WO2022249352A1 - レーザ加工機の動作を教示するための教示装置、レーザ加工システム、及び方法 - Google Patents
レーザ加工機の動作を教示するための教示装置、レーザ加工システム、及び方法 Download PDFInfo
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- WO2022249352A1 WO2022249352A1 PCT/JP2021/020059 JP2021020059W WO2022249352A1 WO 2022249352 A1 WO2022249352 A1 WO 2022249352A1 JP 2021020059 W JP2021020059 W JP 2021020059W WO 2022249352 A1 WO2022249352 A1 WO 2022249352A1
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- defocus amount
- laser processing
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000003754 machining Methods 0.000 title abstract 4
- 230000003287 optical effect Effects 0.000 claims abstract description 33
- 238000006243 chemical reaction Methods 0.000 claims abstract description 18
- 230000001678 irradiating effect Effects 0.000 claims 2
- 230000006870 function Effects 0.000 description 24
- 230000007246 mechanism Effects 0.000 description 15
- 238000010586 diagram Methods 0.000 description 5
- 238000005286 illumination Methods 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 239000013307 optical fiber Substances 0.000 description 2
- 229910052799 carbon Inorganic materials 0.000 description 1
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 239000011796 hollow space material Substances 0.000 description 1
- 238000003698 laser cutting Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
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- 239000012780 transparent material Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Classifications
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- 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
- B23K26/70—Auxiliary operations or equipment
- B23K26/702—Auxiliary equipment
- B23K26/705—Beam measuring device
-
- 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
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/04—Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
- B23K26/046—Automatically focusing the laser beam
-
- 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
- B23K26/082—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
-
- 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
- B23K26/0869—Devices involving movement of the laser head in at least one axial direction
- B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
- B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
-
- 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
- B23K26/20—Bonding
- B23K26/21—Bonding by welding
-
- 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
- B23K26/36—Removing material
- B23K26/38—Removing material by boring or cutting
Definitions
- the present disclosure relates to a teaching device, laser processing system, and method for teaching the operation of a laser processing machine.
- Patent Document 1 A teaching device for teaching the operation of a laser processing machine is known (for example, Patent Document 1).
- the focus of the laser beam emitted by the laser processing machine may be shifted from the surface of the work (defocus).
- a teaching device for teaching the operation of a laser processing machine that irradiates a surface of a workpiece with a laser beam to perform laser processing on the workpiece includes a beam representing the size of a laser beam irradiation spot on the surface Relational data representing the relationship between a parameter input reception unit that receives an input of size, a defocus amount for shifting the focus of the laser beam from the surface in the optical axis direction of the laser beam, and a beam size that changes according to the defocus amount.
- a relational data acquisition unit that acquires the relational data
- a conversion unit that converts the beam size received by the parameter input reception unit into a corresponding defocus amount based on the relational data
- a defocus amount converted by the conversion unit as an instruction statement
- a program generation unit that generates an operation program for laser processing, defined as
- a method for teaching the operation of a laser processing machine that irradiates a surface of a workpiece with a laser beam to process the workpiece with a laser beam comprises: Receiving an input of a beam size, acquiring relationship data representing a relationship between a defocus amount for shifting the focus of the laser light from the surface in the optical axis direction of the laser light and a beam size that changes according to the defocus amount, Based on the relational data, the received beam size is converted into a corresponding defocus amount, and an operation program for laser processing is generated in which the converted defocus amount is defined as commands.
- the operator can arbitrarily specify the beam size on the surface in order to adjust the heat input to the work during laser processing. Therefore, since it is possible to intuitively teach the operation of the laser processing machine for adjusting the heat input, the work involved in teaching can be simplified.
- FIG. 1 is a diagram of a laser processing system according to one embodiment
- FIG. 2 is a block diagram of the laser processing system shown in FIG. 1
- FIG. 1 shows an example of the laser irradiation apparatus shown in FIG.
- FIG. 10 is a diagram for explaining out-of-focus, in which the focus is shifted upward from the surface of the work
- FIG. 10 is a diagram for explaining in-focus in which the focal point is shifted downward from the surface of the work
- 4 is a graph showing the relationship between defocus amount and beam size (diameter).
- An example of a teaching image is shown.
- FIG. 4 is a diagram of a laser processing system according to another embodiment; 4 shows another example of a teaching image. Still another example of a teaching image is shown.
- the laser processing system 10 includes a laser processing machine 12 , a control device 14 and a teaching device 50 .
- the laser processing machine 12 irradiates the surface S of the work W with a laser beam LB, and performs laser processing (laser welding, laser cutting, etc.) on the work W with the laser beam LB.
- the laser processing machine 12 includes a laser oscillator 16 , a laser irradiation device 18 and a moving mechanism 20 .
- the laser oscillator 16 is a solid-state laser oscillator (eg, YAG laser oscillator or fiber laser oscillator), a gas laser oscillator (eg, carbon dioxide laser oscillator), or the like.
- a laser beam LB is generated inside and supplied to the laser irradiation device 18 through the light guide member 22 .
