Teaching tool

Abstract

To provide a teaching tool capable of teaching a laser processing robot more easily and precisely than a conventional one.SOLUTION: The teaching tool comprises: a teaching tool body, in place of a conventional torching tool, attachable detachably on a torch body; and a tip member having a tip which is a shaft body having a center axis in alignment with a laser optical axis of a laser beam emitted from the torch body and is supported by the teaching tool body to be capable of coming in contact with a processing object part of a workpiece by exposure out of the teaching tool body on being guided movably within a predetermined stroke range sandwiched by a pair of stroke ends along a laser optical axis on the basis of the teaching tool body.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a teaching tool, and more particularly to a teaching tool for teaching a laser processing robot. [Background technology]

[0002] A laser processing robot may be used for laser processing a workpiece. For example, a laser processing robot is used to irradiate a metal with a laser beam to weld it. For example, a laser processing head is fixed to an end effector of an articulated robot, and the laser processing robot is used to irradiate laser light according to a pre-taught trajectory.

[0003] In laser welding, a torch that emits laser light is used as a laser processing head. The torch is composed of a collimator lens, a condenser lens, a torch body, and a shield tip. A laser beam is generated by a laser oscillator and guided to the torch by a fiber. The laser processing operation is carried out while maintaining the focal point of the laser light focused by the focusing lens at an appropriate position near the portion of the workpiece to be processed.

[0004] Without irradiating the laser light, the investigator moves the laser processing head fixed to the end effector along the trajectory of the workpiece to align the focal position of the laser light with the workpiece to teach the processing posture. A plurality of machining postures taught along the trajectory of the processed part are stored in the laser machining robot. In addition, the trajectory and speed when moving between multiple processing positions are input into the laser processing robot. Thereafter, when the start button is pressed, the laser processing robot moves the laser processing head supported by the end effector so that the focal position of the laser light irradiated from the laser processing head moves along the trajectory of the processed part. As a result, the portion to be processed of the workpiece is laser machined along the trajectory.

[0005] In laser welding, the focal length, which is the distance between the condenser lens and the focal point, is important. Whether or not the focal point can be matched within a range of appropriate positions affects the welding results. In the case of laser welding, the range of correct positioning is ± a few millimeters in the direction perpendicular to the surface of the workpiece. This range of appropriate positions is called the processing tolerance + / - f focal length. In the case of robotic laser welding, the teaching points are set to fall within the processing tolerance of + / - f focal length.

[0006] Here, the focal position of the laser light irradiated from the torch, which is the laser processing head, is a position a predetermined distance away from the tip of the torch. When teaching the laser processing robot, the operator moves the end-end effector and visually confirms that a position a specified distance away from the tip of the laser processing head coincides with the part to be processed, and the posture of the laser processing robot when it is determined that they coincide is taught as the processing posture.

[0007] The teaching work required for laser processing by laser processing robots has been improved by the recent development of collaborative robot technology, but there is still room for improvement, especially in the case of laser processing of metals. For example, due to the unique properties of laser light, high accuracy is required for the teaching points of processing points. In addition, the tip of the welding torch is not in contact with the workpiece. In other words, when performing laser processing, it is necessary to properly maintain the distance between the focal position of the focusing lens and the workpiece. If the distance is not properly maintained, processing defects will occur. Conventionally, in order to maintain the proper position, teaching points are set by visually checking the distance interval or by using a camera, etc., but this requires skill and the teaching work is time-consuming.

[0008] The laser processing robot performs laser processing while reproducing the processing posture with high precision. At that time, the focus may shift slightly from the processed part. The processing allowable + / - f focal length is a specified range of distance that includes the focal position on the laser optical axis and is allowable for proper laser processing. As long as the part to be processed is within the processing allowance of + / - f focal length, proper processing can be expected. If the part to be processed is not included in the processing allowance of + / - f focal length, proper processing cannot be expected. For example, if the machining is not performed properly, the strength of the machined portion will be less than expected. For example, if the machining is not performed appropriately, the airtightness of the machined portion will be lower than expected. In general, if the focal length of the laser beam is long, the processing allowable + / - f focal length becomes long, and if the focal length of the laser beam is short, the processing allowable + / - f focal length becomes short. Also, it is necessary to ensure that the laser light does not deviate from the trajectory of the processed part.

[0009] When teaching the processing posture, the operator focuses on moving the laser processing head fixed to the end effector. In addition, when teaching the processing posture, care must be taken to prevent the tip of the laser processing head from hitting the workpiece. In the past, there has been consideration of using a teaching tool that can be detachably attached to the fixing portion that fixes the shield tip of the torch body of the laser processing head in place of the shield tip.

[0010] As described above, there is a demand for a teaching tool that can more easily and accurately teach a laser processing robot. Summary of the Invention [Problem to be solved by the invention]

[0011] In view of the above demand, the present invention aims to provide a teaching tool that can teach a laser processing robot more easily and accurately than ever before. [Means for solving the problem]

[0012] In order to achieve the above-mentioned object, a teaching tool for teaching a laser processing robot that processes a workpiece by moving a laser processing head having a torch body that emits laser light according to the present invention, and irradiating a processed portion of the workpiece with laser light, comprises a teaching tool main body that can be detachably attached to the torch body, and a tip member that is a rod-shaped member having a central axis that coincides with the laser optical axis of the laser light emitted by the torch body, is supported by the teaching tool main body, and has a tip that can abut against the processed portion of the workpiece.

[0013] In the above-described configuration of the present invention, the teaching tool body can be detachably attached to the torch body. The tip member is a shaft having a central axis coinciding with the laser optical axis of the laser light emitted by the torch body, and has a tip supported by the teaching tool body and capable of contacting the portion to be processed of the workpiece. As a result, the laser processing robot can be taught by abutting the tip of the tool against the portion to be processed of the workpiece and recording the posture of the laser processing robot.

[0014] In order to achieve the above object, a teaching tool for teaching a laser processing robot that processes a workpiece by moving a laser processing head having a torch body that emits laser light and a shield tip that is detachably fixed to the torch body, comprising: a teaching tool main body that can be detachably attached to the torch body; a tip member that is a shaft having a central axis that coincides with the laser optical axis of the laser light emitted by the torch body, is supported by the teaching tool main body, and is guided movably within a predetermined stroke range sandwiched between a pair of stroke ends along the laser optical axis based on the teaching tool main body, has a tip that is exposed from the teaching tool main body and can abut against the processed portion of the workpiece; and a biasing mechanism that biases the tip member so as to protrude toward the side where the tip is located based on the teaching tool main body.

