| 摘要 |
<p>A method of preventing erroneous projection of laser beam to improve safety in the laser robot. When the power source circuit of the laser robot is closed, a processor in the robot controller (10) compares a predetermined value with an angle (δ) between a horizontal plane (XY plane) and an axis (8a) of a laser nozzle (8) calculated based on articulation angles (W, U, r, β) (S1 to S3). When the laser nozzle angle (δ) is smaller than a predetermined value, an interlock signal sent to the laser oscillator (30) is set to turn off the power source for the laser oscillator, so that the laser oscillator is not allowed to continue laser oscillation (S5). As a result, erroneous projection of laser beam due to inadequate robot operation program or due to error during the manual operation is prevented so that the human body and peripheral equipment are protected from damage.</p> |
