Laser processing system and control device

Abstract

A laser processing system (1) comprising a robot (2), a laser-light-emitting tool (3) mounted on the robot (2), and a control device (4) that controls the robot (2) and the laser-light-emitting tool (3) on the basis of an operation program, the laser-light-emitting tool (3) being capable of emitting two or more different types of laser light independently from each other, and the control device (4) being capable of issuing a plurality of laser emission instructions for causing the laser-light-emitting tool (3) to simultaneously emit different types of laser light by using one laser processing command within the operation program.

Description

[Technical field]

[0001] The present disclosure relates to a laser processing system and a control device. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a laser processing system including a robot, a laser light emitting tool mounted on the tip of the robot, a laser oscillator, and a control device has been known (see, for example, Patent Document 1). When performing processing such as cutting and welding on a workpiece using a laser beam emitted from a laser beam emitting tool while operating a robot, the output power of the laser beam is switched for each processing location in accordance with the operation of the robot. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-086665 A Summary of the Invention [Problem to be solved by the invention]

[0004] To carry out laser processing using a general robot program, multiple lines of programming are required, with one line of command for each processing condition such as the laser light output and emission time, etc. It requires considerable skill to program multiple lines for each processing location without forgetting to teach or making mistakes in the execution order.

[0005] In particular, commands for robot operation or signal input / output may be sandwiched between commands spanning multiple lines for irradiating a single processing location with laser light, and in such cases, the program becomes complicated and it becomes difficult to check whether it is correct. Therefore, it is desired to make it easy to check a program for irradiating a laser light for each processing location without requiring programming skills. [Means for solving the problem]

[0006] One aspect of the present disclosure is a laser processing system comprising a robot, a laser light emission tool attached to the robot, and a control device that controls the robot and the laser light emission tool based on an operating program, wherein the laser light emission tool is capable of independently emitting two or more different types of laser light, and the control device is capable of executing multiple laser emission commands to the laser light emission tool to simultaneously emit the different types of laser light based on one laser processing command in the operating program. [Brief description of the drawings]

[0007] [Figure 1] 1 is an overall configuration diagram showing a laser processing system according to an embodiment of the present disclosure. [Diagram 2] 2 is a diagram illustrating an example of the operation of the laser processing system of FIG. 1. [Diagram 3] 3 is a diagram showing an example of a teaching operation program for the control device of the laser processing system of FIG. 1. [Figure 4] 4 is a diagram showing an example of a display of a list of instructions to be added as auxiliary instructions to the operation program of FIG. 3. [Diagram 5] 5 is a diagram showing an example of a ramping count setting screen displayed when a laser processing start command is selected in FIG. 4. FIG. [Figure 6] 6 is a diagram showing the contents of a laser processing start command displayed by setting the number of ramping times in FIG. 5. FIG. [Figure 7] 7 is a diagram showing an example of an operation program in which the intensity and emission time of a laser beam are set in the laser processing start command displayed in FIG. 6. FIG. [Figure 8] FIG. 11 is a diagram showing a reference example of an operation program. [Figure 9] 5 is a diagram showing another example of a display of the operation program displayed when the laser processing start command is selected in FIG. 4. FIG. [Figure 10] 10 is a diagram showing an example of a display of an operation program displayed by editing the number of rampings in FIG. 9. FIG. [Figure 11] 8 is a diagram for explaining a case where a laser processing start command in the operation program of FIG. 7 is selected from a plurality of pre-stored tables. FIG. [Figure 12] FIG. 12 is a diagram showing another example of the table in FIG. [Figure 13] FIG. 13 is a diagram showing a table after the number of rampings in the table of FIG. 12 has been edited. [Figure 14] FIG. 12 is a diagram showing another example of the table in FIG. [Figure 15] FIG. 13 is a diagram showing a table after only necessary items in the table of FIG. 12 have been set. [Figure 16] 1. FIG. 4 is an overall configuration diagram showing another example of the laser processing system of FIG. [Figure 17] FIG. 8 is a diagram showing another example of the operation program of FIG. [Figure 18] 18 is a diagram showing an example of the operation of the laser processing system of FIG. 1 according to the operation program of FIG. 17. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] A laser processing system 1 and a control device 4 according to an embodiment of the present disclosure will be described below with reference to the drawings. As shown in FIG. 1, a laser processing system 1 according to this embodiment includes a robot 2, a laser light emission tool 3 attached to the robot 2, and a control device 4 that controls the robot 2 and the laser light emission tool 3.

