JP3164937B2 - Method of setting origin position of multi-tasking machine and setting of correction value for position coordinate correction - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method of setting an origin position of a multi-task machine and a method of setting a correction value for correcting position coordinates.
More specifically, the origin of a multi-tasking machine having a plurality of processing devices, each of which can move in the coordinate axis direction in an individual coordinate system, and a processing machine having a processing head for mounting a punch and a die, etc. The present invention relates to a position setting method and a position coordinate correction value setting method.

[0002]

2. Description of the Related Art A multi-tasking machine which has a plurality of working machines each having a working head movable in the direction of a coordinate axis and processes a same material by the working head of each working machine to produce a product is known. For example, there is a multi-tasking machine for sheet metal multi-tasking having a three-dimensional laser machining apparatus and a multi-axis sheet material machining robot.

In the above-described multi-tasking machine, the machining head of each machining device is guided by an individual guide rail and moves in the direction of each coordinate axis. Therefore, each machining device has an individual coordinate system. In each processing apparatus, the origin position and the position coordinate value are individual.

[0004] For this reason, a machining program for each machining apparatus cannot be created in a common coordinate system, and setting of a machining position by a machining head of each machining apparatus is performed by performing teaching for each machining apparatus. ing.

[0005]

The setting of the machining position by the teaching is troublesome, requires experience, and it is necessary to repeat the teaching every time the machining content is changed, which is not efficient. For this reason, it is unsuitable especially for high-mix low-volume production and causes a decrease in the operating rate of an expensive multi-processing machine. The present invention has been made in view of the problems described above,
An origin position setting method for a multi-tasking machine that enables a machining program of each machining device to be easily created in a common coordinate system, and enables setting of a machining position of each machining device without requiring teaching. It is an object of the present invention to provide a method for setting a correction value for position coordinate correction.

[0006]

SUMMARY OF THE INVENTION According to the present invention, there is provided a machining head having a plurality of machining devices, each machining device being movable in a coordinate axis direction in an individual coordinate system. In the method of setting the origin position between respective processing devices of the multi-tasking machine, the processing head of one processing device is positioned at a predefined coordinate position, and the directivity of the processing head in the vertical direction or the horizontal direction is determined in a stationary state. Irradiating a light beam having the following, moving the processing head of another processing device in the coordinate axis direction, searching for the light beam by the light sensing means provided on the processing head, and processing the other processing device detecting the light beam From the relationship between the position coordinate value of the head and the position coordinate value of the processing head of the one processing device at the predefined coordinate position, the origin position of the one processing device and the origin position of the other processing device Origin position setting method for multi-tasking machines characterized by common setting of origin position and multiple processing devices, each of which can be moved in the coordinate axis direction by its own coordinate system Correction value setting method for position coordinate correction of a multi-tasking machine having a
The processing head of one processing apparatus is positioned at each of two predefined coordinate positions, and emits light beams having directivity in the vertical or horizontal direction from the processing head in a stationary state, and the processing of another processing apparatus is performed. The head is positioned at each of two predefined coordinate positions, and the light beam is detected by the light sensing means provided on the processing head at each of the coordinate positions. Measuring a deviation between the coordinate axis direction of one processing apparatus and the coordinate axis direction of the other processing apparatus, and setting a correction value for correcting the position coordinate value so that the position coordinates of each processing apparatus match based on the deviation. This is achieved by a method of setting a correction value for position coordinate correction of a multi-tasking machine characterized by the following.

[0007]

According to the above construction, the processing head of one processing apparatus emits a light beam having directivity in the vertical or horizontal direction at a predetermined coordinate position such as the origin position. When the processing head of another processing apparatus moves in the coordinate axis direction, the light sensing means provided in the processing head searches for the light beam in a scanning manner, and the light sensing means detects the light beam, thereby detecting the light beam. The origin position of the other processing device is determined by the relative relationship between the position coordinate value of the processing head of the other processing device at the position and the position coordinate value at the predefined coordinate position of the processing head of the one processing device. It is logically standardized and set based on the origin position of the one processing apparatus.

