WO2014096952A2

WO2014096952A2 - Kinematically redundant planar laser processing machine

Info

Publication number: WO2014096952A2
Application number: PCT/IB2013/002949
Authority: WO
Inventors: Tayfun Sigirtmac; Gokhan KIPER; Dede MEHMET ISMET CAN
Original assignee: Coskunoz Metal Form Makina Endustri Ve Tic. A.S.
Priority date: 2012-12-20
Filing date: 2013-12-20
Publication date: 2014-06-26
Also published as: WO2014096952A3

Abstract

The present invention relates to a laser processing machine (10), particularly a laser cutting machine, comprising a stationary body (11), a processing bench (13) provided in a movable manner on the stationary body (11), a movable carrier body (12) connected to the stationary body (11) in a manner partially covering the bench (13), and a carrier group (20) provided on the carrier body (12) and whereon the laser head (30) is positioned.

Description

SPECIFICATION

KINEMATICALLY REDUNDANT PLANAR LASER PROCESSING MACHINE TECHNICAL FIELD

The invention relates to a novel movement mechanism increasing movement capability of the application tip in planar laser processing machines.

PRIOR ART

Laser processing machines are widely used in various industrial applications. Laser processing machines are used for various processes such as cutting, welding, hardening, coating and marking of work pieces. A laser processing machine comprises a laser head tracing a predefined trajectory on a work piece while performing the desired process by sending a laser beam from a certain distance to a work piece.

Planar laser processing machine is a type of laser processing machine. Planar laser processing machines are used for cutting operations on planar surfaces of work pieces. On the work-plane of the machine Cartesian movement axes are orthogonal X and Y axes and generally the longer axis is designated by the X axis. The laser head moves on the X-Y plane to perform its operation on the work piece. The movement on the X-Y plane basically may be accomplished in four alternative ways. The first alternative comprises a stationary tip. In this type of operation, the laser head is stationary, and the workbench is mobile. Hybrid type machines comprise a laser head movable in Y axis and workbench movable in X axis. The third alternative comprises a mobile laser head and stationary workbench. The last alternative comprises a laser head movable in X-Y axes while the workbench is movable in X axis.

For the planar laser processing machines with stationary work piece, the X axis movement of the laser head is performed by means of a carrier body and the Y axis movement of the laser head is performed by means of the guides provided on the carrier body. In some recent systems, the movement capability of the laser head is enhanced by means of parallel mechanisms fixed on the carrier body. By use of parallel mechanisms, the aim is to accelerate the application tip and provide the desired precision. In the patent applications US2008197118 and US8076610, parallel mechanisms with sliding joint are described providing X-Y Cartesian movement of the laser head. In the patent applications US20110017714 and US20 20097652, parallel mechanisms are described driven by two sliding joints provided on the axis Y in addition to the movement of the carrier body in axis X. In both of said mechanisms, sliding actuators are utilized. However, in practice, it is well known that rotary actuators can be manufactured and controlled in a more sensitive manner.

BRIEF DESCRIPTION OF THE INVENTION

The present invention relates to a novel type of movement mechanism, in order to eliminate the abovementioned disadvantages and in order to bring new advantages to the related technical field.

The object of the invention is to provide a new type of movement mechanism increasing movement capability of the laser head.

Another object of the invention is to provide a kinematically redundant movement mechanism increasing the acceleration capability of the laser head.

In order to realize the abovementioned object and the objects to be deducted from the detailed description below, the present invention relates to a laser processing machine, particularly a laser cutting machine, comprising a stationary body, a processing bench provided in a movable manner on the stationary body, a movable carrier body connected to the stationary body in a manner partially covering the bench, and a carrier group provided on the carrier body and whereon the laser head is positioned. Said laser processing machine is characterized by comprising a connection plate connected to the carrier group and whereon at least one housing is provided, a drive unit provided inside the housing, and a movement mechanism having at least one arm group with at least one joint region for rotation freedom and which is movable inside the housing connected to the drive unit and to the laser head, in order to increase movement capability of the laser head.

In a preferred embodiment of the invention, two housings are provided on the connection plate.

In another preferred embodiment of the invention, the movement mechanism comprises two drive units and two arm groups disposed into the housings. In another preferred embodiment of the invention, the arm group comprises a rear arm connected to the drive unit, an elbow provided at the continuation of the rear arm and defining the joint region, and a front arm provided at the continuation of the elbow.