[0009] In the example shown in FIG. 1, the robot 2 is a vertical six-axis articulated robot, but any type of robot can be adopted as long as it can arbitrarily move the position and posture of the laser light emission tool 3 in three-dimensional space. The laser light emitting tool 3 includes tool bodies 8, 9 fixed to the tip of the wrist 7 of the robot 2, and laser oscillators 10, 11 connected to the tool bodies 8, 9 and supplying laser light (different laser light) to the tool bodies 8, 9.

[0010] 1, the laser light emission tool 3 includes two types of tool bodies 8 and 9, and two laser oscillators 10 and 11 connected to the tool bodies 8 and 9, respectively. The laser oscillators 10 and 11 may be attached to the robot arms 5 and 6, or may be fixed to the outside of the robot 2.

[0011] In this embodiment, the two types of tool bodies 8, 9 are a preheating tool body 8 and a processing tool body 9. A preheating laser oscillator 10 is connected to the preheating tool body 8, and a processing laser oscillator 11 is connected to the processing tool body 9. In FIG. 1, for ease of illustration, the two tool bodies 8, 9 are shown as irradiating the same processing location on the workpiece W with laser light along optical axes inclined relative to each other, but instead, a tool that irradiates two types of laser light coaxially may be used.

[0012] The control device 4 according to one embodiment of the present disclosure includes at least one processor (not shown) and at least one memory device (not shown), and controls the robot 2 and the laser light emission tool 3 by the processor processing an operating program stored in the memory device. The control device 4 is provided with a teaching operation panel 12 that is held and operated by an operator to teach an operation program. The teaching operation panel 12 is provided with a keypad 13 that the operator operates to input data, and a monitor 14 for displaying the taught operation program, etc.

[0013] The operation program in the laser processing system 1 includes a plurality of program lines written in the order of execution. Each program line describes a robot operation command, which is a command for operating the robot 2. The robot operation command in a lower program line is executed after the robot operation command in a higher program line is executed.

[0014] In this embodiment, a laser processing command, which is a command for operating the laser light emission tool 3, is described as an auxiliary command to a robot operation command in a program line that describes any one of the robot operation commands. The laser processing command as an auxiliary command is executed based on the completion of the execution of the robot operation command to which it is attached.

[0015] The laser processing command includes a plurality of laser emission commands, and in this embodiment, the laser emission command includes a laser preheat command (preheating emission command) and a laser processing command (processing emission command). In each laser emission command, the intensity of the laser light and the emission time of the laser light can be set as the emission conditions of the laser light.

[0016] That is, the control device 4 according to this embodiment executes a plurality of laser emission commands with different emission conditions to the laser light emission tool 3 in response to one laser processing command in the operation program. This allows a plurality of laser beams to be simultaneously irradiated onto one processing location on the workpiece W.

[0017] At each processing location, the robot 2 operates, a preheating laser beam is emitted, and a processing laser beam is emitted, as shown in Fig. 2. In the example shown in Fig. 2, after the execution of the robot operation command 2 is completed, laser processing is performed in accordance with the robot operation command 3.

[0018] The emission of preheating laser light begins at the end time t0 of robot operation command 2, and after a predetermined time t1 has elapsed from the start of the emission of the preheating laser light, the processing laser light is emitted, and further, after a predetermined time t2 has elapsed from the start of the emission of the processing laser light, the robot operation command 3 is executed.

[0019] Next, while the robot 2 is accelerating, the preheating laser light from the preheating tool body 8 and the processing laser light from the processing tool body 9 are ramped in multiple stages, for example, the intensity of the laser light is increased stepwise. Then, after the robot 2 reaches the target speed, the preheating laser light and the processing laser light having the target intensity are emitted.

