Teaching device and teaching method for teaching the operation of a laser processing device

Abstract

An example teaching device is sought that can easily adjust laser parameters at desired positions of a movement path of a laser beam with respect to a workpiece in laser processing. The teaching device has a processor that performs the following processes: generates a path image (110) that shows a movement path (MP) in which a laser processing device moves a laser beam with respect to a workpiece in laser processing; generates an input image (132) for inputting a data group that indicates a progress parameter representing progress of the laser processing and a laser parameter of the laser beam; and displays a position on the movement path (MP) that corresponds to the progress parameter in the path image (110).

Description

Technical Field

[0001] This disclosure relates to a teaching device and teaching method for teaching the operation of a laser processing apparatus. Background Technology

[0002] Teaching devices for teaching laser processing actions are known (e.g., Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2020-35404 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] Previously, there was a need for a teaching device that could easily adjust the laser parameters at the desired position of the laser beam's movement path on the workpiece during laser processing.

[0008] Solution for solving the problem

[0009] In one aspect of this disclosure, a teaching device is provided for teaching the operation of a laser processing apparatus that laser-processes a workpiece by moving a laser beam irradiating a workpiece relative to the workpiece. The teaching device includes a processor that performs the following processes: generating a path image showing the movement path of the laser processing apparatus in laser processing by moving the laser beam relative to the workpiece; generating an input image for inputting a set of data representing the progress of laser processing and laser parameters of the laser beam; and displaying the positions on the movement path corresponding to the progress parameters in the path image.

[0010] In another aspect of this disclosure, a teaching method is provided for teaching the operation of a laser processing apparatus that laser-processes a workpiece by moving a laser beam irradiating a workpiece relative to the workpiece. In this teaching method, a processor performs the following processes: generating a path image that presents a movement path of the laser processing apparatus moving the laser beam relative to the workpiece during laser processing; generating an input image for inputting a set of data representing the progress of laser processing and laser parameters of the laser beam; and displaying the positions on the movement path corresponding to the progress parameters in the path image.

[0011] The effects of the invention

[0012] According to this disclosure, an operator can visually identify a movement path shown in a path image and arbitrarily adjust the laser parameters (e.g., laser power) at a desired location on that movement path. Attached Figure Description

[0013] Figure 1 This is a schematic structural diagram of a laser processing system according to one implementation method.

[0014] Figure 2 yes Figure 1 The diagram shows a block diagram of a laser processing system.

[0015] Figure 3 Show Figure 1 An example of a laser irradiation device is shown.

[0016] Figure 4 yes Figure 1 An example of a teaching image generated by the teaching device shown illustrates the state where the "Shape 1" label is selected.

[0017] Figure 5 The selection is shown Figure 4 The status of the "Power" label in the shown teaching image.

[0018] Figure 6 Show Figure 5 The state of the slider in the shown teaching image after it has been moved.

[0019] Figure 7 Showing the selected Figure 4 This is an example of a parameter setting image displayed when setting the speed in the image.

[0020] Figure 8 Shown in the settings Figure 4 The “Power” label was selected in the “Shape 1” and “Shape 2” cases shown in the teaching images. Detailed Implementation

[0021] The embodiments of this disclosure will now be described in detail with reference to the accompanying drawings. Furthermore, in the various embodiments described below, the same elements will be labeled with the same reference numerals, and repeated descriptions will be omitted. First, refer to... Figures 1-3 The laser processing system 10 according to one embodiment will be described below. The laser processing system 10 includes a laser processing apparatus 12, a control device 14, and a teaching device 50.

[0022] The laser processing apparatus 12 irradiates a laser beam LB onto the workpiece W according to instructions from the control device 14, and performs laser processing (laser welding, laser cutting, etc.) on the workpiece W by moving the irradiated laser beam LB relative to the workpiece W. Specifically, the laser processing apparatus 12 includes a laser oscillator 16, a laser irradiation device 18, and a moving mechanism 20.

[0023] The laser oscillator 16 is a solid-state laser oscillator (e.g., a YAG laser oscillator or a fiber laser oscillator) or a gas laser oscillator (e.g., a carbon dioxide laser oscillator), etc., which generates a laser beam LB internally through optical resonance in response to a command from the control device 14, and supplies the laser beam LB to the laser irradiation device 18 through the light guide member 22. The light guide member 22 is an optical element such as an optical fiber, a hollow light guide path or a light guide path made of a light-transmitting material, a reflector or an optical lens, etc., which guides the laser beam LB toward the laser irradiation device 18.

[0024] The laser irradiation device 18, such as a laser scanner (galvano scanner) or laser processing head, focuses the laser beam LB supplied from the laser oscillator 16 and irradiates the workpiece W. Figure 3 The structure of the laser irradiation device 18, which serves as a laser scanner, is schematically shown in the figure. Figure 3 The laser irradiation device 18 shown has a housing 24, a light receiving part 26, reflectors 28 and 30, reflector driving devices 32 and 34, an optical lens 36, a lens driving device 38, and an emission part 40.

[0025] The housing 24 is hollow, and a transmission path for the laser beam LB is defined within it. A light-receiving part 26 is disposed within the housing 24 to receive the laser beam LB transmitted via the light guide member 22. A reflector 28 is disposed inside the housing 24 in a manner rotatable about axis A1. The reflector 28 reflects the laser beam LB, which enters the interior of the housing 24 through the light-receiving part 26, toward the reflector 30. The reflector drive device 32, for example a servo motor, rotates the reflector 28 about axis A1 in response to commands from the control device 14.

[0026] On the other hand, the reflector 30 is disposed inside the housing 24 in a manner that allows it to rotate about axis A2. Axis A2 may also be approximately orthogonal to axis A1. The reflector 30 reflects the laser beam LB reflected by the reflector 28 toward the optical lens 36. The reflector drive 34 is, for example, a servo motor, which rotates the reflector 30 about axis A2 in response to commands from the control device 14. Generally, reflectors 28 and 30 are sometimes referred to as galvano mirrors, and reflector drive devices 32 and 34 are sometimes referred to as galvano motors.

[0027] The optical lens 36 includes a focusing lens and the like, to focus the laser beam LB. In this embodiment, the optical lens 36 is supported inside the housing 24 in a manner that allows it to move along the optical axis O of the incident laser beam LB. The lens driving device 38 includes a piezoelectric element, an ultrasonic transducer, or an ultrasonic motor, and in response to a command from the control device 14, displaces the optical lens 36 in the direction of the optical axis O, thereby displacing the focal point of the laser beam LB irradiating the workpiece W in the direction of the optical axis O. The emission section 40 emits the laser beam LB, focused by the optical lens 36, out of the housing 24.

[0028] Refer again Figure 1 and Figure 2 The moving mechanism 20, for example, has a servo motor that moves the laser irradiation device 18 relative to the workpiece W. For example, the moving mechanism 20 is a multi-joint robot capable of moving the laser irradiation device 18 to any position in coordinate system C. Alternatively, the moving mechanism 20 may also have multiple ball screw mechanisms that move the laser irradiation device 18 along the xy plane of coordinate system C and along the z-axis of coordinate system C.

[0029] Coordinate system C is, for example, the world coordinate system that defines the three-dimensional space of the work room, the motion mechanism coordinate system (e.g., the robot coordinate system) used to control the movement of the motion mechanism 20, or the workpiece coordinate system that defines the coordinates of the workpiece W, etc., and is the control coordinate system used to automatically control the movement of the laser processing device 12.

[0030] The control device 14 controls the operation of the laser processing apparatus 12. Specifically, the control device 14 is a computer with a processor (CPU, GPU, etc.) and memory (ROM, RAM, etc.). The control device 14 controls the laser beam generation operation performed by the laser oscillator 16. In addition, the control device 14 moves the laser irradiation device 18 relative to the workpiece W by actuating the moving mechanism 20. Furthermore, the control device 14 changes the orientation of the reflector 28 by actuating the reflector drive device 32 of the laser irradiation device 18 and changes the orientation of the reflector 30 by actuating the reflector drive device 34 of the laser irradiation device 18, thereby enabling the irradiation point of the laser beam LB irradiating the workpiece W to move at high speed relative to the workpiece W.