In another preferred embodiment of the invention, a carrier plate is provided for facilitating the connection of the movement mechanism to the laser head.

In another preferred embodiment of the invention, in order to assist the movement mechanism, a guiding fixation arm group is provided having at least two arm groups provided in a parallel manner with respect to the arm groups connected to the carrier plate and to the housings. By means of this, the orientation of the laser head is kept stationary.

In another preferred embodiment of the invention, in order to provide connection of the arm group to the housing, at least one shaft is provided having movement freedom, a rear arm is provided connected to the shaft, at least one elbow is provided at the continuation of the rear arm, and a front arm is provided at the continuation of the elbow.

In another preferred embodiment of the invention, a transfer element is provided beginning from the movement mechanism elbows and extending on the elbows of the coordination mechanism.

In another preferred embodiment of the invention, there are pluralities of housings provided on the carrier plate and the arm groups are connected thereto.

In another preferred embodiment of the invention, in order for the items of the movement mechanism and orientation fixation arm group of the laser processing machine to form closed parallel loops, a carrier plate is provided having at least two connection extensions for providing connection of the movement arm groups, and at least two connection housings for providing connection of the positioning arm groups.

In another preferred embodiment of the invention, a laser head housing is provided on the carrier plate body in order for the laser head weight center to be taken between the movement mechanism arm groups.

In another preferred embodiment of the invention, the laser head housing has a cross section completing the laser head form in a shape coupling manner. W

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In another preferred embodiment of the invention, the connection extensions are positioned at both sides of the body.

In another preferred embodiment of the invention, at least two connection arms are provided on the body, in order to provide positioning of the connection housings at a certain distance further from the body.

In another preferred embodiment of the invention, shaft openings are provided on the connection housings and on the connection extension.

In another preferred embodiment of the invention, the distance length (L) between the connection housing shaft opening center and the connection extension shaft opening center is equal to the length of the transfer element.

In another preferred embodiment of the invention, the distance length (M) between the shaft openings of the two connection extensions is equal to the length between the two drive unit centers.

In another preferred embodiment of the invention, in order to provide connection of the laser head, at least one laser head connection housing is provided on the body.

In another preferred embodiment of the invention, there is a housing provided on a first front arm forming the first arm group of the movement mechanism; a connection portion disposed into the housing provided on a second front arm forming the second arm group and providing the second front arm to realize rotation movement with respect to the first front arm; and a guided portion for providing connection of the first front arm to the laser head.

In another preferred embodiment of the invention, said connection portion comprises a bearing disposed into the housing and provided on the second front arm.

In another preferred embodiment of the invention, the connection portion comprises a shaft disposed into the housing and providing connection of the second front arm to the first front arm through the bearing.

In another preferred embodiment of the invention, said housing is positioned on an axis dividing the first front arm into two equal portions from the middle portion in an imaginary manner. In another preferred embodiment of the invention, the housing is positioned at the vicinity of the tip portion of the first front arm in a close manner with respect to the laser head.

In another preferred embodiment of the invention, the guided portion is provided at the continuation of the tip portion of the first front arm.

In another preferred embodiment of the invention, the bearing is positioned at the tip portion of the second front arm.

BRIEF EXPLANATION OF THE FIGURES

In Figure 1 , the isometric view of the laser processing machine is given.

In Figure 2, the isometric view of the movement mechanism connected to the laser head is given.

In Figure 3, the top view of the movement mechanism connected to the laser head is given. In Figure 4, the general view of the laser head is given. In Figure 5, the top view of the laser head is given.

In Figure 6, the top view of the laser head and the exploded view of the positioning mechanism are given.

In Figure 7, the general view of the carrier plate is given.

In Figure 8, the view of the carrier plate is given from another perspective.

In Figure 9, the profile view of the laser head is given.

In Figure 10, 11 , 12, 13, 14, an exemplary movement direction of the laser head is given. In Figure 15, the schematic view of the movement mechanism is given. In Figure 16, the top view of the movement mechanism is given. In Figure 17, the general view of the movement mechanism illustrated in Figure 16 is given. In Figure 18, the detailed view of the movement mechanism illustrated in Figure 17 is given.