[0020] As a result, when the robot 2 is operating at a low speed before reaching the target speed, the intensities of the preheating laser light and the processing laser light are suppressed to prevent excessive heat energy from being incident on the workpiece W. As a result, it is possible to prevent an increase in bead width near the laser processing start position. In addition, by irradiating the processing location with the preheating laser light simultaneously, it is possible to reduce the occurrence of spatter, improve processing quality, and speed up processing.

[0021] In this embodiment, when an operator teaches an operation program, the control device 4 first teaches robot operation command 1 to robot operation command 3 as shown in Fig. 3, and displays the taught robot operation command and command buttons on the monitor 14. When the operator wants to perform laser processing in robot operation command 3, for example, the operator moves the cursor to the end of the program line of robot operation command 2 displayed on the monitor 14 as shown in Fig. 3.

[0022] Then, when the operator presses a command button displayed on the monitor 14, the control device 4 displays a list of commands to be added on the monitor 14 as shown in Fig. 4, and allows the operator to select. When the operator selects the laser processing start command from among the commands in the command list, the control device 4 allows the operator to input the number of ramps of the preheating laser light and the number of ramps of the processing laser light as shown in Fig. 5.

[0023] When the operator inputs each ramping count and presses the OK button, the control device 4 displays a laser processing start command (laser processing command) in which multiple laser emission commands are listed in execution order on the same program line after the robot operation command 2, as shown in Fig. 6. Each laser emission command is displayed so that the emission conditions of the laser light can be set. The displayed laser processing start command spans multiple lines, but is included in the same program line "2:" as the robot operation command 2.

[0024] In this embodiment, the laser emission command includes a laser preheating command (preheating emission command) for emitting preheating laser light from the preheating tool body 8, and a laser processing command (processing emission command) for emitting processing laser light from the processing tool body 9. The intensity of the laser light, which is one of the emission conditions of each laser light, can be set as a parameter attached to the laser preheating command and the laser processing command, and is displayed as "**" on the monitor 14, for example, as shown in FIG.

[0025] The injection time, which is another injection condition, can be set as a parameter associated with the laser preheating waiting time, the laser preheating time, the laser processing waiting time, and the laser processing time. For example, as shown in FIG. 6, it is displayed as "**" on the monitor 14.

[0026] The laser preheating standby time and the laser preheating time are attached to the laser preheating command, respectively, to define the emission time of the preheating laser light emitted in the attached laser preheating command. The laser processing standby time and the laser processing time are attached to the laser processing command, respectively, to define the emission time of the processing laser light emitted in the attached laser processing command.

[0027] Furthermore, the laser preheating standby time not only specifies the emission time of the preheating laser light according to the attached laser preheating command, but also causes the execution of the robot operation command to wait for the emission time set in the laser preheating standby time. Similarly, the laser processing standby time not only specifies the emission time of the processing laser light according to the attached laser processing command, but also causes the execution of the robot operation command to wait for the emission time set in the laser processing standby time. When there are both a laser preheating wait time and a laser processing wait time, the execution of the robot operation command is put on hold for the longer wait time.

[0028] On the other hand, the laser preheating time and the laser processing time only define the emission time by the attached laser preheating command or laser processing command, and allow the execution of different commands without waiting for the end of the emission time.

[0029] For example, as shown in Fig. 5, the number of ramps of the preheating laser beam is input as 3, and the number of ramps of the processing laser beam is input as 4. In this case, the laser emission command, laser preheating wait time, laser preheating time, laser processing wait time, and laser processing time are displayed as shown in Fig. 6. Four laser preheating commands and preheating times, and five laser processing commands and processing times are added in a list in the same program line as the robot operation command 2.

[0030] The first laser preheat command is accompanied by a laser preheat wait time, the next two laser preheat commands are each accompanied by a laser preheat time, and the last laser preheat command is accompanied by nothing. Also, the first laser processing command is accompanied by a laser processing wait time, the next three laser processing commands are each accompanied by a laser processing time, and the last laser processing command is accompanied by nothing.