- the light guide member 22 has, for example, at least one of an optical fiber, a light guide path made of a hollow or transparent material, a reflecting mirror, and an optical lens, and guides the laser beam LB to the laser irradiation device 18 .
- the laser irradiation device 18 is a laser scanner (galvanometer scanner), a laser processing head, or the like, and collects the laser beam LB supplied from the laser oscillator 16 and irradiates the work W with the laser beam LB.
- FIG. 3 schematically shows the configuration of the laser irradiation device 18 as a laser scanner.
- the laser irradiation device 18 shown in FIG. 3 has a housing 24 , a light receiving section 26 , mirrors 28 and 30 , mirror driving devices 32 and 34 , an optical lens 36 , a lens driving device 38 and a laser light emitting section 40 .
- the housing 24 is hollow and defines the propagation path of the laser beam LB inside.
- the light receiving unit 26 is provided in the housing 24 and receives the laser beam LB propagated through the light guide member 22 .
- the mirror 28 is provided inside the housing 24 so as to be rotatable around the axis A1.
- the mirror 28 reflects the laser beam LB that has entered the housing 24 through the light receiving section 26 toward the mirror 30 .
- the mirror driving device 32 is, for example, a servomotor, and rotates the mirror 28 around the axis A1 in accordance with a command from the control device 14 .
- the mirror 30 is provided inside the housing 24 so as to be rotatable around the axis A2.
- the axis A2 may be substantially orthogonal to the axis A1.
- the mirror 30 reflects the laser beam LB reflected by the mirror 28 toward the optical lens 36 .
- the mirror driving device 34 is, for example, a servomotor, and rotates the mirror 30 around the axis A2 according to a command from the control device 14 .
- the mirrors 28 and 30 are sometimes referred to as galvanometer mirrors, and the mirror drivers 32 and 34 are sometimes referred to as galvanometer motors.
- the optical lens 36 has a focus lens or the like, and condenses the laser beam LB.
- the optical lens 36 is supported inside the housing 24 so as to be movable in the direction of the optical axis O of the incident laser beam LB.
- the lens driving device 38 has a piezoelectric element, an ultrasonic vibrator, an ultrasonic motor, or the like, and displaces the optical lens 36 in the direction of the optical axis O according to a command from the control device 14, thereby moving the workpiece.
- the focal point FP of the laser beam LB irradiated to W is displaced in the direction of the optical axis O.
- the laser light emitting section 40 emits the laser light LB condensed by the optical lens 36 to the outside of the housing 24 .
- the moving mechanism 20 has, for example, a servomotor, and moves the laser irradiation device 18 relative to the workpiece W.
- the moving mechanism 20 is an articulated robot capable of moving the laser irradiation device 18 to any position in the coordinate system C.
- the moving mechanism 20 may have a plurality of ball screw mechanisms that move the laser irradiation device 18 along the xy plane of the coordinate system C and in the z-axis direction of the coordinate system C. good.
- the coordinate system C defines, for example, the world coordinate system that defines the three-dimensional space of the work cell, the movement mechanism coordinate system (for example, the robot coordinate system) for controlling the movement of the movement mechanism 20, or the coordinates of the workpiece W. It is a control coordinate system for automatically controlling the operation of the laser processing machine 12 .
- the laser irradiation device 18 is positioned in the coordinate system C so that the emitted laser beam LB propagates in the z-axis minus direction of the coordinate system C during laser processing.
- the z-axis plus direction of the coordinate system C may be referred to as upward.
- the control device 14 controls the operation of the laser processing machine 12.
- the control device 14 is a computer having a processor (CPU, GPU, etc.) and a memory (ROM, RAM, etc.).
- the control device 14 controls the operation of generating laser light by the laser oscillator 16 .
- the control device 14 moves the laser irradiation device 18 with respect to the work W by operating the moving mechanism 20 .
- control device 14 operates the mirror driving devices 32 and 34 of the laser irradiation device 18 to change the orientations of the mirrors 28 and 30, respectively, so that the irradiation point IP of the laser beam LB irradiated to the work W is can be moved with respect to the workpiece W at high speed. Further, the control device 14 operates the lens driving device 38 of the laser irradiation device 18 to displace the optical lens 36, thereby shifting the focal point FP of the laser light LB emitted from the laser light emitting section 40 to the optical axis. Move in the direction of O.
- the teaching device 50 is for teaching the operation of the laser processing machine 12. As shown in FIG. 2, teaching device 50 is a computer having processor 52 , memory 54 and I/O interface 56 . Note that the teaching device 50 may be any type of computer, such as a desktop or tablet PC, or a teaching pendant.
- the processor 52 has a CPU, GPU, or the like, and is communicably connected to the memory 54 and the I/O interface 56 via the bus 58 .
- the processor 52 communicates with the memory 54 and the I/O interface 56 and performs arithmetic processing for realizing teaching functions, which will be described later.
- the memory 54 has RAM, ROM, or the like, and temporarily or permanently stores various data used in arithmetic processing for teaching functions executed by the processor 52 and various data generated during the arithmetic processing. memorize.