REFERENCE NUMBERS

10 Laser Processing Machine 43 Carrier Plate

11 Stationary Body 431 Housing

111 Guide Edge 432 Housing

112 Slide 44 Drive Unit

113 Guide 45 Drive Unit

12 Carrier Body 46 Shaft

121 Connection Tip 47 Bearing

122 Bearing 50 Connection Plate

123 Front Wall 501 Front Wall

13 Bench 502 Rear Wall

131 Wheel 51 Housing

1 Slide 511 Extension

20 Carrier Group , 512 Extension

21 Slide 52 Housing

22 Drive Unit 53 Bearing

23 Bearing 54 Base Plate

30 Laser Head 55 Vertical Portion

31 Body 60 Orientation Fixation Arm Group

311 Rear Wall 61 First Arm Group

32 Laser Application Tip 611 Rear Arm

33 Fiber Socket Connection Tip 612 Front Arm

40 Movement Mechanism 613 Elbow

41 First Arm Group 62 Second Arm Group

411 Rear Arm 621 Rear Arm

412 First Front Arm 622 Front Arm

413 Elbow 623 Elbow

414 Tip Portion 63 Transfer Element

415 Housing 64 Shaft

416 Guided Portion 65 Shaft W

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42 Second Arm Group 66 Transfer Element

421 Rear Arm

422 Second Front Arm

423 Elbow

424 Tip Portion

DETAILED DESCRIPTION OF THE INVENTION

In this detailed description, the novelty of the invention is explained via examples in order to clarify the subject, avoiding any limitations. Accordingly, the detailed description below issues a movement mechanism (40) providing enhancing the movement capability of the laser head (30) of a laser processing machine (10) operating on planar surface.

With reference to Figure 1 , the general view of the laser processing machine (10) is given. The laser processing machine (10) comprises a stationary body (11) comprising two columns and positioned on a floor, a movable carrier body (12) provided on the stationary body (11), and a movable bench (13) provided so as to be inside the stationary body (11). There is a guide edge (111) provided on each column of the stationary body (11) and there is a slide (112) provided on the guide edge (111). Additionally, guides (113) are provided on the columns which are adjacent and parallel with respect to the guide edges (111). The carrier body (12) has connection tips (121) providing connection to the guide edges (11 ). There are bearings (122) provided inside the connection tips (121) and assisting the movement of the carrier body (12). There are two slides (14) on the front wall (123) of the carrier body (12) which are extending parallel with respect to each other. There are wheels (131) connected to the bench (13) and providing movement of the bench on the guides (113). A carrier group (20) is mounted on the carrier body (12) via the slides (14). In order to assist the connection of the carrier group (20) to the slides (14), there are bearings (23) provided on the carrier group (20). There are two slides (21) and a drive unit (22) on the front surface of the carrier group (20). On the carrier group (20), there is a connection plate (50) connected to the drive unit (22). There is a movement mechanism (40), a laser head (30) connected to the movement mechanism (40), and an orientation fixation arm group (60) connected to both the laser head (30) and to the movement mechanism (40) connected to the carrier group (20) through the connection plate (50).

With reference to Figure 2, the detailed view of the components provided on the connection plate (50) is given. There are bearings (53) provided on the rear wall (502) of the connection plate (50) and assisting in the connection of the connection plate (50) to the slides (21). There are two extensions (511 , 512) extending in a parallel and substantially orthogonal manner with respect to each other through the front surface (501) of the connection plate (50). Said extensions (511 , 512) define a housing (51) on the connection plate (50). There is a second housing (52) provided on the connection plate (50) in a similar manner to the first one.

The movement mechanism (40) has two arm groups (41 , 42) connected to said housings (51 , 52). The arm groups (41 , 42) comprise a rear arm (411 , 421), a front arm (412, 422) and an elbow (413, 423) connecting the front arms (412, 422) and the rear arm (4 , 421) to each other. Drive units (44, 45) are provided connected to the rear arms (411 , 421) inside the housings (51 , 52). There is a carrier plate (43) hinged to the front arms (412, 422). All connections of the arm groups (4 , 42) are in the form of rotary hinges. The movement of the arm group (41 , 42) is planar and the movement plane thereof is parallel with respect to the bench (13).