Further, the processing head of one processing apparatus emits light beams having directivity in the vertical direction or the horizontal direction at two predefined coordinate positions, and the processing head of another processing apparatus is defined in advance. Are moved to the two coordinate positions, and at each coordinate position, the light sensing means provided on the processing head of the another processing device detects the light beam, and the light amount detected at each coordinate position is different from each other. A deviation (deviation) in the coordinate axis direction of the other processing apparatus with respect to the coordinate axis direction of one processing apparatus is measured, and based on the deviation, the correction value of the position coordinate value is adjusted so that the physical position coordinates of each processing apparatus match each other. Is set.

[0009]

Embodiments of the present invention will be described below in detail with reference to the drawings.

FIGS. 1 to 3 show an example of the structure of a multi-tasking machine used for implementing a method of setting an origin position and a correction value for correcting position coordinates according to the present invention.

This multi-tasking machine has a dome-shaped shelter 1
The shelter 1 is provided with a three-dimensional laser processing apparatus 3 and a pair of left and right bending robots 5 and 7.

The three-dimensional laser processing apparatus 3 includes an X-axis cross slider 11 which is bridged between the left and right ceiling rails 9 and is guided by the ceiling rails 9 and is movable in the X-axis direction (X1).
A Y-axis carriage 15 supported by the X-axis cross slider 11, guided by a Y-axis guide rail 13 provided on the X-axis cross slider 11, and movable in the Y-axis direction (Y1);
A Z-axis slider 19 supported by the Y-axis carriage 15 and guided by the Z-axis guide 17 of the Y-axis carriage 15 and movable in the Z-axis direction (Z1); and a vertical axis mounted on the lower end of the Z-axis slider 19 It has a three-dimensional moving structure including an A-axis rotating arm 21 rotatable around, and a B-axis rotating arm 23 attached to the tip of the A-axis rotating arm 21 and rotatable around a horizontal axis. A laser beam nozzle 25 serving as a processing head is attached to the tip of the arm 23.

The laser beam nozzle 25 is supplied with a laser beam from a laser oscillator (not shown) by a He-Ne laser or the like, and is rotated in the vertical direction, the horizontal direction, or at an arbitrary tilt angle by the rotation of the B-axis rotating arm 19. A laser beam is emitted in a direction with a directivity.

The bending robot 5 on the right side is guided by a guide rail 27 and is movable in the X-axis direction (X2), and a Z-axis guide portion of the X-axis slider 29 supported by the X-axis slider 29. 31 and is guided in the Z-axis direction (Z
2) Z-axis slider 33 movable to 2) and Z-axis slider 3
A robot arm unit 37 supported by the Y-axis guide section 35 of the Z-axis slider 33 and movable in the Y-axis direction (Y2). Is replaceable.

The left bending robot 7 has substantially the same structure as the right bending robot 5, and has an X-axis slider 41 which is guided by a guide rail 39 and is movable in the X-axis direction (X3). A Z-axis slider 45 supported by the X-axis slider 41 and guided by the Z-axis guide 43 of the X-axis slider 41 and movable in the Z-axis direction (Z3); and a Z-axis slider 45 supported by the Z-axis slider 45. And a robot arm unit 49 that can be moved in the Y-axis direction (Y3) by being guided by the Y-axis guide section 47, and a tool such as a bending mold is exchangeably mounted on the tip of the arm (working head).

In this case, the moving bodies such as the carriage and the slider of each of the three-dimensional laser processing apparatus 3 and the left and right bending robots 5 and 7 are guided by their own guide rails and guides and move. In FIG. 3, the three-dimensional laser processing apparatus 3 and the left and right bending robots 5 and 7 are provided with symbols X1, Y1, Z1 and X2, Y2, Z2 and X3, Y3,
As indicated by Z3, each has a separate coordinate system, and an origin position exists in each of the coordinate systems.

A measuring jig (not shown) having a light receiving element is positioned and mounted on the tool mounting portion at the tip of each of the robot arm units 37 and 49 of the left and right bending robots 5 and 7, instead of the tool. Light receiving elements 51 and 53 are positioned and mounted at the distal ends of the robot arm units 37 and 49, respectively. Each of the light receiving elements 51 and 53 is responsive to the laser beam emitted from the laser beam nozzle 25 and generates a quantitative electric signal that increases as the amount of received light increases. Each of the light receiving elements 51 and 53 is provided in the X-axis direction and the Y-axis direction, or can be swung between the X-axis direction and the Y-axis direction. Laser beam nozzle 25 than any of the directions
It is configured to be able to respond to the emitted laser beam.

