JPS6368289A - Laser beam machining robot - Google Patents

Abstract

PURPOSE:To enlarge the movable range of a nozzle tip by providing the hollow pipe parallel to a finger tip rotary shaft, arranging a projecting nozzle via an optical system on the tip thereof and rotating this nozzle around the hollow pipe shaft core. CONSTITUTION:A shaft 51 is linked with the finger tip rotary shaft of a robot and supported as well freely rotatably on a base 55 via a bearing. The hollow pipe 43 parallel to the finger tip rotary shift is provided via bearings 56a, 56b on the base 55, and a corner cube 44, nozzle 45 are fitted to the tip. With this mechanism a projecting nozzle 45 is rocked and rotated with the rotary movement of the wrist bending shaft and finger tip rotary shaft of the robot. Since the interference between robot laser light transfer devices due to the position variation of the nozzle 45 can completely be eliminated, the movable range at the tip of the nozzle 45 is enlarged.

Description

DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a laser processing robot comprising an industrial robot and a laser beam transmission device.

(Prior Art) An optical transmission device that transmits laser light to the tip of an industrial robot's wrist is composed of a corner cube housing a mirror and a hollow pipe connected between the corner cubes.

Among these components, the corner cube is connected to the mirror housing 23 by bearings 21a, 21b, etc. as shown in FIG.
It consists of a hollow shaft 22 rotatably supported by a mirror 24 and a mirror 24 housed in a mirror housing 23. The corner cube reflects the incident light at right angles by the mirror 24 and has a degree of freedom of rotation around the axis of the incident light or reflected light, and the corner cubes are combined to form a bendable optical transmission device.

FIG. 5 shows the configuration of a conventional optical transmission device for an industrial robot having an external laser beam transmission device and the industrial robot.

From the bender 1, which is the laser beam extraction port, to the first and second corner cubes 2, 3. 1st pipe 4, 3rd degree, 4th corner cube 5, 6. Robot arm 20 via second pipe 7
The fifth to seventh corner cubes 8 to 10 supported at the top are connected. Furthermore, the third pipe 11, the eighth pipe 11, The 10th to 12th corner cubes 15 supported by the robot wrist via the 9th corner cube 12.13 and the 4th pipe 14
17 are connected. A nozzle 19 is attached to this end via a thirteenth corner cube 18.

The position and posture of the nozzle at the tip of the laser processing robot's wrist are based on the robot's arm rotation (one axis).

Arm front and back (■ axis), arm up and down (■ axis), wrist bending (
It is determined by the movement of 5 axes: (■ axis), hand rotation (V axis).

(Problems to be Solved by the Invention) In the above method, the 12th rotation movement about the two hand axes of the robot. 13th corner cube 17.18 and nozzle 1
9 works together to rotate around axis 2.

At this time, the 11th . 10th corner cube 16.15, 4th pipe 14. 9th. The eighth pipe 13.12 and the third pipe 11 move together around the axis 2. On the other hand, the sixth pipe whose end is attached to the third pipe 11. The seventh corner cubes 9 and 10 are attached to the robot arm 20, and the laser beam transmission device, which has a degree of freedom in swinging from the sixth corner cube to the nozzle 19, has one side fixed to the robot arm 20 and the other side fixed to the robot arm 20. It is fixed to the rotatable robot hand rotation axis. Therefore, as the nozzle rotates by the robot hand rotation axis, the optical transmission device becomes entangled with the robot body, resulting in interference between the two, and if this is avoided, the movable range of the nozzle tip is limited.

Therefore, the challenges are to eliminate interference between the robot and the optical transmission device and to expand the movable range of the nozzle tip.

SUMMARY OF THE INVENTION An object of the present invention is to obtain a laser processing robot having a wide nozzle tip movable range without interference between the robot, an optical transmission device, and the optical transmission devices.

[Structure of the invention]

(Means for solving the problem) A laser beam is fixed in parallel to the robot arm 46 at the end of a swingable optical transmission device extending from the bender 31, which is the laser extraction port, to the optical system 39 supported by the robot arm 46. A pipe 40 is attached, and optical systems 41 and 42 that can swing freely on the wrist bending axis are attached to the end thereof, and an optical system 44 that bends the optical axis at right angles thereto and guides it to the irradiation nozzle 45 is attached. Install.

A drive system branched from the hand rotation axis is provided to rotate the irradiation nozzle 45 independently around the hollow pipe axis parallel to the hand rotation axis.

(Function) The position and posture of the nozzle at the end of the wrist of an industrial robot are determined by the robot's arm rotation (I axis), arm forward and backward (■ axis), arm up and down (■ axis), wrist bending (■ axis), hand axis rotation ( ■Axis)
This is determined by the five degrees of freedom of rotation around an axis parallel to this drive system, which is branched from the drive system.

The rotational movement of the robot around the wrist bending axis (IV axis) becomes a rotational movement β of the corner cube 42 via the base 55, and turns into a swinging movement of the nozzle 45 about this axis.