- the I/O interface 56 has, for example, an Ethernet (registered trademark) port, a USB port, an optical fiber connector, or an HDMI (registered trademark) terminal, and exchanges data with external devices under instructions from the processor 52. Communicate by wire or wirelessly.
- the teaching device 50 is provided with an input device 60 and a display device 62 .
- the input device 60 has a keyboard, mouse, touch panel, or the like, and receives data input from an operator.
- the display device 62 has a liquid crystal display, an organic EL display, or the like, and displays various data.
- the input device 60 and the display device 62 are communicably connected to the I/O interface 56 by wire or wirelessly. Note that the input device 60 and the display device 62 may be provided separately from the housing of the teaching device 50 or may be integrally incorporated into the housing of the teaching device 50 .
- the focal point FP is moved from the surface S in the direction of the optical axis O (that is, in the z-axis direction of the coordinate system C). ) to shift (defocus) control. Defocusing performed during laser processing will be described below with reference to FIGS. 4 and 5.
- FIG. 4 shows a state in which the focal point FP is deviated from the surface S upward (that is, the side closer to the laser light emitting section 40) by the defocus amount DF.
- the defocus amount DF corresponds to the distance by which the focal point FP is shifted from the surface S.
- the size of the irradiation point IP on the surface S of the laser beam LB with which the surface S is irradiated is referred to as the beam size BS.
- This beam size BS can be represented, for example, as the diameter (or radius) R (unit: [ ⁇ m]) or area E (unit: [ ⁇ m 2 ]) of the irradiation point IP.
- the defocus that shifts the focal point FP upward from the surface S as shown in FIG. 4 is referred to as "outfocus.”
- FIG. 5 shows a state in which the focal point FP is shifted downward from the surface S (that is, the side farther from the laser light emitting section 40) by the defocus amount DF.
- the defocus that shifts the focal point FP downward from the surface S as shown in FIG. 5 is referred to as "infocus”.
- the beam size BS changes according to the defocus amount DF (in other words, the position of the focal point FP).
- the teaching device 50 teaches the operation of the laser processing machine 12 that laser-processes the work W while performing defocusing. A method of teaching the operation of the laser processing machine 12 using the teaching device 50 will be described below.
- the processor 52 Upon receiving a teaching start command from the operator through the input device 60, the processor 52 acquires relational data RD representing the relationship between the defocus amount DF and the beam size BS.
- a data table DT as shown in Table 1 below is pre-stored in the memory 54 as the relational data RD.
- the beam size BS changes according to the defocus amount DF, and between the beam size BS and the defocus amount DF, the optical system of the laser processing machine 12 (for example, the light guide member 22, the laser There is an inherent relationship between the light receiving portion 26, the mirrors 28 and 30, the optical lens 36, and the laser light emitting portion 40) of the illumination device 18).
- the data table DT a plurality of defocus amounts DF and beam sizes BS are stored in association with each other.
- the positive value of the defocus amount DF in Table 1 indicates the out-of-focus defocus amount DF (that is, the distance by which the focus FP is shifted upward from the surface S), while the defocus amount A negative value of DF (eg, “ ⁇ 50”) indicates an in-focus defocus amount DF (that is, a distance by which the focal point FP is shifted downward from the surface S).
- the data table DT shown in Table 1 represents the relationship between the out-focus and in-focus defocus amounts DF and the beam size BS.
- the diameter R of the irradiation point IP is stored as the beam size BS.
- FIG. 6 is a graph showing the relationship between the defocus amount DF and the beam size BS (diameter R) stored in the data table DT.
- the beam size BS corresponding to the defocus amount DF stored in the data table DT is plotted by points, and linear interpolation is performed between the two points.
- the processor 52 can convert the beam size BS into a corresponding defocus amount DF when the operator inputs an arbitrary beam size BS as described later.
- the processor 52 obtains the defocus amount DF from the beam size BS by linearly interpolating the data table DT as shown in FIG.
- processor 52 uses data table DT and the following equation (1) representing linear interpolation: to obtain the defocus amount DF corresponding to the beam size BS (diameter R x ).
- (R n ⁇ R x )/(R x ⁇ R n+1 ) (
- Rn indicates the diameter R stored in the data table DT that is larger than the input diameter Rx and closest to the diameter Rx .
- R n+1 indicates the diameter R stored in the data table DT that is smaller than the input diameter R x and closest to the input diameter R x .
- DF n indicates the defocus amount corresponding to the diameter R n stored in the data table DT
- DF n+1 indicates the defocus amount corresponding to the diameter R n+1 stored in the data table DT. show.
- the processor 52 can obtain the absolute value (that is,
- the processor 52 may obtain the defocus amount DF from the beam size BS by non-linearly interpolating data table DT between points in the graph shown in FIG. In this case, the processor 52 may obtain the defocus amount DF x corresponding to the input diameter R x using the data table DT and a formula representing nonlinear interpolation.
