DE20021369U1 - Laser beam optics in a robot axis - Google Patents

Laser beam optics in a robot axis

Info

Publication number
DE20021369U1
DE20021369U1 DE20021369U DE20021369U DE20021369U1 DE 20021369 U1 DE20021369 U1 DE 20021369U1 DE 20021369 U DE20021369 U DE 20021369U DE 20021369 U DE20021369 U DE 20021369U DE 20021369 U1 DE20021369 U1 DE 20021369U1
Authority
DE
Germany
Prior art keywords
laser
optics according
laser beam
radiation
axis
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE20021369U
Other languages
German (de)
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
KUKA Industries GmbH and Co KG
Original Assignee
Thyssen Laser Technik GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Thyssen Laser Technik GmbH filed Critical Thyssen Laser Technik GmbH
Priority to DE20021369U priority Critical patent/DE20021369U1/en
Priority to GB0129789A priority patent/GB2370651B/en
Priority to GB0129791A priority patent/GB2370652B/en
Priority to DE10161175A priority patent/DE10161175B4/en
Priority to US10/024,791 priority patent/US6563083B2/en
Priority to US10/025,163 priority patent/US6795482B2/en
Publication of DE20021369U1 publication Critical patent/DE20021369U1/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
    • B23K26/0604—Shaping the laser beam, e.g. by masks or multi-focusing by a combination of beams
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
    • B23K26/0604—Shaping the laser beam, e.g. by masks or multi-focusing by a combination of beams
    • B23K26/0613—Shaping the laser beam, e.g. by masks or multi-focusing by a combination of beams having a common axis
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
    • B23K26/06—Shaping the laser beam, e.g. by masks or multi-focusing
    • B23K26/067—Dividing the beam into multiple beams, e.g. multifocusing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B25J19/0037—Means for supplying energy to the end effector arranged within the different robot elements comprising a light beam pathway, e.g. laser

Landscapes

  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Mechanical Optical Scanning Systems (AREA)

Description

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßt The description text was not recorded electronically  

Der Beschreibungstext wurde nicht elektronisch erfaßtThe description text was not recorded electronically

Claims (15)