[0031] The teaching device 50 is a device used to teach the operation of the laser processing device 12. For example... Figure 2 As shown, the teaching pendant 50 is a computer having a processor 52, a memory 54, and an I / O interface 56. Furthermore, the teaching pendant 50 can be any type of computer, such as a desktop or tablet PC.

[0032] The processor 52 has a CPU or GPU, etc., and is connected to the memory 54 and I / O interface 56 in a communicative manner via bus 58. The processor 52 communicates with the memory 54 and I / O interface 56 and performs arithmetic processing to implement the teaching function described later.

[0033] The memory 54 has RAM or ROM, etc., to temporarily or permanently store various data. The I / O interface 56 has, for example, an Ethernet port, a USB port, a fiber optic connector or an HDMI terminal, to communicate data with external devices in a wired or wireless manner according to instructions from the processor 52.

[0034] The teaching pendant 50 is equipped with an input device 60 and a display device 62. The input device 60 has a keyboard, mouse, or touch panel, etc., to accept data input from the operator. The display device 62 has a liquid crystal display or organic EL display, etc., to display various data.

[0035] The input device 60 and the display device 62 can be connected to the I / O interface 56 in a wired or wireless manner. In addition, the input device 60 and the display device 62 can be disposed separately from the housing of the teaching pendant 50, or they can be integrated into the housing of the teaching pendant 50.

[0036] Below, refer to Figures 4-6 The method of teaching the operation of the laser processing apparatus 12 using the teaching pendant 50 will be explained. When a teaching start command is received from the operator via the input device 60, the processor 52 generates... Figure 4 The teach image 100 shown is image data of Computer Graphics (CG), and is displayed on the display device 62. The teach image 100 is a graphical user interface (GUI) for assisting the operator in teaching operations, and has a label image area 102 and a parameter setting image area 104.

[0037] In this embodiment, the label image area 102 displays images of eight labels: "Shape 1", "Shape 2", "Shape 3", "Shape 4", "Power", "Frequency", "Duty Cycle", and "Defocus". The operator can use the input device 60 to click on one of these nine labels on the image to select one.

[0038] The processor 52 generates a parameter setting image corresponding to the label selected by the operator based on the input signal received from the operator through the input device 60, and displays the parameter setting image in the parameter setting image area 104. Figure 4The parameter setting image 106 corresponding to the “Shape 1” label is shown in the parameter setting image area 104.

[0039] The operator can set various parameters through parameter setting image 106, such as the shape of the moving path MP of the laser processing device 12 (specifically the laser irradiation device 18) that moves the laser beam LB relative to the workpiece W during laser processing, the speed V of the laser beam LB (specifically the irradiation point on the workpiece W), and the number of times N that the laser beam LB moves repeatedly along the moving path MP.

[0040] Specifically, the parameter setting image 106 displays a shape selection image 108 for selecting "shape type", a path image 110, a numerical input image 112 for "scan frequency", a numerical input image 114 for "time", a numerical input image 116 for "height", a numerical input image 118 for "width", a numerical input image 120 for "number of times", a speed selection image 122, a speed setting image 124, a welding line length image 126, and a calculation method selection image 128.

[0041] The shape selection image 108 is an image used to select the shape of the movement path MP. Specifically, when the operator operates the input device 60 to click on the shape selection image 108, the processor 52 displays a list of various "shape types" at the shape selection image 108, for example, in the form of a drop-down image, based on the input signal from the input device 60.

[0042] For example, the "shape type" of the movement path MP can include various shapes such as "quadrilateral", "circle", "figure-eight", "C", and "triangular wave". The operator can operate the input device 60 to click on the shape selection image 108 to select one of the multiple "shape types".

[0043] Path image 110 shows the movement path MP of the "shape type" selected in shape selection image 108. Figure 4 This illustrates the case where "Quadrilateral" was selected as the "Shape Type." The movement path MP has a start point P1 and an end point P2. Figure 4 In the example shown, the starting point P1 and the ending point P2 are set at the midpoint of the right side of the quadrilateral. In the case of the quadrilateral's movement path MP, the laser processing apparatus 12 moves the laser beam LB along the movement path MP in a clockwise (or counterclockwise) direction from the starting point P1 to the ending point P2.

[0044] Furthermore, processor 52 may also generate an image for selecting the positions of the start point P1 and the end point P2 in the movement path MP, and display this image in the parameter setting image 106. Additionally, processor 52 may also generate an image for selecting the direction (e.g., clockwise or counterclockwise) for moving the laser beam LB from the start point P1 to the end point P2 of the movement path MP, and display this image in the parameter setting image 106. In this document, one movement of the laser beam LB from the start point P1 to the end point P2 of the movement path MP is referred to as one "scan".

[0045] The numerical input image 116 for "height" is used to input the height direction of the "shape type" selected in the shape selection image 108. Figure 4 An image showing the dimensions (vertical orientation) on paper. The operator can input a value for "height" into the numerical input image 116 using the input device 60. The processor 52 displays a movement path MP with the input "height" in the path image 110 based on the input signal from the input device 60. Figure 4 In the example shown, "20" was entered in the numerical input image 116 for "height", and a moving path MP with a height of 20 [mm] is displayed in the path image 110.

[0046] The numerical input image 118 for "Width" is used to input the width direction of the "Shape Type" selected in the shape selection image 108. Figure 4 An image showing the dimensions (left-right orientation) of the paper. The operator can use the input device 60 to input a value for the "width" in the numerical input image 118. The processor 52 displays a movement path MP with the input "width" in the path image 110. Figure 4 In the example shown, "20" was entered in the numerical input image 118 for "width", and a moving path MP with a width of 20 [mm] is displayed in the path image 110.

[0047] Regarding the numerical input image 120 for "Number of Scans," "Number of Scans" represents the number of times N is repeated in the scan. Regarding the numerical input image 112 for "Scan Frequency," "Scan Frequency" represents the number of scans f (in Hz) per second. Additionally, regarding the numerical input image 114 for "Time," "Time" represents the time t required to perform a scan at the number of scans N input to the numerical input image 120. S The time t is obtained by multiplying the time t0 required for one "scan" by the number of scans N. S The value is calculated in the form t0 × N. The operator can operate the input device 60 to input "scan frequency", "time" and "number of scans" into the numerical input images 112, 114 and 120 respectively.

[0048] On the other hand, the calculation method selection image 128 displays images with the options of "calculate scan frequency based on time and number of scans", "calculate time based on scan frequency and number of scans", and "calculate number of scans based on scan frequency and time". The operator can operate the input device 60 to select one of these three options on the image.

[0049] When the option "Calculate scan frequency based on time and number of scans" is selected, the processor 52 receives the input signal from the operator and displays the "scan frequency" value input image 112 in a manner that indicates that no numerical input is possible. The operator inputs time t in the "time" value input image 114. S Furthermore, the number of times N is input into the numerical input image 120. The processor 52 then calculates the number of times based on time t. S The input signal of frequency N is used to f = N / t S The scanning frequency f is automatically calculated and displayed in the numerical input image 112.

[0050] Figure 4 This shows that the "Calculate scan frequency based on time and number of scans" option was selected in the calculation method selection image 128, and t was entered in the numerical input image 114. S =1000 [msec] and an example where the number of iterations N=1 was entered in the numerical input image 120. In this case, such as Figure 4 As shown, the processor 52 displays the numerical input image 112 of the "scanning frequency" in a way that makes it visually identifiable that numerical input is not possible (specifically, it displays it in a different color than the other numerical input images 114 and 120). Furthermore, the processor 52 automatically calculates the scanning frequency f as f = N / t. S (=1[Hz]), and is displayed in the numerical input image 114.