[0015] In the above-described configuration of the present invention, the teaching tool body can be detachably attached to the torch body. The tip member is a shaft having a central axis coinciding with the laser optical axis of the laser light emitted by the torch body, supported by the teaching tool body, and guided movably within a predetermined stroke range sandwiched between a pair of stroke ends along the laser optical axis based on the teaching tool body, and has a tip exposed from the teaching tool body and capable of abutting against a portion to be processed of a workpiece. The biasing mechanism biases the tip member so as to protrude toward the tip based on the teaching tool body. As a result, the laser processing robot can be taught by recording the posture of the laser processing robot using as reference the stroke position of the tip member based on the teaching tool body when the tip is brought into contact with the portion to be processed of the workpiece.

[0016] The teaching tool according to the embodiment of the present invention will be described below. The present invention includes any one of the embodiments described below, or a combination of two or more of them.

[0017] A teaching tool according to an embodiment of the present invention includes a detection device capable of detecting whether a state exists in which the position of the tip coincides with the focal position, which is the position at which the laser light emitted from the torch body is focused, when the tip member moves within a specified stroke range, and whether the position of the tip of the tip member is within a processing allowable focal length range of + / - f, which is a specified range of distance allowed for proper laser processing and includes the focal position on the laser optical axis. In the configuration of the above embodiment, when the tip member moves within a predetermined stroke range, there exists a state in which the position of the tip coincides with the focal position where the laser light emitted from the torch body is focused. The detection device can detect whether the position of the tip of the tip member is within a processing allowable focal length range of + / - f, which is a predetermined distance range allowed for proper laser processing, including the focal position on the laser optical axis. As a result, by recording the posture of the laser processing robot when the focus of the laser light falls within the processing allowable focal length range of + / - f, the laser processing robot can be taught with high accuracy.

[0018] A teaching tool according to an embodiment of the present invention has a detection contact, which is a contact at which a detection device is fixed to the tip member, a detection terminal, which is a terminal fixed to the teaching tool body, and a detection circuit that determines whether the detection contact and the detection terminal are conductive, and when the tip of the tip member falls within the range of the allowable processing + / -f focal length, the detection terminal is conductive to the detection contact, and when the tip of the tip member does not fall within the range of the allowable processing + / -f focal length, the detection terminal is not conductive to the detection contact. In the configuration of the above embodiment, the detection device has a detection contact, a detection terminal, and a detection circuit. The detection contact is a contact fixed to the tip member. The detection terminal is a terminal fixed to the teaching tool body. The detection circuit judges whether the detection contact and the detection terminal are conductive. When the tip of the tip member is within the range of the allowable processing + / -f focal length, the detection terminal is conductive to the detection contact. When the tip of the tip member is not within the range of the allowable processing + / -f focal length, the detection terminal is not conductive to the detection contact. As a result, the posture of the laser processing robot is recorded when the detection circuit determines that the focus of the laser light falls within the processing allowable focal length range of + / - f, thereby making it possible to easily teach the laser processing robot with high accuracy.

[0019] In a teaching tool according to an embodiment of the present invention, the detection contact is a circular conductive member wrapped around the tip member around a central axis, and the detection terminal is a pair of conductive members supported by the teaching tool body and pressed toward the central axis while sandwiching the tip member, and the detection circuit determines whether the pair of detection terminals are conductive, thereby determining whether the detection contact and the detection terminal are conductive. In the configuration of the above embodiment, the detection contact is an annular conductive member wound around the tip member around a central axis. The detection terminal is a pair of conductive members supported by a teaching tool body and pressed toward the central axis with the tip member sandwiched between them. The detection circuit determines whether the pair of detection terminals are conductive to determine whether the detection contact and the detection terminal are conductive. The result is a simple structure that can determine when the focus of the laser beam falls within the processing tolerance of + / - f focal length.

[0020] A teaching tool according to an embodiment of the present invention includes a detection device that detects whether or not a state exists in which the position of the tip coincides with a focal position at which the laser light emitted from the torch body is focused when the tip member moves within the stroke range and is near a rear stroke end, which is the stroke end farther from the tip of a pair of stroke ends, and whether or not the position of the tip of the tip member is within a range of a processing allowable focal length + / -f, which is a predetermined distance range allowable for laser processing and includes the focal position on the laser optical axis. In the configuration of the above embodiment, when the tip member moves within the stroke range and is near the rear stroke end, which is the stroke end farthest from the tip member, there exists a state in which the position of the tip member coincides with the focal position where the laser light emitted from the torch body is focused. The detection device detects whether the position of the tip member of the tip member is within the range of the processing allowable focal length + / - f, which is a predetermined distance range allowable for laser processing and includes the focal position on the laser optical axis. As a result, by recording the posture of the laser processing robot when the focus of the laser light falls within the processing allowable focal length range of + / - f, the laser processing robot can be taught with high accuracy.

[0021] A teaching tool according to an embodiment of the present invention has a sensor that detects whether the position of the tip member is near the rear stroke end. In the above embodiment configuration, the sensing device comprises a sensor which determines whether the position of the tip member is near the rear stroke end. As a result, by recording the posture of the laser processing robot when the focus of the laser light falls within the processing allowable focal length range of + / - f, the laser processing robot can be taught with high accuracy.

[0022] A teaching tool according to an embodiment of the present invention comprises a teaching tool body that can be detachably attached to the torch body, a tip member that is a shaft having a central axis that coincides with the laser optical axis of the laser light emitted by the torch body and is supported by the teaching tool body, is exposed from the teaching tool body, and has a tip that can abut against a portion of a workpiece to be processed, and a detection device that can detect whether or not the tip of the tip member has abutted against the workpiece, and the position of the tip of the tip member coincides with the focal position on the laser optical axis. In the configuration of the above embodiment, the teaching tool body and the tip member that can be detachably attached to the torch body are shafts having a central axis that coincides with the laser optical axis of the laser light emitted by the torch body, and have a tip that is supported by the teaching tool body, exposed from the teaching tool body, and can abut against a portion to be processed of a workpiece. The detection device can detect whether or not the tip of the tip member has abutted against the workpiece. The position of the tip of the tip member coincides with the focal position on the laser optical axis. As a result, by recording the posture of the laser processing robot when the focus of the laser light falls within the processing allowable focal length range of + / - f, the laser processing robot can be taught with high accuracy.

