Integrated robotic laser material processing and imaging system

c x y -1 i 1

SR

6/16/87 OR ...

United States Patent m

Ortiz, Jr.

[li] Patent Number: [45] Date of Patent:

4,673,795 Jun. 16, 1987

[54] INTEGRATED ROBOTIC LASER MATERIAL PROCESSING AND IMAGING SYSTEM

[75] Inventor: Angel L. Ortiz, Jr., Ballston Lake, N.Y.

[73] Assignee: General Electric Company, Schenectady, N.Y.

[21] Appl. No.: 660,837

[22] Filed: Oct. 15,1984

[51] Int. a.4 B23K 26/00

[52] U.S. CI 219/121 L; 219/121 LB;

219/121 LC; 219/121 LU; 219/121 LR

[58] Field of Search 901/47, 42, 9; 414/730;

219/121 LZ, 121 LV, 124.34,121 LR, 121 LQ, 121 LX, 121 LA, 121 LB, 121 LC, 121 LD, 121 LG, 121 LN, 121 L, 121 LM, 121 LK, 121

LL

[56] References Cited

U.S. PATENT DOCUMENTS

3,096,767 7/1963 Gresser et al 219/121 LZ X

3,976,382 8/1976 Westby 356/376

4,410,787 10/1983 Kremers et al 219/124.34

4,412,121 10/1983 Kremers et al 219/124.34

4,417,127 11/1983 Nachev et al 219/124.34

4,443,684 4/1984 Sakuragi et al 219/121 LH

4,450,339 5/1984 Corby, Jr 219/124.34

4,532,405 7/1985 Corby, Jr. et al 219/124.34

4,578,554 3/1986 Coulter 219/121 LV

FOREIGN PATENT DOCUMENTS

57-92133 6/1982 Japan .

0121095 6/1985 Japan 219/121 LZ

OTHER PUBLICATIONS

W. B. Jones, "The Slab Geometry Laser", Laser Focus
{Electro-Optics), vol. 19, No. 9, Sep. 1983.
M. G. Jones and G. Georgalas, "Low Divergence
Beam Processing with a 1.06 Micrometer Total Internal
Reflection Face Pumped Laser", Laser News, vol. 6,
No. 3, May 1984.

Primary Examiner—C. L. Albritton

Attorney, Agent, or Firm—Paul R. Webb, II; James C.

Davis, Jr.

[57] ABSTRACT

High power laser energy for material processing is delivered via a high energy optical fiber to a remote output module carried by an industrial robot. A plural path optical system within the output module focuses the high-energy laser onto the material to be processed, and additionally transmits images for closed-loop robotic control through one or more fiber optic bundles. Thus vision and seam tracking for an industrial robot are integrated with a neodymium: yttrium-aluminumgarnet laser. To provide an interlock which guards against interruption of the high energy optical fiber, a laser transmission sensor is included within the remote module. A wide range of closed-loop laser materials processing operations can be performed, such as cutting, welding, drilling and heat treatment. The processing operations can be performed even on complex, three-dimensional parts.

18 Claims, 4 Drawing Figures