[0051] On the other hand, if the option "Calculate time based on scan frequency and number of scans" is selected in the calculation method selection image 128, the processor 52 will input the value of "time" into the image 114 to display a situation where numerical input is not possible. The operator inputs the scan frequency f and the number of scans N, and the processor 52 calculates the time based on these input signals. S =N / f calculate time t S The result is displayed in the numerical input image 114. Furthermore, the option "Calculate the number of times based on scan frequency and time" is the same as the other options.

[0052] Regarding the weld line length image 126, "weld line length" represents the total scanning distance l during the scanning of the numerical input image 120 for the number of scans N, defined by the movement path MP specified by the input "shape type", "height", and "width". The processor 52 automatically calculates the weld line length l based on the "shape type", "height", "width", and "number of scans" input by the operator and displays the weld line length l in the weld line length image 126.

[0053] Image 122 displays images with options for "scanning speed" and "welding speed". The operator can select one of these two options on the image using input device 60. "Scanning speed" refers to the speed at which the laser processing device 12 (specifically, the laser irradiation device 18) moves the laser beam LB along the movement path MP relative to the workpiece W. S .

[0054] On the other hand, "welding speed" refers to speed V. S velocity component V in the reference direction W For example, in Figure 4 In the movement path MP of path image 110, let the reference direction be defined as the horizontal axis direction of path image 110. In this case, the welding speed V W The velocity V of the laser beam LB (specifically, the irradiation point) moving along the moving path MP. S The velocity component along the horizontal axis.

[0055] Speed ​​setting image 124 is used to set the scan speed V selected in speed selection image 122. S Or welding speed V W The image is shown. Furthermore, details regarding the function of speed setting image 124 are described later. Figure 4 In the example shown, the speed setting image 124 displays the maximum and minimum speeds set by the operator. Furthermore, Figure 4 The scan speed V is shown. S Set to a constant speed V S =4.8 [m / min] (or 80 [mm / sec]) example.

[0056] As described above, the operator can set the shape type of the movement path MP and the time t in the parameter setting image 106. S Number of times N, speed V S or V WVarious parameters. The processor 52 stores the setting information of various parameters received from the operator in the memory 54. In addition, the parameter setting images corresponding to "shape 2", "shape 3" and "shape 4" displayed in the label image area 102 are the same as the parameter setting image 106.

[0057] On the other hand, the labels "Power," "Frequency," "Duty Cycle," and "Defocus" displayed in the label image area 102 are labels used to set the laser parameters LP, which define the optical characteristics of the laser beam LB. "Power" is a label used to set the laser power LP1 of the laser beam LB generated by the laser oscillator 16 in laser processing, and "Frequency" is a label used to set the pulse frequency LP2 of the laser beam LB generated by the laser oscillator 16.

[0058] Additionally, "Duty Cycle" is a label used to set the duty cycle LP3 of the laser beam LB, and "Defocus" is a label used to set the deviation distance LP4 that causes the focal point of the laser beam LB to deviate from the surface of the workpiece W. The processor 52 generates a parameter setting image corresponding to the selected label based on the input signal of "Power", "Frequency", "Duty Cycle" or "Defocus", and displays the parameter setting image in the parameter setting image area 104.

[0059] Figure 5 The image shows the state where the "Power" tab is selected and the parameter setting image 130 corresponding to the "Power" tab is displayed in the parameter setting image area 104. The operator can set the laser power LP1 of the laser beam LB as the laser parameter LP through the parameter setting image 130.

[0060] Specifically, parameter setting image 130 displays path image 110, data set input image 132, data set image 134, curve image 136, slider image 138, and time calculation image 150. Data set input image 132 is an image of data set DS used to input progress parameter PP and laser parameter LP. Progress parameter PP is a parameter that quantitatively represents the progress of laser processing, including, for example, the elapsed time t since the start of laser processing. e The laser processing device 12 moves the laser beam LB a distance d along the moving path MP from the start of laser processing, or the progress rate R of laser processing.

[0061] As an example, the progress rate R can also be the elapsed time t. e The total time t required from the start to the end of laser processing t The ratio R1 (i.e., R1 = t) e / t tFor example, in this embodiment, only the movement path MP of "shape 1" is set, so the total time required is t. t for Figure 4 The "time" in t S =1000[msec].

[0062] As another example, the progress rate R can also be the total distance d that the laser beam LB moves relative to the laser processing apparatus 12 from the start to the end of laser processing. t The ratio R2 (i.e., R2 = d / d) t For example, in this embodiment, only the movement path MP of "shape 1" is set, therefore the total distance d t for Figure 4 The “welding line length” is: l = 80 mm.

[0063] Figure 5 The time t was selected as the progress parameter PP. e For example, the data input image 132 includes a progress parameter input image 140, a laser parameter input image 142, and an add button image 144. In Figure 5 In the example shown, the progress parameter PP is the elapsed time t. e Furthermore, the "power" label was selected for LP as a laser parameter.

[0064] Therefore, the progress parameter is input to image 140 to input the elapsed time t. e The laser parameter input image 142 displays the input laser power LP1 (in units of [msec]) in a way that is displayed in milliseconds (msec). The operator can operate the input device 60 to input the elapsed time t in the progress parameter input image 140. e And input the laser power LP1 in the laser parameter input image 142.

[0065] Add button image 144 is used to input the progress parameter PP (in this example, the elapsed time t) into the progress parameter input image 140 and the laser parameter input image 142. e The button is used to register the data group DS of laser processing conditions LC, which includes the laser parameter LP (laser power LP1 in this example).

[0066] When the operator clicks the "Add" button (image 144) on the image using the input device 60, the input progress parameter PP (after time t) is... e The data set DS of laser parameters LP (laser power LP1) and laser processing conditions LC is stored in memory 54 and registered in the list shown in data set image 134.

[0067] Data set image 134 displays the data set DS for the progress parameter PP and the laser parameter LP in list format. Figure 5 In the example shown, image 134 in the data set displays an image labeled "Time," "Distance," and "Power." "Time" is related to the elapsed time t mentioned above. e Correspondingly, "distance" corresponds to the distance d mentioned above, and "power" corresponds to the laser power LP1 mentioned above.

[0068] In data set image 134, the elapsed time t is used as the progress parameter PP. e Multiple data sets DS, including distance d and laser power LP1 (as a laser parameter LP), are arranged according to time t. e The values ​​are displayed in ascending order (specifically, in size order). Here, in this embodiment, in... Figure 4 A constant scanning speed V was set in the middle. S = 4.8 [m / min] (80 [mm / sec]), therefore the elapsed time t input into the progress parameter input image 140 is... e The distance d at time t can be calculated as d = V S ×t e .

[0069] When the processor 52 registers the data set DS via the add button image 144, it automatically calculates the elapsed time t of the registered data set. e The corresponding distance d generates the elapsed time t. e The list of data set DS, including distance d and laser parameter LP, is displayed in data set image 134.

[0070] Alternatively, whenever the operator clicks the "Time" label on the image using the input device 60, the processor 52 may adjust the order of the data set DS shown in the data set image 134 after time t. e The data group image 134 is updated in the same way that the order of the data group DS is switched between ascending and descending order. Similarly, for "distance" or "power", the processor 52 can also switch the order of the data group DS between ascending and descending order of distance d or laser parameter LP whenever a label is clicked.

[0071] Additionally, the operator can use the input device 60 to select a data group DS from the data groups DS shown in the data group image 134 by clicking on the data group DS on the image. Figure 5 The example shown illustrates the status of data group DS with "time" of 350 [msec], "distance" of 28.00 [mm], and "power" of 5000 [W].

[0072] When a data group DS is selected, when the operator operates the input device 60 to click the delete button image 135 displayed below the data group image 134, the processor 52 deletes the selected data group DS from the laser processing condition LC stored in the memory 54 and removes it from the list shown in the data group image 134, based on the input signal from the operator.