[0031] In this state, the control device 4 inputs the laser light intensity and emission time, which are parameters associated with each laser preheating command and each laser processing command, into the positions marked with "**" on the monitor 14. In this embodiment, as shown in Fig. 7, the operator inputs, for example, 100W, 200W, 300W, and 400W for the four laser preheating commands in order from the first. Also, the operator inputs, for example, 250W, 500W, 750W, 1000W, and 1250W for the five laser processing commands in order from the first.

[0032] Furthermore, it is assumed that the operator has input 0.5 seconds as the laser preheating standby time, 0.25 seconds as the laser processing standby time, 0.5 seconds as the laser preheating time, and 0.25 seconds as the laser processing time.

[0033] By executing the operation program of the robot 2 thus taught, the robot 2, the preheating tool body 8, and the processing tool body 9 operate as follows. First, when the operation program is executed, robot operation command 1 on the first program line "1:" is executed, and immediately after robot operation command 1 is executed, robot operation command 2 on the lower program line "2:" is executed.

[0034] Since the laser processing start command is an auxiliary command of the robot operation command 2, it is not executed until the robot operation command 2 is completed. Then, when the robot operation according to the robot operation command 2 is completed, the first laser preheating command and the first laser processing command of the laser processing start command are executed based on the time t0.

[0035] The first laser preheating command causes the preheating laser beam to be emitted from the preheating tool body 8 at a laser beam intensity of 100 W for an emission time of 0.5 seconds set as the laser preheating standby time. The first laser processing command causes the processing laser beam to be emitted from the processing tool body 9 at a laser beam intensity of 250 W for an emission time of 0.25 seconds set as the laser processing standby time.

[0036] At this time, the robot operation command 3 is put on hold for 0.5 seconds from time t0 due to the longer laser preheating wait time, and the laser processing command is put on hold for 0.25 seconds, which is the difference between the longer laser preheating wait time of 0.5 seconds and the shorter laser processing wait time of 0.25 seconds, from time t0.

[0037] In principle, laser emission commands of the same type are executed after the execution of higher-level commands is completed in accordance with the arrangement order in the program lines, and commands of different types are executed without waiting for the execution of higher-level commands to be completed. As a result, as shown in FIG. 2, first, a 100 W preheating laser light starts to be emitted from time t0 when robot operation command 2 ends, and then 0.25 seconds later, a 250 W processing laser light starts to be emitted, and then 0.25 seconds later, robot operation command 3 is executed.

[0038] When the robot operation command 3 is executed, the robot 2 accelerates until it reaches a target speed, and after it reaches the target speed, for example, moves the tool tip point at that speed. Then, when robot operation command 3 is executed, 0.5 seconds have passed since time t0, so the second 200 W laser preheating command and the second 500 W laser processing command are executed.

[0039] Thereafter, the intensity of the laser light is switched between 300W and 400W every 0.5 seconds to emit the preheating laser light, and the intensity of the laser light is switched between 750W, 1000W and 1250W every 0.25 seconds to emit the processing laser light. As a result, about 1 second after the start of execution of the robot operation command 3, the speed of the robot 2 reaches the target speed, and the intensities of the preheating laser light and the processing laser light each reach their target intensities. After the target intensities are reached, the emission of the preheating laser light and the processing laser light is stopped or ramped in response to a laser processing end command.

[0040] In this way, according to the laser processing system 1 and control device 4 of this embodiment, multiple laser emission commands for different types of laser light to be executed at a single processing location can be described together by a single laser processing start command in the operation program.

[0041] As a result, firstly, by selecting a laser processing start command and specifying the number of ramping times for each laser emission command, the required number of laser preheating commands and laser processing commands can be displayed on the monitor 14 in a manner that allows the emission conditions to be set. Therefore, compared to the conventional method in which each laser emission command and emission condition was written on a separate program line, even if the operator is not skilled in teaching an operation program, it is possible to prevent the occurrence of forgetting to teach or making mistakes in the execution order.

[0042] Secondly, multiple laser emission commands with different emission conditions executed at one opening location can be included in a single program line. This prevents other commands included in the operation program from being mixed in with multiple laser emission commands executed at one processing location, and prevents the operation program from becoming complicated. As a result, the correctness of the operation program for irradiating laser light for each processing location can be easily confirmed.

