JP2559859B2 - Polar coordinate multi-degree-of-freedom laser robot - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a polar coordinate type industrial robot, and particularly to various processes such as welding, cutting, and drilling in a three-dimensional space using energy of laser light. The present invention relates to a polar coordinate type multi-degree-of-freedom laser robot capable of performing a desired position or along a desired trajectory.

[Conventional technology]

It is well known in the art to utilize laser light energy for welding metal work, cutting plastic work not limited to metal, deburring molded products, drilling, etc. Articulated robot,
The end effectors of other industrial robots, that is,
The laser output device attached to the tip of the robot wrist is emitted, and the laser output device is displaced in the three-dimensional space by the operation mechanism of the robot, thereby concentrating energy at the desired processing portion and performing the desired processing operation. Many laser robots have been proposed and provided.

[Problems to be solved by the invention]

However, as it becomes an industrial robot with a high degree of freedom of movement including the conventional articulated laser robot, the laser inside the robot body is passed from the external laser light source through the laser light conduit path outside the robot body. A large number of laser light reflection mirrors are used to change the course of the laser light in the process of introducing light and guiding it to the laser light output device at the tip of the wrist via the operating mechanism part such as the joint part. As the number of laser light mirrors increases, the energy loss of the laser light increases and the desired energy level cannot be obtained at the time of emission. The adjustment work to accurately guide the laser light output device through the conduit is extremely difficult and complicated, and the manufacturing and maintenance of the laser robot is Problem to be solved, such as the point that is difficult to have been generated in the large. As industrial laser robots that have dealt with such a problem to be solved, various laser robots such as Japanese Patent Application No. 63-259,414 according to the prior application of the present applicant have already been provided.

However, it is highly functional in the action of a robot having as many motional degrees of freedom as possible in a three-dimensional space, and it minimizes laser light energy loss in a laser photophysical system such as a laser light conduit. To provide a structure capable of emitting high laser light energy and facilitating adjustment work such as optical axis alignment of the laser light reflection mirror in the laser photophysics system in the manufacturing process and maintenance process of the laser robot. Is still strong. Therefore, the present invention intends to provide an industrial laser robot having a high degree of freedom that can meet such a demand.

Another object of the present invention is to reduce the number of laser light reflecting mirrors used as much as possible so that a laser light of high energy level can be obtained from a robot exit and a high degree of freedom of movement in a three-dimensional space. It is intended to provide an operating mechanism of a laser robot that can be equipped with.

Further, the present invention is to provide a multi-degree-of-freedom industrial laser robot having a structure capable of preventing contamination of the laser beam reflecting mirror as much as possible.

[Solution]

In view of the above-mentioned object of the invention, the present invention provides an arm for a robot column having a degree of freedom of rotation about a certain axis with respect to a robot base, with respect to the degree of freedom of elevation and the axis of elevation. A linear multi-DOF robot actuating mechanism having a linear sliding degree of freedom along an axis line in the longitudinal direction orthogonal to each other, and further having a turning degree of freedom around two orthogonal axis centers at the tip of this arm. A laser beam which forms a robot body having a plurality of laser beam reflecting mirrors, one in the robot column in the robot body, one in the arm, and two on the wrist. This is a laser robot equipped with an academic system. That is, more specifically, the present invention has a robot base, a robot column having a degree of freedom capable of turning with respect to the robot base, and a degree of freedom capable of being turned up and down with respect to the robot column. And has a shape extending in the longitudinal axis direction orthogonal to the axis line of the elevation and rotation, and has a degree of freedom capable of linear displacement with respect to the robot column along the longitudinal axis. Arm and a wrist portion provided at the tip of the arm and having two degrees of freedom of rotation about a first wrist axis coaxial with the longitudinal axis of the arm and a second wrist axis orthogonal to the first wrist axis. A polar coordinate type robot actuating mechanism, a first laser light mirror provided in the robot column on the column rotation axis and receiving and reflecting laser light from outside the robot body, and the first laser light mirror. Leh Reflecting the laser beam reflected from the optical mirror toward the laser beam conduit line provided in the arm, first provided in elevation axis of the arm to direct 2
Laser light mirror, and a third laser light mirror provided on the first wrist axis (γ) in the wrist, for receiving and reflecting the laser light traveling through the laser light conduit in the arm, A fourth laser light mirror provided on the second wrist axis line at the tip of the wrist to receive and collect the laser light reflected from the third laser light mirror to form a laser output light. The present invention provides a polar coordinate type multi-degree-of-freedom laser robot including a laser light guide optical mechanism. Hereinafter, the present invention will be described in more detail with reference to the embodiments shown in the accompanying drawings.

