Laser processing systems and control methods

Abstract

This invention provides a laser processing system and control method capable of easily correcting control points. The laser processing system includes: a scanner capable of scanning a workpiece with a laser beam; a moving device for moving the scanner relative to the workpiece; and a scanner control device for controlling the scanner, wherein the scanner control device has an irradiation control unit that controls the scanner such that, while the scanner is stopped at multiple positions by the moving device, the scanner irradiates the same pre-set control point on the workpiece with the laser beam.

Description

Technical Field

[0001] This invention relates to a laser processing system and control method. Background Technology

[0002] Laser processing systems have been proposed for welding by irradiating a workpiece with a laser beam from a distant position. These systems typically have a scanner at the end of a robot arm for irradiating the laser beam. The robot axes of these systems are driven according to pre-stored programs in a control unit, similar to other industrial robots. Therefore, a teaching operation is performed at the work site using the actual machine and workpiece to create the program (see, for example, Patent Document 1).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2012-135781 Summary of the Invention

[0006] The problem the invention aims to solve

[0007] When using such a laser processing system for laser processing, the offset between the path of the laser irradiation point in the program and the actual path of the laser irradiation point becomes a problem.

[0008] The path of the laser illumination point can be represented by a series of points in a coordinate system based on the robot's base within the workspace; these points are called control points. Control points can be points on the laser illumination point's path, or they can be points not on the laser illumination point's path, such as the center of an arc, but necessary for defining the laser illumination point's path. Control points are used to define the orientation of the machining shape, i.e., the coordinate system, based on the control points.

[0009] The robot program and scanner program are generated based on the positions and orientations (coordinate system of the control points) of each control point set in the program generation device of the laser processing system. However, the CAD data is inconsistent with the actual workpiece, and there are also positional errors in the robot's motion path, fixtures, etc. Therefore, it is necessary to perform teaching correction operations to address such offsets and errors.

[0010] Additionally, when combining a robot with a scanner in a laser processing system, it is sometimes necessary to correct the tool center point (TCP). The TCP is represented by a position vector from the robot's front end towards the scanner's reference point. By correctly setting the TCP, the programmed laser irradiation position will match the actual laser irradiation position regardless of the robot's posture.

[0011] Previously, a teaching jig was used to correct the control point and set the TCP (Control Point) by pointing to a specific point directly below the scanner. Typically, the specific point was the origin of the scanner's workspace, set as the point where the laser converged.

[0012] To indicate a specific point, teaching jigs made of metal, resin, or similar materials are used, or multiple additional guide lights are intersected to visually identify their intersection. However, both methods are inefficient because obtaining the coordinates of a point directly below the scanner requires maneuvering a robot to align the desired position on the actual workpiece with that point.

[0013] Furthermore, conventional methods require mounting a teaching jig on the robot or equipping the scanner with an additional guiding laser. Therefore, a laser processing system that can easily correct control points without requiring a teaching jig or additional guiding laser is desired.

[0014] Solution for solving the problem

[0015] The laser processing system disclosed herein includes: a scanner capable of scanning a workpiece with a laser beam; a moving device for moving the scanner relative to the workpiece; and a scanner control device for controlling the scanner; wherein the scanner control device has an irradiation control unit that controls the scanner such that, while the scanner is stopped at multiple positions by the moving device, the scanner irradiates the laser beam toward the same pre-set control point on the workpiece.

[0016] The control method for the laser processing system disclosed herein includes the following steps: moving a scanner capable of scanning a workpiece with a laser beam relative to the workpiece; stopping the scanner at multiple positions using a moving device for moving the scanner relative to the workpiece; and controlling the scanner such that, while the scanner is stopped at the multiple positions by the moving device, the scanner irradiates the laser beam toward the same pre-set control point on the workpiece.

[0017] The effects of the invention

[0018] According to the present invention, control points can be easily corrected. Attached Figure Description

[0019] Figure 1 This is a diagram showing the overall structure of the laser processing system according to this embodiment.

[0020] Figure 2 This is a diagram illustrating the optical system of the scanner in the laser processing system according to this embodiment.

[0021] Figure 3This is a block diagram illustrating the functional structure of the laser processing system according to this embodiment.

[0022] Figure 4 This is a block diagram illustrating the functional structure of the scanner control device according to this embodiment.

