JPH03200B2 - - Google Patents

Description

[Detailed Description of the Invention] [Technical Field of the Invention] The present invention relates to a machining technique using high-pressure fluid jetting, and particularly relates to a machining method for appropriately identifying the machining position of a workpiece in high-pressure fluid jet machining. It is something.

[Background Art and Problems of the Invention] Many techniques using high-pressure fluid jetting for processing objects have already been put to practical use and effectively utilized.
In particular, the heat generation during machining is extremely low, the high-pressure fluid jet that acts as a machining tool has no directionality during machining, the machining margin is extremely small, and the wear of the machining tool is negligible.
It has the characteristics of generating extremely little processing waste, and is used in electronics, machining, medical,
It is widely used in a wide range of fields, including nuclear power.

In terms of processing technology, there are simple ones that move the nozzle manually, automatic dedicated machines that perform routine processing, general-purpose machines that allow free processing, and processing that incorporates manipulators such as robots that perform three-dimensional processing. It is used in various forms depending on the purpose, such as machines. Many general-purpose machines have a built-in computer in their control device, and a target machining shape is stored in advance, and the nozzle is moved in accordance with the memorized machining shape to process the workpiece.

However, when the target machining shape is relatively simple or two-dimensional plane machining, it is not very difficult to memorize the shape, but when the target machining shape contains many free curves or has irregularities, When it comes to many complex shapes or complex three-dimensional machining,
It would take too much effort and time to memorize that shape. Therefore, when machining such complex shapes, it is convenient to use the so-called teaching playback control method, which memorizes the nozzle movement trajectory while moving the nozzle along the machining shape, and processes the nozzle according to the memorized movement trajectory. ,
It is being used effectively.

However, in the teaching playback control method, when teaching to memorize the movement trajectory of the nozzle, conventionally, the method of tracing the movement trajectory while sequentially touching the processing area with a probe needle, or actually injecting extremely low pressure fluid from the nozzle. The method used was to follow the movement trajectory sequentially while moving. These conventional methods have the following deficiencies. Even if the streamline of the injected fluid can actually reach the parts that can be processed, the probe needle may not be able to touch them using the probe method, and the workpiece may be a flexible material that the probe needle can touch. It is necessary to be very careful in order to obtain the correct shape. According to the low-pressure fluid injection method, it is difficult to accurately identify the location due to water splashing, and the work environment may become poor due to water splashing. In general, due to the above-mentioned deficiencies, teaching takes time and teaching becomes inaccurate, and as a result, the processing itself tends to become inaccurate.

[Objective and Summary of the Invention] The present invention aims to eliminate the above-mentioned conventional deficiencies, enable easy and accurate teaching, and as a result improve machining accuracy.

In order to achieve the above object, the present invention provides the following processing method. That is, in high-pressure fluid injection processing, in which high-pressure fluid is injected from a nozzle and machining is performed by applying the high-pressure fluid to the workpiece,
A nozzle head and a light projecting means are provided interchangeably, and the light projecting means is provided with a light emitting means and a means for converging the light emitted by the light emitting means into a desired luminous flux, and the light projecting means is provided with a light emitting means and a means for converging the light emitted by the light emitting means into a desired luminous flux. After arranging the light means and simulating the processing position of the workpiece, the light projection means is removed from the cutting device, a nozzle head is arranged, and the workpiece is processed by jetting high pressure fluid from the nozzle head. This is a characteristic feature.

[Examples of the Invention] The present invention will be described in more detail below based on specific examples.

In the figure, 1 is a nozzle head, 2 is a light projecting means,
3 is a light emitting means, 4 is a focusing means, 5 is a workpiece, 6
is a cutting device.

Now, the cutting device 6 in the figure is a manipulator applied to three-dimensional processing. Arm 7
is configured to be movable three-dimensionally by a drive mechanism (not shown). Various work tools and the like can be attached to and detached from the tip of the arm 7 as needed. The working tools are the nozzle head 1, the light projecting means 2, and in the conventional method, the teaching probe 8. In the present invention, the light projecting means 2 is attached to the arm 7 first. The light projecting means 2 includes a nozzle head 1 which will be replaced and installed later.
The axes of the fluid ejection direction and the light projection direction are adjusted in advance so that they coincide with each other. The light emitted from the light emitting means 3 built into the light projecting means 2 is converged into a desired luminous flux by the converging means 4 and projected onto the workpiece 5. At this time, the cutting device 6 is in a state ready for teaching.