[0043] For example, if not only robot operation commands but also I / O commands such as supplying or stopping gas for welding are placed between laser emission commands, it becomes difficult to confirm after the fact which laser emission command is executed at which processing location. According to this embodiment, multiple laser preheating commands, multiple laser processing commands, and multiple emission conditions executed at one processing location can be included in one line, making it easy to confirm which processing location the command is executed at.

[0044] Also, as shown in Fig. 8, it is possible to execute the laser preheating program and the laser processing program as separate tasks from the robot operation command. In this case, the laser preheating program and the laser processing program are separated into separate programs, which makes teaching troublesome and makes it difficult to check them all at once. Furthermore, when adjusting the standby time set in the operation program, it is necessary to adjust the standby time in the separate programs, the laser preheating program or the laser processing program, accordingly.

[0045] In contrast, according to one embodiment of the present disclosure, all preheating commands, processing commands, and laser light emission conditions can be written in the same program line as the robot operation commands, which has the advantage of dramatically simplifying the teaching work.

[0046] In addition, the intensity of the laser light, the emission time of the laser light, the waiting time, and the number of rampings in this embodiment are merely examples, and any values ​​can be set. In addition, although the case where two different types of laser light for preheating and processing are irradiated has been exemplified, it may be applied to the case where three or more different types of laser light are irradiated instead.

[0047] In addition, in this embodiment, for the sake of simplicity, only the laser processing start command is illustrated, but in addition to this, a laser processing end command may be included in the operation program, whereby the last laser preheat command and the laser processing command in the laser processing start command are turned off or ramped by the laser processing end command.

[0048] For example, when performing laser processing until the robot 2 decelerates and stops, the preheating laser light and the processing laser light may be ramped, for example, the intensity of the laser light may be reduced stepwise, in accordance with the deceleration of the robot 2. Even in this case, a plurality of laser preheating commands and laser processing commands may be listed and described in the same program line as the robot operation command.

[0049] This also makes it possible to suppress the intensities of the preheating laser light and the processing laser light when the robot 2 is operating at a slow speed until it stops, thereby preventing excessive heat energy from being incident on the workpiece W. As a result, it is possible to prevent an increase in the bead width near the laser processing end position, etc.

[0050] Also, the operation program may include a laser emission condition switching command for switching the emission conditions of the preheating laser light and the processing laser light during laser processing. In this case, the preheating laser light and the processing laser light may be ramped, for example, the intensity of the laser light may be increased or decreased stepwise, in accordance with the operation of the robot 2. Even in this case, a plurality of laser preheating commands and laser processing commands may be listed and described in the same program line as the robot operation command.

[0051] In this embodiment, by inputting the number of rampings displayed by selecting a laser processing start command, a plurality of laser emission commands included in the laser processing start command are listed as shown in Fig. 6. Alternatively, when a laser processing start command is selected, a laser processing start command with the number of rampings set to a standard value (e.g., 1 time) may be displayed, and the number of rampings included in the laser processing start command may be made editable, as shown in Fig. 9. As a result, a laser processing start command may be displayed in which a number of laser emission commands corresponding to the edited number of rampings are listed, as shown in Fig. 10.

[0052] In this embodiment, the multiple laser emission commands and the like included in the laser processing command are listed in the program lines describing the robot operation command. Alternatively, as shown in Fig. 11, multiple tables listing multiple laser emission commands for emitting different types of laser light in order of execution may be stored in the storage unit, and the laser processing command to be executed by calling the tables may be written as an additional command to the robot operation command.

[0053] 11, a laser processing start command is shown for reading and executing a table designated by a number as a laser processing command. A plurality of tables in which different injection conditions are defined according to the processing location, etc. may be stored with an identifier such as a number, and one of the tables may be selected in the selection of the laser processing command, and the selected table may be displayed on the monitor 14.

[0054] Also, by inputting the number of rampings, a table listing the number of laser emission commands corresponding to the input number of rampings may be displayed. In this case, a single table in which the number of rampings, laser light intensity, emission time, etc. can be edited may be stored and edited by the operator.