[0023] Figure 5 This is a diagram showing an example of the shape of laser irradiation.

[0024] Figure 6A This is a diagram showing the operation of the scanner during actual laser processing.

[0025] Figure 6B This is a diagram showing the scanner's operation when the control points are corrected.

[0026] Figure 7A This is a diagram illustrating the actions taken to correct the control points.

[0027] Figure 7B This is a diagram illustrating the actions taken to correct the control points.

[0028] Figure 7C This is a diagram illustrating the actions taken to correct the control points.

[0029] Figure 7D This is a diagram illustrating the actions taken to correct the control points.

[0030] Figure 7E This is a diagram illustrating the actions taken to correct the control points.

[0031] Figure 8A This is a diagram illustrating the actions used to calculate the corrected control points.

[0032] Figure 8B This is a diagram illustrating the actions used to calculate the corrected control points.

[0033] Figure 8C This is a diagram illustrating the actions used to calculate the corrected control points.

[0034] Figure 8D This is a diagram illustrating the actions used to calculate the corrected control points.

[0035] Figure 9 This is a flowchart illustrating the processing flow of the laser processing system involved in this embodiment. Detailed Implementation

[0036] The embodiments of the present invention will now be described with reference to the accompanying drawings. Figure 1 This is a diagram showing the overall structure of the laser processing system 1 according to this embodiment. Figure 1 The laser processing system 1 shown represents an example of a remote laser welding robot system.

[0037] The laser processing system 1 includes a robot 2, a laser oscillator 3, a scanner 4, a robot control device 5, a scanner control device 6, a laser control device 7, a robot teaching operation board 8, and a program generation device 9.

[0038] Robot 2 is, for example, a multi-joint robot with multiple joints. Robot 2 has a base 21, an arm 22, and multiple joint axes 23a to 23d having a rotation axis extending along the Y direction.

[0039] In addition, robot 2 has multiple robot servo motors, such as a robot servo motor that rotates arm 22 about the Z-axis and a robot servo motor that rotates each joint axis 23a to 23d to move arm 22 in the X-axis. Each robot servo motor performs rotational drive based on drive data from robot control device 5, which will be described later.

[0040] The scanner 4 is fixed to the front end 22a of the arm 22 of the robot 2. Therefore, the robot 2 can move the scanner 4 to any position and orientation in the workspace at a predetermined robot speed by rotating the servo motors of each robot. That is, the robot 2 is a moving device for moving the scanner 4 relative to the workpiece 10. Furthermore, in this embodiment, the laser processing system 1 uses the robot 2 as a moving device, but it is not limited to this; for example, a three-dimensional machining machine can also be used as a moving device.

[0041] The laser oscillator 3 is composed of a laser medium, an optical resonator, and an excitation source. The laser oscillator 3 generates a laser beam as the laser output based on a laser output command from the laser control device 7 (described later), and supplies the generated laser beam to the scanner 4. Types of lasers used for oscillation include fiber lasers, CO2 lasers, and YAG lasers, but in this embodiment, the type of laser is not particularly limited.

[0042] The laser oscillator 3 is capable of outputting a processing laser for machining the workpiece 10 and a guide laser for adjusting the processing laser. The guide laser is a visible light laser that is adjusted on the same axis as the processing laser.

[0043] The scanner 4 is a device that can receive the laser beam L emitted from the laser oscillator 3 and scan the workpiece 10 with the laser beam L.

[0044] Figure 2 This is a diagram illustrating the optical system of the scanner 4 in the laser processing system 1 according to this embodiment. (See diagram for example.) Figure 2As shown, the scanner 4 includes, for example, two detector mirrors 41 and 42 for reflecting the laser beam L emitted from the laser oscillator 3, a detector motor 41a for rotating the detector mirror 41, a detector motor 42a for rotating the detector mirror 42, and a protective glass 43.

[0045] Electron detector 41 is configured to rotate about rotation axis J1, and electron detector 42 is configured to rotate about rotation axis J2. These two rotation axes J1 and J2 are orthogonal to each other. Electron detector motors 41a and 42a drive the rotation based on drive data from laser control device 7, so that electron detector 41 rotates about rotation axis J1 and electron detector 42 rotates about rotation axis J2 independently.

