JPH0341505A - Method and device for correcting squareness of teaching program - Google Patents

Abstract

PURPOSE:To eliminate the need for reforming a teaching program by converting an unadjusted teaching program so as to be matched with an adjusted coordinate system based upon a conversion program formed by setting up an adjusting angle by the rotational angle of a certain coordinate other than the reference coordinate. CONSTITUTION:The squareness correcting device is provided with a conversion program storage part 5 for storing a conversion program for converting data formed by an unadjusted coordinate system into data matched with an adjusted coordinate system based upon the adjusting angle of a machine coordinate system for a working machine, a teaching program input part 6 for inputting a teaching program formed before adjusting the machine coordinate system of the working machine and a conversion part 7 for converting the inputted teaching program by the conversion program stored in the storage part 5. The converted teaching program is properly outputted to an NC device 8 for the machine. Even after adjusting the axis of the NC machine, the teaching program obtained before adjusting the axis can be used as it is, so that the need for reforming the teaching program can be eliminated.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a method and apparatus for correcting the squareness of a teaching program for a processing machine equipped with a teaching playback function.

(Prior art) Generally, in machines equipped with a teaching program function, such as robots and various processing machines, teaching points are obtained by manually operating the positions of robot hands and machine tools using so-called direct teaching, and multiple teaching points are interpolated as appropriate. By doing so, the robot's hands and tools can be operated in playback mode.

More specifically, for example, in a laser processing machine, the nozzle position of the processing head that outputs the laser beam is moved along the workpiece shape, and a number of points such as the processing start point, the end point of the straight part, the middle point of the curved part, etc. of the workpiece shape are By obtaining teaching points, a teaching program for playing back a large number of teaching points can be obtained.

Creating these teaching programs can be done relatively easily for workpieces that can be expressed by connecting straight lines, but requires a considerable amount of effort when curves or parts that require high-precision positioning are included. It is.

Therefore, conventionally, the teaching program thus obtained is stored in an appropriate storage device and saved, and is used repeatedly for the same work.

By the way, various machines sometimes adjust their coordinate systems in order to remove distortions due to aging.

For example, in a machine equipped with two orthogonal axes of XY coordinates, when distortion occurs in the two orthogonal axes, the Y coordinate is rotated with respect to the X coordinate.

In this case, the past orthogonal coordinates are multiplied by χ1 and the coordinates after axis adjustment are changed to L, so the teaching program created as described above cannot be used, and a teaching program must be created again for the same workpiece. It will have to be fixed. As mentioned above, creating this teaching program requires a considerable amount of time and effort depending on the type of work.

(Problem to be Solved by the Invention) As mentioned above, conventionally, when the coordinate system of a machine is adjusted due to periodic inspections, other coordinates are rotated with respect to the reference coordinates. I was unable to use the teaching program and had to create it again.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a method and apparatus for correcting the squareness of a teaching program, which allows the teaching program before adjustment to be used as is even when the machine coordinate system is adjusted.

[Structure of the Invention] (Means for Solving the Problems) The squareness correction method of the teaching program of the present invention, which solves the above problems, has a teaching playback function, as shown in the outline in FIG. 1(a). In a method for correcting the perpendicularity of a teaching program for a machine equipped with a machine, in step 1, the machine coordinates of the machine are adjusted, in step 2, the adjustment angle is set as a rotation angle γ with respect to the base coordinates, and in step 3, the set rotation angle is adjusted. A conversion program is created to convert the position data created in the coordinate system before adjustment into data that matches the coordinate system after adjustment based on the above, and in step 4, the teaching program before adjustment is converted by the conversion program, and the conversion is performed. The teaching program is given to the adjusted machine and operated.

As shown in FIG. 1(b), this device is a device for correcting the squareness of a teaching program of a machine equipped with a teaching playback function, based on the adjustment angle γ of the machine coordinates of the processing machine. a conversion program storage unit 5 that stores a conversion program for converting data created in the coordinate system before adjustment into data that matches the coordinate system after adjustment; and a teaching program created before adjusting the machine coordinates of the processing machine. A teaching program input unit 6 for inputting a program, a conversion unit 7 for converting the teaching program input from the input unit 6 using a conversion program stored in the storage unit 5, and a teaching program converted by the AT conversion unit 7. It is characterized by comprising a conversion program output section 9 that outputs the program to the NC device 8 of the machine as appropriate. The device may be integrated into the NC device 8 of the processing machine.

