily move the image recognition area of the imaging unit. Further, in the case where the nozzle identification unit recognizes the nozzle position based on the amount of movement between the machining head and the nozzle storage unit by the moving unit, the nozzle position of each nozzle randomly arranged in the nozzle storage unit or the like can be easily acquired. . In addition, when the moving unit scans the image recognition area of the imaging unit in the circumferential direction of the nozzle hole, it is possible to efficiently image the identification mark formed around the nozzle hole. Further, in the case including the nozzle management table, the processing table, and the mounting nozzle specifying unit, it is possible to easily specify the mounting target nozzle based on the processing conditions of the workpiece. In addition, in the case of including a nozzle mounting instruction unit, management of nozzles to be mounted later is facilitated by acquiring the nozzle types for all the nozzles of the nozzle storing unit, or when mounting target nozzles are found from the nozzle storing unit. Therefore, in any case, it is possible to prevent the wrong nozzle from being attached and to cope with automation of nozzle replacement. Further, when the imaging unit includes a machining state detection unit that detects the machining state of the workpiece, the imaging unit can be used for both confirmation of the machining state of the workpiece and recognition of the nozzle type.

It is a figure which shows an example of the laser processing machine which concerns on embodiment. (A) The figure which shows the state which the process head opposed to the nozzle accommodating part, (b) is a top view of a nozzle accommodating part, (c) is a top view which shows an example of a nozzle. It is a flowchart which shows an example which identifies a nozzle. It is a flowchart which shows an example of recognition of a reference mark. It is a flowchart which shows an example of recognition of a character and a code. (A) to (e) are process drawings showing a nozzle identification process. (A)-(e) is a top view which shows the other example of an identification mark. (A)-(e) is a top view which shows an example of the classification of a nozzle. It is a flowchart which shows the other example which identifies a nozzle. It is a flowchart which shows an example of the nozzle mounting method. (A) is a figure which shows an example of a nozzle management table, (b) is a figure which shows an example of a process table. It is a flowchart which shows the other example of the nozzle mounting method. It is a figure which shows the other example of an illumination part.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. However, the present invention is not limited to this. Further, in the drawings, in order to describe the embodiment, the scale is appropriately changed and expressed by partially enlarging or emphasizing the description. In the following drawings, directions in the drawings will be described using an XYZ coordinate system. In this XYZ coordinate system, the horizontal direction is the X direction and the Y direction, and the vertical direction perpendicular to the XY plane is the Z direction.

FIG. 1 is a diagram showing a laser beam machine 1 according to the present embodiment. This laser processing machine 1 irradiates a workpiece W (processing object) with laser light, and performs processing such as cutting, formation of recesses such as grooves, drilling of through holes and slits, marking, and the like on the workpiece W. Can do. As shown in FIG. 1, a laser beam machine 1 includes a laser oscillator 2, a machining head 3, a moving unit 4, a nozzle housing unit 5, an imaging unit 6, an illumination unit 7, an image processing unit 8, a control unit 9, and a storage. The unit 10 is provided.

The laser oscillator 2 generates, for example, infrared laser light as laser light for processing the workpiece W. Laser light emitted from the laser oscillator 2 is supplied to the processing head 3 via a light guide member such as an optical fiber. The processing head 3 irradiates the supplied laser beam toward the workpiece W (downward). The processing head 3 includes a body 11 (processing head main body), an output optical system 12 accommodated in the body 11, and a nozzle 13 disposed on the light output side of the output optical system 12.

The emission optical system 12 includes a lens 15 supported by the body 11, a mirror 16, a lens 17, and the like. For example, the laser light travels horizontally from the side of the body 11 and enters the mirror 16 through the lens 15. As the mirror 16, for example, a dichroic mirror is used, which reflects laser light (infrared laser light) and transmits light other than the laser light (for example, visible light). The laser beam reflected by the mirror 16 travels downward. The optical axis 12a on the exit side of the exit optical system 12 is set, for example, in the vertical direction. The laser beam reflected by the mirror 16 is irradiated to the workpiece W through the lens 17 and the nozzle 13. The lens 17 condenses the laser light so that the laser light forms a spot of a predetermined size on the workpiece W.

The nozzle 13 is attached to the body 11 in a replaceable manner. The nozzle 13 is attached to the opening 20 at the lower end of the body 11. The nozzle 13 includes a proximal end portion 21 attached to the body 11 and a distal end portion 22 disposed toward the workpiece. The base end portion 21 has a cylindrical shape and has a screw portion on the outer peripheral surface thereof. The opening portion 20 of the body 11 has a screw portion that can be screwed to the screw portion of the nozzle 13. The nozzle 13 is attached to and detached from the body 11 by the relative rotation of the nozzle 13 and the opening 20. A mechanism for relatively rotating the nozzle 13 and the opening 20 is provided in one or both of the processing head 3 and a nozzle housing 5 described later. Note that the mounting of the nozzle 13 to the body 11 is not limited to screw connection. For example, the nozzle 13 may be attached to the body 11 by a mechanism for clamping a part of the nozzle, an electromagnet, or the like.

The distal end portion 22 of the nozzle 13 is disposed toward the workpiece W with the proximal end portion 21 attached to the body 11. The nozzle 13 has a nozzle hole 23 (see FIG. 2C) penetrating from the base end portion 21 to the tip end portion 22, and emits laser light to the workpiece W through the nozzle hole 23. A plurality of nozzles 13 are prepared according to processing conditions, and are appropriately replaced. The types of the nozzles 13 are classified according to, for example, those having different diameters of the nozzle holes 23 or those having an assist gas injection port concentric with the nozzle holes 23. These nozzles 13 are arranged in the nozzle accommodating portion 5.