[0046] The laser beam L emitted from the laser oscillator 3 is reflected sequentially by two detector mirrors 41 and 42 before being emitted from the scanner 4 and reaching the processing point (welding point) of the workpiece 10. At this time, when the detector motors 41a and 42a rotate the two detector mirrors 41 and 42 respectively, the incident angle of the laser beam L incident on these detector mirrors 41 and 42 changes continuously. As a result, the scanner 4 scans the laser beam L on the workpiece 10 along a predetermined path, forming a welding trajectory on the workpiece 10 along the scanning path of the laser beam L.

[0047] Regarding the scanning path of the laser beam L emitted from the scanner 4 onto the workpiece 10, the rotation angles of the detector mirrors 41 and 42 can be changed by appropriately controlling the rotation drive of the detector motors 41a and 42a, thereby allowing the scanning path to change arbitrarily in the X and Y directions.

[0048] The scanner 4 also features a zoom optical system (not shown) that allows for arbitrary changes in positional relationships via a Z-axis motor. The scanner 4 can move the point where the laser converges along the optical axis by driving the Z-axis motor, thereby allowing the laser irradiation point to change arbitrarily in the Z direction.

[0049] The protective glass 43 is disc-shaped and has the function of allowing the laser beam L reflected sequentially by the detectors 41 and 42 to pass through and protecting the interior of the scanner 4.

[0050] Alternatively, the scanner 4 can also be a trepanning head. In this case, the scanner 4 can, for example, have the following structure: a lens with an inclined surface is rotated by a motor to refract the incident laser and direct it to any position.

[0051] The robot control device 5 outputs drive control data to each servo motor of the robot 2 according to the prescribed robot program to control the actions of the robot 2.

[0052] The scanner control device 6 is a control device for adjusting the position of the lens and reflector within the mechanism of the scanner 4. Furthermore, the scanner control device 6 can also be embedded in the robot control device 5.

[0053] The laser control device 7 is a control device for the laser oscillator 3, which controls the output of the laser beam according to instructions from the scanner control device 6. The laser control device 7 can be connected not only to the scanner control device 6, but also directly to the robot control device 5. Alternatively, the laser control device 7 can be integrated with the scanner control device 6.

[0054] The robot teaching pendant 8 is connected to the robot control device 5, and is used by the operator to operate the robot 2. For example, the operator inputs processing information for laser processing through the user interface on the robot teaching pendant 8.

[0055] The program generation device 9 is connected to the robot control device 5 and the scanner control device 6 to generate programs for the robot 2 and the scanner 4. Furthermore, refer to... Figure 3 The program generation device 9 will be described in detail below. In this embodiment, at least the scanner 4 is configured to drive accurately in response to program instructions, and preferably, the robot 2 is also configured to drive accurately in response to program instructions.

[0056] Figure 3 This is a block diagram illustrating the functional structure of the laser processing system 1 according to this embodiment.

[0057] As described above, the laser processing system 1 includes a robot 2, a laser oscillator 3, a scanner 4, a robot control device 5, a scanner control device 6, a laser control device 7, a robot teaching panel 8, and a program generation device 9.

[0058] Below, refer to Figure 3 The operation of the robot control device, scanner control device 6, laser control device 7, and program generation device 9 will be explained in detail.

[0059] The program generation device 9 generates a robot program Pa for the robot 2 in the virtual workspace and a scanner program Pb for the scanner 4 based on CAD / CAM data. Furthermore, the program generation device 9 generates a control point correction program for refining the control points.

[0060] The generated robot program Pa is transmitted to the robot control device 5, and the generated scanner program Pb is transmitted to the scanner control device 6.

[0061] When the robot program Pa stored in the robot control device 5 is activated by operating the robot teaching control panel 8, the robot control device 5 sends a command to the scanner control device 6, thereby activating the scanner program Pb as well.

[0062] The robot control device 5 outputs a signal when the robot 2 moves the scanner 4 to the designated position. The scanner control device 6 drives the optical system inside the scanner 4 according to the signal output from the robot control device 5.

[0063] In addition, the scanner control device 6 instructs the laser control device 7 to output laser light. The robot control device 5, the scanner control device 6, and the laser control device 7 synchronize the robot 2's movements, the scanning of the laser beam axis, and the output of the laser beam by exchanging signals at appropriate timings.