- the processor 52 acquires the relational data RD (eg, data table DT and formula (1)). Therefore, in the present embodiment, the processor 52 functions as a relational data obtaining section 64 (FIG. 2) that obtains the relational data RD.
- the processor 52 acquires the relationship data RD, generates a teaching image 100 shown in FIG. 7 as computer graphics (CG) image data, and displays it on the display device 62 .
- CG computer graphics
- the teaching image 100 is a graphical user interface (GUI) for assisting the operator's teaching work, and has a dataset input image 102, a focus selection image 104, and a dataset display image 106.
- the dataset input image 102 is for inputting the dataset DS1 of the progress parameter PP and the beam size BS.
- the progress parameter PP is a parameter that quantitatively represents the progress of laser processing. contains the distance d displaced relative to FIG. 7 shows an example in which the elapsed time t e (unit: [msec]) is selected as the progress parameter PP.
- the dataset input image 102 includes a progress parameter input image 108 into which the progress parameter PP can be input, and a beam size input image 110 into which the beam size BS (diameter R or area E) can be input.
- the operator can operate the input device 60 to input the progress parameter PP and beam size BS to the progress parameter input image 108 and beam size input image 110, respectively.
- An example in which [ ⁇ m] is input is shown.
- the processor 52 receives the data set DS1 of the progress parameter PP (elapsed time t e ) and the beam size BS input by the operator operating the input device 60 via the I/O interface 56 .
- the processor 52 functions as the parameter input reception unit 66 (FIG. 2) that receives inputs of the progress parameter PP and the beam size BS.
- the focus selection image 104 is for selecting out-focus or in-focus, and includes an out-focus button image 112 for selecting out-focus and an in-focus button image 114 for selecting in-focus.
- the processor 52 receives input to select out-focus or in-focus through the focus selection image 104. Therefore, processor 52 functions as focus selection reception unit 68 (FIG. 2) that receives input for selecting out-focus or in-focus.
- the processor 52 displays the data set DS1 of the beam size BS as "out-of-focus” or "in-focus” registered in the laser processing condition LC and the progress parameter PP in the data-set display image 106.
- the data set display image 106 shows a "time” column, a "beam size” column, and a "focus” column.
- the dataset display image 106 displays the dataset DS1 of the progress parameter PP and the beam size BS, and the focus position (out-of-focus, in-focus) in list form.
- the operator can register the data set DS1 of the beam size BS as "out-of-focus” or "in-focus” and the progress parameter PP in the laser processing condition LC through the teaching image 100.
- the operator sets the movement path MP for moving the irradiation point IP on the surface S during laser processing, the movement speed V for moving the irradiation point IP, the laser power PW of the laser beam EB to be output, and Register the pulse frequency f, etc.
- the processor 52 generates a teaching image (not shown) for inputting parameters such as the moving path MP, the moving speed V for moving the irradiation point IP, the laser power PW of the output laser light EB, and the pulse frequency f. and the input of these parameters may be accepted through the teaching image.
- the operator After registering the desired laser processing conditions LC, the operator operates the input device 60 to give an operation program generation command to the processor 52 .
- the processor 52 may generate an operating program generation button image (not shown) and display it on the display device 62 .
- the input device 60 may transmit an operation program generation command to the processor 52 .
- the processor 52 When the processor 52 receives the operation program generation command, it generates an operation program OP for laser processing. Specifically, the processor 52 converts each beam size BS (specifically, the diameter R) registered in the processing condition LC to the corresponding defocus amount DF based on the relational data RD by the method described above. Convert to
- the processor 52 converts the beam size BS (diameter R) registered in the processing condition LC into the corresponding defocus amount DF based on the relational data RD. Therefore, the processor 52 functions as a converter 70 (FIG. 2) that converts the beam size BS into the defocus amount DF.
- processor 52 obtains position P IP on surface S of illumination point IP corresponding to progress parameter PP.
- This position P IP indicates a target position on the surface S at which the point of illumination IP is to be positioned at the progress parameter PP (eg the elapsed time t e ), eg the coordinates (x, y).
- the progress parameter PP e.g. elapsed time t e
- the position P IP corresponding to the progress parameter PP are associated with each other, and the processor 52 obtains the corresponding position P IP from the progress parameter PP. can.
- the processor 52 converts the obtained position P IP and the post-conversion defocus amount DF corresponding to the position P IP via the progress parameter PP (elapsed time t e ) into the operation program OP as the command sentence CM. stipulated in
- the processor 52 prescribes the movement path MP, the movement speed V, the laser power PW, the pulse frequency f, etc. registered as the laser processing conditions LC in the operation program OP as commands.
- the processor 52 generates an operation program OP in which the processing conditions LC such as the position P IP , the converted defocus amount DF, the movement path MP, the movement speed V, the laser power PW, and the pulse frequency f are defined as commands. and stored in the memory 54. Therefore, the processor 52 functions as a program generator 72 (FIG. 2) that generates the operating program OP.
- the processor 52 transmits the generated operating program OP to the control device 14 .
