JP2013121612A - Laser beam processing apparatus for resin molded product - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve durability by preventing any damage of a laser beam oscillating means by the mechanical vibration or the like, to output the consistent output laser for a long time to a workpiece, to propagate and output the laser beam of high output to a laser beam machining head; to perform the machining without limitation of any machining form of the workpiece; and to simply achieve machining work by the laser beam while ensuring versatility of the robot itself.SOLUTION: The laser beam output from a laser beam oscillating means is guided to first and second waveguides (29, 43) which are oscillated and turned following arms (9c, 9g) oscillated and turned according to the drive of a robot (9) by first to third free reflection joint means (31, 45, 53), and output to a resin molded product (5) from a laser beam output head (19).

Description

  The present invention relates to a resin molded product that performs various processes such as trimming, deburring, drilling, and cutting with a laser beam output from a laser beam output head provided on an arm of an industrial robot. The present invention relates to a laser beam processing apparatus.

  For example, a laser processing apparatus disclosed in Patent Document 1 is known as a processing apparatus that outputs laser light from a laser light output head provided at an arm tip of an industrial robot and performs a required processing on a workpiece. The laser machining apparatus includes a laser beam machining head mounted on a distal arm that is attached to a proximal arm of an industrial robot and pivotally supported so as to rotate with respect to the proximal arm and the above-mentioned laser beam machining head. The laser beam oscillation means is connected by an optical fiber cable, and laser beam is output from the laser beam machining head to the workpiece to perform a required machining process.

  However, since the laser beam processing apparatus described above has a structure in which the laser beam oscillation unit is attached to the proximal end arm, the durability of the laser beam oscillation unit is reduced due to vibration associated with the rotation of the proximal end arm. There is a problem that it becomes worse and easily damaged in a short time, and it becomes difficult to output a stable output laser to the workpiece for a long period of time. In addition, in an optical fiber cable that propagates laser light to a laser beam machining head, high-power laser beam cannot be propagated, and there is a problem that the machining mode of a workpiece is limited. Yes.

  Further, for example, in the three-dimensional machining system using a laser beam shown in Patent Document 2, an optical fiber cable is built in a robot arm that is rotatably connected, and laser light propagating in the optical fiber cable is converted into a laser beam. The processed part is processed by outputting from the optical output head.

  However, in the above processing system, the laser beam is propagated to the laser beam processing head by the optical fiber cable in the same manner as the above-described processing apparatus of Patent Document 1, and therefore the output of the propagating laser beam is limited. Thus, there is a problem that the processing mode of the workpiece is limited. In addition, since various components such as an optical fiber cable that propagates laser light and a processing lens that converges laser light are provided in the robot arm, when viewed as a processing apparatus, the robot is a dedicated machine as a laser light processing apparatus. Therefore, there is a problem that it is not possible to cope with processing modes other than laser light.

JP-A-5-245681 JP 2011-140047 JP

  The problem to be solved is that the laser beam oscillating means provided on the proximal arm is less durable due to vibration caused by the rotation of the arm, etc., and is easily damaged in a short time. Therefore, it is difficult to output a stable output laser for a long time. Further, in the case of an optical fiber cable that propagates laser light to a laser light processing head, the output of the laser light is limited, so that the processing mode of the workpiece is limited. Furthermore, the robot itself is dedicated to a processing mode using laser light, and cannot be applied to processing modes other than laser light.