[0073] Additionally, when the operator selects a data group DS within data group image 134, the processor 52 displays the "moment" of the selected data group DS in the progress parameter input image 140 and automatically displays the "power" of the selected data group DS in the laser parameter input image 142. The operator can change the "power" of the selected data group DS by changing the values ​​in the laser parameter input image 142 and clicking the add button image 144 on the image.

[0074] Curve graph 136 shows curve G, which illustrates the relationship between the progress parameter PP and the laser parameter LP. Figure 5 In the example shown, curve G represents the time elapsed over time t. e The relationship between the laser power LP1 and the data set DS (i.e., the curve corresponding to the list of "time" and "power" data sets shown in data set image 134).

[0075] The slider image 138 includes an image of the slider 146 and an image of the interval 148 from the start point SP to the end point EP of the progress parameter PP. The start point SP of the interval 148 represents the start point of the laser processing, and the end point EP represents the end point of the laser processing. In this embodiment, an elapsed time t is selected. e As the schedule parameter PP, the interval 148 represents the elapsed time t. e Additionally, only the movement path MP for "shape 1" was set, therefore the starting point SP of interval 148 is t. e =0, on the other hand, the ending point EP is Figure 4 In time t S (That is to say, t) e =t S =1000 [msec]).

[0076] The slider 146 is displayed in a manner that moves within the interval 148 in response to an input signal from the operator, used to specify the progress parameter PP (in this case, elapsed time t). eSpecifically, when an operator manipulates the input device 60 to move the slider 146 on the image (so-called drag and drop), the processor 52 updates the slider image 138 according to the input signal from the input device 60, such as moving the slider 146 within the interval 148 on the image.

[0077] Then, when the slider 146 stops at any position within the interval 148, the processor 52 reads the progress parameter PP (time elapsed) specified by the slider 146 at that arbitrary position. e Then, processor 52 will read the progress parameter PP (after time t). e The progress parameter is automatically input (i.e., displayed) in the data group input image 132 and will be compared with the progress parameter PP (after time t). e The corresponding laser parameter LP (laser power LP1) is automatically input (i.e. displayed) in the laser parameter input image 142.

[0078] On the other hand, the processor 52 displays a marker 152 in the path image 110 of the parameter setting image 130. This marker 152 is used to emphasize the progress parameter PP (elapsed time t) on the movement path MP in the path image 110 compared to the progress parameter input image 140. e The image corresponding to the position.

[0079] As described above, the distance d that the laser beam LB moves from the starting point P1 along the moving path MP can be measured using the elapsed time t. e and the scanning speed V of the laser beam LB S Based on d=V S ×t e The formula is obtained. Therefore, processor 52 can calculate the time t along the movement path MP for any elapsed time. e The corresponding position is used to generate a path image 110, which displays a marker 152 at that position.

[0080] Additionally, processor 52 displays marker 154 in curve image 136. Marker 154 is used to emphasize the curve G in curve image 136 relative to the progress parameter PP (after time t) input in progress parameter input image 140. e The image corresponds to the position. The processor 52 can, based on the list of data set DS, determine the curve G corresponding to any elapsed time t. e The corresponding position is used to generate a curve image 136, which displays a marker 154 at that position.

[0081] Furthermore, in this embodiment, marks 152 and 154 are displayed as × marks. However, marks 152 and 154 can also be marks of any shape, such as circles, triangles, or quadrilaterals, or can be displayed as any visual effect that can be visually recognized by the operator, such as flashing signals.

[0082] exist Figure 5 In the example shown, slider 146 stops after time t. e The starting point SP(t) e =0), t is specified by the slider 146. e =0, indicating that "0ms" was entered (displayed) in the progress parameter input image 140. Therefore, marker 152 in the path image 110 is displayed at the starting point P1 of the movement path MP, and marker 154 in the curve image 136 is displayed on curve G at t. e =0 point.

[0083] On the other hand, such as Figure 6 As shown, when the operator moves the slider 146 along the interval 148, the elapsed time t specified by the slider 146 is recorded. e Changes occur. Accordingly, the processor 52 updates the path image 110 and the curve image 136 by shifting the position of the marker 152 in the path image 110 and the position of the marker 154 in the curve image 136.

[0084] In this embodiment, the operator can arbitrarily specify the progress parameter PP (time elapsed) by moving the slider 146 on the image. e In the data input image 132, the laser parameter input image 142 arbitrarily inputs the specified progress parameter PP (after time t). e The corresponding laser parameter LP (laser power LP1) is used. Furthermore, the operator can register a new data group DS by operating the add button image 144 after inputting the laser parameter LP.

[0085] The time-calculation graph 150 is used to determine the elapsed time t, which is one of the schedule parameters PP, based on other parameters such as distance d or schedule rate R. e The image (of time) in the figure. Specifically, the time calculation image 150 includes a shape selection image 156, a numerical input image 158, a parameter selection image 160, a start point specification image 162, and an end point specification image 164.

[0086] Shape selection image 156 is used to select "Shape 1", "Shape 2", "Shape 3", "Shape 4", or "All". When one of "Shape 1" through "Shape 4" is selected, the elapsed time t for laser processing along the selected "shape"'s movement path MP is calculated based on the distance d or the progress rate R. e On the other hand, regarding "all", assuming in Figure 4 In the teaching image 100 shown, if multiple "shapes" from "shape 1" to "shape 4" are set, the elapsed time t when laser processing is performed continuously along the movement path MP of all the set "shapes" will be calculated based on the distance d or the progress rate R. e .

[0087] In this embodiment, only the movement path MP for "Shape 1" is set; therefore, "Shape 2," "Shape 3," and "Shape 4" become unselectable in shape selection image 156. Furthermore, regardless of whether "Shape 1" or "All" is selected, the elapsed time t during laser processing using the movement path MP of the quadrilateral shown in path image 110 will be calculated. e .exist Figure 5 The example shown illustrates the state where "Shape 1" is selected in Shape Selection Image 156.

[0088] The parameter selection image 160 is used to select the parameters for calculating the elapsed time t. e The image contains the distance d or the progress rate R. For example, when the operator clicks on the parameter selection image 160 on the image using the input device 60, the processor 52, based on the input signal from the input device 60, will list the distance d (unit: [mm]) and the progress rate R1 (=t). e / t t (Unit: [%)) and schedule rate R2 (R2 = d / d t The list of these three options (unit: [%)) is displayed as a drop-down image at parameter selection image 160.

[0089] The starting point designation image 162, displayed as "From the Beginning," is used to designate the starting point P1 of the movement path MP of "Shape 1" selected in the shape selection image 156 as the reference for "time calculation." The operator can designate the starting point P1 of the movement path MP as the reference for "time calculation" by clicking the starting point designation image 162 "From the Beginning" on the image via the operation input device 60.

[0090] On the other hand, the endpoint designation image 164, displayed as an "from the end" image, is used to designate the endpoint P2 of the movement path MP of "shape 1" selected in the shape selection image 156 as the reference for "time calculation". The operator can designate the endpoint P2 of the movement path MP as the reference for "time calculation" by clicking the endpoint designation image 164 "from the end" on the image via the operation input device 60.

[0091] The following is a specific example of "time calculation". As an example, suppose the operator selects distance d in parameter selection image 160, selects "from the beginning" in start point specification image 162, and inputs d = 30 [mm] in numerical input image 158. In this case, the processor 52 calculates the time based on the distance d and the scan speed V according to the input signal from the operator. S Find the "time" (time t) on the movement path MP that corresponds to the position where the distance d = 30 [mm] has been traveled from the starting point SP (starting point P1 in this example) of laser processing. e ) for t e = 375 [msec] (refer to data set image 134).

