KR102249405B1 - 재료 처리 저관성 레이저 주사 엔드 이펙터 조작 - Google Patents

재료 처리 저관성 레이저 주사 엔드 이펙터 조작 Download PDF

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Publication number
KR102249405B1
KR102249405B1 KR1020207031772A KR20207031772A KR102249405B1 KR 102249405 B1 KR102249405 B1 KR 102249405B1 KR 1020207031772 A KR1020207031772 A KR 1020207031772A KR 20207031772 A KR20207031772 A KR 20207031772A KR 102249405 B1 KR102249405 B1 KR 102249405B1
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KR
South Korea
Prior art keywords
end effector
laser
robot
robot manipulator
laser beam
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KR1020207031772A
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English (en)
Korean (ko)
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KR20200129167A (ko
Inventor
브레트 알 헤메스
쇼엔 에이 슈크네쳇
앤드류 케이 하젤
Original Assignee
쓰리엠 이노베이티브 프로퍼티즈 캄파니
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Publication of KR20200129167A publication Critical patent/KR20200129167A/ko
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    • 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
    • B23K26/03—Observing, e.g. monitoring, the workpiece
    • B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
    • 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
    • B23K26/082—Scanning systems, i.e. devices involving movement of the laser beam relative to the laser head
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1684—Tracking a line or surface by means of sensors
    • 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
    • B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
    • B23K26/142—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor for the removal of by-products
    • 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
    • B23K26/14—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor
    • B23K26/144—Working by laser beam, e.g. welding, cutting or boring using a fluid stream, e.g. a jet of gas, in conjunction with the laser beam; Nozzles therefor the fluid stream containing particles, e.g. powder
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39033—Laser tracking of end effector, measure orientation of rotatable mirror
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40623—Track position of end effector by laser beam
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10S901/00—Robots
    • Y10S901/02—Arm motion controller

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Mechanical Engineering (AREA)
  • Plasma & Fusion (AREA)
  • Robotics (AREA)
  • Laser Beam Processing (AREA)
  • Manipulator (AREA)
KR1020207031772A 2012-12-20 2013-12-11 재료 처리 저관성 레이저 주사 엔드 이펙터 조작 Active KR102249405B1 (ko)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
US201261740340P 2012-12-20 2012-12-20
US61/740,340 2012-12-20
PCT/US2013/074233 WO2014107274A1 (en) 2012-12-20 2013-12-11 Material processing low-inertia laser scanning end-effector manipulation

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
KR1020157019370A Division KR20150096766A (ko) 2012-12-20 2013-12-11 재료 처리 저관성 레이저 주사 엔드 이펙터 조작

Publications (2)

Publication Number Publication Date
KR20200129167A KR20200129167A (ko) 2020-11-17
KR102249405B1 true KR102249405B1 (ko) 2021-05-07

Family

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KR1020207031772A Active KR102249405B1 (ko) 2012-12-20 2013-12-11 재료 처리 저관성 레이저 주사 엔드 이펙터 조작
KR1020157019370A Ceased KR20150096766A (ko) 2012-12-20 2013-12-11 재료 처리 저관성 레이저 주사 엔드 이펙터 조작

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KR1020157019370A Ceased KR20150096766A (ko) 2012-12-20 2013-12-11 재료 처리 저관성 레이저 주사 엔드 이펙터 조작

Country Status (7)

Country Link
US (1) US10399178B2 (enExample)
EP (1) EP2934812B1 (enExample)
JP (1) JP6382220B2 (enExample)
KR (2) KR102249405B1 (enExample)
CN (1) CN104870140B (enExample)
BR (1) BR112015014893A2 (enExample)
WO (1) WO2014107274A1 (enExample)

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JP6829053B2 (ja) * 2016-11-09 2021-02-10 コマツ産機株式会社 マシンルーム
JP6496340B2 (ja) * 2017-03-17 2019-04-03 ファナック株式会社 スキャナ制御装置、ロボット制御装置及びリモートレーザ溶接ロボットシステム
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US20220274208A1 (en) * 2018-08-01 2022-09-01 Cohpros International Co., Ltd. Cutting device for cutting composite material
JP6852031B2 (ja) * 2018-09-26 2021-03-31 株式会社東芝 溶接装置及びノズル装置
WO2020068573A2 (en) * 2018-09-28 2020-04-02 Corning Incorporated Rotating light source utilized to modify substrates
CN112823079A (zh) * 2018-10-25 2021-05-18 3M创新有限公司 用于机器人涂漆修复中的多自由度柔性致动器力控制系统和方法
IT201900000995A1 (it) * 2019-01-23 2020-07-23 Nuovo Pignone Tecnologie Srl Apparecchiatura robotica industriale con generazione di percorso di lavorazione migliorata e metodo per azionare un' apparecchiatura robotica industriale secondo un percorso di lavorazione migliorato
DE102019103659B4 (de) * 2019-02-13 2023-11-30 Bystronic Laser Ag Gasführung, Laserschneidkopf und Laserschneidmaschine
CN109807475A (zh) * 2019-03-26 2019-05-28 广西加一米科技有限公司 铝带激光连续切割机组
WO2020261537A1 (ja) * 2019-06-28 2020-12-30 三菱重工業株式会社 レーザー加工装置
EP3984688A1 (de) * 2020-10-16 2022-04-20 Bystronic Laser AG Verfahren, computerprogramm und laserschneidsystem für intelligentes eckenschneiden
DE102021202644A1 (de) * 2021-03-18 2022-09-22 Volkswagen Aktiengesellschaft Verfahren zur Herstellung einer Ableiterfolie für Batterien
CN115555852B (zh) * 2021-06-30 2023-06-30 宁德时代新能源科技股份有限公司 极片成型方法及设备
US12330239B2 (en) * 2022-02-09 2025-06-17 Ford Global Technologies, Llc Laser notching apparatus for cutting of electrode sheets
CN115958290A (zh) * 2023-01-20 2023-04-14 通快（中国）有限公司 用于激光焊接的气体辅助装置和激光焊接系统

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Also Published As

Publication number Publication date
US20150352667A1 (en) 2015-12-10
EP2934812B1 (en) 2019-12-11
BR112015014893A2 (pt) 2017-07-11
CN104870140A (zh) 2015-08-26
JP2016505389A (ja) 2016-02-25
EP2934812A1 (en) 2015-10-28
JP6382220B2 (ja) 2018-08-29
CN104870140B (zh) 2018-05-22
EP2934812A4 (en) 2016-08-24
KR20150096766A (ko) 2015-08-25
US10399178B2 (en) 2019-09-03
KR20200129167A (ko) 2020-11-17
WO2014107274A1 (en) 2014-07-10

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