There is an orientation fixation arm group (60) for fixing the orientation of the laser head (30). The orientation fixation arm group (60) comprises arm groups (61 , 62) extending in a parallel manner with respect to the arm groups (41 , 42) of the movement mechanism (40). The arm groups (61 , 62) comprise a rear arm (611 , 621), a front arm (612, 622), an elbow (613, 623) connecting the front arm (612, 622) and the rear arm (611 , 621), and transfer element (63, 66) providing connection between the elbow (613, 623) and the movement mechanism elbow (413, 423). The front arm (411, 421 , 611, 621) groups have the same item lengths and constitute parallelogram loops together with the carrier plate (43) and the transfer elements (63, 66). In a similar manner, the rear arm (412, 422, 612, 622) groups have the same item lengths and constitute parallelogram loops together with the connection plate (50) and the transfer elements (63, 66). The orientation fixation arm group (60) is connected to connection plate (50) by means of shafts (64, 65) provided inside of the housings (51 , 52).

A laser head (30) is provided on the carrier plate (43). The laser head (30) has a rectangular prismatic shaped body (31). The laser head (30) is connected to the carrier plate (43) through the rear wall (311) of the body (31). A laser application tip (32) is provided on the wall of the body (31) facing the bench (13). A fiber socket connection tip (33) is located on the other wall of the body (31) parallel with respect to bench.

With reference to Figure 3, the top view of the components provided on the connection plate (50) is given. The arm groups (41 , 42) of the movement mechanism (40) are hinged to the carrier plate (43) through a single housing (431). The arm groups (61, 62) of the orientation fixation arm group (60) are connected to the carrier plate (43) from two different points. The housings (432), the arm groups (61 , 62) are hinged thereto, are positioned on both sides of the carrier plate (43). The movement mechanism (40) can perform planar movement with the help of the drive units (44, 45). This movement, received by the rear arms (411 , 421 ), is transferred to the front arms (412, 422). Since the front arms (412, 422) have freedom of rotation on the elbows (413, 423), the movement applied by the rear arms (411 , 421) can be transferred to the front arms (412, 422). The laser head (30) moves by means of operation of the movement mechanism (40).

With reference to Figure 2 and 3, the operation of the carrier group (20) and the elements positioned thereon is as follows. The drive units (44, 45), provided in the housings (51 , 52), generate drive and transfer said drive to the rear arms (4 1 , 421). In order to provide the desired position of the laser head (30) with respect to the connection plate (50), drive is applied to the drive units (44, 45) as a result of the inverse kinematics of the movement mechanism (40).

With reference to Figure 1 , the operation of the laser processing machine (10) is as follows. The carrier body (12) moves on the stationary body (11) along the X-axis. The slides (112) and bearings (122) assist the movement of the carrier body (12). Moreover, the slides (112) and the bearings (122) provide the movement amount of the carrier body (12) to be controlled. The carrier group (20) is movable on the slides (14) in the direction of axis Y. The connection plate (50) is movable in direction of axis Z on the slides (21) with the help of the drive unit (22). Via the abovementioned movements, the laser head (30) is movable along the X-, Y- and Z-axes. However, due to the high inertia of the carrier body (12) and of the carrier group (20), it is not possible to dynamically move and precisely position the laser head (30) with these Cartesian movement components only. Therefore, in order to enable high acceleration movement of the laser head (30) and precise operation, the movement mechanism (40) is utilized.

The movement mechanism (40) and the orientation fixation arm group (60) described above can be used in any processing machines demanding planar positioning. The invention is preferably applied to a laser processing machine (10), in particular to a laser cutting machine.

Instead of making use of parallelogram loops in order to fix the orientation of the carrier plate (43), it is also possible to use belt and pulley assembly. In this solution, friction belts or time belts are stretched along the rear arms (411 , 421) and the front arms (412, 422) in between the pulleys disposed to the drive units (44, 45), elbows (413, 423) and the housing (431) axes, and thereby the rotation of the hinge axis of the housing (431) with respect to the connection plate (50) is prevented, and the orientation of the carrier plate (43) is kept stationary.