The moving unit 4 can relatively move the workpiece W and the machining head 3. For example, the laser beam machine 1 holds the workpiece W by a workpiece holding unit (not shown), and moves the machining head 3 in the X direction, the Y direction, and the Z direction by the moving unit 4, thereby Is moved relatively. The laser beam machine 1 according to the present embodiment processes the workpiece W by irradiating the workpiece W with laser light from the machining head 3 while moving the machining head 3 by the moving unit 4.

The nozzle accommodating portion 5 includes a plurality of slots 26 in which a plurality of nozzles 13 are arranged. The nozzle 13 is placed in the slot 26 with the tip 22 facing downward. The nozzle accommodating portion 5 may be installed at a position where the machining head 3 can be accessed, or may be formed so as to be movable below the machining head 3. The nozzle housing 5 includes a lid (not shown) and is formed so as to open the lid when the nozzle 13 is replaced. Moreover, the nozzle accommodating part 5 may adsorb | suck the mounted nozzle 13 and hold | maintain the nozzle 13. FIG.

The imaging unit 6 acquires an image used for recognition of the nozzle 13. The imaging unit 6 has a fixed relative position to the processing head 3. The imaging unit 6 includes an imaging optical system 30 that forms an image of an object below the opening 20. The imaging unit 6 is accommodated in a space partitioned by a window 31 on the upper side of the body 11. The imaging optical system 30 uses the lens 17 of the emission optical system 12 in addition to the lens 32. The optical axis 30 a of the imaging optical system 30 is coaxial with a part of the optical axis 12 a of the emission optical system 12. The image of the object below the opening 20 enters the imaging unit 6 through the lens 17, the mirror 16, a half mirror 33 described later, and the lens 32. The optical axis 30 a of the imaging optical system 30 may be set off the optical axis 12 a of the emission optical system 12. The optical axis 30a of the imaging optical system 30 is not limited to being coaxial with a part of the optical axis 12a of the emission optical system 12, and may be arranged as a separate axis.

The imaging unit 6 uses an image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary MOS) to capture an image formed by the imaging optical system 30. The imaging unit 6 is accommodated in a casing 34 provided on the body 11 of the processing head 3. The imaging unit 6 can image the processing position on the workpiece W through the nozzle hole 23 of the nozzle 13. Furthermore, the imaging part 6 can also image the processing state of the workpiece W by laser light. The imaging unit 6 outputs the captured image information to the image processing unit 8 described later.

The illumination unit 7 irradiates illumination light to the target nozzle 13 from which an image is acquired by the imaging unit 6. For example, the illumination unit 7 irradiates the visual field of the imaging unit 6 with illumination light through the processing head 3. The illumination unit 7 is accommodated in the body 11 and fixed to the body 11. The illumination unit 7 includes a light source 35, a lens 36, and a half mirror 33. The light source 35 is, for example, an LED (Light Emitting Diode) or the like, and emits light (for example, visible light) in a wavelength band in which the imaging unit 6 has sensitivity. In addition, by using an incoherent light source such as an LED, it is possible to prevent interference fringes from appearing in an image captured by the imaging unit 6 and to recognize the nozzle more accurately. The light from the light source 35 is reflected by the half mirror 33 through the lens 36, passes through the mirror 16, passes through the lens 17, and is irradiated below the opening 20 of the body 11. Moreover, the laser processing machine 1 does not need to be equipped with the illumination part 7, and may image by the imaging part 6 by external light etc., for example.

The image processing unit 8 performs image processing on the image information output from the imaging unit 6. For example, the image processing unit 8 performs processing such as binarization processing and pattern matching in addition to processing such as gamma correction and white balance. The image processing unit 8 supplies the processed image information to the control unit 9. The image processing unit 8 controls illumination light irradiation by the illumination unit 7 and imaging by the imaging unit 6. The control of the imaging unit 6 and the illumination unit 7 may be performed by the control unit 9 described later.

The control unit 9 comprehensively controls the laser processing machine 1 including the laser oscillator 2 and the moving unit 4. The control unit 9 includes, for example, a CPU (Central / Processing / Unit), and controls each unit by calling a program stored in the storage unit 10 and causing the CPU to execute the program. The control unit 9 includes a nozzle identification unit 41, a nozzle determination unit 42, a mounting nozzle specification unit 43, a nozzle mounting instruction unit 44, and a processing state detection unit 45.

The nozzle identification unit 41 recognizes the nozzle type from the image of the nozzle 13 acquired by the imaging unit 6. Here, the nozzle 13 is, for example, a shape (a shape of a nozzle hole, a shape of a nozzle appearance), a dimension (a nozzle hole diameter, a nozzle outer diameter, a nozzle height), a surface treatment (the presence or absence of plating, the type of plating), and the like. There are a plurality of types (nozzle forms) by any combination of the above. For this reason, the nozzle type is used as a type for classifying a plurality of types (nozzle forms) of nozzles, in other words, a type for specifying the type (nozzle form) of each nozzle. Although details will be described later, the shape of the nozzle hole means, for example, one nozzle hole or a concentric double nozzle hole, etc. The shape of the nozzle appearance is, for example, flat, steeply inclined Means a stepped shape or the like.

