JP2011194476A - Laser machining display device and teaching method of robot using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a laser machining display device, capable of rapidly carrying out teaching work of laser machining, and also to provide a teaching method of a robot using the same.SOLUTION: The laser machining display device 1 includes: a laser machining unit 2 mounted at the end effector 72 of the robot 7 and applying a laser beam A for machining; a unit 31 for measuring a length that measures a distance from an emitting position 311 of a laser beam B for measuring a length to an object 8 to be machined by applying the laser beam B for measuring the length to the object 8 to be machined; a calculator for calculating distances from the emitting position 231 of the laser beam A for machining to each part at the object 8 to be machined and specifying the surface cross sectional shape of the object 8 to be machined; and a display unit for displaying the surface cross sectional shape 82 and displaying whether each part at the surface cross sectional shape is within the adjustable range T of the focal length of the laser beam A for machining.

Description

  The present invention relates to a laser processing display device that is attached to an end effector of a robot and supports the determination of a position where processing is performed by laser light, and a robot teaching method using the same.

Robots are frequently used in factory production lines. For example, in the process of processing such as welding and cutting with laser light, the laser irradiation device is attached to the end effector of the robot, the focal length and irradiation direction are adjusted by the reflection mirror in the laser irradiation device, There is known a remote laser processing method for irradiating a processing set position with a laser beam.
In this remote laser processing method, the cross visible light emitted coaxially with the processing laser light is irradiated (projected) onto the object to be processed, and the intersection of the visible light of the cross and the straight visible light emitted from the pointer laser There is one that indicates that the processing laser beam is focused on the processing set position in the object to be processed.

  Further, for example, in the remote welding teaching apparatus of Patent Document 1, it is disclosed that a projection unit that projects visible light indicating a laser irradiable range emitted from the laser welding apparatus is provided on the laser welding apparatus. Yes. Thereby, in the remote welding which irradiates a laser from the place away from the welding position, the operation teaching operation of the robot can be facilitated.

JP 2006-346740 A

However, in the remote laser processing method, a teacher (teacher) cannot know how much irradiation processing is possible with the processing laser light. For this reason, the teacher must repeat trial and error to match the intersection of the visible light of the cross and the straight-ahead visible light at the processing set position in the object to be processed.
In the remote welding teaching apparatus of Patent Document 1, the teacher can know the adjustable range of the laser irradiation direction by visible light, but cannot know the adjustable range of the focal length of the laser.

  The present invention has been made in view of such conventional problems, and a laser processing display device capable of quickly performing a laser processing teaching operation using a robot and a laser processing display device, and teaching of a robot used therefor. Is to provide a method.

1st invention attaches to the end effector of a robot, and adjusts a focal distance and an irradiation direction, and laser processing means comprised so that processing laser light may be irradiated to a processing set position in a processing object,
A length measuring means which is attached to the laser processing means or the end effector, and irradiates the length measurement laser beam to the object to be processed, and measures a distance from an emission position of the length measurement laser light to the object to be processed; ,
Based on the distance data measured by the length measuring means, calculating the distance from the emission position of the processing laser light to each part in the object to be processed, calculating means for specifying the surface shape of the object to be processed;
Display means for displaying the surface shape of the object to be processed specified by the calculating means and displaying whether each part of the surface shape is within an adjustable range of the focal length of the laser beam for processing. The laser processing display device is characterized by the above.

A second invention is a laser processing means mounted on an end effector of a robot, configured to irradiate a processing laser beam on a processing set position in a processing target by adjusting a focal length and an irradiation direction;
Attached to the laser processing means or the end effector, irradiates an enlarged visible light that expands in a circular or elliptical irradiation range toward the irradiation direction range that matches or approximates the irradiation direction range of the processing laser light. First visible light irradiating means,
Directly visible light that intersects with the enlarged visible light at a position that is attached to the laser processing means or the end effector and matches or approximates the shortest position and the longest position of the adjustable range of the focal length of the processing laser light. A second visible light irradiation means for irradiating,
When the straight visible light enters the enlarged visible light irradiated to the object to be processed including the processing setting position, the processing setting position is within an adjustable range of the focal length of the processing laser light. And when the straight-ahead visible light deviates outside the enlarged visible light irradiated to the object to be processed including the machining setting position, the focal length of the machining laser light is outside the adjustable range. The laser processing display device is configured to recognize that there is a processing setting position (claim 3).

