| 摘要 |
PURPOSE:To enable the correct teaching of position and attitude of a machining nozzle by sampling machining shape after positioning by a distance sensor, then computing a normal vector to a workpiece, and automatically registering teaching data to a machining point. CONSTITUTION:Each joint shaft of a laser robot 14 is operated by a teaching pendant (controller) so as to approximately set the position and attitude of a machining nozzle to a machining point on a workpiece 1. Teaching action is then started, and the distance (1) between the tip of the machining nozzle 15 and the workpiece l is computed (3) on the basis of the data of a distance sensor 17 at the tip of the machining nozzle 15. The residual distance d between the distance (1) and the set distance L is computed (4), and the axial moving command of the machining nozzle 15 is computed (5) on the basis of the residual distance d. The machining shape is sampled (7), and a normal vector to the workpiece 1 is computed (9) on the basis of the judgment (8) on whether to be a plane or a curved face, and display data to the machining point is registered (13). |