[0064] Robot 2 and scanner 4 share position and timing information to control the laser irradiation point at the desired location within the workspace. Furthermore, robot 2 and scanner 4 start and stop laser irradiation at appropriate timings. Thus, laser processing system 1 is capable of performing laser processing such as welding.

[0065] In addition, the program generation device 9 has built-in 3D modeling software. The operator can manipulate the models of robot 2 and scanner 4 on the computer to confirm the laser irradiation point, coordinate values, etc.

[0066] Furthermore, the program generation device 9 uses the CAD data of the workpiece 10 to generate a 3D model of the workpiece 10, and sets one or more control points on the 3D modeled workpiece 10. Then, the program generation device 9 defines the welding shape for each set control point.

[0067] As mentioned above, the path of the laser illumination point can be represented by a series of points in a coordinate system based on the robot's base within the workspace; therefore, these points are called control points. Control points can be points on the path of the laser illumination point, or they can be points not on the path of the laser illumination point, such as the center of an arc, but necessary for defining the path of the laser illumination point.

[0068] When the definition of control points and welding shapes is completed, the program generation device 9 calculates the robot path for the robot 2 to move and the scanning path based on the laser irradiation point of the scanner 4.

[0069] For a laser irradiation point in three-dimensional space, the posture of robot 2 and the rotation angles of the sensing motors 41a and 42a corresponding to the laser irradiation point based on scanner 4 are not uniquely determined. Therefore, the program generation device 9 has an algorithm to search for the optimal solution that satisfies the conditions. The conditions in the program generation of robot program Pa and scanner program Pb refer to minimizing the processing time, limiting the laser irradiation angle irradiating workpiece 10, and limiting the posture range of robot 2, etc.

[0070] Then, when the control points are corrected according to the control point correction program, the scanner control device 6 sends the corrected control point position information and direction information to the program generation device 9.

[0071] The program generation device 9 uses the algorithm described above for searching for the optimal solution to regenerate the robot program Pa and the scanner program Pb based on the corrected position and orientation information of the control points. It then sends the generated robot program Pa and scanner program Pb back to the scanner control device 6.

[0072] In this way, the program generation device 9 can correct the robot path in the robot program Pa and the laser beam irradiation path based on the scanner 4 in the scanner program Pb by generating a robot program Pa and a scanner program Pb that reflect the corrected control points.

[0073] Figure 4 This is a block diagram illustrating the functional structure of the scanner control device 6 according to this embodiment.

[0074] like Figure 4 As shown, the scanner control device 6 includes an illumination control unit 61, a control point movement unit 62, a control point storage unit 63, and a correction control point calculation unit 64.

[0075] The irradiation control unit 61 controls the scanner 4 so that, while the robot 2 stops the scanner 4 in multiple positions, the scanner irradiates a laser beam onto the same pre-set control point on the workpiece 10. If the position of the scanner 4 is different, the emission direction of the laser beam emitted by the scanner 4 is different.

[0076] In addition, the irradiation control unit 61 controls the scanner to irradiate the workpiece with a laser beam based on the position of the control point stored in the control point storage unit 63, or the position of the control point and the orientation of the coordinate system.

[0077] When the control points are in multiple positions, the irradiation control unit 61 controls the scanner to irradiate the workpiece with a laser beam based on the multiple positions of the control points stored in the control point storage unit 63, or the multiple positions of the control points and the orientation of the coordinate system.

[0078] In addition, multiple positions include the laser irradiation start position of the scanner 4 corresponding to the laser irradiation start time point in the scanner program for controlling the scanner 4 and the robot program for controlling the robot 2, and the laser irradiation end position of the scanner 4 corresponding to the laser irradiation end time point in these programs.

[0079] The control point movement unit 62 moves the control point according to the operator's operation on the robot teaching control panel 8.

[0080] The control point storage unit 63 stores multiple positions of the control points after they have been moved, or multiple positions of the control points and the directions of multiple coordinate systems defined by the control points.

[0081] The corrected control point calculation unit 64 calculates the final corrected control point, i.e., the corrected control point, based on multiple positions of control points stored in the control point storage unit 63, or multiple positions of control points and the orientation of multiple coordinate systems.

[0082] Figure 5 This is a diagram showing an example of laser-irradiated shape 11A.