  The present invention outputs laser light to a resin molded product held on a main body from a laser light output head provided at the tip of an arm of a robot in which at least two arms are provided to be swingable and rotatable. In a laser beam processing apparatus for a resin molded product that performs a required processing, a laser oscillation unit that oscillates a laser beam having a required output, a direction in which the laser beam output to the laser beam oscillation unit coincides with an optical axis, and First universal reflection joint means that is respectively reflected in the orthogonal direction and is pivotally supported around the axis in each direction, and the first universal reflection joint means for the output end of the laser light oscillation member The base end portion is connected through the robot arm, and the laser beam output from the first universal reflection coupling means is transmitted in alignment with the axis at a length in the longitudinal direction of at least half of the movable distance of the robot arm. The first waveguide and the laser beam propagating in the first waveguide are respectively reflected in a direction orthogonal to and coincident with the optical axis, and are rotatably supported around the axis in the orthogonal direction. The second universal reflective joint means and the base end portion are connected via the second universal reflective joint means, and the second universal reflective joint means has a longitudinal length of at least 1/2 of the movable distance of the robot arm. Provided in the second optical waveguide for propagating the laser light output from the joint means in alignment with the axis, the tip of the second waveguide, and the laser light output head, and output from the second waveguide And a third universal reflection joint means which reflects the laser beam to be reflected in a direction coinciding with the optical axis and in a direction orthogonal to the optical axis and is pivotally supported about the axis in each direction. Following the arm that swings and rotates with it The laser light output from the laser light oscillating means is guided by the first to third universal reflection coupling means to the first and second waveguides that move and rotate, and the resin molded product is output from the laser light output head. The most important feature is that it can be output.

  According to the present invention, the laser beam oscillation means is prevented from being damaged by mechanical vibration or the like to improve durability, and a stable output laser can be output to a workpiece for a long period of time. Further, a high-power laser beam can be propagated and output to the laser beam processing head, and the processing can be performed without being limited to the processing mode of the workpiece. Furthermore, it is possible to easily realize the processing with the laser beam while ensuring the versatility of the robot itself.

It is a perspective view which shows the outline of the laser beam deburring apparatus as a laser beam processing apparatus of a resin molded product. It is a cross-sectional view which shows the state which rotated each reflection part of the 1st universal reflection coupling in planar shape. It is a cross-sectional view which shows the state which rotated each reflection part of the 2nd universal reflection coupling in planar shape. It is a cross-sectional view which shows the state which rotated each reflection part of the 3rd universal reflection coupling in planar shape. It is a perspective sectional view showing a laser beam output head. It is explanatory drawing which shows the state of the 1st and 2nd waveguide when a 1st and 2nd waveguide is bent. It is explanatory drawing which shows the state of the 1st and 2nd waveguide when the 1st and 2nd waveguide expand | extend.

The first to third universal reflection coupling means output the laser light oscillation means to the first and second waveguides that swing and rotate following the arm that swings and rotates as the robot is driven. In the best mode, the laser light is guided to be output from the laser light output head to the resin molded product.

  Hereinafter, the present invention will be described with reference to the drawings showing an embodiment in which the present invention is implemented as a laser beam deburring apparatus that thermally melts and removes burrs at the periphery of a vehicle bumper as a resin molded product by laser beam.

  As shown in FIGS. 1 to 5, a resin molding machine (not shown) is provided in front of the main body 3 (indicated by an arrow A in FIG. 1) of a laser beam deburring apparatus 1 as a laser beam processing apparatus for resin molded products. A holding means 7 is provided for holding the vehicle bumper 5 as a resin molded product taken out from (3) in a positioned state. The holding means 7 supports, for example, a predetermined required position on the back surface of the vehicle bumper 5 and holds a plurality of holding members 7b connected to a negative pressure generating device (not shown) provided at the tip portion. It is comprised by the rod 7a. Each holding rod 7a is movable in the longitudinal direction (also referred to as the left-right direction) and the longitudinal orthogonal direction (also referred to as the front-rear direction) of the main body 3 in order to correspond to various vehicle bumpers 5 having different sizes, shapes, and the like. It is good also as a structure which adsorb | sucks and hold | maintains in the state which positioned the various bumpers 5 for vehicles.

  A robot 9 is disposed behind the main body 3. The robot 9 is built in the base 11 and is a rotation shaft support member 9a that is fixed to the output shaft of a first shaft electric motor (not shown) such as a servomotor having an axis in the vertical direction and rotates. And a second shaft electric motor such as a servo motor which is pivotally supported with respect to the pivot shaft support member 9a and whose base end portion has an axis in the horizontal direction and is fixed to the pivot shaft support member 9a. A first arm 9c fixed to the output shaft of 9b, and pivotally supported by the tip of the first arm 9c so as to be slidable and having an axis in a direction perpendicular to the longitudinal direction of the first arm 9c. An intermediate swing member 9e fixed to the output shaft of a third shaft electric motor 9d such as a servo motor fixed to the distal end portion of one arm 9c, and fixed to the proximal end side of the intermediate swing member 9e, the intermediate pivot shaft A fourth shaft electric motor such as a servomotor having an axis in the longitudinal direction of the support member 9e (see FIG. Constituted by the articulated robot having a base end portion to the output shaft of without) is composed of a second arm 9g fixed.

