Method for preventing safety cell penetration by a laser and combination therefor

Abstract

The invention relates to a method for preventing safety cell penetration by a laser tool (7), which laser tool (7) is manipulated by a serial manipulator (2) and enclosed by a safety cell (9, 10), which method comprises the steps of: reading the orientation of each joint (3-6) of the serial manipulator (2); calculating the position and orientation of the laser tool (7) using the read orientations of the joints (3-6) and the geometry of the serial manipulator (2); calculating the intersection point of the laser beam (14) axis of the laser tool (7) with a wall of the safety cell (9, 10), calculating the heat input of the laser beam (14) at the intersection point; shutting down the laser beam (14) of the laser tool (7) when the calculated heat input rises above a preset threshold. The invention relates also to a combination of a serial manipulator (2), a laser tool (7), a CNC controller (11), a safety cell (9, 10), and a prevention device (16).

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