[0092] Then, processor 52 calculates the "time" t. e =375 [msec] is displayed in the progress parameter input image 140, and at that time point, it is saved as data set DS with the elapsed time t. e The corresponding laser parameter LP (laser power LP1) is displayed in the laser parameter input image 142. In this way, the operator can specify the "time" (elapsed time t) based on the distance d. e In the laser parameter input image 142, input the laser parameter LP at that "moment" and register these data as the data group DS of the progress parameter PP and the laser parameter LP.

[0093] As another example, suppose the operator selects distance d in parameter selection image 160, selects "from the end" in endpoint designation image 164, and inputs d = 50 [mm] in numerical input image 158. In this case, processor 52 calculates the position on the movement path MP that has been moved backward by distance d = 50 [mm] from the end point EP (end point P2 in this example) of laser processing (in this example, due to the total distance d). t =80 [mm], therefore the "time" (after time t) corresponding to the position 30 mm away from the starting point P1. e ) for t e =375 [msec].

[0094] As another example, suppose the operator selects a progress rate R1 in parameter selection image 160, selects "From the beginning" in start point specification image 162, and inputs R1 = 10 [%] in numerical input image 158. In this case, processor 52, based on the input signal from the operator, determines the progress rate R1 = 10 [%]. e / t t The formula =0.1 is used to calculate the "time" from the starting point SP (starting point P1) of laser processing: the elapsed time t. e In this embodiment, since the total required time t t =1000 [msec], therefore processor 52 calculates the "time" as t. e =100 [msec], and displayed in the progress parameter input image 140, and will be compared with t e =100 [msec] corresponds to a laser power LP1 = 5000 [W], which is displayed in the laser parameter input image 142.

[0095] Furthermore, when the operator selects the progress rate R1 in the parameter selection image 160, selects "from the end" in the endpoint designation image 164, and inputs R1 = 10 [%] in the numerical input image 158, the processor 52 calculates the "time" as the time t that is the time retracement from the end point EP (end point P2) of the laser processing. e =100 [msec] and the resulting time point (that is, the time point 900 "msec" from the starting point SP).

[0096] As another example, suppose the operator selects a progress rate R2 in parameter selection image 160, selects "from the beginning" in start point specification image 162, and inputs R2 = 10 [%] in numerical input image 158. In this case, processor 52 calculates the distance d = d_0 that has been advanced along the movement path MP from the starting point SP (start point P1) of laser processing, based on the input signal from the operator. t The "moment" corresponding to the position of ×0.1=8[mm]: time t elapsed. e =100[msec].

[0097] Furthermore, when the operator selects the progress rate R2 in the parameter selection image 160, selects "from the end" in the endpoint designation image 164, and inputs R2 = 90 [%] in the numerical input image 158, the processor 52 calculates the "time" as the distance d = d_moving backward from the end point EP (end point P2) of the laser processing on the movement path MP. t The time corresponding to the position ×0.9=72[mm] (that is, the position d=8[mm] away from the starting point P1).

[0098] In this way, the operator can specify the "time" (elapsed time t) as one of the schedule parameters PP, based on other schedule parameters such as distance d, schedule rate R1, or R2. e And arbitrarily record the elapsed time t e And the data group DS of laser power LP1.

[0099] By setting the parameters in images 106 and 130 as described above, the operator can determine the shape of the movement path MP and the scanning speed V. S Various parameters such as the number of times N and the data set DS are set as laser processing conditions LC. Based on the set laser processing conditions LC (i.e., various parameters) and the position data (coordinates) of the workpiece W's target position TP in coordinate system C, the processor 52 generates a processing program PG for the laser processing device 12 to perform laser processing on the workpiece W, and saves the processing program PG in memory 54.

[0100] In the processing program PG, for example, the laser processing conditions LC set by the operator, the position data of the target position TP, the data indicating the positional relationship between the target position TP and the movement path MP, and the instructions given to the laser processing device 12 (specifically the laser oscillator 16, the laser irradiation device 18, and the moving mechanism 20) are specified.

[0101] The control device 14 controls the laser processing device 12 according to the generated processing program PG to perform laser processing on the workpiece W. Specifically, the control device 14 first activates the moving mechanism 20 to move the laser irradiation device 18 relative to the workpiece W, which is positioned at a known location in the coordinate system C, towards a predetermined working position.

[0102] Next, the control device 14 activates the laser oscillator 16 to supply a laser beam LB to the laser irradiation device 18, causing the reflector drive devices 32 and 34 to actuate and change the orientation of reflectors 28 and 30 respectively. This causes the laser beam LB (specifically, the irradiation point) irradiating the workpiece W to move along a known path MP with a predetermined positional relationship to the target work position TP. At this time, the control device 14 controls the laser parameters LP (laser power LP1, pulse frequency LP2, duty cycle LP3, and offset distance LP4) of the laser beam LB to values ​​set by the operator. In this way, the control device 14 performs laser processing on the target work position TP on the workpiece W according to the processing program PG.

[0103] As described above, in this embodiment, the processor 52 generates a path image 110 that displays the movement path MP in the teaching image 100 and an input image 132 for inputting the data set DS, and displays the position on the movement path MP corresponding to the progress parameter PP in the path image 110 as a marker 152.

[0104] According to this structure, the operator can arbitrarily adjust the laser parameters LP (e.g., laser power LP1) at the desired position along the movement path MP. For example, along... Figure 5 When laser processing is performed on the quadrilateral's moving path MP with a constant laser power LP1, the workpiece W may overheat at the positions corresponding to the four vertices of the quadrilateral on the moving path MP, resulting in problems such as burn-out. To avoid such problems, there is a need to reduce the laser power LP1 at the positions corresponding to the four vertices of the quadrilateral on the moving path MP.

[0105] According to this embodiment, the processor 52 will compare the time elapsed on the movement path MP with the time t specified by the operator. e The corresponding positions are displayed in the path image 110, so the operator can easily determine the elapsed time t for the positions (e.g., vertices) on the movement path MP where the laser power LP1 is to be reduced. e It is possible to appropriately adjust (e.g., reduce) the input image 132 with respect to the elapsed time t. e The corresponding laser power LP1. As a result, it is possible to teach the laser processing apparatus 12 to perform actions for high-quality laser processing.

[0106] Furthermore, in this embodiment, the processor 52 is generated in Figure 5 The parameter setting image 130 shows a curve image 136 of curve G, and the positions on curve G corresponding to the progress parameter PP are displayed in the curve image 136 as markers 154. According to this structure, the operator can easily visually grasp the value of the laser parameter LP (laser power LP1) in the desired progress parameter PP.

[0107] Furthermore, in this embodiment, the processor 52 generates a data group image 134 that displays multiple data groups DS arranged in order of magnitude of the progress parameter PP (e.g., "time") in the parameter setting image 130. According to this structure, the operator can sort the multiple data groups DS in the desired order of magnitude of the progress parameter PP, thereby organizing them into a visually easily identifiable format.

[0108] In addition, in this embodiment, the processor 52 generates a slider image 138 showing the slider 146 moving within the interval 148 in the parameter setting image 130, and displays the position on the movement path MP corresponding to the progress parameter PP specified by the slider 146 in the path image 110 as a marker 152.

[0109] According to this structure, the operator can specify the desired progress parameter PP (in this case, the elapsed time t) by manipulating the slider 146 on the image. e The position corresponding to the progress parameter PP on the movement path MP can be easily visually identified in the path image 110. Therefore, the data set DS can be easily adjusted through more intuitive operation.

[0110] Furthermore, the parameter setting images 130' for "frequency", "duty time" and "defocus" displayed in the label image area 102 are essentially the same as the parameter setting image 130 for "power", but the units of the laser parameter input image 142, the units of the vertical axis of the curve image 136, and the laser parameter LP shown in the data group image 134 are their own unique units and parameters.

[0111] Specifically, in the parameter setting image 130' of "frequency", the unit of the laser parameter input image 142 is "Hz", and the elapsed time t, which is used as the progress parameter PP, can be input. e And the data set DS for pulse frequency LP2. In addition, the vertical axis of the curve image 136 is the axis representing pulse frequency LP2, and the pulse frequency LP2 is shown as laser parameter LP in the data set image 134.