  In addition to the configuration in which the robot 9 rotates and turns the first and second arms 9c and 9g in the four-axis direction, the robot 9 has a 5-axis direction, a 6-axis direction, and a 7-axis direction according to the processing mode for the resin molded product. A multi-joint structure or a three-axis orthogonal direction structure that pivots and swivels may be used.

  A laser beam output head 19 is fixed to the distal end portion of the second arm 9g through a mounting cylinder 13. A cutout portion 13a is formed on a part of the outer periphery of the mounting cylinder 13 so as to extend around the axis with a required length. In addition, a rotating cylinder 17 is rotatably supported in the mounting cylinder 13 via a bearing 15, and an opening 17 a formed on a part of the outer periphery of the rotating cylinder 17 has an axis line orthogonal to the axis. And the end of the connecting waveguide 21 protruding outside through the notch 13a is fixed so as to communicate with the inside. Further, the reflecting mirror 17b is fixed at an angle of 45 degrees with respect to the axis in the rotating cylindrical body 17 corresponding to the axial center position of the connecting waveguide 21.

The laser beam output head 19 fixed to the tip of the mounting cylindrical body 13 includes a fixed cylindrical portion 19a extending in a direction coinciding with the axis and an output nozzle 19b having a frustoconical side surface extending in the direction orthogonal to the axis. Are integrally formed. In the connection portion between the fixed cylindrical portion 19a and the output nozzle 19b, the reflecting mirror 19c is fixed with an inclination of 45 degrees with respect to the axes of the fixed cylindrical portion 19a and the output nozzle 19b. Further, in the base end portion of the output nozzle 19b, the laser beam is converged to a required beam diameter with respect to a boundary surface with a burr (not shown) integrally formed so as to protrude outward in the vehicle bumper 5. An optical lens 19d is provided.

A mounting stand 23 having a required height is provided behind the main body 3, and a laser oscillation device 25 that outputs laser light in the horizontal direction is provided on the mounting stand 23. The laser oscillation device 25 includes a carbon dioxide laser oscillation device that oscillates a high-power laser beam, a YAG laser oscillation device, or the like.

An output waveguide 27 for propagating and outputting the oscillated laser light in the horizontal direction is attached to the laser oscillation device 25, and the end of the output waveguide 27 has at least a first and an axial direction. A first waveguide 29 having a length in the axial direction that is ½ of the maximum extension distance of the second arms 9a and 9d is attached via a first universal reflection joint 31 as first universal reflection coupling means.

The first universal reflection joint 31 has a connecting cylindrical portion 33 a that has an axis in a direction that matches the laser beam output from the laser oscillation device 25 and is fixed to the end of the output waveguide 27 with the axis aligned. And a first cylindrical reflection portion 33 comprising a reflection mirror 33c that is integrally formed with a bearing cylindrical portion 33b having an axis in an orthogonal direction to the connecting cylindrical portion 33a and is attached to these connecting portions at an angle of 45 degrees; A shaft support cylinder portion 37a having an axis in a direction coinciding with the bearing cylinder portion 33b and rotatably supported via a bearing 35 with respect to the bearing cylinder portion 33b, and a direction orthogonal to the shaft support cylinder portion 37a A bearing cylindrical portion 37b having an axis is integrally formed, and a second reflecting portion 37 comprising a reflecting mirror 37c attached at an angle of 45 degrees to these connecting portions, and a direction coinciding with the bearing cylindrical portion 37b In A shaft support cylinder portion 41a that is rotatably supported via a bearing 39 with respect to the bearing cylinder portion 37b, and a connection cylinder portion 41b that has an axis in a direction orthogonal to the shaft support cylinder portion 41a. The third reflecting portion 41 is formed of a reflecting mirror 41c that is integrally formed and attached to these connecting portions with an angle of 45 degrees.