As for the teaching procedure, conventionally used methods can be used effectively and selectively. That is, to give an example, the arm 7 is moved to a desired position so that the light beam projected onto the workpiece 5 is irradiated onto the processing region of the workpiece 5 . Regarding movement, there are manual control, electric drive manual control, etc., and any of them may be used. At the desired position, the light beam hits the workpiece 5
Make fine adjustments so that the light is irradiated at the optimal angle. In other words, when cutting the workpiece 5, it is effective if the streamline of the fluid jetted from the nozzle head 1 is perpendicular to the workpiece 5. If we consider this when teaching with a light beam, the light beam is If the light beam is projected at right angles to the workpiece 5, the light beam will illuminate the workpiece 5 in a circular manner at the projection site,
When projected obliquely, the light beam illuminates the workpiece 5 in an elliptical shape. Therefore, by adjusting the light beam to be irradiated onto the workpiece 5 in a state as close to a circle as possible, the optimal position at each teaching point can be effectively determined. This concludes the teaching on the key points.

Next, the light projecting means 2 is removed from the arm 7, and the nozzle head 1 is attached in its place. Next, the playback step is performed, in which the nozzle head 1 moves according to the path memorized by teaching and processes the workpiece 5.

By the way, in fluid injection machining, more specifically water jet machining, the high pressure fluid injected from the nozzle head 1 forms thread-like streamlines immediately after the injection, but due to air resistance etc. It gradually spreads and eventually becomes droplets and disperses. What is subjected to waterjet processing are the thread-like streamline portion and the portion where the diffusion fluid itself has a considerable flow velocity even after diffusion and where the thread-like streamline segment remains in the center. In this way, within the range applicable to processing such as cutting, the thickness of the streamline immediately after being jetted from the nozzle head 1 is different from the thickness of the streamline at a position a predetermined distance away from the nozzle head 1, It gradually becomes thicker. In other words, the cutting margin tends to increase. In such a case, the present invention provides a focus adjustment mechanism 9 in the light projecting means 1, which makes it possible to teach the machining position while simulating the diffusion state of the jetted fluid, which is different from the conventional method. It has great advantages that were previously unavailable.

In addition, since the machining trajectory is indicated by light, there is no contact between the workpiece and the trajectory indicating means, so even if the workpiece is flexible, there is no risk of deformation, and an appropriate shape can be taught. .

[Effects of the Invention] As described in detail above, according to the present invention, when teaching the machining trajectory, the trajectory is instructed using a light beam that approximates the fluid jet of the machining tool, so that a state extremely close to the actual machining trajectory can be achieved. Since the appropriate shape can be stored in memory, errors during machining can be minimized, and the teaching operation environment can be kept clean.
The teaching of soft objects, which was conventionally done with great care and was still difficult, can now be done easily and accurately by using the present invention, which has many effects. be.

[Brief explanation of the drawing]

FIG. 1 is an external view showing an example of a cutting device that can be applied to the present invention, FIG. 2 is a conceptual longitudinal side view showing a light projecting means, and FIG. 3 is an external view showing a conventional probe needle.
FIG. 4 and FIG. 5 are diagrams showing a case where it is difficult to indicate using a probe needle. 1: Nozzle head, 2: Light projecting means, 3: Light emitting means, 4: Convergence means, 5: Workpiece, 6: Cutting device, 7: Arm, 8: Probe needle, 9: Focus adjustment mechanism.

Claims (1)

[Claims] 1. In waterjet cutting using a teaching playback type robot, which involves jetting high-pressure fluid from a nozzle and machining the workpiece by applying the high-pressure fluid to the workpiece, the nozzle head and light projecting means can be replaced. The light projecting means is provided with a light emitting means and a means for converging the light emitted by the light emitting means into a desired luminous flux, and the ejection axis of the water jet ejected from the nozzle to the cutting device is The light projecting means is disposed with the axes aligned, the cutting trajectory is simulated by the light beam emitted from the light projecting means, the simulated trajectory is stored in the storage means, the light projecting means is replaced with a nozzle, and the nozzle is replaced with a nozzle. A high-pressure fluid injection machining method characterized by machining a workpiece by jetting water jet from the nozzle and moving the nozzle along a memorized trajectory to process the workpiece.