The nozzle identification unit 41 recognizes the nozzle position based on the amount of movement between the machining head 3 and the nozzle storage unit 5 by the moving unit 4. The nozzle identifying unit 41 acquires, for example, the amount of movement of the machining head 3 by the moving unit 4 and determines in which slot 26 (see FIG. 2B) the target nozzle 13 for recognizing the nozzle type is arranged. calculate. The nozzle identification unit 41 generates, for example, data in which the position of the slot 26 (for example, XY coordinates) and the nozzle type of the nozzle 13 held in the slot 26 are associated with each other, and this data is stored in the nozzle management of the storage unit 10. Register in table D3.

The control unit 9 can find the nozzle 13 to be mounted with reference to the nozzle management table D3 without newly recognizing the nozzle type for the nozzle 13 whose nozzle type has already been recognized. The nozzle management table D3 is information that associates the nozzle position recognized by the nozzle identification unit 41 and the nozzle type with respect to the plurality of nozzles 13 arranged in the nozzle accommodating unit 5.

The nozzle determination unit 42 recognizes a nozzle type recognized by an identification mark M (see FIG. 2C) described later, and a nozzle type recognized by extracting a characteristic part of the shape of the nozzle 13 from the image acquired by the imaging unit 6. , Are determined to match. Note that whether or not the control unit 9 includes the nozzle determination unit 42 is arbitrary.

The mounting nozzle specifying unit 43 specifies the mounting target nozzle 13 by referring to the processing table D4 and the nozzle management table D3 of the storage unit 10 based on the processing conditions. The machining conditions are set according to the workpiece to be machined, and include, for example, at least one operating condition among the machining head 3 by the moving unit 4, the laser oscillator 2, and the assist gas injection. The operating conditions of the moving unit 4 are, for example, a speed (eg, cutting speed) for moving the machining head 3 and an acceleration. The operating conditions of the laser oscillator 2 are, for example, laser light output, frequency, duty ratio, and the like. The assist gas injection conditions include, for example, presence / absence of assist gas injection, pressure, and flow rate. The processing table D4 is information in which a plurality of processing conditions corresponding to the workpiece W and nozzle types are associated with each other.

The nozzle mounting instruction unit 44 instructs to mount the nozzle 13 of the nozzle housing unit 5 on the processing head 3. The nozzle mounting instruction unit 44 may instruct mounting of the mounting target nozzles 13 after acquiring the nozzle types related to all the nozzles 13 in the nozzle housing unit 5. Since the nozzle types for all the nozzles 13 are acquired, the nozzle management table D3 is completed, and the nozzle 13 to be mounted can be easily specified based on the data of the nozzle management table D3 at the next nozzle replacement. The acquisition of the nozzle types for all the nozzles 13 may be performed at a timing such as when the laser processing machine 1 is started up or after the lid of the nozzle housing 5 is swept.

Further, the nozzle mounting instruction unit 44 may instruct the mounting of the nozzle 13 when the nozzle type of the nozzle 13 of the nozzle accommodating unit 5 is sequentially obtained and the mounting target nozzle 13 is found. Thereby, the nozzle management table D3 is unnecessary, and the burden on the storage unit 10 can be reduced. However, the nozzle position and the nozzle type acquired until the mounting target nozzle 13 is found may be registered in the nozzle management table D3 and referred to at the next nozzle replacement.

The machining state detection unit 45 detects the machining state of the workpiece W from an image obtained by the imaging unit 6 imaging the workpiece W being processed or processed by the laser beam. The processing state detection unit 45 allows the imaging unit 6 to be shared by the processing state imaging and the nozzle 13 imaging. As an example of the detection of the machining state of the workpiece W, the quality determination of the machining state of the workpiece W is included. Further, the machining state detection unit 45 can also extract numerical information such as a laser machining cutting width from an image of the workpiece W, for example. In this case, the control unit 9 may execute feedback control of laser processing based on the numerical information extracted by the processing state detection unit 45. Note that whether or not the control unit 9 includes the machining state detection unit 45 is arbitrary.

An example of the nozzle mounting method according to this embodiment will be described based on the laser beam machine 1 having the above-described configuration. The laser beam machine 1 according to the present embodiment can recognize the nozzle type of the nozzle 13 arranged in the nozzle housing portion 5. Thereby, for example, the laser processing machine 1 automatically finds out the nozzle 13 to be replaced from a plurality of types of nozzles 13 arranged in the nozzle housing 5 and automatically performs at least a part of the nozzle replacement processing. be able to.

2A is a view showing a state in which the machining head 3 is opposed to the nozzle accommodating portion 5, FIG. 2B is a plan view of the nozzle accommodating portion 5, and FIG. 2C is a plan view showing an example of the nozzle 13. FIG. As shown in FIGS. 2A and 2B, the plurality of nozzles 13 are arranged in the plurality of slots 26 of the nozzle accommodating portion 5, and the machining head 3 is positioned with respect to any of the nozzles 13 in the slot 26. It is positioned. Each of the plurality of slots 26 has a position in the XY direction. In addition, the form of the nozzle accommodating part 5 is an example, Comprising: The arbitrary structures which can hold | maintain the several nozzle 13 are applied. Further, in the machining head 3, the previously mounted nozzle 13 is removed from the body 11 in advance by a rotation mechanism (not shown).

Further, as shown in FIG. 2C, the nozzle 13 has an identification mark M. The identification mark M is formed at a position where the imaging unit 6 can capture an image in a state where the nozzle 13 is disposed in the nozzle housing unit 5. The identification mark M is formed around the nozzle hole 23 when viewed from the penetration direction of the nozzle hole 23 of the nozzle 13. The identification mark M is formed on the end surface 24 around the base end portion 21. The identification mark M has, for example, a main part M1 and a reference mark M2. The main part M1 has a character code indicating the nozzle type. The reference mark M2 is formed at a position defined with respect to the main part M1. For example, the reference mark M2 is formed at a position closer to the nozzle hole 23 than the main portion M1. When the reference mark M2 is detected, since the relative position between the reference mark M2 and the main part M1 is known, the position of the main part M1 can be estimated.