1. Laserstrahloptik in einer Roboterachse (10), in deren Längsachse (11) ein erster Strahlengang (12) eines er­ sten Laserarbeitsstrahls (13) anzuordnen ist, der werk­ stückseitig in einen achsparallelen zweiten Strahlengang (14) umlenkbar ist, und in der ein dritter Strahlengang (15) eines zweiten Laserarbeitsstrahls (16) achsparallel zum ersten Strahlengang (12) des ersten Laserarbeits­ strahls (13) anzuordnen ist, dadurch gekennzeichnet, daß in einem der Strahlengänge (12 oder 14) des ersten Laserarbeitsstrahls (13) zwei davon zu einem Werkstück hin durchstrahlbare optische Elemente aufeinanderfolgend angeordnet sind, die im Sinne einer Kompensation eines Strahlenversatzes (17) aufeinander abgestimmt sind, und daß dem zweiten der beiden optischen Elemente der zweite Laserarbeitsstrahl (13) zugeleitet und von diesem zum Werkstück (18) hin reflektrierbar ist.1.Laser beam optics in a robot axis ( 10 ), in the longitudinal axis ( 11 ) of which a first beam path ( 12 ) of the first laser working beam ( 13 ) is to be arranged, which can be deflected on the workpiece side into an axially parallel second beam path ( 14 ), and in which third beam path ( 15 ) of a second laser working beam ( 16 ) is to be arranged axially parallel to the first beam path ( 12 ) of the first laser working beam ( 13 ), characterized in that two of them are in one of the beam paths ( 12 or 14 ) of the first laser working beam ( 13 ) optical elements which can be radiated through a workpiece are successively arranged, which are matched to one another in the sense of compensation for a beam offset ( 17 ), and in that the second of the two optical elements is supplied with the second laser working beam ( 13 ) and can be reflected therefrom to the workpiece ( 18 ) , 2. Laserstrahloptik nach Anspruch 1, dadurch gekenn­ zeichnet, daß das erste optische Element eine strahlen­ durchlässige Kompensationsplatte (19) ist, daß das zwei­ te optische Element eine ebenfalls strahlendurchlässige, jedoch den zweiten Laserarbeitsstrahl (16) reflektieren­ de Reflektorplatte (20) ist, und daß die Eingangssymme­ trieachse (19') der Kompensationsplatte (19) und die Ausgangssymmetrieachse (20") der Reflektorplatte (20) fluchten. 2. Laser beam optics according to claim 1, characterized in that the first optical element is a radiation-permeable compensation plate ( 19 ), that the two te optical element is also a radiation-permeable, but reflecting the second laser working beam ( 16 ) de reflector plate ( 20 ), and that the Eingangssymme trie axis (19 ') are aligned with the compensation plate (19) and the output axis of symmetry (20 ") of the reflector plate (20). 3. Laserstrahloptik nach Anspruch 1 oder 2, dadurch ge­ kennzeichnet, daß die beiden optischen Elemente in ei­ nem einen Strahlenversatz (17) kompensierenden Winkel (α) zueinander angeordnet sind.3. Laser beam optics according to claim 1 or 2, characterized in that the two optical elements in egg nem a beam offset ( 17 ) compensating angle (α) are arranged to each other. 4. Laserstrahloptik nach einem der Ansprüche 1 bis 3, da­ durch gekennzeichnet, daß zumindest ein optisches Element aus zwei, sich optisch plattenartig verhaltenden Prismen besteht.4. Laser beam optics according to one of claims 1 to 3, there characterized in that at least one optical Element of two, optically acting like a plate Prisms exist. 5. Laserstrahloptik nach einem der Ansprüche 1 bis 4, da­ durch gekennzeichnet, daß die beiden optischen Ele­ mente für CO2-Strahlung durchlässig sind.5. Laser beam optics according to one of claims 1 to 4, characterized in that the two optical elements for CO 2 radiation are transparent. 6. Laserstrahloptik nach einem der Ansprüche 1 bis 5, da­ durch gekennzeichnet, daß das zweite optische Element für Nd:YAG-Strahlung hochreflektierend ist.6. Laser beam optics according to one of claims 1 to 5, there characterized in that the second optical element for Nd: YAG radiation is highly reflective. 7. Laserstrahloptik nach einem der Ansprüche 1 bis 6, da­ durch gekennzeichnet, daß die beiden optischen Ele­ mente jeweils strahleneintrittseitig und strahlenaus­ trittseitig antireflektierend beschichtet sind.7. Laser beam optics according to one of claims 1 to 6, there characterized in that the two optical ele elements on the radiation entrance side and radiation exit are anti-reflective coated on the tread side. 8. Laserstrahloptik nach einem der Ansprüche 1 bis 7, da­ durch gekennzeichnet, daß das zweite optische Element auf einer dem zweiten Laserarbeitsstrahl (16) zugewand­ ten Reflektorfläche (20') diesen hochreflektierend be­ schichtet ist.8. Laser beam optics according to one of claims 1 to 7, characterized in that the second optical element on one of the second laser working beam ( 16 ) facing th reflector surface ( 20 ') this is highly reflective layers. 9. Laserstrahloptik nach einem der Ansprüche 1 bis 8, da­ durch gekennzeichnet, daß für die Zuleitung des zwei­ ten Laserarbeitsstrahls (16) zum zweiten optischen Ele­ ment ein dessen Reflektorfläche (20') paralleler Umlenk­ spiegel (21) vorhanden ist. 9. Laser beam optics according to one of claims 1 to 8, characterized in that for the supply of the two th laser working beam ( 16 ) to the second optical ele ment a reflector surface ( 20 ') parallel deflecting mirror ( 21 ) is present. 10. Laserstrahloptik nach einem der Ansprüche 1 bis 9, da­ durch gekennzeichnet, daß die beiden optischen Ele­ mente und bedarfsweise ein Umlenkspiegel (21) in einem einzigen Gehäuse (22) angeordnet sind.10. Laser beam optics according to one of claims 1 to 9, characterized in that the two optical elements and, if necessary, a deflecting mirror ( 21 ) are arranged in a single housing ( 22 ). 11. Laserstrahloptik nach einem der Ansprüche 1 bis 10, da­ durch gekennzeichnet, daß ein einen Strahlenausgang (23) aufweisendes Gehäuse (22) an einer werkstückseiti­ gen Stirnwand (24) der Roboterachse (10) angebracht ist und werkstückabgewendet einen ersten Strahleneingang (25) des ersten Laserarbeitsstrahls (13) und einen zwei­ ten Strahleneingang (26) des zweiten Laserarbeitsstrahls (16) aufweist.11. Laser beam optics according to one of claims 1 to 10, characterized in that a housing ( 22 ) having a beam output ( 23 ) is attached to a workpiece-side end wall ( 24 ) of the robot axis ( 10 ) and a first beam input ( 25 ) is turned away from the workpiece. of the first laser working beam ( 13 ) and a two-th beam input ( 26 ) of the second laser working beam ( 16 ). 12. Laserstrahloptik nach einem der Ansprüche 1 bis 11, da­ durch gekennzeichnet, daß an das Gehäuse (22) im Be­ reich seines ersten Strahleneingangs (25) ein Strahlen­ versatzmodul (27) angebaut ist, der im Bereich des er­ sten Strahlengangs (12) einen ersten Versatzspiegel (28) und zu Beginn des zweiten Strahlengangs (14) einen zwei­ ten Versatzspiegel (29) aufweist.12. Laser beam optics according to any one of claims 1 to 11, characterized in that a radiation offset module ( 27 ) is attached to the housing ( 22 ) in the area of its first beam input ( 25 ), which in the area of the most beam path ( 12 ) has a first offset mirror ( 28 ) and at the beginning of the second beam path ( 14 ) a two-th offset mirror ( 29 ). 13. Laserstrahloptik nach einem der Ansprüche 1 bis 12, da­ durch gekennzeichnet, daß das Gehäuse (22) im Bereich des zweiten Strahlengangs (14) einen Einbaueinschnitt (30) hat, in den ein die optischen Elemente aufweisender Elemententräger (31) eingebaut ist.13. Laser beam optics according to one of claims 1 to 12, characterized in that the housing ( 22 ) in the region of the second beam path ( 14 ) has a recess ( 30 ) into which an element carrier ( 31 ) having the optical elements is installed. 14. Laserstrahloptik nach einem der Ansprüche 1 bis 13, da­ durch gekennzeichnet, daß der dem zweiten optischen Element optisch vorgeordnete Umlenkspiegel (21) an einer Gehäuseaußenwand (32) festgelegt ist, die einer werk­ stückseitigen Wand (30') des Einbaueinschnitts (30) pa­ rallel ist. 14. Laser beam optics according to one of claims 1 to 13, characterized in that the optically upstream of the second optical element deflecting mirror ( 21 ) on an outer housing wall ( 32 ) is fixed, the workpiece side wall ( 30 ') of the recess ( 30 ) pa rallel is. 15. Laserstrahloptik nach einem der Ansprüche 1 bis 14, da­ durch gekennzeichnet, daß der zweite Strahlengang (16) und ein am reflektierenden optischen Element begin­ nender vierter, beiden Laserarbeitsstrahlen (13, 16) ge­ meinsamer Strahlengang (33) in einer von der Längsachse (11) der Roboterachse (10) und von einer dazu senkrech­ ten Schwenkachse (34) einer weiteren Roboterachse (35) gebildeten Ebene mit einem vorbestimmten Abstand (59) von der Längsachse (11) der Roboterachse (12) angeordnet sind.15. Laser beam optics according to one of claims 1 to 14, characterized in that the second beam path ( 16 ) and a begin at the reflecting optical element fourth, two laser working beams ( 13 , 16 ) ge common beam path ( 33 ) in one of the longitudinal axis ( 11 ) of the robot axis ( 10 ) and of a perpendicular swivel axis ( 34 ) of another robot axis ( 35 ) formed plane with a predetermined distance ( 59 ) from the longitudinal axis ( 11 ) of the robot axis ( 12 ) are arranged.
DE20021369U 2000-12-18 2000-12-18 Laser beam optics in a robot axis Expired - Lifetime DE20021369U1 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
DE20021369U DE20021369U1 (en) 2000-12-18 2000-12-18 Laser beam optics in a robot axis
GB0129789A GB2370651B (en) 2000-12-18 2001-12-13 Laser robot for workpiece machining and method for workpiece machining with a laser robot
GB0129791A GB2370652B (en) 2000-12-18 2001-12-13 Laser beam optics in a robot link
DE10161175A DE10161175B4 (en) 2000-12-18 2001-12-13 Laser beam optics in a robot axis
US10/024,791 US6563083B2 (en) 2000-12-18 2001-12-18 Laser robot for workpiece machining and method for workpiece machining with a laser robot
US10/025,163 US6795482B2 (en) 2000-12-18 2001-12-18 Laser beam optics in a robot link