The proximal end portion of the first waveguide 29 is fixed to the connecting cylindrical portion 41c of the first universal reflection joint 31 with the axis line aligned. Further, at the distal end portion of the first waveguide 29, the second waveguide 43 having an axial direction length of at least 1/2 of the maximum extension distance of the first and second arms 9a and 9d. The proximal end portion is connected via a second universal reflective joint 45 as a second universal reflective joint means.

The second universal reflection joint 45 includes a connecting cylindrical portion 47a connected to the tip end portion of the first waveguide 29 with its axis aligned, and a bearing cylindrical portion 47b having an axis in the direction orthogonal to the connecting cylindrical portion 47a. Are formed integrally, and have a fourth reflecting portion 47 comprising a reflecting mirror 47c attached at an angle of 45 degrees to these connecting portions, and an axis in a direction coinciding with the bearing cylindrical portion 47b. A shaft-supporting cylindrical portion 51a that is rotatably supported via a bearing 49 with respect to the portion 47b, and a connecting cylindrical portion 51b having an axis in a direction orthogonal to the shaft-supporting cylindrical portion 51a are integrally formed and these connections are made. And a fifth reflecting portion 51 composed of a reflecting mirror 51c attached at an angle of 45 degrees to the portion, and the base end portion of the second waveguide 45 is fixed to the connecting cylindrical portion 51b with the axis line aligned. Is done.

The other end portion of the connecting cylindrical body 21 is connected to the distal end portion of the second waveguide 45 via a third universal reflection joint 53 as third universal reflection joint means. The third universal reflection joint 53 includes a connection cylindrical portion 55a having an axis in a direction coinciding with the axis of the second waveguide 45 and fixed to the proximal end portion of the second waveguide 45, and the connection cylindrical portion. A bearing cylindrical portion 55b having an axis in the direction orthogonal to the axis of 55a is integrally formed, and a sixth reflecting portion 55 comprising a reflecting mirror 55c attached at an angle of 45 degrees to these connecting portions, and the bearing cylindrical portion The shaft supporting cylinder portion 59a is rotatably supported via a bearing 57 with respect to the bearing cylindrical portion 55b, and has an axis line orthogonal to the shaft supporting cylindrical portion 59a. The bearing cylindrical portion 59b is integrally formed, and a seventh reflecting portion 59 comprising a reflecting mirror 59c attached at an angle of 45 degrees to these connecting portions, and an axis line in the direction coinciding with the bearing cylindrical portion 59b. The bearing cylindrical portion 59b On the other hand, a shaft supporting cylindrical portion 63a that is rotatably supported via a bearing 61 and a connecting cylindrical portion 63b having an axis in a direction orthogonal to the shaft supporting cylindrical portion 63a are integrally formed, and 45 at these connecting portions. And an eighth reflecting portion 63 including a reflecting mirror 63c attached with an angle of degrees.

  Next, an explanation will be given of the deburring process action of cutting and removing burrs from the periphery of the molded vehicle bumper by the laser beam deburring device 1 configured as described above. The molded vehicle bumper 5 is laser beam deburred. After carrying in to the apparatus 1, the holding rod 7 a is positioned with respect to a required position on the back surface, and is sucked by the suction member 7 b that is in contact with the back surface and is held in a positioned state.

  In the above state, the first to fourth axis electric motors 9b and 9d in the robot 9 are driven and controlled to control the first and second arms 9c and 9g, and the tip of the output nozzle 19b in the laser light output head 19 is for the vehicle. Rotating and swinging with respect to the boundary surface with the burr in the bumper 5 so as to scan along the boundary line with a predetermined angle at which the axis is at the required angle and the laser beam is converged at the required beam diameter. Let

At this time, the laser light output from the laser oscillation device 25 is provided with a first waveguide 29 and a second waveguide provided so as to be rotated by the first universal reflection joint 31 in a direction coinciding with the optical axis and in an orthogonal direction, respectively. The proximal end of the first waveguide 29 is rotated in the direction orthogonal to the optical axis by the universal reflection joint 45, and the distal end of the third universal reflection joint 53 is relative to the laser light output head 19. The light is propagated to the laser light output head 19 through the second waveguide 43 provided so as to rotate in the direction coincident with the optical axis and in the orthogonal direction, and is output to the boundary with the burr in the vehicle bumper 5. . 6 and 7 show the first and second arms 9c and 9g of the robot 9 which are bent and extended following the first and second arms 9c and 9g when the first and second arms 9c and 9g are bent and extended, respectively. The states of the second waveguides 29 and 43 are shown.