[0055] For example, in the example shown in Fig. 12, a table in which a standard ramping count of "1" is specified is stored. In this case, the number of laser preheating commands and the number of laser processing commands are each two. When the operator changes the ramping count to "3" and "4," the number of laser preheating commands in the table is updated to four and the number of laser processing commands to five, as shown in Fig. 13.

[0056] Alternatively, instead of inputting the number of rampings, a table having input fields in which a plurality of laser emission commands and emission times can be set may be stored, and only the laser emission commands inputted in the input fields may be made valid, as shown in Fig. 14. For example, in the example shown in Fig. 15, a laser preheating command with a number of rampings of three and a laser processing command with a number of rampings of four are set.

[0057] In addition, in this embodiment, a preheating laser light and a processing laser light are exemplified as different types of laser light, but instead of this, the present invention may be applied to the case where a plurality of other different types of laser light are irradiated. For example, the present invention may be applied to cases where the wavelengths are different, or where the forms are different, such as continuous laser light and pulsed laser light, or where the irradiation range or spot shape is different.

[0058] Further, in the present embodiment, the case has been exemplified where the laser light emission tool 3 includes two types of tool bodies 8, 9 and two laser oscillators 10, 11 respectively connected to the tool bodies 8, 9. Alternatively, as shown in Fig. 16, a common laser oscillator 20 including an interface for receiving a laser preheating command and an interface for receiving a laser processing command may be connected to the two types of tool bodies 8, 9.

[0059] In this embodiment, the preheating laser light is emitted for 0.5 seconds from time t0, and the processing laser light is emitted for 0.25 seconds from 0.25 seconds after time t0. Alternatively, the laser preheating standby time may be set to 0.4 seconds and the laser processing standby time may be set to 0.9 seconds, as shown in Fig. 17. This allows the processing laser light to be emitted for 0.9 seconds from time t0, and the preheating laser light to be emitted for 0.4 seconds from 0.5 seconds after time t0, as shown in Fig. 18. [Explanation of symbols]

[0060] 1 Laser processing system 2. Robot 3 Laser light emission tool 4. Control device

Claims

1. a robot, a laser beam emission tool attached to the robot, and a control device that controls the robot and the laser beam emission tool based on an operation program; The laser beam emission tool is capable of independently emitting two or more different types of laser beams, The laser processing system wherein the control device is capable of executing a plurality of laser emission commands to cause the laser light emission tool to simultaneously emit the different types of laser light, in accordance with a single laser processing command in the operation program.

2. The laser processing system according to claim 1 , wherein the laser emission commands include an emission command for preheating and an emission command for processing.

3. 3. The laser processing system according to claim 1, wherein the control device is capable of setting emission conditions for each of the laser emission commands in the laser processing command.

4. The laser processing system according to claim 3 , wherein the emission conditions include an intensity and an emission time of the different type of laser light emitted in response to the laser emission command.

5. 5. The laser processing system according to claim 1, wherein the laser emission command includes a standby command for causing the robot to wait for execution of an operation command.

6. The laser processing system according to claim 3, wherein the control device, by selecting the laser processing command in teaching the operation program, lists and displays the plurality of laser emission commands in order of execution, and allows the user to input the emission conditions for each of the laser emission commands.

7. the laser processing command is a laser processing start command, The laser processing system according to claim 6, wherein when the laser processing command is selected in teaching the operation program, the control device requests input of the number of rampings of the laser emission command, and displays a list of the laser emission commands in a number corresponding to the number of rampings input in response to the request.

8. The laser processing command is a laser processing end command, The laser processing system according to claim 6, wherein when the laser processing command is selected in teaching the operation program, the control device requests input of the number of rampings of the laser emission command, and displays a list of the laser emission commands in a number corresponding to the number of rampings input in response to the request.

9. The laser processing command is a laser emission condition switching command during laser processing, The laser processing system according to claim 6, wherein when the laser processing command is selected in teaching the operation program, the control device requests input of the number of rampings of the laser emission command, and displays a list of the laser emission commands in a number corresponding to the number of rampings input in response to the request.