- the control device 14 operates the laser processing machine 12 according to the operation program OP generated by the teaching device 50 to perform laser processing.
- the processor of the control device 14 generates commands to the servo motors of the moving mechanism 20 according to the operation program OP, and causes the laser irradiation device 18 to perform a predetermined work on the workpiece W by operating the moving mechanism 20. move to position.
- the processor of the control device 14 generates a command to the laser oscillator 16 according to the operation program OP, generates the laser light LB with the laser power PW and the pulse frequency f specified in the operation program OP, and the laser irradiation device 18 supply to
- the processor of the control device 14 generates commands to the mirror driving devices 32 and 34 of the laser irradiation device 18 according to the operation program OP, and sets the irradiation point IP of the laser beam LB irradiated on the surface S to the surface S. On the other hand, it is moved at the movement speed V along the movement path MP so as to be positioned at the position PIP defined in the operation program OP.
- the processor of the control device 14 generates a command to the lens driving device 38 of the laser irradiation device 18 according to the operation program OP, and moves the focal point FP upward (out of the plane) from the surface S at the position PIP defined in the operation program OP.
- the lens driving device 38 is controlled so as to defocus (focus) or downward (in-focus) by the defocus amount DF.
- the processor of the control device 14 may control the lens driving device 38 so as to gradually change the defocus amount DF from +50 to +40 in the period where the elapsed time t e is 0 to 500 [msec]. good.
- a statement for gradually changing the defocus amount DF over time may be defined in the operating program OP. In this way, the control device 14 operates the laser processing machine 12 according to the operation program OP to perform laser processing on the workpiece W.
- the parameter input reception unit 66 receives input of the beam size BS
- the relational data acquisition unit 64 acquires the relational data RD
- the conversion unit 70 Based on the relational data RD, the received beam size BS is converted into a corresponding defocus amount DF, and the program generation unit 72 generates an operation program OP in which the converted defocus amount DF is specified as a statement CM. to generate
- the operator can arbitrarily specify the beam size BS on the surface S in order to adjust the heat input to the work W during laser processing. Therefore, since it is possible to intuitively teach the operation of the laser processing machine 12 for adjusting the heat input, it is possible to simplify the teaching work.
- the focus selection receiving unit 68 receives input for selecting out-focus or in-focus
- the relationship data RD indicates the relationship between the out-focus and in-focus defocus amounts DF and the beam size BS.
- the conversion unit 70 converts the received beam size BS into the out-of-focus or in-focus defocus amount DF received by the focus selection receiving unit 68. . According to this configuration, the operator can arbitrarily select whether to shift the focal point FP as out-of-focus or in-focus in order to control the beam size BS. Thereby, the operation of the laser processing machine 12 can be taught in detail.
- the parameter input reception unit 66 receives input of the progress parameter PP (e.g., elapsed time t e ) and the beam size BS data set DS1, and the program generation unit 72 generates the irradiation point IP. , generates an operation program OP including a statement CM for shifting the focal point FP by the converted defocus amount DF when the position PIP on the surface S corresponding to the progress parameter PP is reached.
- the operator can arbitrarily specify the position for performing defocusing for adjusting the heat input to the work W, so that the operation of the laser processing machine 12 can be taught in detail.
- the data table DT described above may be created manually by an operator, or may be acquired using the actual laser processing machine 12, for example.
- the laser processing system 10 may further include an optical sensor (not shown) arranged on a work table (not shown) on which the work W is placed.
- control device 14 operates the laser processing machine 12 to irradiate the optical sensor with the laser beam LB, and the optical sensor detects the beam size BS of the irradiated laser beam LB. Then, the control device 14 operates the lens driving device 38 to shift the focal point FP of the laser beam LB in the direction of the optical axis O by the defocus amount DF.
- the optical sensor detects the beam size BS while the defocus amount DF changes.
- the control device 14 can automatically acquire the data table DT as shown in Table 1 based on the command value of the defocus amount DF and the detection data acquired from the optical sensor. Note that the data table DT can also be automatically acquired by causing the processor 52 of the teaching device 50 to operate the laser processing machine 12 via the control device 14 .
- a plurality of data tables DT n may be stored in the memory 54 in advance.
- the relationship between the beam size BS and the defocus amount DF changes depending on the optical system of the laser processing machine 12 (in other words, the type of the laser processing machine 12).
- the identification information ID product number, etc.
- the data table DTn may be associated with each other and stored in the memory 54 .
- This identification information ID may identify the type of the irradiation device 18, or the optical system of the laser processing machine 12 (the light guide member 22, the light receiving part 26 of the laser irradiation device 18, the mirrors 28 and 30 , the optical lens 36, and the laser light emitting section 40).
- the processor 52 transmits the identification information ID to the laser processing machine 12 via the control device 14 .
- the processor 52 may function as the relational data acquisition unit 64 and select the data table DTn associated with the acquired identification information ID from among the plurality of data tables DTn stored in the memory 54. .
- the processor 52 can automatically acquire the data table DTn corresponding to the type of the laser processing machine 12 .