A third invention is a method for teaching a movement path of an end effector of the robot using the laser processing display device,
While visually recognizing the surface shape of the object to be processed displayed by the display means, the end effector is moved so that the processing setting position on the object to be processed becomes a position / posture within the adjustable range of the focal length. ,
Using a laser processing display device that adjusts a focal length and an irradiation direction of the processing laser beam and focuses the processing laser beam on the processing setting position to perform teaching work of the robot There is a robot teaching method (claim 4).

A fourth invention is a method for teaching a movement path of an end effector of the robot using the laser processing display device,
The end effector is moved so that the processing set position in the object to be processed enters the inside of the enlarged visible light and the position / posture in which the linearly visible light enters the inside of the enlarged visible light,
Using a laser processing display device that adjusts a focal length and an irradiation direction of the processing laser beam and focuses the processing laser beam on the processing setting position to perform teaching work of the robot There is a robot teaching method (claim 5).

In the laser processing display device according to the first aspect of the present invention, when a robot instructor (teacher) teaches laser processing, the processing setting position on the processing target is adjusted by the focal length of the processing laser beam. It is possible to recognize whether it falls within the possible range.
Specifically, the laser processing display device calculates the distance from the emitting position of the processing laser light to each part in the processing target by the length measuring unit and the calculating unit, and specifies the surface shape of the processing target. The laser processing display device displays the surface shape of the object to be processed by the display means, and displays whether each part in the surface shape falls within the adjustable range of the focal length of the processing laser beam.

As a result, the teacher visually recognizes the surface shape of the object to be processed on the screen displayed by the display means, and recognizes whether or not the processing setting position on the object to be processed falls within the adjustable range of the focal length. Thus, the end effector and the laser processing means can be taught.
Therefore, according to the laser processing display device of the first invention, the instructor can quickly perform teaching work of laser processing using the robot and the laser processing display device.

In the laser processing display device according to the second aspect of the invention, when the robot instructor performs the teaching processing of the laser processing, the processing setting position in the processing target falls within the adjustable range of the focal length of the processing laser beam. It can be recognized.
Specifically, the laser processing display device uses the enlarged visible light by the first visible light irradiation unit and the straight-ahead visible light by the second visible light irradiation unit, and the processing setting position is the focus of the processing laser light. It is configured so that it can be easily recognized whether or not the distance is within the adjustable range.

The magnified visible light irradiates the irradiation direction range that matches or approximates the irradiation direction range of the processing laser light, and the straight-ahead visible light has the shortest position and the longest position of the adjustable range of the focal length of the processing laser light. Crosses the enlarged visible light at a position that matches or approximates. As a result, when the teacher irradiates (projects) the enlarged visible light and the straight-ahead visible light onto the object to be processed, the teacher can easily visually recognize whether or not the straight-ahead visible light is inside the enlarged visible light. It is possible to recognize whether or not the processing setting position in the processing target is within the adjustable range of the focal length, and to teach laser processing.
Therefore, also by the laser processing display device according to the second aspect of the invention, the instructor can quickly perform a laser processing teaching operation using the robot and the laser processing display device.

In the robot teaching method according to the third aspect of the invention, the teaching work is devised in the way of teaching (teaching) of the position / orientation of laser processing to shorten the teaching work.
Specifically, the teacher moves the end effector of the robot while visually recognizing the surface shape of the workpiece displayed by the display means. Then, the position / posture of the end effector is set to a position / posture in which the machining set position on the workpiece is within the adjustable range of the focal length. Next, in this state, the teacher adjusts the focal length and irradiation direction of the processing laser light. Then, the processing laser beam is focused on the processing setting position, and a robot processing teaching operation is performed by the robot.
Thus, in the third invention, the instructor can quickly perform the teaching work of laser processing using the robot and the laser processing display device.