Next, processing executed by the laser beam machine 1 according to the present embodiment will be described. FIG. 3 is a flowchart showing an example of identifying the nozzle 13 by the identification mark M. FIG. 4 is a flowchart showing an example of recognition of the reference mark M2. FIG. 5 is a flowchart showing an example of recognition of characters and codes (main part M1). FIG. 6 is a process diagram showing the nozzle 13 identification process. This process creates a nozzle management table D3 in which the accommodation position of the nozzle 13 (position of the slot 26) in the nozzle accommodation unit 5 is associated with the nozzle type of the nozzle 13.

First, in step S 1, the control unit 9 moves the machining head 3 to the reference position of the target slot 26 in the nozzle housing unit 5. In step S1, the control unit 9 controls the moving unit 4 so that the image recognition area FV of the imaging unit 6 is arranged at the reference position of the slot 26 as shown in FIG. Move. The reference position of the slot 26 is set outside the base end portion 21 of the nozzle 13 and at a position where the reference mark M2 exists in the circumferential direction around the nozzle hole 23. Next, in step S2, the controller 9 executes a process of recognizing the reference mark M2 of the nozzle 13 accommodated in the target slot 26 (see FIG. 4 below).

First, as shown in FIG. 4, the control unit 9 determines whether or not the reference mark M2 exists in the image recognition area FV in step S11. In step S 11, the control unit 9 causes the image capturing unit 6 to capture an image of the image recognition area FV. The control unit 9 causes the image processing unit 8 to process the image captured by the imaging unit 6 and determines whether or not the reference mark M2 is detected in the captured image based on the processing result.

When it is determined that the reference mark M2 is not detected in the image recognition area (step S11; NO), the control unit 9 determines whether or not the recognition of the reference mark M2 is continued (step S12). The control unit 9 counts the number of times that the process of step S12 has been executed, and determines that the recognition of the reference mark M2 is continued when the number of processes is equal to or less than a predetermined number. When it is determined that the recognition of the reference mark M2 is continued (step S12; YES), the control unit 9 relatively moves the image recognition area and the nozzle 13 (step S13), and repeats the processes of steps S11 and S12. The relative movement in step S13 is performed by, for example, stepping the machining head 3 in the circumferential direction around the nozzle hole 23 by driving the moving unit 4. By repeating the processing from step S11 to step S13, the reference mark M2 normally enters the image recognition area FV as shown in FIG. 6B.

The control unit 9 determines that the recognition of the reference mark M2 is not continued when the processing in step S12 exceeds a predetermined number (step S12; NO). Then, the control unit 9 determines that the reference mark M2 of the nozzle 13 held in the target slot 26 in this process has failed to be recognized, and ends this reference mark recognition process.

When it is determined that the reference mark M2 is detected in the image recognition area (step S11; YES), the control unit 9 detects the position (P1) of the reference mark M2 on the captured image in step S14 (FIG. 6). (See (c)). For example, the control unit 9 calculates the center position P1 of the reference mark M2 from the edge of the reference mark M2 detected by the image processing unit 8. Next, the control unit 9 calculates a difference Pd between the center P0 of the image recognition area FV and the position P1 of the reference mark M2 (step S15). The center P0 of the image recognition area FV is the position of the optical axis 30a of the imaging optical system 30.

The control unit 9 calculates, for example, a difference Pd between a pixel position corresponding to the center position P1 of the reference mark M2 on the captured image and a pixel position corresponding to the center P0 of the captured image. This difference value is represented, for example, by a vector including a component in which the difference in position in the X direction is represented by the number of pixels and a component in which the difference in position in the Y direction is represented by the number of pixels. The control unit 9 can also convert the position difference into the actual size value by using a conversion coefficient between the size of one pixel of the captured image and the actual size value (for example, millimeter) on the nozzle 13. This conversion coefficient can be examined in advance by, for example, imaging a scale arranged at a height at which an identification mark is formed in the nozzle 13.

The control unit 9 determines whether or not the absolute value | Pd | of the difference Pd is less than a specified value (step S16). The absolute value | Pd | corresponds to the distance (deviation amount) between the center P0 of the image recognition area and the reference mark M2. The specified value for the absolute value | Pd | may be, for example, 0 or a numerical value in the vicinity of 0. When the control unit 9 determines that the absolute value | Pd | is equal to or larger than the specified value (step S16; NO), the control unit 9 controls the moving unit 4 to make the image recognition area FV and the nozzle 13 relative to each other according to the difference Pd. Move (step S17). In step S 17, the control unit 9 moves the processing head 3 using the difference Pd so that the center P 0 of the image recognition area FV approaches the center position P 1 of the reference mark M 2. Subsequently, the control unit 9 performs the processing from step S14 to step S16. When it is determined that the absolute value | Pd | is less than the specified value (step S16; NO), the control unit 9 determines that the reference mark M2 has been successfully recognized, and ends the reference mark recognition process.

After the completion of the reference mark recognition process, the control unit 9 estimates the position of the main part M1 from the recognized position of the reference mark M2 in step S3 in FIG. (See FIG. 5). In step S21 in FIG. 5, the control unit 9 controls the moving unit 4 to move the processing head 3 to the recognition position of the character (main part M1) (see FIG. 6D). In step S21, the control unit 9 controls the moving unit 4 so that at least a part of the main part M1 (for example, the beginning of the character) enters the image recognition area FV.