[0083] like Figure 5 As shown, the laser-irradiated shape 11A has a C-shape, and the laser-irradiated shape 11A is irradiated with reference to control point C1. In this embodiment, the laser processing system 1 performs laser processing on the laser-irradiated shape 11A by moving the robot 2 and scanning the laser beam axis of the scanner 4 with reference to control point C1.

[0084] Specifically, the program generation device 9 calculates the appropriate paths for the robot 2 and the scanner 4 based on the positional relationship between the irradiated shapes before and after, generates robot programs and scanner programs that apply the calculated paths for the robot 2 and the scanner 4, and sends them to the robot control device 5 and the scanner control device 6, respectively.

[0085] In addition, before the actual laser processing is performed, the program generation device 9 generates a control point correction program to correct the control points.

[0086] The actions of the control point correction program differ from those of the robot program and scanner program used for machining. The control point correction program performs actions as follows.

[0087] The control point correction program causes robot 2 to temporarily stop at the position where laser processing with a C-shaped irradiation pattern begins in the robot program and scanner program for machining. Then, the control point correction program controls scanner 4 to irradiate a guide laser onto the control point instead of the machining laser.

[0088] Next, as the robot 2 is progressively fed (moving to the next pose and temporarily stopping) through the operator's operation of the robot teaching pendant 8, the control point correction program moves the robot 2 to the position where the laser processing with the C-shaped irradiation pattern ends, and temporarily stops the robot 2. The control point correction program controls the scanner 4 to irradiate the guide laser beam onto the control point again in this state.

[0089] Here, at both the start and end positions of laser irradiation, a guide laser is irradiated onto the same control point on the workpiece 10. However, even if the robot 2's posture changes, its position in the robot coordinate system remains the same; therefore, regardless of the robot 2's posture, the guide laser is always irradiated onto the same control point.

[0090] When the laser irradiation point on the actual workpiece 10 moves according to the posture of the robot 2, an offset occurs between the position of the control point in the control point correction program and the actual position of the control point on the workpiece 10. As a result, the operator can confirm that the control point has not been set at the appropriate position on the workpiece 10.

[0091] Furthermore, when the robot 2 is progressively fed through the operator's operation of the robot teaching pendant 8, the control point correction program moves the robot 2 to the position where laser processing of the next irradiated shape begins, and temporarily stops the robot 2. Then, the above operation is repeated and the control point settings are checked again.

[0092] Figure 6A and Figure 6B This diagram illustrates an example of the actual laser processing described above and the actions involved in correcting the control points. It is shown during the processing... Figure 5 The image shows the operation of the scanner 4 as observed from the side when the laser irradiates shape 11A on the workpiece 10. Figure 6A This is a diagram showing the operation of scanner 4 during actual laser processing.

[0093] like Figure 6A As shown, the robot program and scanner program for processing continuously feed the scanner 4 via the robot 2, and control the scanner 4 to irradiate the laser-irradiated shape 11A at positions A and B on the workpiece 10 with a processing laser. Thus, the scanner 4 can perform laser welding at positions A and B.

[0094] Figure 6B This is a diagram showing the operation of scanner 4 when the control points are corrected.

[0095] like Figure 6BAs shown, the control point correction program controlled by the irradiation control unit 61 feeds the scanner 4 intermittently through the robot 2, so that the movement of the scanner 4 stops at the laser irradiation start position (start point) and the laser irradiation end position (end point).

[0096] Then, the control point correction program controls the scanner 4 to irradiate the laser irradiation shape 11A with a guide laser beam at the laser irradiation start position and the laser irradiation end position.

[0097] Here, if the height of the control point in the control point correction program in the optical axis direction is consistent with the height of the control point on the actual workpiece 10 in the optical axis direction, then the trajectory of the laser irradiation shape 11A is consistent at both the laser irradiation start position and the laser irradiation end position.

[0098] Furthermore, if the height of the control point in the control point correction program in the optical axis direction is inconsistent with the height of the control point on the actual workpiece 10 in the optical axis direction, the trajectory of the laser irradiation shape 11A will be inconsistent at the laser irradiation start position and the laser irradiation end position.

[0099] In this situation, when the operator has stopped the robot 2 by operating the robot teaching control panel 8, the operator sends an instruction to the scanner control device 6 to move the optical axis direction of the scanner 4, so as to correct the control point to the desired position.