In the robot teaching method according to the fourth aspect of the invention, a teaching method for teaching (teaching) the position / orientation of laser processing is devised to shorten the teaching work.
Specifically, the teacher moves the end effector of the robot while visually recognizing the expanded visible light and the straight-ahead visible light irradiated on the workpiece. Then, the position / posture of the end effector is set to a position / posture in which the machining setting position on the object to be processed enters the inside of the enlarged visible light and the linearly visible light enters the inside of the enlarged visible light.
Next, in this state, the teacher adjusts the focal length and irradiation direction of the processing laser light. Then, the processing laser beam is focused on the processing setting position, and a robot processing teaching operation is performed by the robot.
Thereby, also in 4th invention, the teacher can perform the teaching operation | work of the laser processing using a robot and a laser processing display apparatus rapidly.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. Explanatory drawing which shows the periphery of the laser processing means of the laser processing display apparatus in Embodiment 1, and a length measurement means. Explanatory drawing which shows the image displayed by the display means of the laser processing display apparatus in Example 1. FIG. Explanatory drawing which shows the apparatus structure of the laser processing display apparatus in Example 2. FIG. Explanatory drawing which shows the periphery of the laser processing means of the laser processing display apparatus in Example 2, a 1st visible light irradiation means, and a 2nd visible light irradiation means.

A preferred embodiment in the first to fourth inventions described above will be described.
In the first and third inventions, the length measuring means can emit the length measuring laser light concentrically with an emission position of the processing laser light by the laser processing means. In this case, it is possible to easily calculate the distance from the emission position of the processing laser beam to each part in the processing target by the calculating means. On the other hand, the length measuring means can emit the length measuring laser light from the vicinity of the emission position of the processing laser light by the laser processing means. In this case, the structure of the length measuring means can be simplified and the arrangement thereof can be facilitated.

  In the second and fourth inventions, the first visible light irradiation means can emit the enlarged visible light concentrically with an emission position of the processing laser light by the laser processing means. In this case, it is possible to irradiate expanded visible light in which the circular or elliptical irradiation range increases as the distance from the emission position increases, in an irradiation direction range that substantially matches the irradiation direction range of the processing laser light. On the other hand, the first visible light irradiation means can emit the enlarged visible light from the vicinity of the emission position of the laser beam for processing by the laser processing means. In this case, it is possible to irradiate the extended visible light in which the circular or elliptical irradiation range expands with increasing distance from the emission position in the irradiation direction range approximate to the irradiation direction range of the processing laser light.

  In the second and fourth inventions, the second visible light irradiation means can be configured to be capable of adjusting the irradiation direction of the straight-ahead visible light. The adjustable range of the focal length of the processing laser light can be appropriately set by adjusting the irradiation direction of the linear visible light. Further, the adjustable range of the focal length can be a range in which laser processing by the laser processing means can be performed or a range in which a slight margin is seen.

In the first invention, it is preferable that the display means is configured to display an irradiation processable range in which laser processing can be performed by the processing laser light.
In this case, the instructor visually confirms the display of the surface shape and the display of the irradiation processable range (the adjustable range of the irradiation direction and the adjustable range of the focal length) on the screen displayed by the display means. It is possible to recognize whether or not the processing setting position in the processing target is within the irradiation processing possible range. Therefore, the teaching work of laser processing by the robot can be performed more easily.

Embodiments of a laser processing display device and a robot teaching method using the same according to the present invention will be described below with reference to the drawings.
Example 1
As shown in FIG. 2, the laser processing display device 1 of the present example is a processing in which a teacher (teacher) of the robot 7 performs laser processing on the workpiece 8 when performing a laser processing teaching operation. It is possible to recognize whether the setting position 81 falls within the adjustable range T of the focal length of the processing laser light A.

As shown in FIG. 1, the laser processing display device 1 includes the following laser processing means 2, length measuring means 31, calculation means 4, and display means 32 so that the teaching work of laser processing can be performed easily and quickly. It is a thing.
As shown in FIG. 2, the laser processing means 2 is attached to the end effector 72 of the robot 7 and adjusts the focal length and irradiation direction to perform laser processing on the processing object 8 at a processing setting position 81. It is configured to irradiate light A. The length measuring means 31 is attached to the laser processing means 2 and irradiates the workpiece 8 with the length measuring laser beam B, and determines the distance from the emission position 311 of the length measuring laser beam B to the workpiece 8. It is configured to measure.

As shown in FIG. 1, the calculation unit 4 calculates the distance from the emission position 231 of the processing laser beam A to each part in the processing target 8 based on the distance data measured by the length measuring unit 31, and the processing target 8 surface cross-sectional shapes 82 are specified. As shown in FIG. 3, the display unit 32 displays the surface cross-sectional shape 82 of the workpiece 8 specified by the calculating unit 4, and each part of the surface cross-sectional shape 82 can be adjusted in the focal length of the processing laser beam A. It is configured to display whether or not it falls within T.
In the laser processing display device 1, a teacher who teaches the robot 7 visually recognizes the surface cross-sectional shape 82 of the workpiece 8 by the display means 32, and the processing setting position 81 for performing laser processing can adjust the focal length. It is configured to recognize whether or not it falls within the range T.