On the other hand, the robot's hand rotation @ (rotational motion around the V axis) ρ
51, sprocket 52, chain 58,
Sprocket 57, hollow pipe 43 parallel to the hand rotation axis
The nozzle rotates around this axis via φ.

(Example) Hereinafter, one embodiment of the present invention will be described based on the drawings.

As shown in FIG. 1, the laser beam transmission device includes a vendor 31,
1st. 2nd corner cube 32, 33, 1st pipe 34
, 3rd. 4th corner cube 35.36, 2nd pipe 3
7. 5th and 6th corner cubes 38 and 39 fixed to the side of the robot arm, a third pipe 40 located parallel to the arm, and a seventh corner cube with the same rotation axis as the robot's wrist bending axis.
．． It consists of an eighth corner cube 41, 42, a fourth pipe 43 located parallel to the hand rotation axis, a ninth corner cube 44 located coaxially with this, and a laser irradiation nozzle 45 located perpendicular to the hand rotation axis.

In FIGS. 2 and 3, which are enlarged views of the wrist portion of FIG. 1, a shaft 51 is connected to the hand rotation axis of the industrial robot, and a sprocket 52 is attached to this shaft 51. The shaft 5X is rotatably supported by a base 55 fixed to the robot wrist flange 54 via bearings 53a and 53b. Furthermore, the base 55 has a bearing 56.
A hollow pipe 43 to which a sprocket 57 is fixed is rotatably supported via sprockets 56a and 56b. A corner cube 44 on which a mirror is mounted is fixed to the end of this pipe 43, and a nozzle 45 is further attached.

In addition, the base 55 includes a rotatable corner cube 41,
42 is attached, and at the end of the corner cube 41 there is a hollow pipe 40 fixed to the robot arm 46 with a member 59.

Next, the operation of this embodiment will be explained. Robot wrist bending axis (
■The rotational movement around the wrist bending axis is achieved by the degree of freedom of rotation of the corner cube 41 which can swing freely on the wrist bending axis, and the base 5 is fixed to the wrist flange 54 at the tip of the robot arm 46.
5, the wrist flange 54, base 55,
The nozzle 45 and the like swing together around the wrist bending axis.

On the other hand, the rotation of the hand rotation axis (■ axis) of the robot arm 46 is a rotational movement of the shaft 51 rotating around the rotation axis of one hand and the splot 52 fixed to the shaft, and this is rotated through the chain 58 to the other one. The rotation is transmitted to the sprocket 57, and the hollow pipe 43, which is fixed to the sprocket and located parallel to the wrist rotation axis, and the nozzle 45, which is fixed to the hollow pipe 43, are rotated about the axis of the hollow pipe.

As described above, in this embodiment, the third pipe 40 is connected to the robot arm 4.
6, the eighth corner cube 42 is arranged so as to have the same rotation axis as the wrist bending axis of the robot, and the fourth pipe 43 is positioned parallel to the hand rotation axis. Shaft 51. Sprocket 5
2, and the fourth pipe 43, corner cube 44.2 is driven via the chain 58. When the nozzle 45 or the like is rotated about the axis of the hollow pipe, no interference occurs between the nozzle and other optical transmission devices due to the rotation of the hand axis, and the nozzle can be freely rotated about this axis.

In this embodiment, the rotational motion is transmitted by a sprocket and a chain, but gears, pulleys, a timing belt, etc. may be used.

〔Effect of the invention〕

As described above, according to the laser processing robot of the present invention.

The nozzle is swung by rotational movement around the wrist bending axis and hand rotation axis of the industrial robot, and the laser beam is transmitted to the nozzle by a corner cube with incident light coaxial or parallel to these two axes, and the laser beam is transmitted between the corner cubes. Since the hollow pipe is configured parallel to the arm or hand rotation axis, interference between the laser beam transmission device and the industrial robot body and laser beam transmission device due to changes in nozzle posture can be eliminated, and the movable range of the nozzle tip has been expanded. You can get a laser processing robot.

[Brief explanation of drawings]

5 is a sectional view of a laser beam reflection unit called a corner cube, and FIG. 5 is a configuration diagram of a conventional laser processing robot. 46... Robot arm 45... Nozzle 55.
...Base 40...Hollow pipe 43...
・Hollow Pipe Agent Patent Attorney Nori Chika On Yudo Hirofumi Mitsumata Figure 1 Figure 3 Figure 4 Figure 5 Prisoner

Claims (1)

[Claims] In a laser processing robot that is equipped with a transmission device that transmits laser light to a nozzle supported at the tip of an industrial robot that has multiple degrees of freedom for determining position and orientation, the laser beam transmission path is connected to an arm. A hollow pipe is fixed parallel to the hand, an optical system is swingable on the wrist bending axis, a hollow pipe is connected to this and parallel to the hand rotation axis, and the optical axis is bent at right angles to this at the tip. and an optical system that guides the irradiation nozzle to the irradiation nozzle, and is characterized by having a drive system branched from the hand rotation axis that rotates the irradiation nozzle independently around a hollow pipe axis parallel to the hand rotation axis. processing robot.