- the processor 52 may generate a relational data selection image for selecting a plurality of data tables DTn stored in the memory 54 and cause the display device 62 to display it. Then, the operator may operate the input device 60 to select a desired one from among the plurality of data tables DTn displayed in the relational data selection image. According to this configuration, the operator can arbitrarily select the data table DTn suitable for the laser processing machine 12 (for example, the laser irradiation device 18) to be used.
- the laser processing machine 12 for example, the laser irradiation device 18
- FIG. 8 the plurality of data tables DTn described above are stored in advance in the memory 54 in association with the type TY (or identification information ID) of the laser processing machine 12 .
- the processor 52 Upon receiving a teaching start command from the operator through the input device 60 , the processor 52 generates a teaching image 120 shown in FIG. 9 as CG image data and displays it on the display device 62 .
- the teaching image 120 has a parameter selection image 122 and a type selection image 124 in addition to the dataset input image 102, focus selection image 104, and dataset display image 106 described above.
- the parameter selection image 122 is for making it possible to select whether to input the beam size BS or the defocus amount DF as a parameter of the laser processing condition LC.
- Processor 52 receives input through input device 60 to select beam size BS or defocus amount DF.
- the processor 52 functions as a parameter selection reception unit 74 (FIG. 8) that receives input for selecting the beam size BS or the defocus amount DF.
- FIG. 9 shows the teaching image 120 when the beam size BS is selected as the input parameter.
- the type selection image 124 is for selecting the type TY (or identification information ID) of the laser processing machine 12 . Specifically, when the operator operates the input device 60 and clicks the type selection image 124 on the image, the type TY (for example, type A, type B, type C, etc.) of the laser processing machine 12 is changed to, for example, It is displayed in the type selection image 124 in the form of a pull-down list.
- the operator can select the type TY shown in the form of a list in the type selection image 124 on the image.
- the processor 52 When the processor 52 receives an input to select the type TY through the input device 60, the processor 52 functions as the relational data acquisition unit 64, and reads and acquires the data table DTn corresponding to the received type TY from the memory 54.
- processor 52 receives input to select "beam size” on parameter selection image 122 and receives input to select "type A" on type selection image 124.
- the processor 52 functions as the relational data acquisition unit 64 and acquires the data table DT 1 corresponding to type A from the memory 54 .
- the processor 52 functions as the parameter input reception unit 66, and through the data set input image 102 and the focus selection image 104 displayed in the teaching image 120, progress parameter PP (elapsed time t e ) and Accepts input of data set DS1 with beam size BS.
- the processor 52 can receive input of the beam size BS.
- the processor 52 functions as a conversion unit 70 and uses the obtained data table DT 1 as the relational data RD to register it in the laser processing conditions LC as in the above-described embodiment.
- the determined beam size BS is converted into a defocus amount DF, functions as a program generation unit 72, and generates an operation program OP in which the position PIP and the defocus amount DF are specified as statements CM.
- the teaching image 130 has a dataset input image 132 , a setting button image 134 and a dataset display image 136 in addition to the parameter selection image 122 and type selection image 124 described above.
- the dataset input image 132 is for inputting the dataset DS2 of the progress parameter PP (specifically, the elapsed time t e ) and the defocus amount DF. and a defocus input image 138 into which a defocus amount (unit [mm]) can be input.
- the operator can operate the input device 60 to input the progress parameter PP (elapsed time t e ) and the defocus amount DF to the progress parameter input image 108 and the defocus input image 138, respectively.
- the progress parameter PP elapsed time t e
- the defocus amount DF elapsed time t e
- the setting button image 134 is for registering the data set DS2 (elapsed time te and defocus amount DF) input to the data set input image 132 in the laser processing conditions LC.
- the processor 52 receives the input of clicking the setting button image 134 on the image through the input device 60, the progress parameter PP (elapsed time t e ) input to the progress parameter input image 108 and input to the defocus input image 138
- the data set DS2 including the defocus amount DF thus obtained is stored in the memory 54 as the laser processing condition LC.
- the processor 52 functions as the conversion unit 70, and uses the data table DT1 obtained according to the type TY (“type A” in the illustrated example) input to the type selection image 124 as the relational data RD. , the defocus amount DF input to the defocus input image 138 is converted into the beam size BS.
- the processor 52 displays the data set DS2 of the progress parameter PP and the defocus amount DF registered in the laser processing condition LC on the data set display image 136 together with the converted beam size BS.
- the corresponding beam size BS is displayed in the data set display image 136 together with the data set DS2 of the registered progress parameter PP and defocus amount DF.
- the processor 52 functions as an image generator 76 (FIG. 8) that generates image data (image data of the teaching image 130) displaying the converted beam size BS.
- the processor 52 when receiving an operation program generation command, the processor 52 functions as a program generation unit 72 to generate an operation program in which the defocus amount DF and the position PIP registered in the laser processing conditions LC are defined as command sentences CM. Generate an OP.