Below, the laser processing display apparatus 1 of this example and the teaching method of the robot 7 using the same will be described in detail with reference to FIGS.
Here, FIG. 1 shows a device configuration of the laser processing display device 1. FIG. 2 shows a state in which the distance from the emission position 311 of the length measurement laser beam B to the workpiece 8 is measured by the length measuring means 31. FIG. 3 shows a state in which the display section 32 displays the surface cross-sectional shape 82 of the workpiece 8 and the processable range R of the processing laser light A.

As shown in FIG. 1, the laser processing display device 1 of this example is disposed on an end effector 72 of an articulated robot 7 having six rotating shafts 71. Each rotation axis in the articulated robot 7 is constituted by a servo motor, and each servo motor is controlled by the controller 6.
Further, the position / posture of the end effector 72, the moving trajectory, the moving speed, the angle of each rotating shaft, and the like can be adjusted and taught by the teaching unit 61.

  As shown in FIG. 2, the laser processing means 2 of this example includes a laser irradiation main body 20 attached to an end effector 72 of the robot 7, and a laser energy generator 200 that generates laser energy supplied to the laser irradiation main body 20. And. The laser irradiation main body 20 includes a laser light source 21 that emits a processing laser light A, a focus lens 22 that varies a focal length of the processing laser light A emitted from the laser light source 21, and a processing that has passed through the focus lens 22. And a reflection mirror 23 for changing the irradiation direction of the laser beam A for use. Further, the laser energy generating apparatus 200 includes an oscillator, a chiller, and the like. The laser light source 21 is wired to the laser energy generating device 200 by a fiber cable or the like.

  In this example, the focal length by the laser processing means 2 refers to the irradiation distance of the processing laser light A from the center of the reflection mirror 23 to the workpiece 8. The irradiation direction by the laser processing means 2 refers to the irradiation direction of the processing laser light A directed from the center of the reflection mirror 23 toward the workpiece 8.

  The focusing lens 22 and the reflecting mirror 23 can be moved by a driving source such as a servo motor, and these driving sources are controlled by the controller 6 of the articulated robot 7. Further, the movement operation of the drive source constituting the focus lens 22 and the reflection mirror 23 can be adjusted and taught by the teaching unit 61.

As shown in the drawing, the length measuring means 31 of this example emits a length measuring laser beam B until the length measuring laser beam B collides with an obstacle (work target 8) and returns. By measuring the time, the distance from the emission position 311 of the length measuring laser beam B to the obstacle is measured. The length measuring means 31 of this example is configured to scan the length measuring laser beam B in a straight line (line shape) on the surface of the workpiece 8 and detect the surface cross-sectional shape 82 of the workpiece 8. It is. Further, the length measuring means 31 can detect a shape of a predetermined plane by scanning a plurality of linear length measuring laser beams B and emitting the length measuring laser beam B in a predetermined plane range. .
The line L that scans the length measuring laser beam B can be in a certain direction in the laser processing means 2. Further, the line L for scanning the laser beam B for length measurement can be varied in a plurality of directions in the laser processing means 2.

The calculation means 4 is constituted by a dedicated computer.
As shown in FIG. 2, the display means 32 is configured by a monitor such as a liquid crystal image device. The display means 32 of the present example includes the surface cross-sectional shape 82 of the workpiece 8 measured by the length measurement means 31 and calculated by the calculation means 4, and the irradiation processable range R of the laser processing means 2 (that is, processing by the laser processing means 2). The adjustment range S of the irradiation direction of the processing laser beam A and the adjustable range T) of the focal length of the processing laser beam A are collated and displayed.
The irradiation processable range R is a range in which the circular or elliptical irradiation range increases as the distance from the emission position 231 of the processing laser beam A increases, and is set within a range in which a predetermined focal length can be adjusted. . The irradiation processable range R is the shortest position Z1 where the laser irradiation processing is shortest from the emission position 231 and the longest distance from the emission position 231 with respect to the conical area where the processing laser beam A can reach. It is formed between the longest position Z2 where laser irradiation processing is possible. This irradiation processable range R is stored in the calculation means 4 as the performance of the laser processing means 2.