During the operation of the movement mechanism (40), the inertial forces and moments induced by the movable components connected to the movement mechanism (40) may create reaction forces and moments on the connection plate (50). These reaction forces and moments cause vibration of the parts and positioning precision is disturbed due to these vibrations. In order to avoid or minimize this effect, the mechanism (40) shall be balanced by means of passive additional balancing masses or an active balancing system connected to the connection plate.

In another embodiment of the present invention, there is an orientation fixation arm group (60) improved for making known the position of a laser head (30) provided on a parallel mechanism, and there is a carrier plate (70) the laser head (30) is connected thereto.

With reference to Figure 4, the detailed view of the items provided on the connection plate (50) is given. There are bearings (53), provided on the rear wall of the connection plate (50), and assisting in the connection of the connection plate (50) to the slides (not illustrated in the figure) provided on the laser processing machine bridge. On the front wall of the connection plate (50), there is a base plate (54) provided at the vicinity of the center region of the connection plate (50). There are vertical portions (55) extending in a substantially vertical manner from the intermediate region of the base plate (54). Both sides of said vertical portion (55) define one each housings (51, 52) on the base plate (54).

The movement mechanism (40) has two arm groups (41 , 42) disposed inside said housings (51 , 52). The arm groups (41 , 42) comprise a rear arm (411 , 421), a front arm (412, 422), and an elbow (413, 423) connecting the front arm (412, 422) and the rear arm (411 , 421) to each other. Drive units (44, 45) are provided connected to the rear arms (411 , 421) inside the housings (51 , 52). The connection tips of the drive units (44, 45) pass through the base plate (54) and reach the rear side of the base plate (54). There is a carrier plate (70) hinged to the front arms (412, 422). All of the connections of the arm groups (41 , 42) are in the form of rotary hinges. The movement of the arm group (41 , 42) is planar and the movement plane is parallel with respect to the laser processing machine bench.

With reference to Figure 5, there is an orientation fixation arm group (60) in order to fix the orientation of the laser head (30) and in order to make known the position thereof. The orientation fixation arm group (60) has arm groups (61 , 62) extending in a parallel manner with respect to the arm groups (41 , 42) of the movement mechanism (40). The arm groups (61 , 62) comprise a rear arm (611 , 621), a front arm (612, 622), an elbow (613, 623) connecting the front arm (612, 622) and the rear arm (611, 621) to each other, and transfer element (63, 66) providing connection between the elbow (613, 623) and the movement mechanism elbow (413, 423). The rear arm (411 , 421 , 611 , 621) groups have equal component lengths, and they form mutual parallelogram loops together with the carrier plate (70) and the transfer elements (63, 66). In a similar manner, the component lengths of the front arm (412, 422, 612, 622) groups are equal, and they form mutual parallelogram loops together with the connection plate (50) and the transfer elements (63, 66). The component lengths of the rear arm (4 , 412, 611 , 621) groups and the front arm (412, 422, 612, 622) groups need not be equal to each other. A group may be longer or shorter than the other group. The orientation fixation arm group (60) is connected to the connection plate (50) by means of the shafts (64, 65) inside the housing (51 , 52).

With reference to Figure 7 and Figure 8, the general view of the carrier plate is given. The carrier plate (70) comprises a body (71), arms (72) extending in opposite directions with respect to each other from the upper portion (711) of the body (71), and connection housings (73) provided at the tip portion of the arms (72). The body (71) has a cross section similar to letter V. Said V-portion defines a laser head housing (76). On both sides of the body (71), connection extensions (74) are provided at the outer portions of the body (71). There are shaft openings (731, 741) provided on the connection housing (73) and the connection extension (74). The arm groups (41 , 42) of the movement mechanism (40) are hinged to the connection plate (70) through the connection extension (74). In a similar manner, the arm groups (61 , 62) are hinged to the carrier plate (70) through the connection housings (73). On preferably one of the walls defining the laser head housing (76), there is one or more than one laser head connection housings (75) for providing the connection of the laser head (30).

There is a laser head (30) provided on the carrier plate (70). The laser head (30) has a body

(31) with rectangular prism form. The laser head (30) body (31) is connected to the carrier plate (70) through the laser head connection housings (75). There is a laser application tip

(32) provided on the wall of the body (31) facing the bench (73). There is the fiber socket connection tip (33) on the other wall of the body (31) parallel with respect to the bench.