- the parameter selection reception unit 74 receives input for selecting the beam size BS or the defocus amount DF
- the parameter input reception unit 66 receives input for selecting the beam size BS.
- an input of the beam size BS is accepted (FIG. 9)
- an input for selecting the defocus amount DF is accepted, an input of the defocus amount DF can be accepted (FIG. 10).
- the program generation unit 72 when receiving the input of the defocus amount DF, the program generation unit 72 generates the operation program OP in which the defocus amount DF is specified as the command sentence CM. According to this configuration, the operator can arbitrarily select which one of the beam size BS and the defocus amount DF to input as the laser processing condition LC, so that the operation of the laser processing machine 12 can be taught more diversely. be able to.
- the conversion unit 70 converts the received defocus amount DF into the corresponding beam size BS based on the relational data RD, and the image generation unit 76 converts the converted beam size BS Generate image data (FIG. 10) displaying the BS. According to this configuration, the operator can intuitively confirm the beam size BS corresponding to the input defocus amount DF.
- the processor 52 may be configured to receive input of the aforementioned distance d as the progress parameter PP through the progress parameter input image 108 . From this distance d, processor 52 can obtain the corresponding position P IP . Also, the defocus amount DF may be represented by the z-coordinate value of the coordinate system C. FIG.
- the processor 52 uses, as the laser processing condition LC, instead of the data set DS1 (or DS2) of the progress parameter PP and the beam size BS (or the defocus amount DF), the irradiation point IP during laser processing.
- An input of a data set DS3 of the coordinates (x, y) of the coordinate system C of the position PIP and the beam size BS (or the defocus amount DF) may be accepted.
- control device 14 displaces the optical lens 36 in the direction of the optical axis O by the lens driving device 38 to displace the focal point FP in the direction of the optical axis O has been described.
- the control device 14 can shift the focal point FP by moving the laser irradiation device 18 in the z-axis direction of the coordinate system C by operating the moving mechanism 20 .
- the operation program OP generated by the program generation unit 72 defines an instruction CM for shifting the focal point FP by the defocus amount DF by operating the moving mechanism 20 .
- the controller 14 In laser processing, the controller 14 generates commands to the servo motors of the moving mechanism 20 (for example, an articulated robot) according to the commands CM.
- the processor 52 acquires the data table DT as the relational data RD.
- GUIs of the teaching images 100, 120, and 130 shown in FIGS. 7, 9, and 10 are merely examples, and any other GUI configuration may be employed.
- the parameter selection image 122 may be omitted, while the defocus input image 138 and setting button image 134 shown in FIG. 10 may be added.
- the processor 52 accepts an input of the data set DS1 of the progress parameter PP and the beam size BS and an input of the data set DS2 of the progress parameter PP and the defocus amount DF through one teaching image 120. can be done.
- the corresponding defocus amount DF may be displayed on the data set display image 106 of the teaching image 120, similarly to the data set display image 136 of FIG.
- the operator operates the input device 60 to select the registered data set DS1 (or DS2) in the data set display image 106 (or 136), and the beam size BS of the selected data set DS1 (or DS2) (or the defocus amount DF) may be changed (or deleted).
- the teaching device 50 is provided separately from the control device 14 .
- the functionality of teach device 50 can also be incorporated into controller 14 .
- the processor of the control device 14 operates the teaching device 50 (the relational data acquisition unit 64, the parameter input reception unit 66, the focus selection reception unit 68, the conversion unit 70, the program generation unit 72, the parameter selection reception unit 74, and the image generation 76).
- FIG. 3 illustrates the laser irradiation device 18 as a laser scanner, but the laser irradiation device 18 is not limited to a laser scanner.
- a laser processing head having only the light emitting portion 40 may be used.
- the moving mechanism 20 may be configured to move the workpiece W with respect to the laser irradiation device 18 .