10. storing one or more tables in which the plurality of laser emission commands for emitting the different types of laser light are listed in order of execution; 7. The laser processing system according to claim 6, wherein in the selection of the laser processing command, any one of the tables is selected, and the selected table is displayed.

11. the laser processing command is a laser processing start command, The laser processing system according to claim 10, wherein when the laser processing command is selected in teaching the operation program, the control device displays the selected table and requests input of the number of rampings of the laser emission command in the displayed table, and lists and displays in the table the number of laser emission commands corresponding to the number of rampings input in response to the request.

12. The laser processing command is a laser processing end command, The laser processing system according to claim 10, wherein when the laser processing command is selected in teaching the operation program, the control device displays the selected table and requests input of the number of rampings of the laser emission command in the displayed table, and lists and displays in the table the number of laser emission commands corresponding to the number of rampings input in response to the request.

13. The laser processing command is a laser emission condition switching command during laser processing, The laser processing system according to claim 10, wherein when the laser processing command is selected in teaching the operation program, the control device displays the selected table and requests input of the number of rampings of the laser emission command in the displayed table, and lists and displays in the table the number of laser emission commands corresponding to the number of rampings input in response to the request.

14. A control device that controls a robot and a laser light emission tool attached to the robot based on an operation program, a control device capable of executing a plurality of laser emission commands for causing the laser light emission tool to simultaneously emit two or more different types of laser light in accordance with a single line of laser processing command in the operation program;

15. The control device according to claim 14 , wherein the laser emission commands include a preheating emission command and a processing emission command.

16. The control device according to claim 14 or 15, wherein emission conditions for each of the laser emission commands can be set in the laser processing command.

17. The control device according to claim 16 , wherein the emission conditions include an intensity and an emission time of the different type of laser light emitted in response to the laser emission command.

18. The control device according to claim 14 , wherein the laser emission command includes a standby command for causing the robot to wait for execution of an operation command.

19. 17. The control device according to claim 16, wherein, in teaching the operation program, by selecting the laser processing command, a plurality of the laser emission commands are displayed in order of execution, and the emission conditions for each of the laser emission commands are input.

20. the laser processing command is a laser processing start command, The control device according to claim 19, wherein when the laser processing command is selected in teaching the operation program, input of the number of rampings of the laser emission command is requested, and a list of the number of the laser emission commands corresponding to the number of rampings input in response to the request is displayed.

21. The laser processing command is a laser processing end command, The control device according to claim 19, wherein when the laser processing command is selected in teaching the operation program, input of the number of rampings of the laser emission command is requested, and a list of the number of the laser emission commands corresponding to the number of rampings input in response to the request is displayed.

22. The laser processing command is a laser emission condition switching command during laser processing, The control device according to claim 19, wherein when the laser processing command is selected in teaching the operation program, input of the number of rampings of the laser emission command is requested, and a list of the number of the laser emission commands corresponding to the number of rampings input in response to the request is displayed.

23. storing one or more tables in which the plurality of laser emission commands for emitting the different types of laser light are listed in order of execution; The control device according to claim 19, wherein, in the selection of the laser processing command, any one of the tables is selected, and the selected table is displayed.

24. the laser processing command is a laser processing start command, A control device as described in claim 23, wherein when the laser processing command is selected in teaching the operation program, the selected table is displayed, and in the displayed table, input of the number of rampings of the laser emission command is requested, and the number of the laser emission commands corresponding to the number of rampings input in response to the request is listed and displayed in the table.

25. The laser processing command is a laser processing end command, A control device as described in claim 23, wherein when the laser processing command is selected in teaching the operation program, the selected table is displayed, and in the displayed table, input of the number of rampings of the laser emission command is requested, and the number of the laser emission commands corresponding to the number of rampings input in response to the request is listed and displayed in the table.

26. The laser processing command is a laser emission condition switching command during laser processing, A control device as described in claim 23, wherein when the laser processing command is selected in teaching the operation program, the selected table is displayed, and in the displayed table, input of the number of rampings of the laser emission command is requested, and the number of the laser emission commands corresponding to the number of rampings input in response to the request is listed and displayed in the table.

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