[0112] Additionally, in the "Duty" parameter setting image 130', the unit of the laser parameter input image 142 is [%], and the elapsed time t can be input. e And the data set DS for duty cycle LP3. In addition, the vertical axis of the curve image 136 is the axis representing duty cycle LP3, and the duty cycle LP3 is displayed as laser parameter LP in the data set image 134.

[0113] Additionally, in the "defocus" parameter setting image 130', the unit of the laser parameter input image 142 is [mm], and the elapsed time t can be input. e And the data set DS for the deviation distance LP4. In addition, the vertical axis of the curve image 136 is the axis representing the deviation distance LP4, which is displayed as the laser parameter LP in the data set image 134.

[0114] Alternatively, if a positive value is input in the laser parameter input image 142 in the "defocusing" parameter setting image 130', the processor 52 sets a deviation distance LP4 that causes the focus of the laser beam LB to deviate from the surface of the workpiece W in the positive z-axis direction of the coordinate system C. On the other hand, if a negative value is input in the laser parameter input image 142, a deviation distance LP4 is set that causes the focus of the laser beam LB to deviate from the surface of the workpiece W in the negative z-axis direction of the coordinate system C.

[0115] The parameter setting methods for "frequency", "duty time" and "defocus" in parameter setting image 130' are the same as those for "power" parameter setting image 130, so detailed explanations are omitted. For example, in parameter setting image 130' for "defocus", the operator sets the deviation distance LP4 in such a way that the focus of the laser beam LB is deviated at the positions corresponding to the four vertices of the aforementioned quadrilateral movement path MP.

[0116] As an alternative, the operator sets the duty cycle LP3 in the "Duty Cycle" parameter setting image 130' to reduce the duty cycle LP3 at the positions corresponding to the four vertices of the quadrilateral movement path MP. This prevents the workpiece W from overheating at the four vertices of the movement path MP.

[0117] Furthermore, the operator sets the pulse frequency at the desired position on the movement path MP in the parameter setting image 130' for "Frequency". Here, in the case of laser processing for laser cutting, the cutting quality can be improved by adjusting the pulse frequency of the acceleration and deceleration portions of the laser beam LB. Therefore, the completion quality of laser processing at the desired position can be controlled by appropriately adjusting the pulse frequency at that position on the movement path MP.

[0118] In addition, Figure 4 In the parameter setting image 106 shown, when the operator inputs "time" in the numerical input image 114, the processor 52 can also automatically determine the input time t. S Whether it is within the allowable range. As an example, processor 52 determines the time based on the input time t. S Calculate the time τ required to scan a specified interval of the moving path MP using the laser beam LB (e.g., in the case of a quadrilateral moving path MP, the interval from the starting point P1 to the initial vertex position). Then, at a time τ equal to a predetermined threshold τ... th (e.g., τ) th =500 [μsec] and below (τ≤τ) th The processor 52 determines the time as t. S It is outside the permissible range.

[0119] Alternatively, the processor 52 can also adjust the input time t. S Find the maximum scan speed V S At the highest scan speed V S For a predetermined threshold V th (e.g. V) th =3000 [mm / sec] or higher (V S ≥V th ), determined to be time t SOutside the permissible range. Processor 52 can also determine time t. S If the situation exceeds acceptable limits, an alarm will be displayed to notify the operator of this via sound or image. Based on this structure, the operator can quickly and intuitively identify the entered time t. S Is it appropriate?

[0120] It can also be configured to be able to pass through Figure 4 The speed setting image 124 shown is used to set the scan speed V in detail for each specified interval of the movement path MP. S Or welding speed V W . Reference Figure 4 and Figure 7 This function will now be explained. When the operator operates the input device 60 to click on the speed setting image 124 displayed in the parameter setting image 106, the processor 52 generates... Figure 7 The parameter setting image 166 is shown and is superimposed on the speed setting image 124 in the parameter setting image 106.

[0121] The parameter setting image 166 displays a path image 110, a speed selection image 122, a unit selection image 168, a start / end point specification image 170, numerical input images 172, 174, and 176, and a speed display image 178. The operator can operate the input device 60 to select either the "scanning speed" or the "welding speed" in the speed selection image 122. The following will describe... Figure 7 The following explanation illustrates the case where "scan speed" is selected in speed selection image 122, as shown.

[0122] In the unit selection image 168, the options "m / min" and "mm / sec" are displayed as units of speed. The operator can use the input device 60 to select one of these two options on the image. Furthermore, in Figure 7 In the example shown, the unit "m / min" was selected.

[0123] In the start / end point designation image 170, two options are displayed: "From Start Point" and "From End Point." The operator can select one of these options on the image. For example, if the "From Start Point" option is selected, the processor 52 will set the scanning speed V of the laser beam LB moving along the movement path MP. S The reference point of interval S is designated as the starting point P1 of the movement path MP. On the other hand, if the "start from the end point" option is selected, the processor 52 will set the scan speed V. S The reference point of the interval S is designated as the endpoint P2 of the movement path MP.

[0124] Numerical input images 172 and 174 are used to input the movement path MP and set the scan speed V. S The image of interval S. Specifically, the distance d1 from the start point of interval S to the reference point can be input in the numerical input image 172, and the distance d2 from the end point of interval S to the reference point can be input in the numerical input image 174. The interval S on the movement path MP is set by specifying the start / end point image 170, the numerical input images 172 and 174. Specific examples of setting interval S will be described later.

[0125] The numerical input image 176 is used to input the scan speed V within the set interval S. S The image. For example, suppose the operator selects the "From Start" option in the start / end point specified image 170, enters d1 = 0.00mm in the numerical input image 172, enters d2 = 5.93mm in the numerical input image 174, and enters V in the numerical input image 176. S =3.00 [m / min].

[0126] In this case, the processor 52 sets the starting point of interval S to a position where it has advanced a distance d1 = 0.00 mm from the starting point P1 of the movement path MP (i.e., the starting point P1), and sets the ending point of interval S to a position where it has advanced a distance d2 = 5.93 mm from the starting point P1. That is, in this case, interval S is set as the interval from the starting point P1 to the distance d2 (in this example, the interval from the starting point P1 to the distance d2). Then, the processor 52 sets the scanning speed V of the set interval S. S Registered as V S =3.00 [m / min].

[0127] On the other hand, suppose the operator selects the "start from the end point" option in the start / end point designation image 170, enters d1 = 0.00 mm in the numerical input image 172, enters d2 = 5.93 mm in the numerical input image 174, and enters V in the numerical input image 176. S =3.00 [m / min]. In this case, the processor 52 sets the starting point of the interval S to a position that is backed by a distance d1 = 0.00 mm from the end point P2 of the movement path MP (that is, the end point P2), and on the other hand, sets the ending point of the interval S to a position that is backed by a distance d2 = 5.93 mm from the end point P2.

[0128] That is, in this case, the interval S is set to the distance from the endpoint P2 up to the distance d2 (in this example, the distance from the endpoint P2 up to the distance d2). Then, the processor 52 scans the set interval S at a speed V.S Registered as V S = 3.00 [m / min]. In this way, the operator can precisely set the scanning speed V for each interval S arbitrarily set on the movement path MP. S .

[0129] Speed ​​display image 178 displays the set interval S and the scan speed V of interval S in list form. S .exist Figure 7 In the example shown, “Start (mm)” in speed display image 178 represents the distance d1 used to mark the beginning of the specified interval S, and “End (mm)” represents the distance d2 used to mark the end of the specified interval S.

[0130] exist Figure 7 In the example shown, in the first row of the speed display image 178, an interval S1 (the interval from the starting point P1, from 0 mm to 5.93 mm) is defined, and the "speed (m / min)" of this interval S1 is registered as V. S = 3 [m / min]. Additionally, in the second row of the velocity display image 178, a range S2 (the distance from the starting point P1 from 5.93mm to 17.9mm) is defined, and the "velocity (m / min)" of this range S2 is registered as V. S =6 [m / min].