As a result, the laser beam converged to a required beam diameter is output to the boundary with the burr in the vehicular bumper 5 and is thermally melted to cut and separate the burr from the vehicular bumper 5.

The above-described first to third universal reflective joints 31, 45, 53 reflect the laser beam as follows, and the optical axes of the first and second waveguides 29, 43 are aligned with the respective axis lines. The laser light is output from the laser light output head 19 by propagating in the state of being caused to occur.

That is, the laser beam output from the laser oscillation device 25 passes through the output waveguide 27 in a state where the axis and the optical axis coincide with each other, and then the reflecting mirror 33c of the first reflecting portion 33 in the first universal reflecting joint 31. Is incident on the second reflecting portion 37 with the axis of the axial cylindrical portion 37a being aligned with the optical axis, and then reflected by the reflecting mirror 37c of the second reflecting portion 37. After the optical axis is aligned with the axis of the support cylindrical portion 41a into the third reflecting portion 41, it is reflected by the reflecting mirror 41c of the third reflecting portion 41 by 90 degrees to be the first guide. It is made to enter into the wave tube 29 in a state where its axis and the optical axis coincide.

At this time, the second reflecting portion 37 is supported by the first reflecting portion 33, and the third reflecting portion 41 is pivotally supported in a state of being orthogonal to the second reflecting portion 37, so that the robot 9, the laser beam is output into the first waveguide 29 in a state where the axis and the optical axis coincide with each other following the swinging and rotation of the first and second arms 9c and 9g around the axis.

Further, the laser light guided in the first waveguide 29 is reflected 90 degrees by the reflecting mirror 47 c of the fourth reflecting portion 47 in the second universal reflecting joint 45 and is axially guided into the fifth reflecting portion 51. After being incident in a state where the axis of the cylindrical portion 51a and the optical axis coincide with each other, it is reflected by 90 degrees by the reflecting mirror 51c of the fifth reflecting portion 51, and the axis and the optical axis are reflected into the second waveguide 43. Incident light is incident.

At this time, since the fifth reflecting portion 51 is pivotally supported with respect to the fourth reflecting portion 47, the laser follows the peristaltic movement of the connecting portions in the first and second arms 9c and 9g in the robot 9. Light is output from the first waveguide 29 into the second waveguide 43 in a state in which the respective axis lines coincide with the optical axis.

Further, the laser beam guided in the second waveguide 43 is reflected 90 degrees by the reflecting mirror 55 c of the sixth reflecting portion 55 in the third universal reflecting joint 53 and is axially guided into the seventh reflecting portion 59. After being incident in a state where the axis of the support cylindrical portion 59 a coincides with the optical axis, it is reflected 90 degrees by the reflecting mirror 59 c of the seventh reflection portion 59 and into the eighth reflection portion 63 of the support cylindrical portion 63 a. After the axial line and the optical axis coincide with each other, it is reflected by 90 degrees by the reflecting mirror 63c of the eighth reflecting portion 63, and enters the connecting waveguide 21 with the axial line and the optical axis coincident with each other. Be made.

At this time, since the seventh reflecting portion 59 is pivotally supported in a state of being orthogonal to the sixth reflecting portion 55 and the eighth reflecting portion 63 is orthogonal to the seventh reflecting portion 59, the robot is supported. 9 follows the swinging and rotation of the first and second arms 9c, 9g in FIG. 9 and the rotation of the laser light output head 19 at the tip of the second arm 9g and the rotation of the laser beam output head 19 around the axis. The laser beam propagating through the tube 43 is output into the laser beam output head 19.

The laser light propagating in the coupling waveguide 21 is reflected by the reflecting mirror 17c and output to the fixed cylindrical portion 19a in a state where the axis and the optical axis coincide with each other, and then reflected by the reflecting mirror 19c and output nozzle. It is output in a state where the axis and the optical axis coincide with each other into 19b. The reflected laser light is converged to a required beam diameter by the optical lens 19d and output from the front end opening of the output nozzle 19b to the boundary with the burr in the vehicle bumper 5. As a result, it is output to the boundary with the burr in the vehicle bumper 5, the boundary portion is melted by heat, and the burr is cut and separated from the vehicle bumper 5 to perform the deburring process.