A work transfer guide rail 55 extends in the X-axis direction at the center between the guide rails 27 and 39 in the Y-axis direction. A traveling carriage 57 is engaged with the work transfer guide rail 55. I have. The traveling carriage 57 is provided so as to be movable in the X-axis direction while being guided by the workpiece conveying guide rail 55, and includes a workpiece supporting portion 59 that reversibly supports the plate-shaped workpiece W in a vertical posture or a horizontal posture. Have.

FIG. 4 shows a control system of a multi-tasking machine used for carrying out a method of setting an origin position and a method of correcting a position coordinate value between respective machining devices according to the present invention. The control system includes a three-dimensional laser processing device 3 and left and right bending robots 5 and 7.
Have NC devices 61, 63, 65 for each of them. In FIG. 2, reference numeral 67 denotes these NC devices 61,
63 and 65 show a common cabinet.

The NC device 61 of the laser processing device 3 outputs an axis driving command to the axis driving unit 69 of each unit of the laser processing device 3 according to a processing program, an origin position setting program, and a position coordinate value correction program, and a laser output control unit. 7
1 to output a laser output command.

The NC device 63 of the bending robot 5 on the right side
Is a machining program or a home position setting program,
Bending robot 5 according to position coordinate value correction program
And outputs an axis driving command to the axis driving section 73 of each section.

The NC device 65 of the bending robot 7 on the left side
Is a machining program or a home position setting program,
Bending robot 7 according to position coordinate value correction program
And outputs an axis driving command to the axis driving section 75 of each section.

The light receiving element 51 of the bending robot 5 is connected to the maximum received light amount detecting section 77,
Detects the peak of the electric signal from the light receiving element 51 and outputs a peak detection signal to the NC device 63. Further, a light reception amount signal memory unit 79 is connected to the maximum light reception amount detection unit 77,
The light reception amount signal memory 79 stores an electric signal value from the light receiving element 51 at the peak detection time, that is, a signal indicating the light reception amount (light reception amount signal).

The received light signal memory 79 is configured to store two received light signals.
Are output to the comparing unit 81, and the comparing unit 81 calculates the relative difference between the two received light amount signals, and outputs the calculation result to the NC unit 63.

The light receiving element 53 of the bending robot 7 is connected to the maximum received light amount detecting section 83,
3 detects the peak of the electric signal from the light receiving element 53,
A peak detection signal is output to the NC device 65. The maximum received light amount detection unit 83 is connected to a received light amount signal memory unit 85. The received light amount signal memory unit 85 is an electric signal value from the light receiving element 53 at the time of peak detection, that is, a signal indicating the amount of received light (light reception amount). Signal).

The received light signal memory unit 85 is configured to store two received light signals, and outputs the stored two received light signals to the comparing unit 87. The comparing unit 87 calculates the relative difference between the two received light amount signals, and calculates the result of the calculation by NC.
Output to the device 65.

Next, a description will be given of a procedure of implementing the origin position setting method in the above-described configuration.

First, the X-axis cross slider 11, the Y-axis carriage 15, and the Z-axis
By controlling the axes of the axis slider 19, the A-axis rotation arm 21, and the B-axis rotation arm 23, the laser beam nozzle 25 of the laser processing apparatus 3 is moved to a predetermined coordinate position, for example, X
The laser beam is returned from the laser beam nozzle 25 in the one-axis direction, the Y1-axis direction, the Z1-axis direction, the A-axis direction, and the B-axis direction to the original position, and the laser beam is stopped at the original position. This laser beam is emitted in the Z-axis direction, that is, in the vertical direction at the origin position of the laser processing apparatus 3, and forms a vertical origin position index line by the laser beam.

Next, the robot arm unit 37 of the bending robot 5 is moved at a constant speed in the X2 axis direction by the axis control of the X-axis slider 29 of the bending robot 5 on the right side by the axis driving unit 73. The light amount signal generated by the light receiving element 51 oriented in the Y axis direction at each coordinate position in the X2 axis direction peaks, in other words, the light receiving element 51 of the robot arm unit 37 is driven by the laser beam in the X2 axis direction. The maximum light receiving amount detection unit 77 detects that it is located at a position that perfectly matches the vertical origin position index line, and thereby outputs a peak detection signal to the NC device 63.

