LASER PROCESSING ROBOT CONTROL SYSTEM, CONTROL METHOD AND CONTROL PROGRAM MEDIUM
First Claim
1. A laser processing robot control system comprising:
- a robot;
a laser beam scanning device movable in a three-dimensional direction with respect to the robot to scan a laser beam on a workpiece;
a posture detecting section configured to detect a posture of the robot;
a processing spot storing section configured to store information of a processing spot on the workpiece;
a robot controlling section configured to control a movement of the robot to selectively move the laser beam scanning device to a prescribed position from which the laser beam scanning device can irradiate the laser beam at the processing spot;
a scan pattern storing section configured to store information of a scan pattern of the laser beam scanned by the laser beam scanning device; and
a laser beam scan controlling section configured to retrieve the information of the scan pattern stored in the scan pattern storing section when the laser beam scanning device is moved to the prescribed position by the robot controlling section, and to control the laser beam scanning device to scan the laser beam at the processing spot in the scan pattern based on the posture of the robot detected by the posture detecting section and the information of the scan pattern retrieved from the scan pattern storing section.
1 Assignment
0 Petitions
Accused Products
Abstract
A laser processing robot control system is provided with a robot (1), a laser beam scanning device (3) and a robot controlling apparatus (7). The laser beam scanning device (3) is movable in a three-dimensional direction with respect to the robot (1) to scan a laser beam on a workpiece (W). This system selectively positions the robot and the laser beam scanning device to a prescribed position, and controls the laser beam scanning device (3) to scan the laser beam at a processing spot in a scan pattern based on a detected posture of the robot (1) and the scan pattern retrieved from the robot controlling apparatus (7). The teaching operations for positioning the robot (1) and the laser beam scanning device (3) to the prescribed position are performed independently of the teaching operations for controlling the scanning of the laser beam at the processing spot in the scan pattern.
42 Citations
26 Claims
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1. A laser processing robot control system comprising:
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a robot; a laser beam scanning device movable in a three-dimensional direction with respect to the robot to scan a laser beam on a workpiece; a posture detecting section configured to detect a posture of the robot; a processing spot storing section configured to store information of a processing spot on the workpiece; a robot controlling section configured to control a movement of the robot to selectively move the laser beam scanning device to a prescribed position from which the laser beam scanning device can irradiate the laser beam at the processing spot; a scan pattern storing section configured to store information of a scan pattern of the laser beam scanned by the laser beam scanning device; and a laser beam scan controlling section configured to retrieve the information of the scan pattern stored in the scan pattern storing section when the laser beam scanning device is moved to the prescribed position by the robot controlling section, and to control the laser beam scanning device to scan the laser beam at the processing spot in the scan pattern based on the posture of the robot detected by the posture detecting section and the information of the scan pattern retrieved from the scan pattern storing section. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A control method of a laser processing robot having a laser beam scanning device coupled to the laser processing robot such that the laser beam scanning device is movable in a three-dimensional direction with respect to the robot and configured and arranged to scan a laser beam at a workpiece, the control method comprising:
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loading a program including instructions for performing laser processing; moving the robot in accordance with the program loaded; determining whether the laser beam scanning device is disposed in a prescribed position from which the laser beam scanning device can irradiate the laser beam at a prescribed processing spot on the workpiece; detecting a posture of the robot; retrieving information of a scan pattern of the laser beam that was set in advance for the prescribed processing spot; and controlling the laser beam scanning device to scan the laser beam at the prescribed processing spot in the scan pattern based on the posture of the robot detected and the information of the scan pattern retrieved. - View Dependent Claims (14, 15, 16, 17, 18, 19, 20, 21, 22, 23)
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24. A control program medium for a computer to control a laser processing robot having a laser beam scanning device coupled to the robot such that the laser beam scanning device is movable in a three-dimensional direction with respect to the robot and configured and arranged to scan a laser beam at a workpiece, the computer program medium comprising instructions for:
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detecting a posture of the robot; storing information of a processing spot on the workpiece; controlling a movement of the robot to selectively move the laser beam scanning device to a prescribed position from which the laser beam scanning device can irradiate the laser beam at the processing spot; a scan pattern storing section configured to store information of a scan pattern of the laser beam scanned by the laser beam scanning device; retrieving the information of the scan pattern stored in the scan pattern storing section when the laser beam scanning device is moved to the prescribed position; and controlling the laser beam scanning device to scan the laser beam at the processing spot in the scan pattern based on the posture of the robot and the information of the scan pattern. - View Dependent Claims (25, 26)
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Specification