In the process shown in FIG. 4, when the reference mark M2 enters the image recognition area FV, the difference Pd calculated in step S15 is stored as an offset value, and this offset value is used in step S21 in FIG. As shown, the image recognition area FV may be moved to the position of the main part M1. Thereby, after the reference mark M2 enters the image recognition area FV, the alignment of the center P0 of the image recognition area FV and the position P1 of the reference mark M2 is not performed (the processing in steps S16 and S17 in FIG. 4). May be.

The control unit 9 causes the imaging unit 6 to capture an image and causes the image processing unit 8 to process the captured image (step S22). In step S22, the image processing unit 8 performs processing such as character recognition by OCR or graphic recognition by binarization (eg, barcode recognition) (step S22). Next, the control unit 9 determines whether or not the main part M1 of the identification mark M has been successfully recognized (step S23).

When it is determined that the recognition of the main part M1 has failed (step S23; NO), the control unit 9 determines whether or not the recognition of the main part M1 is continued (step S24). When it determines with continuing the recognition of main part M1 (step S24; YES), the control part 9 changes a recognition parameter (step S25), and repeats the process of step S22 and step S23. The recognition parameter is, for example, brightness by the illumination unit 7, an algorithm used in the process of step S22, or a parameter thereof (eg, binarization threshold). The control unit 9 counts the number of times that the process of step S24 has been executed, and determines that the recognition of the main part M1 is not continued when the number of times of the process of step S24 reaches a specified number (step S24; No). . In this case, the controller 9 determines that the recognition of the main part M1 has failed and ends the recognition process of the main part M1.

When it determines with the recognition of the main part M1 having succeeded (step S23; YES), the control part 9 memorize | stores the recognized information (recognition information) in the memory | storage part 10, and the recognition information is memorize | stored in the memory | storage part 10. If this is the case, this is updated (step S26). Here, it is assumed that the main part M1 is a character code and includes, for example, a predetermined data amount (eg, 7 digits) of numbers and symbols. In addition, it is assumed that the number of digits that can be recognized in the recognition process of the main part M1 by one imaging is one digit. In this case, the control unit 9 performs identification processing for the number of times (for example, 7 times) necessary to recognize the main part M1 having a predetermined data amount. In step S 26, the control unit 9 stores information obtained by the first identification in the storage unit 10, adds information obtained by the next and subsequent identifications, and updates the identification information.

The control unit 9 determines whether or not to continue the recognition of the main part M1 (step S27). For example, when the acquisition of the identification information of the predetermined data amount is not completed, the control unit 9 determines to continue the recognition of the main part M1 (step S27; YES). In this case, the control unit 9 moves the machining head 3 by a predetermined amount in step S28 (see FIG. 6E), and repeats the processing from step S22 to step S27. For example, when the acquisition of the identification information of the predetermined data amount is completed, the control unit 9 determines that the recognition of the main part M1 is not continued (Step S27; No). In this case, the control part 9 complete | finishes the recognition process of the main part M1 as what succeeded in recognition of the main part M1.

3, the control unit 9 compares the information of the main part M1 recognized in step S3 with the registration information stored in advance in the storage unit 10, and determines the nozzle type (step S4). This registration information is information in which identification mark information and nozzle type information are associated with each other.

The control unit 9 determines whether or not the nozzle type has been successfully recognized (step S5). When it is determined that the nozzle type has been successfully recognized (step S5; YES), the control unit 9 associates the XY coordinate position (nozzle position) of the slot 26 to be identified with the nozzle type and registers them in the nozzle management table D3. (Step S6). The controller 9 determines whether or not to set the next slot 26 as a recognition target after the process of step S6 or when it is determined in step S5 that the nozzle type has failed to be recognized (step S5; NO). (Step S7). When it is determined that the next slot 26 is set as a recognition target (step S7; YES), the control unit 9 sets the reference position of the slot 26 to be recognized next (step S8), and the process proceeds from step S1 to step S7. Repeat the process. When it is determined that the next slot 26 is not set as a recognition target (step S7; NO), the control unit 9 ends the series of processes.

Next, another example of the identification mark M will be described. FIGS. 7A to 7E are diagrams showing other examples of the identification marks from the identification marks MA to ME, respectively. The identification mark MA in FIG. 7A includes the main part M1 and does not include the reference mark. Here, the main part M1 includes a three-digit number (001), a symbol (−), and a three-digit number (180). Thus, the identification mark MA does not need to include the reference mark M2, and in this case, the recognition process of the reference mark M2 can be omitted. The type (eg, alpha bed, kanji, hiragana, number) and number of characters included in the main part M1, and the type and number of symbols are not limited to the above example, and can be arbitrarily set.

In the identification mark MB in FIG. 7B, the main part M1 is represented by a figure. The main portion M1 includes ten circles arranged in the circumferential direction of the nozzle 13, and the circle colors (for example, white and black) are set to a plurality of colors. When the circle has two colors, the main part M1 can express a binary 10-digit number string, that is, 10-bit information. Further, the identification mark MC in FIG. 7C includes ten fan-shaped figures arranged in the circumferential direction of the nozzle 13. When the main part M1 includes a figure, the shape, number, and color type of the figure are not limited to the above example and can be arbitrarily set. The identification mark MD in FIG. 7D includes a plurality of figures (for example, fan-shaped) arranged on the tapered surface inside the base end portion 21. Thus, the position where the main part M1 is formed is not limited to the above example, and can be arbitrarily set. The identification mark ME in FIG. 7E is a so-called one-dimensional barcode. Note that a two-dimensional barcode may be used instead of the one-dimensional barcode. Further, the identification marks MA to ME shown in FIGS. 7A to 7E may be combined with the reference mark M2.