(Operation) In the squareness correction method of the teaching program of the present invention, in step 2, the quadrature angle γ of other coordinates with respect to the reference coordinates is determined.
The adjustment angle is set in Step 3, and in Step 4, the teaching program before adjustment is converted to match the coordinate system after adjustment, based on the conversion program created in Step 3. Therefore, the converted program is substantially the same as the teaching program created before adjustment that operated on the machine before adjustment, and it is possible to cause the machine after adjustment to perform the desired operation.

Further, in the teaching program squareness correction device of the present invention, the required squareness correction can be performed in the conversion section 7 using a conversion program created in advance based on the adjustment angle. By inputting the teaching program before adjustment, it is possible to output a program applicable to the adjusted machine from the conversion program output section 9 to the NC device 8. When this correction device is formed integrally with the NC device 8, it is convenient because the teaching program before adjustment can be directly input into the NC device 8.

(Example) Hereinafter, an example of the present invention will be described using an example of a laser processing machine equipped with a teaching playback machine.

2 and 3 are a front view and a plan view of a laser processing machine equipped with a teaching playback function.

In the figure, supports 11 are provided at the four outer corners of the processing table 10.
is erected, and above the machining head 12 is placed the workpiece W.
An X-axis carriage 13, a Y-axis carriage 14, and a Z-axis drive device housed within the carriage 14 are provided for driving the image in three dimensions XYz. Each axis XYZ
can be adjusted by appropriately rotating it with respect to the reference seat m (X) in order to eliminate the distortion.

A laser oscillator 15 is arranged outside the support column 11, and a laser beam emitted from the oscillator 15 is outputted to the workpiece W from the nozzle tip of the first head 12 via a pend mirror or the like as appropriate. It looks like this.

Further, an NC device 8 for machine control is arranged on the side surface of the laser oscillator 15, and is connected to various actuators and sensors on the machine body side via a strong electric panel 16.

Now, let us assume that due to aging, distortion occurs in each axis of the machine, XYZ, and the axes must be adjusted. For example, as shown in FIG. 4, the strain in each axis
Apply to the inverse of the two orthogonal sides of ? This can be determined by calculating the squareness from the point data obtained.

Therefore, when we periodically inspected the perpendicularity, the detection result was xy, as shown in Figure 2-) (a), and the axis Y was distorted by +γ in y based on the X coordinate. Assume that the axis is adjusted by this angle γ as shown in FIG. 5(b).

Then, each point A, B,...F shown in figure (a) becomes figure (b)
), this corresponds to A-, B-...F' shown with a dash (゛) sign, so the program in the case of indirect teaching returns to normal operation, but the teaching program using direct teaching does not. The normal workpiece shape WI will be distorted into another workpiece shape W2.

Therefore, in this example, the perpendicularity of the teaching program is corrected according to the axis configuration of the machine so that the original shape WI as shown in FIG. 5(a) can be obtained even after the axis adjustment.

FIG. 6 shows a detailed diagram of the shaft arrangement of the laser processing machine.

As shown in the figure, in the laser processing IL machine of this example, the mechanical origin is set to χ1, and an arbitrary origin (auxiliary IL origin) is set for the convenience of the program.
xo and yo can be set.

Also, for the coordinate values XE and yE, this axis 2 on the optical axis committee
A machining head 12 is provided so as to rotate at a radius R1 around the machining head 12. R1 is a constant. Hereinafter, this rotation axis will be referred to as the A-axis, and the rotation angle will be denoted by α. Furthermore, the machining head 12 is self-made and rotates within a vertical plane with a radius of 1"-diameter P2 with respect to the center point of the head. R2 is a constant. Hereinafter, this rotation axis will be referred to as the B axis, and the rotation angle will be β. Indicated by

In the above relationship, an example is given in which the rotation angle γ is given to the Y coordinate with the X coordinate as the reference.The point taught in the old drift (x, y) is (x, y) in the new coordinate. be.