[0131] Additionally, in the third row of the speed display image 178, a range S3 (the distance from the starting point P1 from 17.9 mm to 23.82 mm) is defined, and the "speed (m / min)" of this range S3 is registered as V. S = 2 [m / min]. In this example, the scanning speed V S Top speed V S_MAX The speed is 6 [m / min], and on the other hand, the minimum speed V S_MIN The speed is set to 2 [m / min]. The processor 52 sets the scanning speed V of image 166 according to the input parameters. S Find these maximum speeds V. S_MAX and minimum speed V S_MIN , and displayed in Figure 4 The speed setting is shown in image 124.

[0132] Furthermore, when intervals S (intervals S1, S2, S3) are set via start / endpoint designation image 170, numerical input images 172 and 174, processor 52 can also display interval S in a visually recognizable manner in path image 110 of parameter setting image 166. For example, suppose the operator input device 60 selects interval S2 (see reference) in the second row of the multiple intervals S1 to S3 shown in speed display image 178. Figure 7 (Speed ​​display image 178). In this case, the processor 52 can also display the selected interval S2 in the path image 110 in a visually recognizable manner.

[0133] At the same time, the processor 52 sets the scanning speed V in the image 166 according to the parameters input to it. S Input to the weld line length image 126 ( Figure 4 The welding line length l in the input image 120 and the number of times N are input into the numerical input image 120 are used to automatically calculate the time t mentioned above. S and the time t S The numerical input image 114 is displayed. Furthermore, the speed setting method when "welding speed" is selected in the speed selection image 122 is the same as for "scanning speed," so detailed explanation is omitted. According to this embodiment, the operator can precisely set the speed V of the laser beam LB (in this example, the scanning speed V). S Therefore, it is possible to teach a wider variety of laser processing actions.

[0134] Furthermore, in the above embodiment, the case where only the movement path MP of "Shape 1" is set has been described. However, not only can "Shape 1" be set, but "Shape 2", "Shape 3", and "Shape 4" can also be added. Hereinafter, refer to... Figure 8 This section will explain the case of setting multiple shapes of movement paths (MP).

[0135] In this embodiment, the movement path MP1 of the quadrilateral is designated as "shape 1", and the movement path MP2 of the triangle is designated as "shape 2". The operator can display the parameter setting image 106 corresponding to "shape 2" by clicking the "shape 2" label displayed in the label image area 102 on the image, and set various parameters of "shape 2" through the parameter setting image 106.

[0136] exist Figure 8 Image 130 shows the parameter settings corresponding to the "Power" label when "Shape 1" and "Shape 2" are set. Figure 8 In the example shown, path image 110 displays a movement path MP1 of "shape 1" and a movement path MP2 of "shape 2". Movement path MP2 has a start point P3 and an end point P4.

[0137] In the laser processing according to this embodiment, the laser processing apparatus 12 first scans the laser beam LB along the movement path MP1 for the number of times N1 set in the parameter setting image 130 of "shape 1", and then scans the laser beam LB along the movement path MP2 for the number of times N2 set in the parameter setting image 130 of "shape 2".

[0138] In other words, the movement path MP in laser processing according to this embodiment can be represented as a path of MP = MP1 × N1 + MP2 × N2. For example, when the laser processing is laser welding, the movement path MP (= MP1 × N1 + MP2 × N2) is set for a target work position TP (i.e., the welding point), and the laser processing apparatus 12 performs welding on the target work position TP by scanning the laser beam LB along the movement path MP.

[0139] In curve image 136, curve G1 corresponding to "shape 1" and curve G2 corresponding to "shape 2" are displayed side by side. Curve G2 is set according to the progress parameter PP (after time t). e The order of the numbers is shown to the right of curve G1 in a manner that follows the continuity of curve G1. Figure 8 In the example shown, the end point EP of interval 148 shown in slider image 138 is the time t set in "Time" in parameter setting image 130 of "Shape 1". S_1 The time t is set in "Time" in the parameter setting image 130 of "Shape 2". S_2 The sum of t SUM (=t S_1 +t S_2 (Time)

[0140] Furthermore, marker 152 is displayed in the path image 110, and marker 154 is displayed in the curve image 136. The elapsed time t, specified by the slider 146, is recorded when the operator moves the slider 146 along the interval 148. e As changes occur, the processor 52 updates the path image 110 and the curve image 136 accordingly, such as by shifting the position of marker 152 in the path image 110 and the position of marker 154 in the curve image 136.

[0141] Specifically, as the slider 146 moves from the starting point SP towards the ending point EP, marker 152 is displayed in the path image 110 as if it has rotated N1 times along the movement path MP1 and then N2 times along the movement path MP2. Additionally, as the slider 146 moves from the starting point SP towards the ending point EP, marker 154 is displayed in the curve image 136 as if it has passed through curve G1 and then curve G2.

[0142] The operator can arbitrarily specify the progress parameter PP (elapsed time t) by moving the slider 146 on the image. eIn the data input image 132, the laser parameter input image 142 arbitrarily inputs the specified progress parameter PP (after time t). e The corresponding laser parameter LP (laser power LP1) is then displayed in data set image 134 in list form, ordered by the magnitude of the progress parameter PP (e.g., "time").

[0143] exist Figure 8 In the example shown, "All", "Shape 1", or "Shape 2" can be selected in shape selection image 156. When the operator selects "All", the elapsed time t during laser processing along the movement path MP (=MP1×N1+MP2×N2) can be calculated based on the distance d or the progress rate R. e .

[0144] As an example, suppose the operator selects "All" in shape selection image 156, selects distance d in parameter selection image 160, selects "From Last" in endpoint designation image 164, and inputs d = 30 [mm] in numerical input image 158. In this case, processor 52 calculates the "time" (time elapsed) on the movement path MP corresponding to the position where the operator has moved d = 30 [mm] backward from the end point EP of laser processing (in this example, the endpoint P4 of movement path MP2 reached after the laser beam LB has scanned N1 times with movement path MP1 and then scanned N2 times with movement path MP2). e ).

[0145] As another example, suppose the operator selects "All" in shape selection image 156, selects progress rate R1 in parameter selection image 160, selects "From Beginning" in start point specification image 162, and inputs R1 = 10 [%] in numerical input image 158. In this case, processor 52 determines the value based on R1 = t e / t t The formula =0.1 is used to calculate the "time" from the starting point SP (starting point P1) of laser processing: the elapsed time t. e In this embodiment, the total time required is t. t For the above sum t SUM (t t =t SUM ).

[0146] As another example, suppose the operator selects "All" in shape selection image 156, selects progress rate R2 in parameter selection image 160, selects "From Initial" in start point specification image 162, and inputs R2 = 10 [%] in numerical input image 158. In this case, processor 52 calculates the distance d = d_movement path MP that has advanced from the starting point SP of laser processing. t The "moment" corresponding to the position of ×0.1: elapsed time t e In this embodiment, the total distance d t This is the distance of the movement path MP (=MP1×N1+MP2×N2).

[0147] Then, processor 52 calculates the "moment" after time t. e The progress parameter input image 140 is displayed, and the time point at that time is saved as data set DS along with the elapsed time t. e The corresponding laser parameters LP (laser power LP1 in this example) are displayed in the laser parameter input image 142. In this way, the operator can add movement paths MP of various "shapes" at will.

[0148] Furthermore, in the above implementation method, the selected elapsed time t e The case where the schedule parameter PP is used has been described. However, distance d, schedule rate R1, or R2 can also be selected as the schedule parameter PP. In this case, the selected distance d, schedule rate R1, or R2 will be displayed in the parameter setting image 130 or 130', the "time" displayed in the data group image 134, the value entered in the schedule parameter input image 140, the horizontal axis of the curve image 136, and the interval 148 of the slider image 138. In addition, the time calculation image 150 is configured to calculate the selected distance d, schedule rate R1, or R2 based on other schedule parameters PP.

