Flexible and local laser shroud

Patent metadata

Field	Value
Publication number	US-10328530-B2
Application number	US-201615277917-A
Country	US
Kind code	B2
Filing date	Sep 27, 2016
Priority date	Sep 27, 2016
Publication date	Jun 25, 2019
Grant date	Jun 25, 2019

Abstract

Systems and methods according to one or more embodiments are provided for a flexible and local laser shroud that conforms to a contoured work surface and confines laser light energy from a laser end effector to the work surface. In one example, a system includes a laser end effector coupled to a robotic arm to provide laser light energy to a work surface. The system also includes a shroud coupled to the end of the robotic arm and extending to the work surface. The system further includes, as part of the shroud, a flexible laser light seal to conform to the work surface to substantially prevent the laser light energy from passing between the shroud and the work surface as the laser end effector travels along the work surface.

First claim

What is claimed is:

1. A system comprising:
a laser end effector coupled to a robotic arm and configured to provide laser light energy to a work surface; and
a shroud coupled to an end of the robotic arm and extending to the work surface, wherein the shroud comprises a flexible laser light seal configured to conform to the work surface to substantially prevent the laser light energy from passing between the shroud and the work surface as the laser end effector travels along the work surface.

2. The system of claim 1 , wherein the shroud further comprises bellows having a plurality of folds coupled between a plurality of flexible support rings on a first portion of the bellows to provide a bendable support to the shroud at the flexible laser light seal.

3. The system of claim 2 , wherein the plurality of folds are a first plurality of the folds, and wherein the bellows further comprise a second plurality of the folds coupled between a plurality of rigid support rings on a second portion of the bellows to provide a deflection stiffness to the shroud at the end coupled to the robotic arm.

4. The system of claim 1 , wherein the flexible laser light seal comprises:
a first row of segmented angled brushes angled in a first direction, coupled to an outer edge of the shroud, and configured to be flexibly attached to an outer perimeter of the shroud; and
a second row of segmented angled brushes angled in an opposite direction to the first row, coupled to an inner edge of the shroud, positioned adjacent to the first row of segmented angled brushes, and configured to be flexibly attached to an inner perimeter of the shroud.

5. The system of claim 4 , further comprising an opaque material disposed between the first and second rows of segmented angled brushes to prevent the laser light energy from passing through the shroud.

6. The system of claim 4 , wherein the second row of segmented angled brushes are angled inward to provide a smaller orifice at the end conforming to the work surface.

7. The system of claim 1 , further comprising an ambient light sensor coupled within the shroud and configured to detect ambient light when the shroud extends beyond an edge of the work surface and/or allows ambient light to enter the shroud.

8. The system of claim 7 , further comprising a failsafe device coupled to the ambient light sensor and configured to stop the laser end effector from providing laser light energy when the ambient light is detected within the shroud.

9. The system of claim 1 , further comprising a vacuum device coupled to the robotic arm and configured to form a suction within the shroud to remove debris and/or maintain the shroud in conformance with the work surface.

10. The system of claim 1 , further comprising a shroud shape, wherein the shroud shape is configured as a rectangle, a square, a circle, and/or a triangle.

11. The system of claim 1 , wherein the laser end effector is maintained substantially perpendicular to the work surface.

12. A method of assembling the system of claim 1 , the method comprising:
coupling the shroud to the end of the robotic arm, wherein the coupling comprises a light tight seal to prevent laser light energy emission around the seal; and
adjusting the flexible laser light seal at the end of the shroud to conform to the work surface to substantially prevent the laser light energy from passing between the shroud and the work surface as the laser end effector travels along the work surface.

13. A method comprising:
turning on a laser end effector coupled to a robotic arm;
lasing a work surface by the laser end effector;
moving the laser end effector along the work surface by the robotic arm; and
confining laser light energy from the laser end effector to the work surface with a shroud coupled to the robotic arm.

14. The method of claim 13 , wherein the moving of the laser end effector comprises programming the robotic arm to determine an edge of the work surface to stop the shroud from extending beyond the edge of the work surface.

15. The method of claim 13 , further comprising detecting ambient light when the shroud extends beyond an edge of the work surface and/or when ambient light enters the shroud.

16. The method of claim 15 , wherein the detecting comprises stopping the laser end effector from lasing and/or moving the laser end effector when the ambient light is detected within the shroud.

17. The method of claim 13 , wherein the confining comprises selecting a shroud shape configured as a rectangle, a square, a circle, and/or a triangle as determined by a contour of the work surface.

18. The method of claim 13 , wherein the shroud comprises a flexible laser light seal comprising:
a first row of segmented angled brushes angled in a first direction, coupled to an outer edge of the shroud, and configured to be flexibly attached to an outer perimeter of the shroud; and
a second row of segmented angled brushes angled in an opposite direction to the first row, coupled to an inner edge of the shroud, positioned adjacent to the first row of segmented angled brushes, and configured to be flexibly attached to an inner perimeter of the shroud;
wherein the flexible laser light seal conforms to the work surface at an end of the shroud to substantially prevent laser light energy from passing between the shroud and the work surface, as the laser end effector travels along the work surface.

19. The method of claim 18 , wherein the shroud comprises an opaque material disposed between the first and second rows of segmented angled brushes to prevent the laser light from passing through the shroud.

20. The method of claim 18 , wherein the second row of segmented angled brushes are angled inward to provide a smaller orifice at the end of the shroud conforming to the work surface.

Assignees

• Boeing Co

Inventors

• Krajca Scott E
• Wessells Cooper A

Classifications

• B25J19/0075

  Means for protecting the manipulator from its environment or vice versa · CPC title

• B23K26/0884

  in at least three axial directions, e.g. manipulators, robots · CPC title

• B23K26/142

  for the removal of by-products · CPC title

• B23K26/706 Primary

  Protective screens · CPC title

• B23K37/006

  Safety devices for welding or cutting · CPC title