Next, examples of nozzle types will be described. FIGS. 8A to 8D are diagrams showing examples of nozzles having different nozzle types. The nozzles 13A to 13C in FIGS. 8A to 8C each have one nozzle hole 23, and the nozzle hole diameter φ is 3 mm, 2 mm, and 1.5 mm. The nozzle types of the nozzles 13A to 13C are represented by, for example, “normal nozzle, φ3 mm”, “normal nozzle, 2 mm”, and “normal nozzle, 1.5 mm”. The nozzle 13D of FIG. 8D has double nozzle holes 23, and the inner nozzle hole diameter φ is 2 mm. Although this nozzle 13D does not see the outer nozzle hole when viewed from above, it can be recognized that the gas introduction portion 23a communicating with the outer nozzle hole is confirmed, so that it has double nozzle holes. The nozzle type of the nozzle 13D is represented by “double nozzle, φ2 mm”, for example. The nozzle shown in FIG. 8 is an example, and the nozzle type is not limited. The nozzle type may be classified according to the size of the nozzle outer diameter, the nozzle shape, the nozzle surface treatment, and the like. The classification according to the dimension of the nozzle outer diameter can be classified by, for example, the outer diameter on the distal end side or the proximal end side, the nozzle height, or the like. Further, the classification according to the nozzle shape can be classified according to, for example, a flat shape in the nozzle height direction, a steeply inclined shape, or a step formed on a part of the outer periphery. Classification by nozzle surface treatment can be classified by, for example, the presence or absence of plating applied to the nozzle surface, the type of plating, and the like. Further, the nozzle type may be classified other than those described above.

As shown in FIG. 8, when the nozzles 13 are classified by nozzle type, there are features on the shape. Therefore, if the feature on the shape can be found and the nozzle type can be recognized, the identification mark M becomes unnecessary, and the handleability is improved. FIG. 9 shows a method for recognizing the nozzle type from the shape feature of the nozzle 13.

FIG. 9 is a flowchart showing another example of identifying nozzles. In FIG. 9, the same reference numerals are given to those that perform the same processing as in FIG. 3, and the description thereof is omitted or simplified. As shown in FIG. 9, in step S 31, the control unit 9 moves the machining head 3 to the center position of the target slot 26. For example, the control unit 9 controls the moving unit 4 to move the processing head 3 so that the image recognition area FV is arranged in the nozzle hole 23 of the nozzle 13. The image recognition area FV at this time may be set to a size that allows the entire base end portion 21 of the nozzle 13 to be imaged, for example, or an image is obtained by scanning a small image recognition area FV similar to FIG. May be.

In step S32, the control unit 9 causes the image capturing unit 6 to capture an image, and causes the image processing unit 8 to process the captured image, thereby extracting a feature amount such as an edge of the nozzle hole 23. In step S33, the control unit 9 collates the feature amount extracted in step S32 with a database in which the feature amount and the nozzle type are associated with each other. For example, from the edge of the nozzle hole 23 detected in step S32, the control unit 9 uses a normal nozzle (see FIGS. 8A to 8C) or a double nozzle (see FIG. 8D). Determine if there is. Further, the control unit 9 calculates the nozzle hole diameter from the edge of the nozzle hole 23 detected in step S32. The control unit 9 searches the database for information indicating the distinction between the normal nozzle and the double nozzle and information indicating the nozzle hole diameter, and acquires the corresponding nozzle type. Thereafter, the control unit 9 performs the processing from step S5 to step S8 described with reference to FIG. 3, associates the slot position with the nozzle type for the nozzle determined to have been successfully recognized in step S5, and manages the nozzle. Create table D3.

In the present embodiment, the control unit 9 may perform only one of the nozzle identification process using the identification mark M (see FIGS. 4 and 5) and the nozzle identification process using the shape (see FIG. 9). , You may do both. For example, it is determined by the nozzle determination unit 42 (see FIG. 1) of the control unit 9 whether the result of the nozzle identification process by the identification mark M and the result of the nozzle identification process by the shape match. Processing may be performed in which the type is registered in the nozzle management table D3 and is not registered if they do not match.

Next, a nozzle mounting method according to this embodiment will be described. FIG. 10 is a flowchart showing a nozzle mounting method. FIG. 11A shows an example of the nozzle management table D3, and FIG. 11B shows an example of the processing table D4.

As shown in FIG. 10, when the nozzle 13 is attached to the machining head 3, the control unit 9 creates the nozzle management table D3 by the nozzle identification process shown in FIG. 3 or FIG. 9 (step S41). The nozzle management table D3 in FIG. 11A includes a management number item, a nozzle position item, and a nozzle type item. The management number is an ID that is arbitrarily set, but may be, for example, the number of the slot 26 of the nozzle housing 5. The nozzle position is a position where the nozzle 13 is arranged in the nozzle accommodating portion 5, and may be, for example, the XY coordinates of the slot 26. In the nozzle management table D3, the nozzle position and the nozzle type are associated by a management number. For example, the nozzle 13 corresponding to the management number 1 is a normal nozzle having an X-direction coordinate of X1 and a Y-direction coordinate of Y1, and a nozzle hole diameter of 3 mm.