[0100] Figures 7A to 7E This is a diagram illustrating the actions taken to correct the control points.

[0101] like Figure 7A As shown, when the trajectory of the laser irradiation shape 11A is inconsistent at the laser irradiation start position Y1 and the laser irradiation end position Y2, the laser processing system 1 moves the control point P1 at the laser irradiation start position Y1 to the actual position on the workpiece 10 via the control point moving unit 62. Then, the scanner control device 6 stores the position of the moved control point and the direction of the coordinate system as control point P0 in the control point storage unit 63.

[0102] Next, as Figure 7B As shown, when robot 2 is moved to the laser irradiation end position Y2, the control point P2 is inconsistent with the control point P0 because the position of the control point in the optical axis direction remains unchanged.

[0103] Next, as Figure 7CAs shown, robot 2 is moved to the laser irradiation start position Y1. The control point movement unit 62 changes the height of the control point at the laser irradiation start position Y1 along the optical axis, thereby moving control point P2 towards its proper position (control point P0) on the actual workpiece 10. However, if the control point is moved too much, as... Figure 7C As shown, control point P3 is not the same as control point P0.

[0104] Similarly, as Figure 7D As shown, robot 2 is moved to the laser irradiation end position Y2. The control point moving unit 62 changes the height of the control point at the laser irradiation end position Y2 along the optical axis, thereby moving control point P4 towards its proper position (control point P0) on the actual workpiece 10. However, if the control point is moved too much, as shown... Figure 7D As shown, control point P4 is not the same as control point P0.

[0105] Like this, by repeating as Figures 7A to 7D The process shown will ultimately result in... Figure 7E As shown, control point P5 is consistent with control point P0.

[0106] Then, once the correct control point positions are determined, the scanner control device 6 sends the control point positions and coordinate system orientations stored in the control point storage unit 63 to the program generation device 9, which then corrects the 3D model of the workpiece 10. Thus, the program generation device 9 is able to generate robot and scanner programs that reflect the correct control point positions.

[0107] Here, when the laser irradiation shape used for laser processing is small, the difference in posture (position) of robot 2 at the laser irradiation start position and laser irradiation end position is small. In this case, laser processing system 1 can also move robot 2 in any posture without using the robot 2's posture at the laser irradiation start position and laser irradiation end position. As a result, the operator can appropriately correct the control point.

[0108] Alternatively, the scanner control device 6 can control the scanner 4 by repeatedly scanning the laser-irradiated shape at high speed with a guide laser beam. This allows the operator to visually identify the laser-irradiated shape, including control points, based on the visual persistence effect. Therefore, since the scanner 4 irradiates the guide laser beam from the start and end positions of laser irradiation, just as it does during laser processing, the operator can also, for example, confirm interference between the guide laser beam and obstacles.

[0109] In the above-described embodiment, the program generation device 9 uses a scanner program based on the control points and illumination shape set in the 3D modeling.

[0110] On the other hand, the laser processing system 1 can move the irradiation point to any point and store the irradiation point without using the control points and irradiation shape set in the 3D model, thereby registering the new position and coordinates in manual operation as control points.

[0111] For example, the operator can use the robot teaching control panel 8 to configure the scanner 4 in the desired position, and while maintaining the posture of the robot 2, set the irradiation point on the workpiece 10 at any position through the scanner 4.

[0112] At this point, it is not actually known which position on the guide laser beam is the correct irradiation point. Therefore, any position on the workpiece 10 is temporarily stored, the robot 2's posture is changed, and then the scanner 4 irradiates the guide laser beam towards the same irradiation point again. If the position of the guide laser beam on the workpiece 10 does not move under these two postures, then the laser irradiation point is located on the workpiece 10. Then, the laser processing system 1 registers the position and coordinates of this laser irradiation point as a control point.

[0113] Figures 8A to 8D This is a diagram illustrating the actions used to calculate the corrected control points.

[0114] As described above, the corrected control point calculation unit 64 calculates the final corrected control point based on multiple positions of the control points stored in the control point storage unit 63 and the orientation of multiple coordinate systems.

[0115] Specifically, such as Figure 8A As shown, when the irradiation control unit 61 irradiates the guide laser beam to the control point P11 at the laser irradiation start position Y1, the control point P11 is offset from the position that should be on the actual workpiece 10 (the final corrected control point P10).