The NC device 63 inputs the above-mentioned peak detection signal to determine the origin position in the X2 axis direction of the bending robot 5 by the current X2 of the robot arm unit 37.
Set based on the position coordinate value in the axial direction. The origin position in the X2 axis direction of the robot arm unit 37 set in this way is equal to the origin position in the X1 axis direction of the laser processing device 3, and both are logically, that is, the laser processing device 3 and the bending robot 5 In each machining program.

Next, the axis control of the robot arm unit 37 of the bending robot 5 on the right side by the axis driving unit 73 causes the robot arm unit 37 of the bending robot 5 to operate.
Is moved in the Y2 axis direction at a constant speed, and during this constant speed movement, the light reception amount signal generated by the light receiving element 51 oriented in the X axis direction at each coordinate position in the Y2 axis direction peaks, in other words, the robot The maximum received light amount detection unit 77 detects that the light receiving element 51 of the arm unit 37 is located at a position completely aligned with the vertical origin position index line by the laser beam in the Y2 axis direction, and thereby the peak detection signal is changed to NC. Output to the device 63.

The NC device 63 inputs the above-mentioned peak detection signal to determine the origin position of the bending robot 5 in the Y2 axis direction at the current Y2 position of the robot arm unit 37.
Set based on the position coordinate value in the axial direction. The origin position in the Y2 axis direction of the robot arm unit 37 set in this way is equal to the origin position in the Y1 axis direction of the laser processing device 3, and both are logically, that is, the laser processing device 3 and the bending robot 5 In each machining program.

Next, the laser processing apparatus 3 by the shaft driving section 69
The laser beam nozzle 25 of the laser processing apparatus 3 is rotated by 90 degrees by the axis control of the B-axis rotation arm 23, and the laser beam is emitted from the laser beam nozzle 25 in a stationary state. This laser beam is radiated horizontally in the Y-axis direction at the origin position of the laser processing device 3 and forms a horizontal origin position index line by the laser beam.

Next, the Z-axis slider 33 of the bending robot 5 is moved at a constant speed in the Z2 axis direction by the axis control of the robot arm unit 37 of the right bending robot 5 by the shaft driving unit 73. That is, the light receiving amount signal generated by the light receiving element 51 oriented in the X axis direction at each coordinate position in the Z2 axis direction has a peak, in other words, the light receiving element 51 of the robot arm unit 37 has a laser beam in the Z2 axis direction. The maximum light receiving amount detection unit 77 detects that it is located at a position that perfectly matches the horizontal origin position index line by light in the vertical direction, and outputs a peak detection signal to the NC unit 63.

The NC device 63 inputs the above-mentioned peak detection signal to determine the origin position of the bending robot 5 in the Z2 axis direction by the current Z2 of the robot arm unit 37.
Set based on the position coordinate value in the axial direction. The origin position in the Z2 axis direction of the robot arm unit 37 set in this way is equal to the origin position in the Z1 axis direction of the laser processing device 3, and both are logically, that is, the laser processing device 3 and the bending robot 5 In each machining program.

The X3 axis direction of the left bending robot 7
The origin positions in the Y3 axis direction and the Z3 axis direction are also set on the basis of the origin position index line by the laser beam of the laser processing apparatus 3, similarly to the origin position setting in the bending robot 5 on the right side.

Next, a description will be given of a procedure for implementing a method for setting a correction value for position coordinate correction in the above-described configuration, taking the Y axis as an example.

First, by controlling the axis of the Y-axis carriage 15 of the laser processing apparatus 3 by the axis driving unit 69, the laser beam nozzle 25 of the laser processing apparatus 3 is moved to a first defined coordinate position, for example, the origin in the Y1 axis direction. To the laser beam nozzle 2 in the stationary state at the origin position.
5 emits a laser beam in the vertical direction.