[0023] In a teaching tool according to an embodiment of the present invention, a torch body can emit visual illumination light along the laser optical axis of the laser light, and the illumination light can pass through the tip member along its central axis to irradiate the processed portion of a workpiece. In the configuration of the above embodiment, the torch body can emit illumination light for visual inspection along the laser optical axis of the laser light. The illumination light passes through the tip member along the central axis and can be irradiated onto the processed portion of the workpiece. As a result, the illumination light hits the portion to be processed of the workpiece, facilitating the operation of moving the teaching tool body and bringing the tip into contact with the portion to be processed.

[0024] In a teaching tool according to an embodiment of the present invention, the tip member is formed with a slot passing through the tip member along a central axis for passing the illumination light. In the configuration of the above embodiment, the tip member is formed with a slot along a central axis passing through the tip member for passing the illumination light. As a result, the illumination light can pass through the elongated hole of the tip member and irradiate the processed portion of the workpiece.

[0025] In a teaching tool according to an embodiment of the present invention, the tip member is formed with a long hole that does not pass through the tip member along a central axis to allow the illumination light to pass through, and at least the portion of the tip member where the long hole is not formed is a transparent body that allows the illumination light to pass through. In the configuration of the above embodiment, the tip member is formed with an elongated hole that does not penetrate the tip member along the central axis for passing the illumination light, and at least a portion of the tip member where the elongated hole is not formed is a transparent body that transmits the illumination light. As a result, the illumination light can pass through the elongated hole of the tip member and irradiate the processed portion of the workpiece.

[0026] In the teaching tool according to the embodiment of the present invention, all points along the central axis of the tip member are transparent bodies that transmit the illumination light. In the configuration of the above embodiment, all portions along the central axis of the tip member are transparent bodies that transmit the illumination light. As a result, the illumination light can pass through the elongated hole of the tip member and irradiate the processed portion of the workpiece. Effect of the Invention

[0027] As described above, the teaching tool according to the present invention has the following advantages due to its configuration. The tip member, which is supported by the teaching tool main body that can be attached to the torch body and has a tip that can come into contact with the portion to be processed of the workpiece, is designed to be a shaft having a central axis that coincides with the laser optical axis of the laser light emitted by the torch body.Therefore, the laser processing robot can be taught by recording the posture of the laser processing robot using as reference the stroke position of the tip member based on the teaching tool main body when the tip is abutted against the portion to be processed of the workpiece. The tip member is supported by a teaching tool body that can be attached to the torch body, and is guided movably within a predetermined stroke range sandwiched between a pair of stroke ends along the laser optical axis based on the teaching tool body, and is exposed from the teaching tool body and has a tip that can abut against the portion to be processed of the workpiece.The tip member is a shaft having a central axis that coincides with the laser optical axis of the laser light emitted by the torch body, so that the laser processing robot can be taught by abutting the tip against the portion to be processed of the workpiece and recording the posture of the laser processing robot using the stroke position of the tip member based on the teaching tool body as a reference. The tip of the tip member can be brought into contact with the portion to be processed of the workpiece and moved within a specified stroke range, and a detection device can be configured to detect whether the position of the tip of the tip member falls within the range of the allowable processing focal length of + / -f. The posture of the laser processing robot when the focus of the laser light falls within the range of the allowable processing focal length of + / -f can be recorded, thereby enabling the laser processing robot to be taught with high accuracy. When the tip of the tip member falls within the range of the allowable processing distance of + / -f, the detection terminal is conductive to the detection contact, and when the tip of the tip member does not fall within the range of the allowable processing distance of + / -f, the detection terminal is not conductive to the detection contact. A detection circuit determines whether or not the detection contact and the detection terminal are conductive. Since the posture of the laser processing robot is recorded when the focus of the laser light falls within the range of the allowable processing distance of + / -f, as determined by the detection circuit, the laser processing robot can be easily taught with high accuracy. Whether or not a pair of conductive members that are supported by the teaching tool body and pushed toward the central axis while sandwiching the tip member are in contact with the annular conductive member wrapped around the central axis of the tip member is determined by whether or not a pair of detection terminals are conductive, and whether or not the detection contacts and the detection terminals are conductive is determined.This simple structure makes it possible to determine when the focus of the laser light falls within the range of the processing allowable focal length of + / - f. When the tip of the tip member is brought into contact with the portion to be processed of the workpiece and moved within a specified stroke range and the tip member is near the rear stroke end, a detection device detects whether the position of the tip of the tip member falls within the range of the allowable processing focal length of + / -f. Therefore, by recording the posture of the laser processing robot when the focus of the laser light falls within the range of the allowable processing focal length of + / -f, the laser processing robot can be taught with high accuracy. Since the detection device has a sensor that determines whether the position of the tip member is near the rear stroke end or not, the posture of the laser processing robot when the focus of the laser light falls within the processing allowable focal length range of + / - f can be recorded, thereby enabling the laser processing robot to be taught with high accuracy. The tip of the tip member is brought into contact with the portion to be processed of the workpiece, and the position of the tip of the tip member approximately coincides with the focal position on the laser optical axis, and a detection device detects whether or not the tip of the tip member has come into contact with the workpiece. By recording the posture of the laser processing robot when the focus of the laser light falls within the range of the processing allowable focal length of + / - f, the laser processing robot can be taught with high accuracy. The visual illumination light emitted by the torch body along the laser optical axis of the laser light passes through the tip member along the central axis and can be irradiated onto the processed portion of the workpiece, so that the illumination light hits the processed portion of the workpiece, facilitating the task of moving the teaching tool body and bringing the tip into contact with the processed portion. The illumination light emitted by the torch body passes through a long hole formed in the tip member and is irradiated to the burnt nozzle portion of the workpiece, so that the illumination light can pass through the long hole in the tip member and be irradiated to the processed portion of the workpiece. The illumination light emitted by the torch body is irradiated to the nozzle portion of the workpiece by passing through the elongated hole and the transparent body formed so as not to penetrate the tip member, so that the illumination light can pass through the elongated hole of the tip member and irradiate the processed portion of the workpiece. Since all points along the central axis of the tip member are made of a transparent body that transmits the illumination light, the illumination light can pass through the elongated hole in the tip member and be irradiated onto the processed portion of the workpiece. [Brief description of the drawings]