[0116] Therefore, as Figure 8B As shown, the operator moves the scanner 4 along the optical axis while the robot 2 is stationary by operating the robot teaching control panel 8.

[0117] At this time, since the height in the optical axis direction (i.e., the distance between the scanner 4 and the workpiece 10) is unknown, the scanner control device 6 stores the position of the control point P12 and the direction of the coordinate system as correction control points in the control point storage unit 63.

[0118] Next, as Figure 8C As shown, the robot 2 is moved to the laser irradiation end position Y2, and the irradiation control unit 61 irradiates the guide laser beam to the control point P12 at the laser irradiation end position Y2.

[0119] The operator moves the scanner 4 along the optical axis while the robot 2 is stationary by operating the robot teaching pendant 8. The scanner control device 6 stores the position of control point P12 and the orientation of the coordinate system as correction control points in the control point storage unit 63.

[0120] Then, as Figure 8D As shown, the scanner control device 6 stores the position of control point P13 and the direction of the coordinate system as correction control points in the control point storage unit 63.

[0121] The correction control point calculation unit 64 can calculate the height and position of the final correction control point P10 based on the control point P12, control point P13, laser irradiation start position Y1, and laser irradiation end position Y2 obtained in this way.

[0122] For example, the correction control point calculation unit 64 can calculate the height and position of the final correction control point P10 based on the distance between control points P12 and P13, and the irradiation angle of the scanner 4 at the laser irradiation start position Y1 and the laser irradiation end position Y2. Thus, the laser processing system 1 can easily determine the height and position of the final correction control point P10.

[0123] Figure 9 This is a flowchart illustrating the processing flow of the laser processing system 1 according to this embodiment.

[0124] In step S1, the robot control device 5 controls the robot 2 based on the robot program, so that the scanner 4, which is capable of scanning the workpiece 10 with a laser beam, moves relative to the workpiece 10.

[0125] In step S2, the robot control device 5 is controlled based on the robot program to stop the scanner 4 at multiple positions via the robot 2.

[0126] In step S3, the irradiation control unit 61 controls the scanner 4 so that, while the scanner 4 is stopped at multiple positions by the robot 2, the scanner 4 irradiates a laser beam onto the same pre-set control point on the workpiece 10.

[0127] In step S4, the control point moving unit 62 moves the control point according to the operator's operation on the robot teaching control panel 8.

[0128] In step S5, the control point storage unit 63 stores multiple positions of the moved control points, or multiple positions of the control points and the directions of multiple coordinate systems.

[0129] In step S6, the irradiation control unit 61 controls the scanner 4 to irradiate the workpiece 10 with a laser beam based on the position of the control point, or multiple positions of the control point and the orientation of the coordinate system.

[0130] As explained above, the laser processing system 1 according to this embodiment includes: a scanner 4 capable of scanning a workpiece 10 with a laser beam; a robot 2 that moves the scanner 4 relative to the workpiece 10; and a scanner control device 6 that controls the scanner 4. The scanner control device 6 has an irradiation control unit 61 that controls the scanner 4 such that, while the scanner 4 is stopped at multiple positions by the robot 2, the scanner irradiates a laser beam onto the same pre-set control point on the workpiece 10. Therefore, the laser processing system 1 can easily correct the control point.

[0131] In addition, multiple positions include the laser irradiation start position of the scanner 4 corresponding to the laser irradiation start time point in the scanner program for controlling the scanner 4 and the robot program for controlling the robot 2, and the laser irradiation end position of the scanner 4 corresponding to the laser irradiation end time point in these programs. Thus, the laser processing system 1 can use the laser irradiation start position and laser irradiation end position of the scanner 4 to correct the control point.

[0132] Furthermore, the scanner control device 6 also includes: a control point moving unit 62 for moving the control point; and a control point storage unit 63 for storing the position of the moved control point, or the position of the control point and the orientation of a coordinate system defined by the control point. The irradiation control unit 61 controls the scanner 4 based on the position of the control point, or the position of the control point and the orientation of the coordinate system, so that the scanner 4 irradiates the workpiece 10 with a laser beam. Thus, the laser processing system 1 can appropriately correct the control point.

