Programming and control of remote equipment for e.g. laser-processing and handling of workpieces, positions workpiece taking accessibility into account

摘要

The workpiece is positioned relative to the handling system with due regard to accessibility. Movement instructions (paths, programs) are determined and encoded for the handling system. Control instructions are prepared for the remote processing tool, based on: the processing tasks, the data determined and/or externally-measured positions of tool and workpiece. A sensor system analyzer is coupled to the control system. From the sensor system, tool and/or workpiece positional data are provided to the system controller. The sensor system determines positions in the remote processing plant, in a predefined coordinate system. These relate to the absolute location of the handling module or of a processing head integrated into the handling module, which carries the tool. The sensor system determines or defines the positioning of the workpiece and/or individual processing results (e.g. scanning- or welding patterns) in the remote processing plant. Planning of workpiece positioning relative to the handling unit occurs within the remote processing equipment system. Should individual pattern locations be inaccessible, workpiece positioning is revised to overcome the problem. One or more sensors in the remote equipment detect e.g. a marking or marker at the handling module or on the processing head. This is used for position determination. An optical detector is used, e.g. an infra-red camera. System controller instructions to the processing head (1.1) are used to synchronize and control aiming of the processing beam with the path of the handling module. For this purpose, signals from the handling unit and/or data from the sensor system are employed. Data from the sensor system is used to calculate control instructions for the processing head. Manual variation of the geometry and/or position of the welded patterns are carried out offline and/or in the system controller. Variation of the sequence of patterns is determined and entered into the system controller. The sequence of processing tasks is generated automatically. Functions for the path or program of the handling unit are prepared, taking into account accessibility for individual processing tasks or patterns. For path planning, data from the sensor system is used. Path data is transmitted to the handling system by export and/or manual input. Calibration runs are used for data acquisition by the sensor system. Handling system paths are varied manually and/or through system control without automation. Recorded sensor data is used in subsequent cycles to control the processing head. It is used to assess the quality achieved. It is used to implement safety technology. The remote plant uses a laser to process a workpiece. The processing head comprises a moveable mirror, focusing system and/or scanner.