  As shown in FIG. 3, the display means 32 of the present example displays the current focus of the processing laser beam A when displaying the surface cross-sectional shape 82 of the workpiece 8 and the irradiation processable range R on the display screen of the monitor. The distance from the position A1 to the end of each irradiation processable range is displayed. That is, the display unit 32 displays the distance h1 from the current focal position A1 of the processing laser beam A to the shortest position Z1 of the adjustable range T of the focal length, and the focal length from the current focal position A1 of the processing laser beam A. Distance h2 to the longest position Z2 of the adjustable range T, distance w1 from the current focal position A1 of the processing laser beam A to the right end position X1 of the adjustable range S in the irradiation direction, and the current focal point of the processing laser beam A The distance w2 from the position A1 to the left end position X2 of the adjustable range S in the irradiation direction, the distance d1 from the current focal position A1 of the processing laser light A to the front position Y1 of the adjustable range S in the irradiation direction, the processing laser The distance d2 from the current focal position A1 of the light A to the rear position Y2 of the adjustable range S in the irradiation direction is displayed.

Next, a teaching method and operational effects of the robot 7 using the laser processing display device 1 of this example will be described.
In the teaching method of this example, the teaching work is devised in the way of teaching (teaching) of the position / orientation of laser processing to shorten the teaching work. Specifically, the movement of the next end effector 72 and the focusing of the laser processing means 2 are performed, and the teaching work of the robot 7 (the position and posture of the end effector 72, the teaching work of the laser processing means 2) is performed.

  The teacher of the robot 7 first moves the end effector 72 of the robot 7 using the teaching unit 61 while visually recognizing the surface sectional shape 82 of the workpiece 8 displayed by the display means 32 as the end effector moving operation. Let Then, the position / orientation of the end effector 72 is set to a position / orientation where the machining setting position 81 in the workpiece 8 falls within the processable range R of the laser beam A for machining by the laser machining means 2.

  At this time, the length measuring means 31 irradiates the workpiece 8 with the laser beam B for length measurement, and measures the distance from the emission position 311 of the laser beam B for length measurement to the workpiece 8. Further, the calculation means 4 calculates the distance from the emission position 231 of the processing laser light A to each part in the workpiece 8 based on the distance data measured by the length measuring means 31, and the surface cross section of the workpiece 8 The shape 82 is specified. Then, the display unit 32 displays the surface cross-sectional shape 82 of the workpiece 8 specified by the calculation unit 4 and the irradiation processable range R of the processing laser light A.

Next, the teacher maintains the position / posture of the end effector 72 and drives the focus lens 22 and the reflection mirror 23 to adjust the focal length and irradiation direction of the processing laser light A. Then, the processing laser beam A is focused on the processing setting position 81, and the robot 7 teaches the laser processing.
Note that the machining setting position 81 is not necessarily located on the surface cross-sectional shape 82 obtained by the length measuring unit 31 and the calculating unit 4. On the other hand, the teacher visually recognizes the shape of the workpiece 8 and also visually recognizes the screen displayed by the display unit 32, so that the processing setting position 81 around the surface cross-sectional shape 82 is within the irradiation processable range R. It is possible to recognize whether or not to enter.

The teacher visually recognizes the surface cross-sectional shape 82 of the workpiece 8 on the screen displayed by the display means 32, and determines whether or not the machining setting position 81 in the workpiece 8 falls within the irradiation processable range R. And the end effector 72 and the laser processing means 2 can be taught.
Further, when the plurality of machining setting positions 81 are located on the surface cross-sectional shape 82, the position / posture of the end effector 72 is maintained, and the focal point of the machining laser light A with respect to the plurality of machining setting positions 81. In addition, teaching work of laser processing by the robot 7 can be performed.
Depending on the laser processing, welding, cutting, or the like of the metal member as the workpiece 8 can be performed.

  Therefore, according to the teaching method of the laser processing display device 1 and the robot 7 using the laser processing display device of this example, the teacher can quickly perform the teaching work of laser processing using the robot 7 and the laser processing display device 1. Can do.

(Example 2)
As shown in FIG. 4, the laser processing display device 1 of the present example uses the enlarged visible light C by the first visible light irradiation means 51 and the straight visible light D by the second visible light irradiation means 52 to perform laser processing. It is configured so that it can be easily recognized whether or not the processing setting position 81 for performing is within the adjustable range T of the focal length of the processing laser light A.
The laser processing display device 1 includes the following laser processing means 2, first visible light irradiation means 51, and second visible light irradiation means 52, and can perform teaching work of laser processing easily and quickly. is there.

