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1. WO1994004968 - ROBOTIC MOVEMENT OF OBJECT OVER A WORKPIECE SURFACE

Publication Number WO/1994/004968
Publication Date 03.03.1994
International Application No. PCT/US1993/007718
International Filing Date 16.08.1993
IPC
B23K 26/04 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
26Working by laser beam, e.g. welding, cutting or boring
02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
CPC
B23K 26/04
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
26Working by laser beam, e.g. welding, cutting or boring
02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
B23K 26/043
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
26Working by laser beam, e.g. welding, cutting or boring
02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
042Automatically aligning the laser beam
043along the beam path, i.e. alignment of laser beam axis relative to laser beam apparatus
B23K 26/046
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
26Working by laser beam, e.g. welding, cutting or boring
02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
046Automatically focusing the laser beam
B23K 26/048
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
26Working by laser beam, e.g. welding, cutting or boring
02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
04Automatically aligning, aiming or focusing the laser beam, e.g. using the back-scattered light
046Automatically focusing the laser beam
048by controlling the distance between laser head and workpiece
B23K 26/0622
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
26Working by laser beam, e.g. welding, cutting or boring
02Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
06Shaping the laser beam, e.g. by masks or multi-focusing
062by direct control of the laser beam
0622by shaping pulses
B23K 26/0884
BPERFORMING OPERATIONS; TRANSPORTING
23MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
KSOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
26Working by laser beam, e.g. welding, cutting or boring
08Devices involving relative movement between laser beam and workpiece
0869Devices involving movement of the laser head in at least one axial direction
0876in at least two axial directions
0884in at least in three axial directions, e.g. manipulators, robots
Applicants
  • LUMONICS CORPORATION [US]/[US]
Inventors
  • SCHMIDT, Robert, H.
  • MARTIN, Dan
Agents
  • STEFFEY, Charles, E.
Priority Data
07/929,94214.08.1992US
Publication Language English (EN)
Filing Language English (EN)
Designated States
Title
(EN) ROBOTIC MOVEMENT OF OBJECT OVER A WORKPIECE SURFACE
(FR) MOUVEMENT ROBOTIQUE D'UN OBJET AU-DESSUS DE LA SURFACE D'UN ELEMENT A USINER
Abstract
(EN)
A system for robotic control of an object (30) having x, y and z axis translational movement and C and D axis rotational movement capability. The object (30), which may be a robotic element such as a manipulator or machining tool or a laser beam positioner is controlled by the system for automatic tracking and orientation of the object (30) over the surface of a workpiece (40). It provides controllable movement and orientation of the object (30) along selectable axes for accurate tracking of the workpiece (40) surface by the object (30). The system allows processing of the workpiece (40) by the object (30) even when the axis of the object (30) is oriented at an angle other than normal to the surface of the workpiece (40). The system when used to control a laser beam provides for control of the focal point of the beam at a particular displacement from the machining nozzle tip (80), using a least mean squares curve fitting technique and a sampled capacitive sensing device operative in the refractory interval between laser pulses and further provides for identification of a mounting fixture unique to a workpiece (40) by sensing coding on the surface of the fixture thereby to select a particular part machining program.
(FR)
Système de commande robotique d'un objet (30) possédant un déplacement par translation suivant des axes x, y et z et un mouvement de rotation suivant des axes C et D. L'objet (30), qui peut être un élément robotique tel qu'un manipulateur, un outil d'usinage ou un positionneur de faisceau laser, est commandé par le système pour aligner et orienter automatiquement l'objet (30) au-dessus de la surface d'un élément à usine (40). Le système assure le mouvement et l'orientation commandés de l'objet (30) suivant des axes pouvant être choisis pour aligner avec précision la surface de l'élément à usiner (40) par l'objet (30). Le système permet à l'objet (30) de traiter l'élément à usiner (40) même lorsque l'axe de l'objet (30) est orienté suivant un angle qui n'est pas vertical par rapport à la surface de l'élément à usiner (40). Lorsque le système sert à commander un faisceau laser, il commande le foyer du faisceau avec un déplacement particulier depuis l'extrémité de l'ajutage d'usinage (80), à l'aide d'une technique d'ajustement des courbes par les moindres carrés et d'un dispositif de détection capacitif par échantillonnage qui fonctionne pendant l'intervalle réfractaire existant entre les impulsions du laser; le système identifie également un dispositif d'assemblage spécifique à un élément à usiner (40), en lisant le code inscrit sur la surface du dispositif pour sélectionner un programme d'usinage particulier.
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