Therefore, in order to convert the 111 program to a new program by giving R,, R2, γ, the amount of modification is ΔX, Δ
As y, (X+L!+Lβ)=(X, Y, Z
, a, β) -1l).

first, and Δx−X Is X1Δy-y-y in, Δ　X　　-- (y・10FE ) nγ+C (1-coSy) -R.

03 (a[+7) 10R1 osB 2 ・S 1n βE (αE + γ ) +R2 ・Sol βE αE ・・・・・・(4) Δy − (N +yc ) (cosγ 1) 510 tons (σ[1 ) +R 111E −[iI・sinβ(・cos (iE+7)R
1-sfβ[-COl[...(5)

As described above, the teaching program having the shape W1 shown in FIG. 5(a) is converted using the conversion formula (1), and
A regular shape W1 can be processed by applying the coordinate system XY shown in Figure (a).

This conversion program is created based on the adjustment angle γ when adjusting the pongee, and is stored in the storage unit 5 as shown in FIG. 1(b), so that the teaching programs for various workpieces can be converted as appropriate There is no need to re-create a teaching program for the same work. Moreover, if the converter 7 is integrated with the NC device 8, conversion can be performed in a timely manner depending on the work.

Since the teaching program that has been converted by -degrees matches the coordinate system after the axis adjustment, this converted program can be used as an operation program without further conversion.

In the above embodiment, a two-dimensional transformation example is shown, but the same applies even if it is three or more dimensions. Further, in this example, the example of the shaft configuration shown in FIG. 6 is shown, but the conversion formulas shown in equations (1) to F can be created as appropriate depending on the contents of the shaft configuration.

The present invention is not limited to the above-mentioned embodiments, but can be modified in an appropriate manner by making appropriate design changes.

[Effects of the Invention] As described above, the present invention is a teaching program perpendicularity correction method and device as described in the claims, so even after the axis adjustment of an NC machine, the teaching before the axis adjustment can be performed. The program can be used as is, eliminating the need to create a new teaching program for each workpiece, resulting in significant labor savings.

[Brief explanation of drawings]

FIG. 1(a) is a flowchart showing an overview of the squareness correction method of the teaching program of the present invention, and FIG. 1(b)
is a block diagram showing an overview of the device, Fig. 2 is a front view showing an example of a laser processing machine equipped with a teaching playback function, Fig. 3 is a plan view thereof, and Fig. 4 is a processing head of the above laser processing machine. FIG. 5 is an explanatory diagram showing the coordinates before and after adjustment of the shaft; FIG. 6 is a perspective view showing the shaft configuration of the laser processing machine; FIG. FIG. 7 is an explanatory diagram showing the squareness correction method of the laser processing machine. 5...Conversion program storage section 6...Teaching program input section 7...Conversion section 8...NC device 9...Post-conversion program output section γ...Adjustment angle (rotation angle)

Claims (3)

[Claims] (1) In the squareness correction method of a teaching program for a machine equipped with a teaching playback function, after adjusting the machine coordinates of the machine, the adjustment angle is set as a rotation angle with respect to the reference coordinates, and the adjustment angle is set based on the set rotation angle. Create a conversion program that converts position data created in the coordinate system before adjustment to data that matches the coordinate system after adjustment, convert the teaching program before adjustment using the conversion program, and adjust the converted teaching program. A method for correcting the squareness of a teaching program, which is characterized in that the teaching program is given to a subsequent machine to operate. (2) In a perpendicularity correction device for a teaching program of a machine equipped with a teaching playback function, data created in the coordinate system before adjustment is converted into the coordinate system after adjustment based on the adjustment angle of the machine coordinates of the processing machine. a conversion program storage unit that stores a conversion program for converting data into matching data; a teaching program input unit that inputs a teaching program created before adjusting the machine coordinates of the processing machine; and a teaching program input from the input unit. A converting unit that converts the teaching program using a conversion program stored in the storage unit, and a converted program output unit that outputs the teaching program converted by the converting unit to the NC device of the machine as appropriate. A teaching program squareness correction device featuring features. (3) The teaching program squareness correction device according to claim 2, wherein the device is integrated into an NC device of the processing machine.