With reference to Figure 5 and Figure 7, the distance (L) between the center of the connection housing (73) and the center of the connection extension (74) is equal to the length of the transfer element (63, 66). In a similar manner, the distance (L) between the center of the drive unit (44, 45) and the shaft (64, 65) is equal to the length of the transfer element (63, 66). In the similar case, the distance (M) between the centers of the two drive units (44, 45) is equal to the distance (M) between the centers of the two connection extensions (74). By means of this, a nearly perfect parallel loop is formed between the movement mechanism (40) and the orientation fixation arm group (60). Thanks to these distances, the body (71) is provided to be embodied in cross section V. The laser head (30) can be placed inside said cross section V. As the laser head (30) is disposed into the cross section V, the weight center of the laser head (30) is provided to be closer to the movement mechanism (40). Thanks to this closeness, the drive units (44, 45) may provide movement of the laser head (30) by producing less power.

In order to provide the desired position of the laser head (30) with respect to the connection plate (50), drive is applied to the drive units (44, 45) as a result of the inverse kinematics of the movement mechanism (40). The drive units (44, 45) provided inside the housings (51 , 52) are operated and transfer the drive to the rear arms (411 , 421). The drive is transferred to the front arms (412, 422) and to the carrier plate (70) through the elbows (412, 423). Since all of the information is known, for instance like the lengths and positioning distances of all of the items positioned in between and the connection plate (50) and the carrier plate (70), the amount of power to be formed by the drive units (44, 45) can be calculated. Depending on the requirement, each drive unit (44, 45) produces power in the required direction and in the required amount in an independent manner from each other. In the alternative embodiment of the movement mechanism, the drive units (44, 45) can be positioned in a concentric manner. In this case, the kinematic calculations shall be realized again according to the changing distances and intervals.

With reference to Figure 15 where an alternative embodiment of the present invention is seen, the schematic view of the movement mechanism (40) is given. The connection portion (90) provided on the movement mechanism (40) comprises a first front arm (412), and a second front arm (422) hinged to the first front arm (412) with the help of a bearing (47). There is a laser head (30) connected to the first front arm (412) through a connection plate (43). The second front arm (422) is hinged to the first front arm (412) from a point which may be close preferably to the tip portion (414), in other words which may be close to the laser head (30).

With reference to Figure 16 and Figure 17, the view of the manipulator (80) the connection portion (90) is applied thereto is given. There are bearings (53) provided on the rear wall of the connection plate (50) and assisting the connection of the connection plate (50) to the slides (not illustrated in the figures) provided on the laser processing machine bridge. On the front wall of the connection plate (50), there is a base plate (54) provided at the vicinity of the center region of the connection plate (50). There are vertical portions (55) extending in a substantially vertical manner from the middle region of the base plate (54). Both sides of said vertical portion define one each housings (51, 52) on the base plate (54).

