LASER PROCESSING ROBOT SYSTEM AND LASER PROCESSING METHOD
First Claim
1. A robot system for carrying out laser processing of an object to be processed by irradiating a laser beam onto a predetermined position of the object, the robot system comprising:
- a robot having a movable section;
a laser irradiation device having a variable mechanism configured to change a laser irradiation position with respect to at least one direction;
a first robot motion executing section configured to execute a first robot motion in which the laser irradiation device is moved to a predetermined command position;
a device position measuring section configured to measure an actual position of the laser irradiation device in a three-dimensional space in the first robot motion;
a deviation storing section configured to calculate a deviation between the command position and the actual position in the three-dimensional space of the laser irradiation device measured by the device position measuring section in the first robot motion, and store the calculated deviation as a time series of deviation data;
a laser irradiation position correcting section configured to correct the laser irradiation position so as to coincide with a desired position, based on the deviation data stored in the deviation storing section; and
a second robot motion executing section configured to execute a second robot motion in which a robot motion similar to the first robot motion is executed while the laser irradiation position is corrected by the laser irradiation position correcting section.
1 Assignment
0 Petitions
Accused Products
Abstract
A laser processing robot system and a laser processing method, by which the motion accuracy of a robot in the system can be improved and laser processing with high accuracy can be carried out. The robot system is configured to: execute a first robot motion for moving an laser irradiation device to a predetermined command position; measure an actual three-dimensional position of the irradiation device in the first robot motion; calculate a deviation between the command position and the measured actual three-dimensional position of the irradiation device in the first robot motion; store the calculated deviation as a time series of deviation data; and execute a second robot motion in which a robot motion similar to the first robot motion is executed while correcting the laser irradiation position so that the laser irradiation position coincides with a desired position, based on the stored deviation data.
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Citations
4 Claims
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1. A robot system for carrying out laser processing of an object to be processed by irradiating a laser beam onto a predetermined position of the object, the robot system comprising:
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a robot having a movable section; a laser irradiation device having a variable mechanism configured to change a laser irradiation position with respect to at least one direction; a first robot motion executing section configured to execute a first robot motion in which the laser irradiation device is moved to a predetermined command position; a device position measuring section configured to measure an actual position of the laser irradiation device in a three-dimensional space in the first robot motion; a deviation storing section configured to calculate a deviation between the command position and the actual position in the three-dimensional space of the laser irradiation device measured by the device position measuring section in the first robot motion, and store the calculated deviation as a time series of deviation data; a laser irradiation position correcting section configured to correct the laser irradiation position so as to coincide with a desired position, based on the deviation data stored in the deviation storing section; and a second robot motion executing section configured to execute a second robot motion in which a robot motion similar to the first robot motion is executed while the laser irradiation position is corrected by the laser irradiation position correcting section. - View Dependent Claims (2, 3)
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4. A laser processing method for carrying out laser processing of an object to be processed by irradiating a laser beam onto a predetermined position of the object, by using a robot having a movable section and a laser irradiation device having a variable mechanism configured to change a laser irradiation position with respect to at least one direction, the method comprising the steps of:
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executing a first robot motion in which the laser irradiation device is moved to a predetermined command position; measuring an actual position of the laser irradiation device in a three-dimensional space in the first robot motion; calculating a deviation between the command position and the measured actual position in the three-dimensional space of the laser irradiation device in the first robot motion; storing the calculated deviation as a time series of deviation data; and executing a second robot motion in which a robot motion similar to the first robot motion is executed while correcting the laser irradiation position so that the laser irradiation position coincides with a desired position, based on the stored deviation data.
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Specification