[0028] [Figure 1] 1 is a conceptual diagram of a laser processing system according to an embodiment of the present invention. [Diagram 2] FIG. 1 is a structural diagram of a teaching tool body according to a first embodiment of the present invention. [Diagram 3] 2 is a cross-sectional view of the teaching tool body according to the first embodiment of the present invention taken along line AA. FIG. [Figure 4] FIG. 2 is a second structural diagram of the teaching tool body according to the first embodiment of the present invention. [Diagram 5] FIG. 3 is a third structural diagram of the teaching tool body according to the first embodiment of the present invention. [Figure 6] FIG. 11 is a structural diagram of a teaching tool body according to a second embodiment of the present invention. [Figure 7] FIG. 13 is a structural diagram of a teaching tool body according to a third embodiment of the present invention. [Figure 8] FIG. 13 is a structural diagram of a teaching tool body according to a fourth embodiment of the present invention. [Figure 9] FIG. 2 is an explanatory diagram of the operation of a teaching tool according to the first and second embodiments of the present invention. [Figure 10] FIG. 11 is an explanatory diagram of the operation of a teaching tool according to the third and fourth embodiments of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0029] Hereinafter, an embodiment of the present invention will be described. First, the relationship between the laser processing system and the teaching tool 100 will be described with reference to the drawings. FIG. 1 is a conceptual diagram of a laser processing system according to an embodiment of the present invention. For convenience of explanation, the laser processing will be described as laser welding.

[0030] The laser processing system is made up of a laser processing robot 30, a robot controller 40, a torch, a laser beam oscillator 60, and a teaching tool 100.

[0031] The laser processing robot moves a laser processing head having a torch body 50 to irradiate a portion of a workpiece with laser light, thereby processing the workpiece. The laser processing robot 30 supports a torch by an end effector 31, and controls the position and attitude of the torch by a robot controller 40. The torch is composed of a torch body 50 , a shield tip 51 , a collimator lens 52 and a condenser lens 53 . The torch may be composed of a torch body 50, a shield tip 51, a collimator lens 52, a condenser lens 53, and an illumination light emitter 54.

[0032] The robot controller 40 is a control device that controls the laser processing robot 30 . The robot controller 40 controls the laser processing robot 30 so that the position and posture of the torch body 50 changes continuously along a plurality of taught teaching points. The position and orientation between a pair of adjacent teaching points are calculated according to a separately specified trajectory, speed, etc.

[0033] The torch body 50 is the basic structure of the torch, and holds a shield tip 51 , a collimator lens 52 , and a condenser lens 53 . Torch body 50 is the basic structure of the torch, and may hold a shield tip 51, a collimator lens 52, a condenser lens 53, and an illumination light emitter . The shield tip 51 is a structure for guiding the shield gas, and is supported on the torch body 50 in a detachable manner. The collimator lens 52 is an optical element that directs the laser light guided by the optical fiber to the condenser lens 53 . The condenser lens 53 is an optical element that condenses the laser light to a focal point. The distance from the condenser lens 53 to the focal point is called the focal length H. The laser light is concentrated at a focal point and diverges slightly before and after the focal point along the laser optical axis. The specified range of distance that includes the position of the focal point F on the laser optical axis and is allowed for proper laser processing is called the processing allowable focal length L + / - f.

[0034] The illumination light emitter 54 is an optical device that emits illumination light, which is visible light. The optical axis of the laser light and the optical axis of the illumination light coincide inside the shield chip.

[0035] The laser beam oscillator 60 is a device that emits a laser beam. The laser beam emitted by the laser beam oscillator 60 is guided to a fiber optic cable and then to a torch.

[0036] The teaching tool 100 is a tool for teaching a laser processing robot. Hereinafter, teaching tools 100 according to first to third embodiments of the present invention will be described with reference to the drawings.

[0037] First, teaching tools 100 Nos. 1 to 3 according to a first embodiment of the present invention will be described with reference to the drawings. Fig. 2 is a first structural diagram of the teaching tool body according to the first embodiment of the present invention. Fig. 3 is an AA cross-sectional view of the teaching tool body according to the first embodiment of the present invention. Fig. 4 is a second structural diagram of the teaching tool body according to the first embodiment of the present invention. Fig. 5 is a third structural diagram of the teaching tool body according to the first embodiment of the present invention. The structural diagrams 1 to 3 of the teaching tool body according to the first embodiment of the present invention differ only in the structure of the tip member 120 for transmitting illumination light, and the other structures are the same, so the same parts will be described with reference to Figures 2 and 3.

[0038] The teaching tool 100 includes a teaching tool body 110 and a tip member 120 . The teaching tool 100 may include a teaching tool body 110, a tip member 120, and a biasing mechanism 130. The teaching tool 100 may include a teaching tool body 110 , a tip member 120 , a biasing mechanism 130 , and a detection device 140 .

[0039] The teaching tool main body 110 is a member that can be detachably attached to the torch body 50 . The teaching tool main body 110 may be detachably attached to a fixing portion that fixes the shield tip 51 of the torch body 50 in place of the shield tip 51 .

[0040] The tip member 120 is a rod-shaped member having a central axis coinciding with the laser optical axis X of the laser light emitted by the torch body 50, is supported by the teaching tool body 110, and is guided movably within a predetermined stroke S between a pair of stroke ends along the laser optical axis X based on the teaching tool body 110, and has a tip exposed from the teaching tool body 110 and capable of coming into contact with a portion to be processed of a workpiece. The predetermined stroke S is sandwiched between a front stroke end Sf and a rear stroke end Sb. The tip member 120 is guided movably along the laser optical axis X in an elongated hole X formed in the teaching tool body 110 along the laser optical axis X. The tip member 120 is accommodated within a range of a predetermined stroke S sandwiched between a pair of stroke ends along the laser optical axis X by a pair of stroke end members 111f, 111b provided on the teaching tool body 110. The front stroke end member 111f is a stroke end member on the side of the tip end of the stroke. When the tip of the tip member 120 abuts against the front stroke end member 111f, the tip member 120 is located at the front stroke end Sf. The rear stroke end member 111b is the stroke end member opposite the tip of the stroke. When the tip of the tip member 120 abuts against the rear stroke end member 111b, the front member 120 is located at the rear stroke end Sb. The specified stroke S is a distance greater than the processing tolerance ±f focal length L.

[0041] When the tip member 120 moves within the range of a predetermined stroke S, there exists a state in which the position of the tip coincides with the position of the focal point F, which is the position where the laser light emitted from the torch body is focused.

[0042] The tip member 120 may be made of an electrically insulating material. The tip member 120 may have a surface made of an electrically insulating material.