[0133] Furthermore, the scanner control device 6 also includes: a control point moving unit 62 for moving the control point; a control point storage unit 63 for storing multiple positions of the moved control point, or the positions of multiple control points and the orientations of multiple coordinate systems defined by the control point; and a corrected control point calculation unit 64 for calculating the final corrected control point, i.e., the corrected control point, based on the multiple positions of the control point, or the multiple positions of the control point and the orientations of multiple coordinate systems. Thus, the laser processing system 1 can calculate the final corrected control point.

[0134] The embodiments of the present invention have been described above. The laser processing system 1 described above can be implemented by hardware, software, or a combination thereof. Furthermore, the control method performed by the laser processing system 1 described above can also be implemented by hardware, software, or a combination thereof. Here, "implemented by software" means implemented by a computer reading and executing a program.

[0135] Programs can be stored and supplied to a computer using various types of non-transitory computer-readable media. Non-transitory computer-readable media include various types of tangible storage media. Examples of non-transitory computer-readable media include magnetic recording media (e.g., hard disk drives), optical-magnetic recording media (e.g., optical discs), CD-ROM (Read Only Memory), CD-R, CD-R / W, semiconductor memories (e.g., mask ROM, PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)).

[0136] Furthermore, the above-described embodiments are preferred embodiments of the present invention, but the scope of the present invention is not limited to the above-described embodiments. Various modifications can be made to achieve the same result without departing from the spirit of the present invention.

[0137] Explanation of reference numerals in the attached figures

[0138] 1: Laser processing system; 2: Robot; 3: Laser oscillator; 4: Scanner; 5: Robot control device; 6: Scanner control device; 7: Laser control device; 8: Robot teaching pendant; 9: Program generation device; 10: Workpiece; 61: Irradiation control unit; 62: Control point movement unit; 63: Control point storage unit; 64: Correction control point calculation unit.

Claims

1. A laser processing system, comprising: A scanner that can scan a workpiece using a laser beam; A moving device that moves the scanner relative to the workpiece; Scanner control device, which controls the scanner; and A program generation apparatus generates a control point correction program, which controls the scanner to irradiate a guide laser onto the control point instead of a processing laser used for machining the workpiece. in, The scanner control device includes an irradiation control unit that controls the scanner such that, when the scanner is stopped at multiple positions by the moving device, the scanner irradiates the same pre-set control point on the workpiece with a laser beam. The plurality of positions includes a laser irradiation start position of the scanner corresponding to a laser irradiation start time point in the program for controlling the scanner and the mobile device, and a laser irradiation end position of the scanner corresponding to a laser irradiation end time point in the program. At the laser irradiation start position and the laser irradiation end position, the guide laser is irradiated toward the same control point on the workpiece.

2. The laser processing system according to claim 1, wherein, The scanner control device also includes: Control point moving unit, which is used to move the control point; and The control point storage unit stores the position of the control point after it has been moved, or the position of the control point and the orientation of the coordinate system defined by the control point. The irradiation control unit controls the scanner based on the position of the control point, or the position of the control point and the direction of the coordinate system defined by the control point, so that the scanner irradiates the workpiece with the laser beam.

3. The laser processing system according to claim 1, wherein, The scanner control device also includes: A control point moving unit, used to move the control point; A control point storage unit stores multiple positions of the control point after it has been moved, or multiple positions of the control point and the orientation of multiple coordinate systems defined by the control point. as well as The corrected control point calculation unit calculates the final corrected control point, i.e., the corrected control point, based on multiple positions of the control point, or multiple positions of the control point and the orientation of the multiple coordinate systems.

4. A control method for a laser processing system, comprising the following steps: The scanner, capable of scanning the workpiece with a laser beam, is moved relative to the workpiece. A control point correction program is generated, which controls the scanner to irradiate a guide laser onto the control point instead of a processing laser used to process the workpiece. A moving device used to move the scanner relative to the workpiece is stopped at multiple positions; as well as The scanner is controlled such that, while the scanner is stopped at the plurality of positions by the moving device, the scanner illuminates the same pre-set control point on the workpiece with a laser beam. The plurality of positions include a laser irradiation start position of the scanner corresponding to a laser irradiation start time point in the program for controlling the scanner and the mobile device, and a laser irradiation end position of the scanner corresponding to a laser irradiation end time point in the program. At the laser irradiation start position and the laser irradiation end position, the guide laser is irradiated toward the same control point on the workpiece.

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