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE20021369U DE20021369U1 (en) 2000-12-18 2000-12-18 Laser beam optics in a robot axis

Publications (1)

Publication Number Publication Date
DE20021369U1 true DE20021369U1 (en) 2002-05-02

Family

ID=7950195

Family Applications (1)

Application Number Title Priority Date Filing Date
DE20021369U Expired - Lifetime DE20021369U1 (en) 2000-12-18 2000-12-18 Laser beam optics in a robot axis

Country Status (1)

Country Link
DE (1) DE20021369U1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018184615A1 (en) * 2017-04-03 2018-10-11 Robot-Technology Gmbh Machining robot for machining workpieces using a laser beam, comprising a machining laser integrated into a robot arm

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29716121U1 (en) * 1997-09-09 1999-01-14 Reis GmbH & Co. Maschinenfabrik, 63785 Obernburg Robotic hand for processing workpieces with laser radiation

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29716121U1 (en) * 1997-09-09 1999-01-14 Reis GmbH & Co. Maschinenfabrik, 63785 Obernburg Robotic hand for processing workpieces with laser radiation

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018184615A1 (en) * 2017-04-03 2018-10-11 Robot-Technology Gmbh Machining robot for machining workpieces using a laser beam, comprising a machining laser integrated into a robot arm
CN110944788A (en) * 2017-04-03 2020-03-31 机器人技术有限公司 Machining robot for machining a workpiece with a laser beam with a machining laser integrated on an arm of the robot

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Legal Events

Date Code Title Description
R163 Identified publications notified
R207 Utility model specification

Effective date: 20020606

R150 Term of protection extended to 6 years

Effective date: 20040330

R081 Change of applicant/patentee

Owner name: REIS GMBH & CO. KG MASCHINENFABRIK, DE

Free format text: FORMER OWNER: THYSSEN LASER-TECHNIK GMBH, 52074 AACHEN, DE

Effective date: 20051118

R151 Term of protection extended to 8 years

Effective date: 20070308

R158 Lapse of ip right after 8 years

Effective date: 20090701