[0043] The tip member 120 may be a cylindrical member having a central axis coinciding with the laser optical axis X of the laser light emitted by the torch body 50 . The tip member 120 may be configured such that illumination light can pass through the tip member 120 along a central axis to illuminate the portion of the workpiece being machined. For example, the tip member 120 is formed with a slot X passing through along the central axis. Even if the tip member 120 is not designed so that the illumination light can pass through the tip member 120 along the central axis and be irradiated onto the processed portion of the workpiece, this does not reduce the effect of the configuration of this embodiment. However, by using such a configuration, it becomes easier to visually check the illumination light irradiated onto the processed portion and guide the tip of the tip member 120 to the processed portion.

[0044] The biasing mechanism 130 biases the tip member 120 so as to protrude toward the tip end side, based on the teaching tool body 110 . For example, the biasing mechanism 130 is a helical spring. The helical spring presses the tip member 120 toward the tip, using the teaching tool body 110 as a base. When no external force is applied to the tip, the tip member 120 is pushed by the biasing member 130 and abuts against the front stroke end member 111f, and is positioned on the side of the tip of the predetermined stroke S.

[0045] The detector 140 is a device capable of detecting whether the position of the tip of the tip member 120 falls within the range of the processing tolerance of + / - f focal length. The processing allowable + / - f focal length is a specified range of distance that includes the focal position on the laser optical axis and is allowable for proper laser processing. When the detector 140 determines that the position of the tip of the tip member 120 is within the processing tolerance of + / - f focal length, it outputs either an ON signal or an OFF signal. When the detector 140 determines that the position of the tip of the tip member 120 is not within the processing tolerance of the focal length + / - f, it outputs the other of the ON and OFF signals. When an ON or OFF signal is output, a sound may be emitted.

[0046] For example, the detection device 140 is composed of a detection contact 141 , a detection terminal 142 , and a detection circuit 143 . The sensing contact 141 is a contact that is fixed to the tip member 120 . The detection terminal 142 is a terminal fixed to the teaching tool body 110. The detection circuit 143 judges whether the detection contact 141 and the detection terminal 142 are electrically connected to each other. When the tip of the tip member 120 falls within the range of the processing tolerance ±f focal length L, the detection terminal 142 becomes conductive to the detection contact 141 . When the tip of the tip member 120 is not within the range of the processing tolerance ±f focal length L, the detection terminal 142 is not electrically connected to the detection contact 141 .

[0047] For example, the sensing contact 141 is a circular conductive member wound around the tip member 120 about a central axis. The length along the central axis of the annular conductive member is called the detection distance M. The detection terminals 142 are a pair of conductive members supported by the teaching tool body 110 and pressed toward the central axis with the tip member 120 sandwiched therebetween. The detection circuit 143 determines whether the pair of detection terminals 142 are conductive or not, thereby determining whether the detection contacts 141 and the detection terminals 143 are conductive or not. The sensing distance, which is the height along the central axis of the sensing junction 141, is less than the processing tolerance + / - f focal length.

[0048] When the detection terminal 142 is in point contact with the detection contact 141, the detection distance M coincides with the processing allowance + / -f focal length L or is shorter than the processing allowance + / -f focal length L.

[0049] When the tip of the tip member 120 abuts the portion to be processed of the workpiece and the detection terminal 142 is conductive to the detection contact 141, it can be determined that the tip of the tip member 120 falls within the range of the processing allowable focal length L + / - f. When the tip of the tip member 120 contacts the portion to be processed of the workpiece and the detection terminal 142 is not conductive to the detection contact 141, it can be determined that the tip of the tip member 120 does not fall within the range of the processing allowable + / - f focal length L.

[0050] Next, a second embodiment of the teaching tool according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 4 is a second structural diagram of the teaching tool body according to the first embodiment of the present invention. For ease of explanation, the explanation of the same structure as that of the teaching tool No. 1 will be omitted, and only the different structure will be explained.

[0051] The tip member 120 may be a cylindrical member having a central axis coinciding with the laser optical axis X of the laser light emitted by the torch body 50 . The tip member 120 is configured so that illumination light can pass through the tip member 120 along its central axis to irradiate the processed portion of the workpiece. The tip member 120 is made of a transparent material that transmits illumination light along its central axis.

[0052] Next, a third embodiment of the teaching tool according to the first embodiment of the present invention will be described with reference to the drawings. FIG. 5 is a third structural diagram of the teaching tool body according to the first embodiment of the present invention. For ease of explanation, the explanation of the same structure as that of the teaching tool No. 1 will be omitted, and only the different structure will be explained.

[0053] The tip member 120 may be a cylindrical member having a central axis coinciding with the laser optical axis X of the laser light emitted by the torch body 50 . The tip member 120 is configured so that illumination light can pass through the tip member 120 along its central axis to irradiate the processed portion of the workpiece. A long hole X is formed along the central axis for passing illumination light therethrough, but does not penetrate the tip member, and at least the remaining portion through which the illumination light does not penetrate is made of a transparent material that transmits the illumination light.

[0054] Next, a teaching tool according to a second embodiment of the present invention will be described with reference to the drawings. FIG. 6 is a conceptual diagram of a teaching tool according to the second embodiment of the present invention. For ease of explanation, the description of the same structure as the first teaching tool of the present invention will be omitted, and only the different structure will be described.

[0055] When the tip member 120 moves within a predetermined stroke S and is near the rear stroke end Sb, which is the stroke end of a pair of stroke ends that is farther from the tip, there exists a state in which the position of the tip coincides with the focal position, which is the position at which the laser light emitted from the torch body is focused. The detection device 140 is an instrument that detects whether the position of the tip of the tip member 120 falls within the range of the processing allowable focal length + / - f, which is a predetermined range of distance that includes the focal position on the laser optical axis and is allowable for laser processing.

[0056] The sensing device 140 includes a sensor 144 and a sensing circuit 143 . Sensor 144 is an electrical element that determines whether the position of the tip member is near the rear end of the stroke. For example, the electrical element of the sensor 144 outputs an ON signal when the position of the tip member is near the rear stroke end Sb, and outputs an OFF signal when the position of the tip member is not near the rear stroke end Sd. For example, the electrical element is a piezoelectric element. For example, the electrical element is a proximity sensor.

[0057] The structure of the tip member 120 is the same as the structure of the tip member 120 of one of the teaching tools No. 1 to No. 3 according to the first embodiment of the present invention.