In step S42 of FIG. 10, the control unit 9 acquires the processing conditions. The processing conditions may be input by an operator, or based on the workpiece W carried into the laser processing machine 1, for example, from a host controller (for example, a controller that supervises the system) by wired or wireless control unit 9 may also be sent. The control unit 9 acquires processing conditions from an operator input or the like.

In step S43, the control unit 9 collates the machining conditions with the machining table D4, determines the nozzle type according to the machining conditions, and identifies the nozzle 13 to be mounted. This step S43 is performed by the mounting nozzle specifying unit 43 (see FIG. 1) of the control unit 9. As shown in FIG. 11B, the processing table D4 includes a management number item, a processing condition item, and a nozzle type item. The management number is an ID that is arbitrarily set. The processing conditions include items such as cutting speed, laser oscillation output, and assist gas pressure. The processing table D4 may be input by an operator in advance, or may be sent from the host controller to the control unit 9 as appropriate. Nozzle types corresponding to the processing conditions are selected and registered in advance. The mounting nozzle specifying unit 43 specifies the nozzle 13 of the nozzle type that matches the given processing condition as the mounting target nozzle.

In step S44, the control unit 9 collates the nozzle type of the mounting target nozzle 13 specified in step S43 with the nozzle management table D3, and acquires the position of the mounting target nozzle 13. The control unit 9 controls the moving unit 4 based on information on the position (slot position or XY coordinates) of the nozzle 13 to be mounted, moves the machining head 3 to the position of the nozzle 13 to be mounted, and mounts it. The target nozzle is mounted on the machining head 3 (step S45). As described above, the nozzles 13 can be automatically mounted by performing steps S41 to S45.

FIG. 12 is a flowchart showing another example of the nozzle mounting method. In this method, the nozzle mounting process is performed in a state where the nozzle 13 to be mounted is not registered in the nozzle management table D3 or the nozzle management table D3 does not exist. In FIG. 12, the same reference numerals are assigned to the same processes as those in FIGS. 3 and 9, and the description thereof is omitted or simplified.

The control unit 9 recognizes the nozzle type of the nozzle 13 of the target slot through the processing of steps S31 to S33 in FIG. 9 and step S5 in FIG. When the nozzle type is successfully recognized in step S5 (step S5; YES), the control unit 9 determines whether or not the recognized nozzle type is a nozzle type to be mounted (step S51). The nozzle type to be mounted is determined by the control unit 9 with reference to the processing table D4, for example. If the controller 9 determines that the recognized nozzle type is not the mounting target nozzle type (step S52; NO), or determines that the nozzle type has failed to be recognized in step S5, the control unit 9 determines the reference position as follows. (Step S53), and the processing from step S31 to step S5 is repeated.

When it is determined that the recognized nozzle type is the nozzle type to be mounted (step S51; YES), the control unit 9 mounts the nozzle 13 on the processing head 3 (step S54). That is, when the mounting target nozzle 13 is found, the control unit 9 does not recognize the next nozzle 13 and mounts the mounting target nozzle 13 on the processing head 3. In this case, since the imaging unit 6 acquires an image through the processing head 3, the nozzle 13 can be mounted on the processing head 3 without greatly moving the processing head 3, and the time required for nozzle mounting is reduced. it can. Specifically, when the imaging unit 6 captures an image outside the processing head 3, the processing unit 3 and the imaging unit 6 are located at different positions. Therefore, when the mounting target nozzle 13 is found, the imaging unit 6 It is necessary to move the machining head 3 from the imaging position facing the nozzle 13 to the mounting position where the machining head 3 faces the nozzle 13. On the other hand, when an image is captured through the machining head 3, the imaging position and the mounting position are the same or close to each other, so that the machining head 3 is not moved or the machining head 3 is finely adjusted. Thus, the machining head 3 can be attached to the nozzle 13.

The control unit 9 may register the identified nozzle type in the nozzle management table D3 until the nozzle 13 to be mounted is found. In this case, when the nozzle 13 to be mounted is registered in the nozzle management table D3 in the subsequent nozzle replacement, the nozzle replacement can be performed using the nozzle management table D3. In addition, when the nozzle 13 to be mounted is not in the nozzle management table D3 in the nozzle replacement after the next time, nozzle identification is performed from a nozzle position that is not in the nozzle management table D3. Thereby, the number of nozzles 13 to be identified can be reduced. Further, when the mounting target nozzle 13 is registered in the nozzle management table D3, the nozzle identification may be performed again at the nozzle position. The nozzle 13 may be mounted if the result of the newly performed nozzle identification matches the information in the nozzle management table D3, and if not matched, the mounting of the nozzle 13 may be stopped to notify the operator of the abnormality.

After mounting the nozzle 13 on the machining head 3, the control unit 9 controls the laser oscillator 2 and irradiates the machining position of the workpiece W with laser light from the machining head 3 to process the workpiece W. At that time, the control unit 9 controls the imaging unit 6 to cause the imaging unit 6 to capture the machining state of the workpiece W by the laser light. The machining state detection unit 45 of the control unit 9 detects the machining state of the workpiece W from the image obtained by the imaging unit 6 imaging the workpiece W being processed or processed. The machining state detection unit 45 may determine whether the machining state of the workpiece W is good or bad as detection of the machining state of the workpiece W. Further, the processing state detection unit 45 may extract numerical information such as a cutting width of laser processing from the image of the workpiece W. The control unit 9 may execute feedback control of laser processing based on this numerical information. Thus, the imaging unit 6 can be shared for both the identification of the nozzle 13 and the detection of the machining state, and an increase in device cost can be suppressed.