In addition, since the laser beam output head 19 is fixed, the laser beam output head 19 follows and rotates as the first and second arms 9c and 9g of the robot 9 rotate and swing. In this example, in the mounting cylinder 13 to which the laser light output head 19 is mounted, the rotating cylinder 17 to which the end of the connecting waveguide 21 is fixed is within the range of the width around the notch 13a. The rotation of the laser beam output head 19 is made possible by rotating.

In the present embodiment, the first and second arms 9c and 9g of the robot 9 are bent and extended, or the burr formed integrally with the periphery of the vehicle bumper 5 by melting around the axis is melted by laser light. During the cutting and removing process, the first and second waveguides 29 and 43 are bent and extended following the bending and extension of the first and second arms 9c and 9g and the rotation around the axis, or the axis The laser beam can be rotated around to propagate the laser beam to the laser beam output head 19 to execute a required process. For this reason, it is possible to realize various types of processing of the resin molded product by the laser beam only by adding the first and second waveguides 29 and 43 to the existing robot 9, and the equipment cost can be reduced.

In the above description, the laser light output head 19 is provided so as to rotate about the axis with respect to the tip of the second arm 9g. However, the axis of the second arm 9g extends in the direction coinciding with the longitudinal direction. And an electric motor having an axis in a direction perpendicular to the longitudinal direction is attached to the output shaft of the electric motor, and an output of the electric motor is provided. A laser light output head 19 may be attached to the shaft, and the laser light output head 19 may be rotated and swung as each electric motor is driven.

In the above description, the resin molded product is described as the vehicle bumper 5. However, in the present invention, the resin molded product is not limited to the above, and various resin molded products that can be processed by laser light are used. Can be implemented. In the above description, the laser light deburring device that removes the burr integrally formed on the outer edge of the vehicle bumper 5 made of synthetic resin by melting and cutting with a laser beam has been described as an example. The present invention can also be implemented in various processing apparatuses that perform various processes such as trimming, cutting, and punching processes on the product with the heat of laser light.

DESCRIPTION OF SYMBOLS 1 Laser beam deburring apparatus 3 as a resin molded product processing apparatus 5 Main body 5 Bumper for vehicles as resin molded product 7 Holding means 7a Holding rod 7b Adsorption member 9 Robot 9a Rotating shaft support member 9b Second shaft electric motor 9c Arm 9d Third shaft electric motor 9e Intermediate swing member 9g Second arm 11 Base 13 Mounting cylinder 13a Notch 15 Bearing 17 Rotating cylinder 17a Reflector 19 Laser light output head 19a Fixed cylinder 19b Output nozzle 19c Reflection Mirror 19d Optical lens 21 Connecting waveguide 23 Mounting stand 25 Laser oscillation device 27 Output waveguide 29 First waveguide 31 First universal reflection joint 33 as first universal reflection joint means First reflection section 33a Connection cylinder Portion 33b Bearing cylindrical portion 33c Reflective mirror 35 Bearing 37 Second reflecting portion 37a Shaft support cylindrical portion 37b Bearing cylindrical portion 37c Reflection 39 Bearing 41 Third reflecting portion 41a Shaft supporting cylindrical portion 41b Connecting cylindrical portion 41c Reflecting mirror 43 Second waveguide 45 Second universal reflecting joint 47 as second universal reflecting joint means Fourth reflecting portion 47a Connecting cylindrical portion 47b Bearing Cylindrical portion 47c Reflective mirror 49 Bearing 51 Fifth reflective portion 51a Axial support cylindrical portion 51b Connection cylindrical portion 51c Reflective mirror 53 Third universal reflection joint 55 as third universal reflection joint means Sixth reflection portion 55a Connection cylindrical portion 55b Bearing cylinder Part 55c Reflective mirror 57 Bearing 59 Seventh reflective part 59a Axial support cylindrical part 59b Bearing cylindrical part 59c Reflective mirror 61 Bearing 63 Eighth reflection part 63a Axial support cylindrical part 63b Connection cylindrical part 63c Reflective mirror