[0058] Next, a teaching tool according to a third embodiment of the present invention will be described with reference to the drawings. FIG. 7 is a conceptual diagram of a teaching tool according to the third embodiment of the present invention. For ease of explanation, the description of the same structure as the first teaching tool of the present invention will be omitted, and only the different structure will be described.

[0059] The teaching tool according to the third embodiment of the present invention includes a teaching tool body 110, a tip member 120, and a detection device 140. The main structure of the teaching tool body 110 is the same as that of the teaching tool according to the first embodiment, and therefore a description thereof will be omitted. The tip member 120 is a shaft having a central axis coinciding with the laser optical axis of the laser light emitted by the torch body 50, and is supported by the teaching tool body. The tip member 120 is exposed from the teaching tool body 110 and has a tip that can come into contact with the processed portion of the workpiece. The position of the tip of the tip member 120 approximately coincides with the focal position on the laser optical axis. The tip member 120 may be guided movably within a predetermined stroke range sandwiched between a pair of stroke ends along the laser optical axis based on the teaching tool body. For example, the tip member 120 is guided movably within a small stroke range along the laser optical axis based on the teaching tool body.

[0060] The detection device 140 is a device that can detect whether or not the tip of the tip member 120 has come into contact with a workpiece. The sensing device 140 may be a sensor 145 capable of detecting the generation of an axial force on the tip member 120 . For example, the sensor 145 is a piezoelectric element that is sandwiched between the teaching tool body 110 and the tip member 120 . When an axial force is generated in the tip member 120 , a voltage is generated in the sensor 145 . The detection device 140 can detect that the tip of the tip member 120 is not touching the workpiece when no voltage is generated in the sensor 145 . The detection device 140 can detect that the tip of the tip member 120 is in contact with the workpiece when a voltage is generated in the sensor 145 .

[0061] Next, a teaching tool according to a fourth embodiment of the present invention will be described with reference to the drawings. FIG. 8 is a conceptual diagram of a teaching tool according to the fourth embodiment of the present invention. For ease of explanation, the description of the same structure as the first teaching tool of the present invention will be omitted, and only the different structure will be described. The tip member 120 is a rod-shaped member having a central axis that coincides with the laser optical axis of the laser light emitted by the torch body, is supported by the teaching tool body, and has a tip that is exposed from the teaching tool body 110 and can abut against the portion to be processed of the workpiece. The tip member 120 may be fixed to the teaching tool body 110 . The tip member 120 may be supported so as to be movably guided within a small stroke range along the laser optical axis on the basis of the teaching tool body. The slight stroke is shorter than the processing tolerance + / - f focal length. The other structure of the tip member 120 is the same as the structure of the tip member 120 of one of the teaching tools No. 1 to No. 3 according to the first embodiment of the present invention. By configuring the tip member 120 so that illumination light can pass through the tip member 120 along the central axis and be irradiated onto the processed portion of the workpiece, it becomes easier to visually observe the illumination light irradiated onto the processed portion and guide the tip of the tip member 120 to the processed portion.

[0062] Next, a procedure for teaching a laser processing robot using the teaching tools according to the first and second embodiments of the present invention will be described with reference to the drawings. FIG. 9 is a diagram illustrating the operation of the teaching tools according to the first and second embodiments of the present invention. In an example of an articulated collaborative robot, a welding torch is attached to the end of the robot arm as shown in Figure 9. The teaching tool of the present invention is attached to the tip of the torch. For example, the shield tip is removed from the tip of the torch, and the teaching tool 100 is attached to the fixing portion of the torch body 50 that fixes the shield tip.

[0063] During normal teaching, each axis of the robot is freed so that it can be moved freely and easily by human power within its allowable range. After putting the robot controller 40 into the teaching mode, the operator holds the torch, moves the tip of the teaching tool 100 to a target position above the workpiece, and moves the torch up and down at that position. When the tip comes into contact with the workpiece and moves toward the tip, the tip member 120 is guided by the teaching tool body 110 and moves toward the rear stroke end Sb within a predetermined stroke.

[0064] When illumination light is generated, the illumination light, whose central axis coincides with the laser optical axis, passes through the tip member and is irradiated onto the part to be processed. Since the worker can visually confirm that the illumination light is irradiated onto the part to be processed, it becomes easier to bring the tip of the teaching tool 100 close to the part to be processed.

[0065] When the tip of the tip member 120 falls within the range of the processing allowable + / - f focal length, the detection terminal 142 becomes conductive to the detection contact 141. When the detection terminal 142 becomes conductive to the detection contact 141, the detection device 140 determines that the position of the tip of the tip member 120 falls within the range of the processing allowable + / - f focal length. For example, when the tip of the tip member 120 falls within the range of the processing allowance of ±f focal length, the pair of detection terminals 142 come into contact with the detection contacts 141, and the pair of detection terminals 142 become conductive. When the pair of detection terminals 142 are conductive, the detection device determines that the detection contacts and the detection terminals are conductive, and determines that the tip of the tip member 120 is within the processing tolerance of + / - f focal length.

[0066] When the detector 140 determines that the tip of the tip member is within the processing allowable range of + / - f focal length, it outputs an ON signal to the robot controller 40 and emits a sound. When the robot controller 40 receives an ON signal from the detector 140, it records the position and posture at that time as teaching point data. At each of a plurality of teaching points lined up along the weld line, a torch to which a teaching tool is attached is moved, and the robot controller 40 records the position and posture at each teaching point as data for the teaching point. The data of the trajectory between adjacent teaching points along the weld line and the speed are input to the robot controller 40.

[0067] The teaching tool is removed from the torch, and the shield tip 51 is attached. The robot controller 40 is set to the welding mode and the start button is pressed. The robot controller 40 controls the laser processing robot so that a laser beam is emitted, the laser beam is guided to a torch, and the torch moves according to a specified trajectory and speed by tracing a plurality of taught teaching points. As a result, the machining of the workpiece is completed.

[0068] Machining work performed by combining laser light and robots is carried out under narrow processing conditions that are limited by the specific properties of the laser. By using the teaching tool according to the present invention, teaching can be easily performed when machining a small amount of a wide variety of products, and even workers with low levels of skill can shorten the time required for teaching.

[0069] Next, a procedure for teaching a laser processing robot using the teaching tools according to the third and fourth embodiments of the present invention will be described with reference to the drawings. FIG. 10 is a diagram illustrating the operation of teaching tools according to the third and fourth embodiments of the present invention. In an example of an articulated collaborative robot, a welding torch is attached to the end of the robot arm as shown in Figure 10. The teaching tool of the present invention is attached to the tip of the torch. For example, the shield tip is removed from the tip of the torch, and the teaching tool is attached to the fixing portion of the torch body 50 that fixes the shield tip.