Next, the axis driving unit 73 controls the axis of the robot arm unit 37 of the bending robot 5 on the right side, and the robot arm unit 37 of the bending robot 5 is controlled.
Is moved in the Y2 axis direction at a constant speed. During this constant speed movement, that is, at the respective coordinate positions in the Y2 axis direction, the light reception amount signal generated by the light receiving element 51 oriented in the X axis direction becomes the maximum light reception amount. The light reception amount signal at the time of the peak detection is detected by the detection unit 77 and stored in the light reception amount signal memory unit 79.

Next, the laser processing device 3 by the shaft driving unit 69
By moving the laser beam nozzle 25 of the laser processing device 3 to a predefined second coordinate position, for example, the maximum movement position in the Y1 axis direction by the axis control of the Y-axis carriage 15,
The laser beam is emitted in the vertical direction from the laser beam nozzle 25 in the stationary state at this moving position.

Next, the axis control of the robot arm unit 37 of the bending robot 5 on the right side by the axis driving unit 73 causes the robot arm unit 37 of the bending robot 5 to be controlled.
Is moved in the Y2 axis direction at a constant speed. During this constant speed movement, that is, at the respective coordinate positions in the Y2 axis direction, the light reception amount signal generated by the light receiving element 51 oriented in the X axis direction becomes the maximum light reception amount. The light reception amount signal at the time of the peak detection is detected by the detection unit 77 and stored in the light reception amount signal memory unit 79.

When the received light signal memory unit 79 stores the received light signals when the two peaks are detected, the two received light signals are output to the comparing unit 81, and the comparing unit 81 outputs the peak value of the received light signal at the origin position. , And calculates the mutual difference between this and the peak value of the other received light amount signal, and outputs the calculation result to the NC device 63.

Next, the axis of the X-axis slider 29 of the bending robot 5 on the right side by the axis driving unit 73 based on the above-described calculation results while maintaining the current position of the robot arm unit 37 of the bending robot 5 in the Y2 axis direction. By the control, the robot arm unit 37 of the bending robot 5 is moved in the X2 axis direction until the peak value of the received light signal generated by the light receiving element 51 becomes equal to the peak value of the received light signal at the origin position.

Based on the amount of movement of the robot arm unit 37 in the X2 axis direction, a deviation in the Y2 axis direction of the bending robot 5 with respect to the Y1 axis direction of the laser processing device 3 is measured, and based on this deviation. A correction value (offset value) of the position coordinate value is set so that the physical position coordinates of the laser processing device 3 and the right bending robot 5 in the Y-axis direction match each other.

In the above example, the deviation of the bending robot 5 in the Y2 axis direction is measured by actually moving the robot arm unit 37 in the X2 axis direction. If so, the deviation can be measured by calculation.

The above-described correction value setting for position coordinate correction is performed by:
Right bending robot 5 and left bending robot 7
The coordinate system of the bending robot 5 on the right side and the coordinate system of the bending robot 7 on the left side are changed by the setting of the correction value for position coordinate correction.
Will be treated as three-dimensional coordinates that are logically the same as the coordinate system.

Thus, the position coordinate values of the laser processing apparatus 3, the right bending robot 5 and the left bending robot 7 in each processing program are set in one common coordinate system, and are set between the respective processing programs. There is no need to perform coordinate conversion.

In the above-described embodiment, the laser processing apparatus 3 has the A-axis rotation mechanism and the B-axis rotation mechanism. However, when the laser processing apparatus does not have these rotation mechanisms,
By attaching a jig for refracting the laser beam by 90 degrees to the laser beam nozzle portion, vertical light and horizontal light may be obtained.

The multifunction machine to which the method of setting the origin position and the method of setting the correction value for correcting position coordinates according to the present invention is applied
In order to obtain a directional light beam, it is preferable to include a laser processing device. However, by adding a beam emitting means of one processing device, the laser processing device is not necessarily required, and each of the coordinates may be used. It may be based on a combination of other various processing apparatuses having a system.

Although the present invention has been described in detail with reference to specific embodiments, the present invention is not limited to these embodiments, and various embodiments are possible within the scope of the present invention. Some will be apparent to those skilled in the art.