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Abstract
Description
(Rn-Rx)/(Rx-Rn+1)=(|DFn|-|DFx|)/(|DFx|-|DFn+1|) …(1)
12 レーザ加工機
14 制御装置
16 レーザ発振器
18 レーザ照射装置
20 移動機構
50 教示装置
52 プロセッサ
64 関係データ取得部
66 パラメータ入力受付部
68 焦点選択受付部
70 変換部
72 プログラム生成部
74 パラメータ選択受付部
76 画像生成部
Claims (8)
- レーザ光をワークの表面に照射して該ワークをレーザ加工するレーザ加工機の動作を教示するための教示装置であって、
前記表面における前記レーザ光の照射点の大きさを表すビームサイズの入力を受け付けるパラメータ入力受付部と、
前記レーザ光の焦点を前記表面から該レーザ光の光軸方向へずらすデフォーカス量と、該デフォーカス量に応じて変化する前記ビームサイズとの関係を表す関係データを取得する関係データ取得部と、
前記関係データに基づいて、前記パラメータ入力受付部が受け付けた前記ビームサイズを、対応する前記デフォーカス量に変換する変換部と、
前記変換部によって変換された前記デフォーカス量が命令文として規定された、前記レーザ加工のための動作プログラムを生成するプログラム生成部と、を備える、教示装置。 - 前記焦点を前記表面から、前記レーザ加工機のレーザ光出射部に近い側へずらすアウトフォーカス、又は、前記焦点を前記表面から、前記レーザ光出射部から遠い側へずらすインフォーカスを選択する入力を受け付ける焦点選択受付部をさらに備え、
前記関係データは、前記アウトフォーカス及び前記インフォーカスの前記デフォーカス量と前記ビームサイズとの前記関係を表すデータを含み、
前記変換部は、前記パラメータ入力受付部が受け付けた前記ビームサイズを、前記焦点選択受付部が受け付けた前記アウトフォーカス又は前記インフォーカスの前記デフォーカス量に変換する、請求項1に記載の教示装置。 - 前記ビームサイズ又は前記デフォーカス量を選択する入力を受け付けるパラメータ選択受付部をさらに備え、
前記パラメータ入力受付部は、前記パラメータ選択受付部が前記ビームサイズを選択する入力を受け付けたときは該ビームサイズの入力を受け付け可能となる一方、前記パラメータ選択受付部が前記デフォーカス量を選択する入力を受け付けたときは該デフォーカス量の入力を受け付け可能となり、
前記プログラム生成部は、前記パラメータ入力受付部が前記デフォーカス量の入力を受け付けたとき、該デフォーカス量が前記命令文として規定された前記動作プログラムを生成する、請求項1又は2に記載の教示装置。 - 前記変換部は、前記関係データに基づいて、前記パラメータ入力受付部が受け付けた前記デフォーカス量を、対応する前記ビームサイズに変換し、
前記教示装置は、前記変換部によって変換された前記ビームサイズを表示する画像データを生成する画像生成部をさらに備える、請求項3に記載の教示装置。 - 前記レーザ加工機は、前記レーザ加工において前記表面に対し前記照射点を移動させ、
前記パラメータ入力受付部は、前記レーザ加工の進捗を示す進捗パラメータと前記ビームサイズとのデータセットの入力を受け付け、
前記プログラム生成部は、前記照射点を、前記進捗パラメータに対応する前記表面上の位置に到達させたときに、前記焦点を前記変換されたデフォーカス量だけずらすための前記命令文を含む前記動作プログラムを生成する、請求項1~4のいずれか1項に記載の教示装置。 - 前記進捗パラメータは、前記レーザ加工の開始からの経過時間、又は、前記レーザ加工の開始から前記レーザ加工機が前記照射点を移動させた距離を含む、請求項5に記載の教示装置。
- 請求項1~6のいずれか1項に記載の教示装置と、
前記レーザ加工機と、
前記プログラム生成部が生成した前記動作プログラムに従って前記レーザ加工機を動作させて前記レーザ加工を実行する制御装置と、を備える、レーザ加工システム。 - レーザ光をワークの表面に照射して該ワークをレーザ加工するレーザ加工機の動作を教示する方法であって、
プロセッサが、
前記表面における前記レーザ光の照射点の大きさを表すビームサイズの入力を受け付け、
前記レーザ光の焦点を前記表面から該レーザ光の光軸方向へずらすデフォーカス量と、該デフォーカス量に応じて変化する前記ビームサイズとの関係を表す関係データを取得し、
前記関係データに基づいて、受け付けた前記ビームサイズを、対応する前記デフォーカス量に変換し、
変換された前記デフォーカス量が命令文として規定された、前記レーザ加工のための動作プログラムを生成する、方法。
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JPH0292487A (ja) * | 1988-09-28 | 1990-04-03 | Okuma Mach Works Ltd | レーザ加工機の回転デフオーカス式ノズル及びレーザ加工機のオートデフオーカス方法 |
JP2001328085A (ja) * | 2000-05-22 | 2001-11-27 | Mitsubishi Electric Corp | 3次元レーザ加工機用制御装置 |
JP2017042790A (ja) * | 2015-08-26 | 2017-03-02 | トヨタ自動車株式会社 | レーザ溶接方法 |
WO2017085763A1 (ja) * | 2015-11-16 | 2017-05-26 | 富士機械製造株式会社 | レーザ照射装置 |
JP2020035404A (ja) * | 2018-08-31 | 2020-03-05 | ファナック株式会社 | レーザ加工のための教示装置、教示方法、及び教示プログラム |
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JPH0292487A (ja) * | 1988-09-28 | 1990-04-03 | Okuma Mach Works Ltd | レーザ加工機の回転デフオーカス式ノズル及びレーザ加工機のオートデフオーカス方法 |
JP2001328085A (ja) * | 2000-05-22 | 2001-11-27 | Mitsubishi Electric Corp | 3次元レーザ加工機用制御装置 |
JP2017042790A (ja) * | 2015-08-26 | 2017-03-02 | トヨタ自動車株式会社 | レーザ溶接方法 |
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JP2020035404A (ja) * | 2018-08-31 | 2020-03-05 | ファナック株式会社 | レーザ加工のための教示装置、教示方法、及び教示プログラム |
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