Claims (6)

A laser beam is output to a resin molded product held on the main body from a laser beam output head provided at the tip of the arm of a robot in which at least two arms are provided so as to be able to swing and rotate. In a laser beam processing apparatus for resin molded products,
Laser oscillation means for oscillating a laser beam having a required output;
The first universal reflection joint that reflects the laser beam output to the laser beam oscillation means in the direction coincident with the optical axis and in the orthogonal direction and is pivotally supported around the axis in each direction. Means,
A base end portion is connected to the output end of the laser beam oscillation means via the first universal reflection coupling means, and has a longitudinal length of at least 1/2 of the movable distance of the arm of the robot. A first waveguide for propagating the laser beam output from the universal reflection coupling means in alignment with the axis;
A second universal reflection coupling means for reflecting the laser light propagating in the first waveguide in a direction orthogonal to and coincident with the optical axis and pivotally supported around an axis in the orthogonal direction; ,
The base end portion is connected via the second universal reflection joint means, and the laser beam output from the second universal reflection joint means is at least half the length of the movable distance of the robot arm. A second optical waveguide propagating along the axis;
Provided at the tip of the second waveguide and the laser light output head, the laser light output from the second waveguide is reflected in the direction coincident with the optical axis and in the orthogonal direction, and in each direction. A third universal reflection joint means pivotally supported so as to be rotatable about an axis,
And a laser beam oscillation means by the first to third universal reflection coupling means for the first and second waveguides that swing and rotate following the arm that swings and rotates as the robot is driven. Laser beam processing device that can guide the laser beam output from the laser beam and output it from the laser beam output head to the resin molded product 2. The first universal reflection coupling means according to claim 1, wherein the first reflection part means outputs the laser beam outputted from the laser oscillation means in the direction orthogonal to the optical axis, and outputs from the first reflection part to the first reflection part. The second reflection unit and the second reflection unit are supported so as to be rotatable around the optical axis of the reflected laser beam and reflect the reflected laser beam output from the first reflection unit in a direction orthogonal to the optical axis. The reflection laser beam output from the second reflection unit is supported so as to be rotatable around the optical axis, and the reflection laser beam output from the second reflection unit is reflected in the direction orthogonal to the optical axis to be within the first waveguide. A laser beam processing apparatus for a resin molded product constituted by a third reflecting portion that outputs a light beam with its axis parallel to the optical axis. 2. The second universal reflection coupling means according to claim 1, wherein the second reflection coupling means reflects the laser beam propagated by the first waveguide in the direction orthogonal to the optical axis from the fourth reflection unit with respect to the fourth reflection unit. The output reflected laser light is supported so as to be rotatable around the optical axis, and the reflected laser light output from the fourth reflecting portion is reflected in a direction orthogonal to the optical axis so as to enter the second waveguide. A laser beam processing apparatus for a resin molded product constituted by a fifth reflecting section that outputs the same in the same manner. 3. The sixth reflective portion according to claim 1, wherein the third universal reflective joint means reflects the laser beam propagated by the second waveguide in a direction orthogonal to the optical axis and the sixth reflective portion. The seventh and seventh reflecting parts are supported so as to be rotatable around the optical axis of the reflected laser light output from the sixth reflecting part and reflect the reflected laser light output from the sixth reflecting part in the direction orthogonal to the optical axis. On the other hand, it is supported so as to be rotatable around the optical axis of the reflected laser beam output from the seventh reflecting portion, and the reflected laser beam output from the seventh reflecting portion is reflected in the direction orthogonal to the optical axis to output the laser beam. A laser beam processing apparatus for a resin molded product constituted by an eighth reflecting section for outputting an axis and an optical axis in the head. 5. The laser light processing of a resin molded product according to claim 1, wherein the laser light output head is rotatably provided around the longitudinal direction of the second arm by an electric motor provided at the tip of the second arm. apparatus. 6. The laser light processing apparatus for a resin molded product according to claim 5, wherein the laser light output head is provided so as to be swingable by driving an electric motor having an axis in a direction orthogonal to the longitudinal direction of the second arm.

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