[0070] During normal teaching, each axis of the robot is freed so that it can be moved freely and easily by human power within its allowable range. After putting the robot controller 40 into teaching mode, the operator holds the torch, moves the tip of the teaching tool 100 to a target position above the workpiece, and moves the torch up and down at that position until the tip comes into contact with the workpiece.

[0071] When illumination light is generated, the illumination light, whose central axis coincides with the laser optical axis, passes through the tip member and is irradiated onto the part to be processed. Since the worker can visually confirm that the illumination light is irradiated onto the part to be processed, it becomes easier to bring the tip of the teaching tool 100 close to the part to be processed.

[0072] When using the teaching tool according to the third embodiment, the detection device determines when the tip of the tip member hits the workpiece. When using the teaching tool according to the fourth embodiment, an operator determines that the tip of the tip member will come into contact with the workpiece.

[0073] When the detection device 140 or the worker determines that the tip of the tip member has come into contact with the workpiece, it outputs an ON signal to the robot controller 40 and emits a sound. When the robot controller 40 receives an ON signal from the detector 140, it records the position and posture at that time as teaching point data. At each of a plurality of teaching points lined up along the weld line, a torch to which a teaching tool is attached is moved, and the robot controller 40 records the position and posture at each teaching point as data for the teaching point. The data of the trajectory between adjacent teaching points along the weld line and the speed are input to the robot controller 40.

[0074] The teaching tool is removed from the torch, and the shield tip 51 is attached. The robot controller 40 is set to the welding mode and the start button is pressed. The robot controller 40 controls the laser processing robot so that a laser beam is emitted, the laser beam is guided to a torch, and the torch moves according to a specified trajectory and speed by tracing a plurality of taught teaching points. As a result, the machining of the workpiece is completed.

[0075] Machining work performed by combining laser light and robots is carried out under narrow processing conditions that are limited by the specific properties of the laser. By using the teaching tool according to the present invention, teaching can be easily performed when machining a small amount of a wide variety of products, and even workers with low levels of skill can shorten the time required for teaching.

[0076] As described above, the use of the teaching tool according to the embodiment of the present invention has the following effects. A tip member 120, which is supported by a teaching tool main body 110 that can be attached to the torch body 50 and has a tip that can come into contact with the portion to be processed of the workpiece, is configured as a shaft having a central axis that coincides with the laser optical axis of the laser light emitted by the torch body 50. Therefore, the laser processing robot can be taught by abutting the tip with the portion to be processed of the workpiece and recording the posture of the laser processing robot. A tip member 120 is supported by a teaching tool main body 110 that can be attached to a torch body 50, and is guided movably within a predetermined stroke range sandwiched between a pair of stroke ends along the laser optical axis based on the teaching tool main body 110, and is exposed from the teaching tool main body 110 and has a tip that can abut against a portion to be processed of a workpiece. The tip member 120 is a shaft having a central axis that coincides with the laser optical axis of the laser light emitted by the torch body 50. Therefore, the laser processing robot can be taught by recording the posture of the laser processing robot using as a reference the stroke position of the tip member 120 based on the teaching tool main body 110 when the tip is abutted against the portion to be processed of the workpiece. The tip of the tip member 120 is brought into contact with the portion to be processed of the workpiece and moved within a specified stroke range, and the detection device can detect whether the position of the tip of the tip member 120 falls within the range of the processing allowable focal length + / - f. The posture of the laser processing robot when the focus of the laser light falls within the range of the processing allowable focal length + / - f can be recorded, thereby enabling the laser processing robot to be taught with high accuracy. When the tip of the tip member 120 is within the range of the processing allowable focal length + / - f, the detection terminal is electrically connected to the detection contact, and when the tip of the tip member 120 is not within the range of the processing allowable focal length + / - f, the detection terminal is not electrically connected to the detection contact. The detection circuit is configured to determine whether the detection contact and the detection terminal are electrically connected. By recording the posture of the laser processing robot when the detection circuit determines that the focus of the laser light falls within the processing allowable focal length range of + / - f, the laser processing robot can be taught easily and accurately. Whether or not a pair of conductive members supported by the teaching tool body 110 and pressed toward the central axis across the tip member 120 are in contact with the annular conductive member wrapped around the central axis of the tip member 120 is determined by whether or not a pair of detection terminals are conductive, and whether or not the detection contacts and the detection terminals are conductive can be determined with a simple structure, making it possible to determine when the focus of the laser light falls within the range of the processing allowable focal length + / - f. When the tip of the tip member 120 is brought into contact with the portion to be processed of the workpiece and moved within a specified stroke range and the tip member 120 is near the rear stroke end, a detection device detects whether the position of the tip of the tip member 120 falls within the range of the allowable processing focal length + / - f. Therefore, by recording the posture of the laser processing robot when the focus of the laser light falls within the range of the allowable processing focal length + / - f, the laser processing robot can be taught with high accuracy. Since the detection device has a sensor that determines whether the position of the tip member 120 is near the rear stroke end or not, the posture of the laser processing robot when the focus of the laser light falls within the processing allowable focal length range of + / - f can be recorded, thereby enabling the laser processing robot to be taught with high accuracy. The tip of the tip member 120 is brought into contact with the portion to be processed of the workpiece, and the position of the tip of the tip member 120 approximately coincides with the focal position on the laser optical axis, and a detection device detects whether the tip of the tip member 120 has come into contact with the workpiece. By recording the posture of the laser processing robot when the focus of the laser light falls within the range of the processing allowable focal length + / - f, the laser processing robot can be taught with high accuracy. The visual illumination light emitted from the torch body along the laser optical axis of the laser light passes through the tip member 120 along the central axis and can be irradiated onto the processed portion of the workpiece, so that the illumination light hits the processed portion of the workpiece, facilitating the operation of moving the teaching tool main body 110 to bring the tip into contact with the processed portion. The illumination light emitted by the torch body passes through the long hole X formed in the tip member 120 and is irradiated to the burnt nozzle portion of the workpiece, so that the illumination light can pass through the long hole X in the tip member 120 and be irradiated to the processed portion of the workpiece. The illumination light emitted by the torch body passes through the elongated hole X and the transparent body, which are formed so as not to penetrate the tip member 120, and is then irradiated to the burnt nozzle portion of the workpiece. Therefore, the illumination light can pass through the elongated hole X in the tip member 120 and irradiate the processed portion of the workpiece. Since the portion of the tip member 120 along the central axis is made of a transparent material that transmits illumination light, the illumination light can pass through the elongated hole X in the tip member 120 and irradiate the processed portion of the workpiece.