〔Example〕

FIG. 1 is a perspective view showing the external structure of a polar coordinate type multi-degree-of-freedom laser robot according to an embodiment of the present invention and the axes of motion of the multi-degree-of-freedom (5 degrees of freedom), and FIG. FIG. 3 is a side view showing an example of the laser beam entering the laser robot and the arrangement of a robot column and an arm, and FIG. FIG. 5 is a partial cross-sectional view showing an operating mechanism for the pivoting movement of the robot column, FIG. 5 is a plan view of the operating mechanism, FIG. 6 is a side view of the operating mechanism for the elevation / lowering pivot movement of the arm of the laser robot, and FIG. FIG. 7B is a schematic perspective view and a mechanical view for schematically explaining the operation mechanism of the elevation / lowering motion of the arm, FIG. 8 is a cross-sectional view of the arm portion of the robot, and FIG. 9 is a linear slide of the arm. Fig. 10 is a schematic mechanism diagram for explaining the operating mechanism, and Fig. 10 shows the wrist section of the laser robot. Figure, FIG. 11 a partial enlarged sectional view showing the actuation mechanism of the two pivoting operation of the wrist, 12
The figure is an exploded perspective view showing the gears taken out to illustrate the structure of the gear mechanism in the wrist actuation mechanism.

Referring to FIG. 1, a polar coordinate type multi-degree-of-freedom laser robot according to the present invention includes a robot base 10 and a robot base 10.
Robot Coral 30, which is upright on 10 and can swivel around the vertical axis (θ axis), can be swiveled around a horizontal axis (W axis) that is supported near the upper end of the robot column 30 and is orthogonal to the above vertical axis. And the longitudinal axis (R
Axis 50 and is linearly slidable in the same longitudinal axis (R axis) direction as will be described later. The arm 50 is mounted on the front end of the arm 50 and is coaxial with the R axis. Around the first axis (γ axis) having
2 around the second axis (β axis) orthogonal to the axis)
It has a robot body structure including a wrist 70 having a degree of freedom of rotation around an axis, and a laser light output device 90 attached to the tip of the wrist 70. Then, to this laser robot body, laser light guided from an external laser light source (not shown) via an external laser light conduit is introduced from above the robot column 30 as an example.
A first laser light mirror 10 arranged in the body as described later.
0, the second laser light mirror 102, the third laser light mirror 104,
After the laser light reflection and condensing system of the fourth laser light mirror 106 and the internal laser light conduit are passed through, a laser light dynamics system which is emitted from the laser light output device 90 as a desired laser processing beam is provided. Has been formed. In other words, the laser robot according to the present invention has a movement function of 5 degrees of freedom and can aim the emission port of the laser light output device 90 at a desired position in the three-dimensional space. The emission port of the laser light output device 90 can be displaced at the same time as the aiming along a desired locus, and at the same time, the degree of freedom is reduced as described above.
A laser photodynamic system is configured by using one laser light mirror 100 to 106, and has a structure in which the loss of laser light energy in the reflection mirror portion is reduced as much as possible. In addition,
As will be described later, the laser beam is emitted from the robot column 30 as described above.
According to the present invention, the laser light entrance is provided on the side of the robot base 10 instead of being introduced into the robot body from above. It is also possible to realize a method of use in which the laser light output device 90 is attached to the suspension structure and is aimed at the processing site from the upper space.

In FIG. 1, reference numeral 40 denotes a robot wiring system, which is not directly related to the present invention.

Next, 5 of the polar coordinate type multi-degree-of-freedom laser robot of the present embodiment will be described.
The actuating mechanism for driving the degree of freedom operation and the laser photodynamics system for guiding the laser light from the inlet to the outlet of the laser light output device 90 in the robot body will be sequentially described.

First, referring to FIG. 2 and FIG. 3 together with FIG. 1, the robot base 10 has a robot column 30 to be described later inside, and the above-mentioned vertical axis (θ axis) by a drive motor Mθ attached to the robot base 10. ) Swiveling mechanism 12 that swivels around
It is built in. The specific structure and operation of the swivel mechanism 12 will be described later, but the swivel mechanism 12 of the robot column 3 is structurally a hollow structure that forms a hollow path communicating from the base 10 to the robot column 30. It is formed as a mechanism having an internal electric wiring 42 and a piping path for a cooling fluid or the like as shown in FIG.
The support member 32 projects to the side of the robot column 30,
The support member 32 includes a elevation / rotation drive motor Mw for driving the elevation / reverse movement of the arm 50, and this elevation / reverse rotation drive motor Mw.
A ball screw shaft (34) of an arm elevation / revolution mechanism rotatably operated by Mw is pivotally held via a rotary bearing.
The operating mechanism of these elevation / reverse turning motions will be described later.

Now, inside the robot column 30, the above-mentioned first laser light mirror 100 receives the laser light incident from the laser light guide entrance 108 above the same column and reflects and changes the course at a substantially right angle. It is fixedly arranged via an appropriate fixing means. The laser light whose course has been changed by the first laser light mirror 100 is arranged in the arm 50, and is rotated around the same elevation / reverse rotation axis (W axis) in synchronization with the elevation / reverse rotation operation of the arm 50 to generate the laser light. A second laser light mirror 102 that constantly advances to the laser light conduit 52 in the arm 50 is provided with its optical axis aligned with the W axis. Where the laser light conduit
Reference numeral 52 denotes a telescopic structure of expansion and contraction. One end of the first laser light conduit 52a is connected to the second laser light mirror 102 and the other end thereof is the second laser light conduit. Five
It is slidably fitted in 2b. Further, the tip side of the second laser light conduit 52b extends to the wrist side so as to guide the laser light to the third laser light mirror 104 provided on the wrist 70. That is, when the arm 50 slides in a straight line, the first and second laser light conduits 52a and 52b relatively slide relative to each other, forming a straight path of the laser light.