The movement mechanism (40) has two arm groups (41 , 42) connected to said housings (51 , 52). The first arm group (41) comprises a rear arm (411), a first front arm (412), and an elbow (413) hinging the first front arm (4 2) and the rear arm (41 ) to each other. There is a housing (4 5) provided on the tip portion (414) of the first front arm (412). The first front arm (412) comprises a guided portion (416) provided at the continuation of the tip portion. The second arm group (42) comprises a rear arm (421), a second front arm (422), and an elbow (423) hinging the second front arm (422) and the rear arm (421) to each other. There is a bearing (47) provided on the tip portion (424) of the second front arm (422). The second front arm (422) is connected to the housing (415) through a shaft (46) disposed into the bearing (47). Thus, the first front arm (412) and the auxiliary arm (421) are hinged to each other. Drive units (44, 45) are provided connected to the rear arms (411, 421) inside the housings (51 , 52). The connection tips of the drive units (44, 45) pass through the base plate (54), and reach the rear side of the base plate (54). There is a carrier plate (43) connected to the first front arm (412). The guided portion (416) provides the first front arm (412) to be connected to the carrier plate (43) in a substantially vertically manner. All of the connections of the arm roups (41 , 42) are in the form of rotary hinges. The movement of the arm group (41 , 42) is lanar, and the movement plane is parallel with respect to the bench of the laser processing lachine. here is a laser head (30) provided on the carrier plate (43). The laser head (30) has a body 31) which is rectangular prism form. There is a laser application tip (32) provided on the wall f the body (31) facing the bench (13). There is the fiber socket connection tip (33) on the ther wall of the body (31 ) which is parallel with respect to the bench. he connection of the second front arm (422) onto the first front arm (412) from a certain oint provides the laser head (30) position to be known. The position of the drive units (44, 5), the lengths of the rear arms (41 1 , 421) and the position of the elbows (413, 423) and all f the points where the second front arm (422) is connected to the first front arm (412) are iown, the position of the laser head (30) at the beginning point can be known. The housing H 5) is provided on a center axis dividing the first front arm (412) in an imaginary manner om the middle portion longitudinally. By means of this, the point where the shaft (46) Dnnects the second front arm (422) to the first front arm (412) can be known clearly. This Ovides facilitating the required calculations for the movement of the laser head (30). When te laser head (30) is desired to be guided from a point to another point, the drive units (44, 5) will form a power according to inverse kinematics, and this power will be transferred to e rear arms (411 , 421). This movement, received by the rear arms (41 1 , 421 ), is ansferred to the first front arm (412) and to the second front arm (422). Since the first and icond front arms (412, 422) have rotation freedom on the elbows (413, 423), the ovement, coming from the rear arms (4 , 421), can be transferred to the first front arm 12) and to the second front arm (422). Together with the operation of the movement echanism (40), the laser head (30) moves. The second front arm (422) has rotation sedom from two points with respect to the first front arm (412) and the elbow (423). By eans of this, in case excessive power is applied to the second front arm (422), the second jnt arm (422) transfers the movement to the weak point, and provides the movement echanism (40) to be in balance.

3 a result of the connection of the guided portion (416) to the carrier plate (43) in a vertical anner, the laser head (30) is provided to be parallel with respect to the laser processing achine bridge. The beginning point defines the initial point, namely the zero point, where e laser head (30) will first begin the processing process on the work piece. Besides, when e guided portion (416) approaches the connection plate (50) of the laser head (30), it events hitting to any item forming the manipulator (80). In the alternative embodiment of the present invention, a bearing can be provided on the first front arm (412). The bearing (47), provided on the second front arm (422), can be connected to the other bearing with the help of the shaft (46). By means of this, the rotation capability of the two arms (412, 422) with respect to each other will be enhanced.

Claims

1. A laser processing machine (10), particularly a laser cutting machine, comprising a stationary body (11), a processing bench (13) provided in a movable manner on the stationary body (11), a movable carrier body (12) connected to the stationary body (11) in a manner partially covering the bench (13), and a carrier group (20) provided on the carrier body (12) and whereon the laser head (30) is positioned, characterized by comprising a connection plate (50) connected to the carrier group (20) and whereon at least one housing (51 , 52) is provided, a drive unit (44, 45) provided inside the housing (51 , 52), and a movement mechanism (40) having at least one arm group (41 , 42) with at least one joint region for rotation freedom and which is movable inside the housing (51 , 52) connected to the drive unit (44, 45) and to the laser head (30), in order to increase movement capability of the laser head (30).

2. A laser processing machine (10) according to claim 1 , characterized in that two housings (51 , 52) are provided on the connection plate (50).

3. A laser processing machine (10) according to claims 1 or 2, characterized in that the movement mechanism (40) comprises two drive units (44, 45) and two arm groups (41 , 42) disposed into the housings (51 , 52).

4. A laser processing machine (10) according to any one of the preceding claims, characterized in that the arm group (41 , 42) comprises a rear arm (411 , 421) connected to the drive unit (44, 45), an elbow (413, 423) provided at the continuation of the rear arm (411 , 421) and defining the joint region and a front arm (412, 422) provided at the continuation of the elbow (413, 423).

5. A laser processing machine (10) according to any one of the preceding claims, characterized in that a carrier plate (43) is provided for facilitating the connection of the movement mechanism (40) to the laser head (30).

6. A laser processing machine (10) according to any one of the preceding claims, characterized in that in order to assist the movement mechanism (40), a guiding fixation arm group (60) is provided having at least two arm groups (41 , 42) provided in a parallel manner with respect to the arm groups (41 , 42) connected to the carrier plate (43) and to the housings (51 , 52).