[0077] The present invention is not limited to the above-described embodiment, and various modifications are possible without departing from the gist of the invention. [Explanation of symbols]

[0078] F focus H focal length L Machining tolerance + / -f focal length M Detection distance S given stroke Sf Front stroke end Sb Rear stroke end X Laser optical axis W slotted hole 20 Workpiece 30 Laser processing robot 31 End effector 40 Robot Controller 50 Torch body 51 Shield Tip 52 Collimator lens 53 Condenser Lens 54 Illumination light emitter 60 Laser Oscillator 100 Teaching Tools 110 Teaching tool body 111f Front stroke end member 111b Rear stroke end member 120 Tip member 130 Biasing mechanism 140 Detection Equipment 141 Detection contact 142 Detection terminal 143 Detection circuit 144 Sensors 145 Sensor (Piezoelectric element) [Prior art documents] [Patent documents]

[0079] [Patent Document 1] Patent Publication No. 2023-014518 [Patent Document 2] Patent Publication No. 2011-255473 [Patent Document 3] Patent Publication No. 2004-074190 [Patent Document 4] JP2002-001554A

Claims

1. A teaching tool for teaching a laser processing robot that processes a workpiece by moving a laser processing head having a torch body that emits laser light and a shield tip that is detachably fixed to the torch body, and irradiating a portion to be processed of the workpiece with laser light, A teaching tool body that can be detachably attached to the torch body; a rod-shaped member having a central axis coinciding with the laser optical axis of the laser light emitted by the torch body, the rod-shaped member being supported by the teaching tool body and being guided movably within a predetermined stroke range sandwiched between a pair of stroke ends along the laser optical axis based on the teaching tool body, the tip member having a tip exposed from the teaching tool body and capable of coming into contact with a portion to be processed of a workpiece; a biasing mechanism for biasing the tip member so as to protrude toward a tip end side based on the teaching tool body; A teaching tool comprising:

2. When the tip member moves within a predetermined stroke range, there exists a state in which the position of the tip coincides with a focal position, which is a position where the laser light emitted from the torch body is focused, A detection device capable of detecting whether the position of the tip of the tip member is within a processing allowable range of + / - f focal length, which is a predetermined range of distance that includes the focal position on the laser optical axis and is allowed for proper laser processing; 2. The teaching tool according to claim 1, further comprising:

3. The detection device has a detection contact which is a contact fixed to the tip member, a detection terminal which is a terminal fixed to a teaching tool body, and a detection circuit which judges whether the detection contact and the detection terminal are electrically connected to each other, When the tip of the tip member is within the range of the processing tolerance + / - f focal length, the detection terminal is conductive to the detection contact; When the tip of the tip member is not within the range of the processing allowance + / - f focal length, the detection terminal is not electrically connected to the detection contact.

3. The teaching tool according to claim 2, wherein the teaching tool is a teaching tool for performing a teaching operation.

4. the sensing contact is an annular conductive member wound around a central axis of the tip member, The detection terminal is a pair of conductive members supported by a teaching tool body and pressed toward a central axis while sandwiching the tip member, the detection circuit determines whether a pair of detection terminals are conductive, thereby determining whether the detection contacts and the detection terminals are conductive; 4. The teaching tool according to claim 3,

5. The torch body can emit visual illumination light along the laser beam axis of the laser beam, The illumination light passes through the tip member along the central axis and can be irradiated onto the processed portion of the workpiece.

5. The teaching tool according to claim 4,

6. the tip member is formed with a slot along a central axis for passing the illumination light; 6. A teaching tool according to claim 5, wherein the teaching tool is a teaching tool for performing a teaching operation.

7. The tip member is a transparent body that transmits the illumination light.

7. A teaching tool according to claim 6.

8. when the tip member moves within the stroke range and is near the rear stroke end, which is the stroke end away from the tip member among a pair of stroke ends, there exists a state in which the position of the tip member coincides with a focal position, which is a position where the laser light emitted from the torch body is focused, A detection device that detects whether the position of the tip of the tip member is within a processing allowable range of + / - f focal length, which is a predetermined range of distance that includes the focal position on the laser optical axis and is allowed for laser processing; 3. The teaching tool according to claim 2, further comprising:

9. a sensing device having a sensor for determining whether the position of the tip member is near the rear stroke end; 9. A teaching tool according to claim 8.

10. A teaching tool for teaching a laser processing robot that processes a workpiece by moving a laser processing head having a torch body that emits laser light and a shield tip that is detachably fixed to the torch body, and irradiates a laser light onto a portion to be processed of the workpiece, comprising: A teaching tool body that can be detachably attached to the torch body; a tip member having a shaft having a central axis coinciding with a laser beam axis of the laser beam emitted by the torch body, the shaft being supported by the teaching tool body, the tip member being exposed from the teaching tool body and having a tip capable of contacting a portion to be processed of a workpiece; A detection device capable of detecting whether or not the tip of the tip member has hit the workpiece; Equipped with The position of the tip of the tip member coincides with the focal position on the laser optical axis. A teaching tool comprising:

11. A teaching tool for teaching a laser processing robot that processes a workpiece by moving a laser processing head having a torch body that emits laser light and a shield tip that is detachably fixed to the torch body, and irradiates a laser light onto a portion to be processed of the workpiece, comprising: A teaching tool body that can be detachably attached to the torch body; a tip member having a shaft having a central axis coinciding with a laser beam axis of the laser beam emitted by the torch body, the shaft being supported by the teaching tool body, the tip member being exposed from the teaching tool body and having a tip capable of contacting a portion to be processed of a workpiece; Equipped with The torch body can emit visual illumination light along the laser beam axis of the laser beam, The illumination light can be irradiated to the processed portion of the workpiece by passing through the tip member. A teaching tool comprising:

12. the tip member is formed with a slot extending through the tip member along a central axis for passing the illumination light therethrough; A teaching tool according to claim 11 .

13. The tip member has a slot formed along a central axis for passing the illumination light therethrough, the slot not penetrating the tip member; At least a portion of the tip member where no slot is formed is a transparent body that transmits the illumination light. A teaching tool according to claim 11 .

14. The entire tip member along the central axis is a transparent body that transmits the illumination light. A teaching tool according to claim 11 .

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