[0149] The data group input image 132 is not limited to the example shown; any image can be generated as long as the data group DS can be input. Furthermore, the data group input image 132 can be omitted from the parameter setting image 130 or 130'. In this case, for example, the teaching pendant 50 can also be configured so that the operator can operate the input device 60 to input the data group DS in the data group image 134.

[0150] Alternatively, the teaching device 50 can be configured such that the operator can operate the input device 60 to select a registered data group DS in the data group image 134 and change the laser parameter LP (laser power LP1) of the selected data group DS. In this case, the data group image 134 functions as an input image for inputting the data group DS.

[0151] Alternatively, the image of interval 148 can be omitted from the slider image 138. In this case, only slider 146 is displayed in slider image 138, and processor 52 displays slider 146 as if it were moved within the visually unshown interval 148 in slider image 138 according to an input signal from the operator.

[0152] Alternatively, the slider image 138 can be omitted from the parameter setting image 130 or 130'. In this case, the operator can specify / input the progress parameter PP, for example, by manually inputting the progress parameter PP in the progress parameter input image 140 of the input image 132.

[0153] Alternatively, the operator can specify a location on the movement path MP (MP1, MP2) in the path image 110 displayed in the parameter setting image 130 or 130' by clicking on the input device 60. In this case, the processor 52 can also determine the location specified by the operator on the movement path MP and highlight the determined location on the movement path MP with a marker 152.

[0154] Furthermore, the processor 52 can also assign a progress parameter PP (e.g., elapsed time t) to the determined position on the movement path MP. e The progress parameter PP is displayed in the progress parameter input image 140, and the laser parameter LP (e.g., laser power LP1) corresponding to the progress parameter PP is displayed in the laser parameter input image 142.

[0155] Alternatively, the operator can specify any position on curve G (G1, G2) in curve image 136 displayed in parameter setting image 130 or 130' by clicking on the image using the operation input device 60. In this case, the processor 52 can also determine the position on curve G specified by the operator and highlight the determined position on curve G with a marker 154.

[0156] Furthermore, the processor 52 can also assign the progress parameter PP (after time t) corresponding to the determined position on the curve G. e The progress parameter PP is displayed in the progress parameter input image 140, and the laser parameter LP (laser power LP1) corresponding to the progress parameter PP is displayed in the laser parameter input image 142.

[0157] At this time, the processor 52 can also use the progress parameter PP to determine the position on the movement path MP corresponding to the determined position on the curve G, and use marker 152 to highlight the determined position on the movement path MP. In this way, even if the slider image 138 is omitted, the operator can visually recognize the path image 110 and arbitrarily adjust the laser parameter LP at the desired position on the movement path MP.

[0158] Figures 4-8 The GUI of the teaching image 100 shown is one example, and other GUI structures can also be used. Furthermore, in the above embodiment, the teaching pendant 50 and the control device 14 are described separately. However, the functions of the teaching pendant 50 can also be embedded in the control device 14. In this case, the processor and memory of the control device 14 constitute the teaching pendant 50, and the processor of the control device 14 executes the various functions of the teaching pendant 50 described above.

[0159] In addition, Figure 3 The illustration shows a laser irradiation device 18 as a laser scanner; however, the laser irradiation device 18 is not limited to a laser scanner, and may also be a laser processing head having only a housing 24, a light-receiving part 26, an optical lens 36, a lens driving device 38, and an emission part 40. Furthermore, the moving mechanism 20 may also be configured to move the workpiece W relative to the laser irradiation device 18. The present disclosure has been described above through embodiments, but the above embodiments are not intended to limit the invention as defined in the claims.

[0160] Explanation of reference numerals in the attached figures

[0161] 10: Laser processing system; 12: Laser processing device; 14: Control device; 16: Laser oscillator; 18: Laser irradiation device; 20: Moving mechanism; 50: Teaching device; 52: Processor; 100: Teaching image; 110: Path image; 132: Data group input image; 134: Data group image; 136: Curve image; 138: Slider image.

Claims

1. A teaching device for teaching the operation of a laser processing apparatus, the laser processing apparatus performing laser processing on a workpiece by moving a laser beam irradiating a workpiece relative to the workpiece. The teaching device includes a processor that performs the following processes: Generate a path image that shows the movement path of the laser processing device in the laser processing, in which the laser beam is moved relative to the workpiece; Generate an input image, which is used to input a data set representing the progress of the laser processing and the laser parameters of the laser beam; The positions on the movement path corresponding to the progress parameters input in the input image are displayed in the path image in a visually recognizable manner; Generate an image of a slider that displays the slider in a manner that moves within an interval from the start point to the end point of the progress parameter in response to an input signal, for specifying the progress parameter; The laser parameters, which are registered as part of the data set along with the progress parameters specified by the slider, are automatically input into the input image; and Accept input requests to change the registered laser parameters entered in the input image.

2. The teaching device according to claim 1, wherein, The processor performs the following processing: A curve image is also generated, which displays a curve showing the relationship between the progress parameter and the laser parameter; and The position on the curve corresponding to the progress parameter is displayed in the curve image.

3. The teaching device according to claim 1, wherein, The processor also generates a data group image, which is obtained by arranging and displaying multiple data groups in order of magnitude according to the progress parameter.

4. The teaching device according to claim 2, wherein, The processor also generates a data group image, which is obtained by arranging and displaying multiple data groups in order of magnitude according to the progress parameter.

5. The teaching device according to any one of claims 1 to 4, wherein, The processor performs the following processing: The position on the movement path corresponding to the progress parameter specified by the slider is displayed in the path image.

6. The teaching device according to any one of claims 1 to 4, wherein, The progress parameters include: Time elapsed from the start of the laser processing; The distance by which the laser processing apparatus moves the laser beam along the moving path from the start of the laser processing; or The progress rate of the laser processing.

7. The teaching device according to claim 5, wherein, The progress parameters include: Time elapsed from the start of the laser processing; The distance by which the laser processing apparatus moves the laser beam along the moving path from the start of the laser processing; or The progress rate of the laser processing.

8. The teaching device according to any one of claims 1 to 4, wherein, The laser parameters include: The laser power of the laser beam; The frequency of the laser beam; The duty cycle of the laser beam; or The distance by which the focal point of the laser beam deviates from the surface of the workpiece.

9. The teaching device according to claim 5, wherein, The laser parameters include: The laser power of the laser beam; The frequency of the laser beam; The duty cycle of the laser beam; or The distance by which the focal point of the laser beam deviates from the surface of the workpiece.

10. The teaching device according to claim 6, wherein, The laser parameters include: The laser power of the laser beam; The frequency of the laser beam; The duty cycle of the laser beam; or The distance by which the focal point of the laser beam deviates from the surface of the workpiece.

11. The teaching device according to claim 7, wherein, The laser parameters include: The laser power of the laser beam; The frequency of the laser beam; The duty cycle of the laser beam; or The distance by which the focal point of the laser beam deviates from the surface of the workpiece.

12. A method for teaching the operation of a laser processing apparatus, the laser processing apparatus laser-processing a workpiece by moving a laser beam irradiating a workpiece relative to the workpiece, wherein in the method, The processor performs the following processing: Generate a path image that shows the movement path of the laser processing device in the laser processing, in which the laser beam moves relative to the workpiece; Generate an input image, which is used to input a data set representing the progress of the laser processing and the laser parameters of the laser beam; The positions on the movement path corresponding to the progress parameters input in the input image are displayed in the path image in a visually recognizable manner; Generate an image of a slider that displays the slider in a manner that moves within an interval from the start point to the end point of the progress parameter in response to an input signal, for specifying the progress parameter; The laser parameters, which are registered as part of the data set along with the progress parameters specified by the slider, are automatically input into the input image; and Accept input requests to change the registered laser parameters entered in the input image.

Images