The configuration of the laser processing means 2 is the same as that shown in the first embodiment.
As shown in FIG. 5, the first visible light irradiation means 51 of this example is an irradiation that matches or approximates the adjustable range S of the irradiation direction of the processing laser light A by the visible light generation source attached to the laser processing means 2. The directional range S ′ is configured to irradiate the enlarged visible light C in which the circular or elliptical irradiation range increases as the distance from the emission position 511 increases. The second visible light irradiating means 52 of this example matches the shortest position Z1 and the longest position Z2 of the adjustable range T of the focal length of the processing laser light A by the visible light generating source attached to the laser processing means 2 or It is configured to irradiate the straight-ahead visible light D that intersects the enlarged visible light C at an approximate position.

In the laser processing display device 1, the instructor who teaches the robot 7 directly recognizes the enlarged visible light C and the straight-ahead visible light D and includes the processing setting position 81, and the enlarged visible light C irradiated to the workpiece 8. When rectilinear visible light D enters inside (indicated by D1 in FIG. 5), it is recognized that the processing setting position 81 is within the adjustable range T of the focal length of the processing laser light A, and processing is performed. When the straight-ahead visible light D deviates outside the enlarged visible light C irradiated to the workpiece 8 including the setting position 81, the processing setting position 81 is outside the adjustable range T of the focal length of the processing laser light A. It is configured so that it can be recognized.

Further, the laser processing display device 1 of the present example teaches the end effector 72 so that the straight traveling visible light D enters the inside of the enlarged visible light C while the processing setting position 81 enters the inside of the enlarged visible light C. The position and the teaching position of the laser processing means 2 can be determined.
The 1st visible light irradiation means 51 can be comprised so that the expansion visible light C may be irradiated to the whole circular or elliptical irradiation range by the visible light generation source 511. FIG. On the other hand, the 1st visible light irradiation means 51 can also be comprised so that expansion visible light C may be irradiated to the outer edge of the circular or elliptical irradiation range by the visible light generation source 511. The second visible light irradiation means 52 is configured to be capable of adjusting the irradiation direction of the straight-ahead visible light D. The adjustable range T of the focal length in this example is set to an allowable range in which laser processing by the laser processing means 2 is possible.

Next, a teaching method and operational effects of the robot 7 using the laser processing display device 1 of this example will be described.
The teacher of the robot 7 in this example moves the end effector 72 of the robot 7 using the teaching unit 61 while directly viewing the enlarged visible light C and the straight-ahead visible light D irradiated on the workpiece 8. At this time, the enlarged visible light C is irradiated by the first visible light irradiation means 51, and the straight-ahead visible light D is irradiated by the second visible light irradiation means 52. Then, the position / posture of the end effector 72 is set to a position / posture in which the machining setting position 81 in the workpiece 8 enters the inside of the enlarged visible light C and the linearly visible light D enters the inside of the enlarged visible light C.

  Next, in this state, the teacher uses the teaching unit 61 to drive the focus lens 22 and the reflection mirror 23 to adjust the focal length and irradiation direction of the processing laser light A. Then, the processing laser beam A is focused on the processing setting position 81, and the robot 7 teaches the laser processing. As a result, the teacher can quickly perform a laser processing teaching operation using the robot 7 and the laser processing display device 1.

In the laser processing display device 1 of this example, the teacher can also estimate and recognize whether the processing setting position 81 is within the adjustable range S of the irradiation direction.
Specifically, the first visible light irradiation means 51 of this example emits the enlarged visible light C from the periphery of the emission position 511 of the processing laser light A by the laser processing means 2. Then, the irradiation possible direction S (see FIG. 2) of the processing laser light A and the irradiation direction range S ′ of the enlarged visible light C are slightly shifted. Therefore, when the processing setting position 81 is located in the vicinity of the irradiation possible direction S, it is actually recognized that the processing setting position 81 is outside the irradiation direction range S ′ even if the processing setting position 81 is in the irradiation possible direction S. There is also a possibility. In this case, the judgment can be made based on the experience of the teacher.
On the other hand, the first visible light irradiation means 51 can emit the enlarged visible light C concentrically with the emission position 231 of the processing laser light A by the laser processing means 2. In this case, the irradiation possible direction S of the processing laser light A and the irradiation direction range S ′ of the enlarged visible light C can be matched.