FIG. 13 is a diagram showing another example of the illumination unit. In FIG. 13, the same members as those in FIGS. 1 and 2 are denoted by the same reference numerals, and the description thereof is omitted or simplified. As shown in FIG. 13, the illumination unit 7 A is provided outside the body 11 below the processing head 3. The illumination unit 7 A is supported by the lower end of the body 11. The illumination unit 7A includes a light source unit 37 in which a plurality of light sources (for example, LEDs) are arranged in a ring shape. As described above, when the illumination unit 7A is externally attached to the processing head 3, the illumination unit 7A can be easily replaced or inspected.

As mentioned above, although embodiment was described, the technical scope of this invention is not limited to above-described embodiment. For example, one or more of the requirements described in the above embodiments may be omitted. Moreover, each requirement demonstrated by said embodiment can be combined suitably. Moreover, although the above-mentioned embodiment does not mention the imaging magnification by the imaging part 6, you may image by switching the image recognition area FV by the imaging part 6 to a low magnification or a high magnification, for example. In this case, first, the image recognition area FV is imaged at a low magnification, and after confirming the presence of the identification mark M, the center of the image recognition area FV is moved to that position and switched to imaging at a high magnification to enlarge the identification mark M. You may image in the state.

DESCRIPTION OF SYMBOLS 1 ... Laser processing machine, 3 ... Processing head, 4 ... Moving part, 5 ... Nozzle accommodating part, 6 ... Imaging part, 7, 7A ... Illumination part, 13, 13A- 13D ... Nozzle, 23 ... Nozzle hole, 41 ... Nozzle identification part, 42 ... Nozzle determination part, 43 ... Installation nozzle specifying part, 44 ... Nozzle installation instruction part, 45 ...・ Processing state detection unit, W ... work, D3 ... nozzle management table, D4 ... processing table, M, MA to ME ... identification mark, M1 ... main part, M2 ... reference Mark, FV ... Image recognition area

Claims

A hollow processing head that has a replaceable nozzle and guides laser light for processing the workpiece and emits the laser light from the nozzle,
An imaging unit that acquires an image of the nozzle held in a nozzle housing unit in which a plurality of the nozzles are arranged, through the processing head;
And a nozzle identification unit that recognizes a nozzle type from the nozzle image acquired by the imaging unit.
The laser processing machine according to claim 1, further comprising an illuminating unit that irradiates illumination light to the nozzles for which an image is acquired by the imaging unit.
The laser processing machine according to claim 2, wherein the illumination unit irradiates the nozzle with illumination light through the processing head.
The nozzle has an identification mark formed at a position where the imaging unit can capture an image,
The laser processing machine according to any one of claims 1 to 3, wherein the nozzle identification unit recognizes the nozzle type by determining the identification mark from an image acquired by the imaging unit.
The laser processing machine according to claim 4, wherein the identification mark is formed around the nozzle hole when viewed from the penetrating direction of the nozzle hole of the nozzle.
6. The laser processing machine according to claim 4, wherein the identification mark includes a main part having the nozzle type and a reference mark formed at a position defined with respect to the main part.
A nozzle determination unit that determines whether the nozzle type recognized by the identification mark matches the nozzle type extracted by extracting a characteristic portion of the shape of the nozzle from the image acquired by the imaging unit. The laser beam machine according to any one of claims 4 to 6.
The laser processing machine according to any one of claims 1 to 3, wherein the nozzle identification unit recognizes the nozzle type by extracting a characteristic portion of the shape of the nozzle from an image acquired by the imaging unit.
The laser processing machine according to any one of claims 1 to 8, further comprising a moving unit that relatively moves the processing head and the nozzle housing unit.
The laser processing machine according to claim 9, wherein the nozzle identification unit recognizes a nozzle position based on a movement amount of the processing head and the nozzle housing unit by the moving unit.
The moving unit relatively moves the processing head and the nozzle accommodating unit in a circumferential direction centering on a penetrating direction of a nozzle hole of the nozzle, and scans an image recognition area of the imaging unit in the circumferential direction. The laser processing machine according to claim 9 or 10.
Nozzle management table that associates the nozzle position recognized by the nozzle identification unit and the nozzle type with respect to the plurality of nozzles arranged in the nozzle accommodating unit,
A machining table that associates a plurality of machining conditions according to the workpiece and the nozzle type;
The laser processing machine according to claim 10, further comprising: a mounting nozzle specifying unit that specifies the nozzle to be mounted by referring to the processing table and the nozzle management table based on the processing conditions.
A nozzle mounting instruction unit that instructs to mount the nozzle of the nozzle housing unit on the processing head;
The nozzle mounting instruction unit acquires the nozzle types related to all the nozzles of the nozzle storage unit, or sequentially acquires the nozzle types for the nozzles of the nozzle storage unit to select the nozzles to be mounted. The laser processing machine according to any one of claims 1 to 12, wherein when found, the installation of the nozzle to be mounted is instructed.
The imaging unit is capable of imaging the workpiece being processed or processed by the laser light,
The laser processing machine according to any one of claims 1 to 13, further comprising a processing state detection unit that detects a processing state of the workpiece from an image obtained by the imaging unit capturing the workpiece that is being processed or has been processed. .
A hollow processing head that has a replaceable nozzle and guides a laser beam for processing a workpiece and emits the laser light, and an image of the nozzle held in a nozzle housing portion in which a plurality of the nozzles are arranged, In a laser processing machine including an imaging unit that acquires through the processing head,
Recognizing the nozzle type from the image of the nozzle acquired by the imaging unit;
Mounting a nozzle to be mounted on the processing head among the recognized nozzles.