[0051]

As can be understood from the above description, according to the method of setting the origin position and the correction value for correcting the position coordinates of the multi-tasking machine according to the present invention, the machining head of one machining apparatus is set in advance such as the origin position. A light beam having directivity in the vertical or horizontal direction is emitted at the defined coordinate position, and the light provided on the processing head of the other processing device is moved by moving the processing head of the other processing device in the coordinate axis direction in this state. The sensing means scans the light beam for scanning, and the light sensing means detects the light beam, so that the position coordinate value of the processing head of the other processing device at this detection position and the processing head of the one processing device. The origin position of the other processing device is logically common with respect to the origin position of the one processing device based on the relative relationship with the position coordinate value at the predefined coordinate position. The processing head of one processing device emits light beams having directivity in the vertical or horizontal direction at two predefined coordinate positions, and the processing head of another processing device is defined in advance. Are moved to each of the two coordinate positions, and at each coordinate position, the light sensing means provided on the processing head of the another processing device detects the light beam, and the light amount detected at each coordinate position is different from each other. A deviation in the coordinate axis direction of the other processing device with respect to the coordinate axis direction of one processing device is measured, and a correction value of the position coordinate value is set based on the deviation so that the physical position coordinates of each processing device match each other. Therefore, the machining program of each machining device can be easily created in a common coordinate system, and the machining position of each machining device is set without requiring teaching, and each machining device is set. Behavior change is to be conveniently carried out only by changing the machining program.
From these facts, the adaptability of the multi-tasking machine to high-mix low-volume production is improved, and the operation rate of the multi-tasking machine is improved.

[Brief description of the drawings]

FIG. 1 is a front view of an example of the structure of a multi-tasking machine used for implementing an origin position setting method and a position coordinate correction value setting method according to the present invention, as viewed in the X-axis direction.

FIG. 2 is a side view of an example of the structure of a multi-tasking machine used for implementing an origin position setting method and a position coordinate correction value setting method according to the present invention, as viewed in the Y-axis direction.

FIG. 3 is a perspective view showing a coordinate system of the multi-task machine used for carrying out the origin position setting method and the position coordinate correction value setting method according to the present invention.

FIG. 4 is a block diagram showing an embodiment of a control system of the multi-tasking machine used for implementing the origin position setting method and the position coordinate value correcting method between the respective processing devices according to the present invention.

[Explanation of symbols]

 3 Three-dimensional laser processing device 5, 7 Bending robot 25 Laser beam nozzle 37, 49 Robot arm unit 51, 53 Light receiving element 61, 63, 65 NC device 77, 83 Maximum received light amount detection unit 81, 87 Comparison unit

Continuation of the front page (58) Field surveyed (Int. Cl. ⁷ , DB name) B23Q 15/00-15/28 B21D 5/02 B23K 26/00-26/42 B23P 23/00-25/00

Claims (2)

(57) [Claims] 1. An origin position setting method for a multi-tasking machine having a plurality of machining devices, each machining device having a machining head movable in a coordinate axis direction in an individual coordinate system, The processing head of one processing apparatus is positioned at a predefined coordinate position, and emits light beams having directivity in the vertical or horizontal direction from the processing head in a stationary state, and the processing heads of the other processing apparatuses are coordinate axes. The light beam is searched for by the light sensing means provided on the processing head by moving in the direction, and the position coordinate value of the processing head of the other processing device that has detected the light beam and the processing coordinate of the processing head of the one processing device are determined in advance. The origin position of the one processing device and the origin position of the other processing device are shared to set the origin position based on a relationship between the defined coordinate position and the position coordinate value. Origin position setting method of case processing machine. 2. A method of setting a position coordinate correction value for a multi-tasking machine having a plurality of machining devices, each machining device having a machining head movable in a coordinate axis direction in an individual coordinate system. The processing heads of one of the other processing apparatuses emit light beams having directivity in the vertical or horizontal direction from the processing head in a stationary state while the processing heads of the two processing apparatuses are respectively positioned at two predefined coordinate positions. Is positioned at each of two predefined coordinate positions, and the light beam is detected at each of the coordinate positions by a light sensing means provided on the processing head. A deviation between the coordinate axis direction of one processing device and the coordinate axis direction of the other processing device is measured, and a correction value for correcting the position coordinate value so that the position coordinates of each processing device match based on the deviation is measured. Position coordinate correction correction value setting method of a composite working machine which characterized in that a constant.