  In this example, the enlarged visible light C is applied to an irradiation direction range S ′ approximate to the adjustment range S of the irradiation direction of the processing laser light A, and the straight-ahead visible light D is the focal point of the processing laser light A. It intersects the enlarged visible light C at a position that coincides with the shortest position Z1 and the longest position Z2 of the distance adjustable range T. As a result, the teacher directly visually recognizes whether or not the straight visible light D is contained inside the magnified visible light C when the workpiece 8 is irradiated (projected) with the magnified visible light C and the straight visible light D. Thus, it is possible to easily recognize whether or not the machining setting position 81 in the workpiece 8 is within the adjustable range T of the focal length, and to teach laser machining.

Therefore, also by the teaching method of the laser processing display device 1 of this example and the robot 7 using the same, the instructor can quickly perform the teaching work of laser processing using the robot 7 and the laser processing display device 1. it can.
Also in this example, the other structure of the laser processing display device 1 is the same as that of the first embodiment, and the same effects as those of the first embodiment can be obtained.

DESCRIPTION OF SYMBOLS 1 Laser processing display apparatus 2 Laser processing means 31 Length measuring means 32 Display means 4 Calculation means 51 1st visible light irradiation means 52 2nd visible light irradiation means 6 Control controller 61 Teaching unit 7 Robot 72 End effector 8 Work object 81 Processing Setting position 82 Surface cross-sectional shape A Laser beam for processing B Laser beam for measurement C Enlarged visible light D Straight visible light R Irradiable processing range S Adjustable range of irradiation direction T Adjustable range of focal length Z1 Shortest position Z2 Longest position

Claims (5)

Laser processing means mounted on the end effector of the robot and configured to irradiate the processing laser beam to the processing set position on the processing target by adjusting the focal length and the irradiation direction;
A length measuring means which is attached to the laser processing means or the end effector, and irradiates the length measurement laser beam to the object to be processed, and measures a distance from an emission position of the length measurement laser light to the object to be processed; ,
Based on the distance data measured by the length measuring means, calculating the distance from the emission position of the processing laser light to each part in the object to be processed, calculating means for specifying the surface shape of the object to be processed;
Display means for displaying the surface shape of the object to be processed specified by the calculating means and displaying whether each part of the surface shape is within an adjustable range of the focal length of the laser beam for processing. Laser processing display device characterized by that.   2. The laser processing display device according to claim 1, wherein the display means is configured to display an irradiation processable range in which laser processing can be performed by the processing laser light. Laser processing means mounted on the end effector of the robot and configured to irradiate the processing laser beam to the processing set position on the processing target by adjusting the focal length and the irradiation direction;
Attached to the laser processing means or the end effector, irradiates an enlarged visible light that expands in a circular or elliptical irradiation range toward the irradiation direction range that matches or approximates the irradiation direction range of the processing laser light. First visible light irradiating means,
Directly visible light that intersects with the enlarged visible light at a position that is attached to the laser processing means or the end effector and matches or approximates the shortest position and the longest position of the adjustable range of the focal length of the processing laser light. A second visible light irradiation means for irradiating,
When the straight visible light enters the enlarged visible light irradiated to the object to be processed including the processing setting position, the processing setting position is within an adjustable range of the focal length of the processing laser light. And when the straight-ahead visible light deviates outside the enlarged visible light irradiated to the object to be processed including the machining setting position, the focal length of the machining laser light is outside the adjustable range. A laser processing display device configured to recognize that there is a processing setting position. A method for teaching a movement path of an end effector of the robot using the laser processing display device according to claim 1,
While visually recognizing the surface shape of the object to be processed displayed by the display means, the end effector is moved so that the processing setting position on the object to be processed becomes a position / posture within the adjustable range of the focal length. ,
Using a laser processing display device that adjusts a focal length and an irradiation direction of the processing laser beam and focuses the processing laser beam on the processing setting position to perform teaching work of the robot Robot teaching method. A method for teaching a movement path of an end effector of the robot using the laser processing display device according to claim 3,
The end effector is moved so that the processing set position in the object to be processed enters the inside of the enlarged visible light and the position / posture in which the linearly visible light enters the inside of the enlarged visible light,
Using a laser processing display device that adjusts a focal length and an irradiation direction of the processing laser beam and focuses the processing laser beam on the processing setting position to perform teaching work of the robot Robot teaching method.

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