7. A laser processing machine (10) according to Claim 1 or Claim 6, characterized in that in order to provide connection of the arm group (61 , 62) to the housing (51 , 52), at least one shaft (64, 65) is provided having movement freedom, a rear arm (611, 621) is provided connected to the shaft (64, 65), at least one elbow (613, 623) is provided at the continuation of the rear arm (611 , 621), and a front arm (612, 622) provided at the continuation of the elbow (613, 623).

8. A laser processing machine (10) according to any one of the preceding claims, characterized in that a transfer element (63, 66) is provided beginning from the movement mechanism (40) elbows (413, 423) and extending on the elbows (613, 623) of the orientation fixation arm group (60).

9. A laser processing machine (10) according to any one of the preceding claims, characterized by comprising pluralities of housings (431 , 432) provided on the carrier plate (43) and the arm groups (41 , 42, 61 , 62) are connected thereto.

10. A laser processing machine (10) according to claim 6, characterized in that in order for the items of the movement mechanism (40) and of the orientation fixation arm group (60) of the laser processing machine to form closed parallel loops, a carrier plate (70) is provided having at least two connection extensions (74) for providing connection of the movement arm groups (41 , 42) and at least two connection housings (73) for providing connection of the positioning arm groups (61 , 62).

11. A laser processing machine according to claim 6, characterized in that a laser head housing (76) is provided on the carrier plate (70) body (71) in order for the laser head (30) weight center to be taken between the movement mechanism (40) arm groups (41 , 42).

12. A laser processing machine according to claim 6 or 7, characterized in that the laser head housing (76) has a cross section completing the laser head (30) form in a shape coupling manner.

13. A laser processing machine according to claim 6 or 7, characterized in that the connection extensions (74) are positioned at both sides of the body (71).

14. A laser processing machine according to any one of the preceding claims between claim 6 and 9, characterized in that at least two connection arms (72) are provided on the body (71), in order to provide positioning of the connection housings (73) at a certain distance (L) further from the body (71).

15. A laser processing machine according to any one of the preceding claims between claim 6 and 9, characterized in that shaft openings (731 , 741) are provided on the connection housings (73) and on the connection extension (74).

16. A laser processing machine according to claim 6 or 10, characterized in that the distance length (L) between the connection housing (73) shaft opening (731) center and the connection extension (74) shaft opening (741) center is equal to the length of the transfer element (63, 66).

17. A laser processing machine according to claim 6 or 10, characterized in that the distance length (M) between the shaft openings (741) of the two connection extensions (74) is equal to the length between the two drive unit (44, 45) centers.

18. A laser processing machine according to any one of the preceding claims between claim 6 and 13, characterized in that in order to provide connection of the laser head (30), at least one laser head connection housing (75) is provided on the body (71).

19. A laser processing machine (10) according to Claim 1 , characterized by comprising a housing (415) provided on a first front arm (412) forming the first arm group (41) of the movement mechanism (40); a connection portion (90) disposed into the housing (4 5) provided on a second front arm (422) forming the second arm group (42) and providing the second front arm (412) to realize rotation movement with respect to the first front arm (412); and a guided portion (416) for providing connection of the first front arm (412) to the laser head (30).

20. A laser processing machine according to Claim 19, characterized in that said connection portion (90) comprises a bearing (47) disposed into the housing (4 5) and provided on the second front arm (422).

21. A laser processing machine according to Claim 19 or 20, characterized in that the connection portion (90) comprises a shaft (46) disposed into the housing (415) and providing connection of the second front arm (422) to the first front arm (4 2) through the bearing (47).

22. A laser processing machine according to Claim 19, characterized in that said housing (415) is positioned on an axis dividing the first front arm (412) into two equal portions from the middle portion in an imaginary manner.

23. A laser processing machine according to Claim 19 or 20, characterized in that the housing (415) is positioned at the vicinity of the tip portion (414) of the first front arm (412) in a close manner with respect to the laser head (30).

24. A laser processing machine according to any one of the preceding claims between claim 19 and 23, characterized in that the guided portion (416) is provided at the continuation of the tip portion (4 4) of the first front arm (412).

25. A laser processing machine according to Claim 19, characterized in that the bearing (47) is positioned at the tip portion (424) of the second front arm (422).