Verfahren zur Ausrichtung eines Laserstrahles auf die Oeffnung einer Düse und Fokussierkopf zur Laserstrahlbearbeitung.

摘要

Procedure for aligning a laser beam on the opening of a nozzle and matched head device for machining by laser beam. This procedure enables a laser beam to be oriented, via a succession of articulated arms of a robot, accurately and without direct intervention on any arm of the said robot. This procedure consists in measuring an angular error DELTA alpha , and then a translational error DELTA d, between the laser beam and each axis of rotation or translation of the robot machine, including the final axis of rotation O10, O11 of the focusing head. These errors are then corrected by virtue of means (4, 10A, 10B, 16A-16F, M1-M10) modifying the path of the beam in terms of translation and of rotation specific to each axis of the robot. The invention also relates to a device implementing this procedure by virtue of a focusing head comprising a retractable focusing lens (32), a retractable mirror (36), a position detector (34) and a motor (22) enabling the focusing head to rotate. The invention relates to two variants of the focusing head. These use spherical and parabolic mirrors as the focusing means. The latter are more appropriate for industrial application than the solution having a retractable lens. In general, the invention applies to industrial cartesian and multi-articulated robots. The invention applies more particularly to laser robots when carrying out intervention operations in hostile environments.