A wrist 70 is attached to the tip region of the arm 50 in the robot body.
Drive motors Mγ and Mβ for driving the two turning operations of the above, that is, the turning around the γ-axis and the β-axis, are mounted, and these drive motors Mγ and Mβ are arranged in the outer periphery of the laser light conduit 52 with an isolation structure. 2 and 3, the wrist 70 is actuated by a gear transmission (not shown in FIGS. 2 and 3) to impart a two-degree-of-freedom motion to the wrist 70. And wrist 70
A laser light conduit 72 in the wrist (FIG. 10) connected to the laser light conduit 52 of the arm 50 described above is provided substantially in the center of the inside of the arm. It is connected to the laser light mirror 104. Third laser light 104 is wrist
Since it is arranged on the γ-axis of 70, even when the wrist 70 is turning around the γ-axis, the laser light is reflected in a certain direction, and the fourth laser light mirror 106 is provided in front of this certain direction.
Is formed into a parabolic mirror to form a mirror that reflects and collects laser light. Fourth laser light mirror 10
The laser light reflected and condensed by 6 is emitted from the laser beam emitting port 92 at the tip of the laser light output device 90.

As described above, when the laser light is introduced from below the robot base 10, the first laser light mirror 100 described above is used.
Is located at a fixed position rotated by 90 ° from the practical position shown in FIG. 3 by the broken line in FIG.
The laser beam 102 can reflect and direct the laser beam in exactly the same manner as in the present embodiment. With such an arrangement, it is possible to mount the so-called robot on the ceiling.

Next, referring to FIG. 4 and FIG. 5, the turning motion of the robot column 30 built in the robot base 10 around the vertical axis (θ axis), that is, the turning motion of the first degree of freedom of the robot. A detailed structural example of the mechanism 12 is shown. The swivel mechanism 12 rotates the drive pulley 14, particularly the toothed drive pulley 14 by the rotational force output from the swivel drive motor Mθ mounted on one end of the robot base 10, and the toothed pulley 14
, The two driven pulleys 18a, 18b are rotationally driven by the first and second toothed belts 16a, 16b, and the two driven pulleys 18a, 18b respectively drive the pinions 20a, 20b held coaxially. . These pinions 20a and 20b are mounted on the lower end of the robot column 30 via a precision rotary bearing, for example, a well-known cross roller bearing 24 so as to be rotatable about a vertical axis (θ axis) at two positions of a ring gear 22. The ring gear 22 is engaged with the ring gear 22 at the same time. In this way, when the two pinions 20a and 20b are meshed with the two positions of one ring gear 22 and the rotational driving force in the same direction is transmitted at the same time, the rotation transmission error due to the backlash that occurs at the time of reverse rotation of the rotation direction. And the drive motor M in the turning operation mechanism 12 of the robot column 30 can be prevented.
The relationship of the turning angle of the robot column 30 corresponding to the output rotation of θ is always maintained with high accuracy. Therefore, the accuracy of the first motion of the robot body is improved, and the operation accuracy of the robot is ultimately improved. It is possible. The inner ring 24a of the cross roller bearing 24 has a robot base 1
It is held on the 0 side and the outer ring 24b side is fitted to the ring gear 22.
Are combined. The pinions 20a and 20b are rotary bearings held in a bearing box inside the robot base 10.
Since it is supported by 26, it is possible to obtain a highly accurate meshing state when meshing with the ring gear 22. A cylindrical inner housing 28 is provided inside the robot base 10, and a cylindrical space communicating with the inner space of the robot column 30 is secured inside the inner housing 28. That is, it is possible to introduce the laser beam from the lower part of the robot base 10 together with the wiring and the piping by using this cylindrical space.

FIGS. 6, 7A, and 7B show an arm swivel actuating mechanism that swivels the arm 50 around the W axis orthogonal to the θ axis described above, and particularly, FIGS. 7A and 7B. FIG. 3 is a schematic mechanism diagram for explaining the structure of the turning operation mechanism so that the structure can be easily understood.

Now, the turning operation mechanism is the same as the above-described turning drive motor Mw held pivotally by a support member 32 projecting laterally from the outside of the substantially central portion of the robot column 30 via a rotary bearing.
Is used as the turning drive source. A ball screw shaft 34 is coupled to the output shaft of the swing drive motor Mw, the ball screw shaft 34 extends upward, and a ball screw nut is formed at a part of the screw portion.
It meshes with 36. The ball screw nut 36 is attached to the robot column 30 so as to be rotatable about the W axis, and an appropriate rotary bearing is attached to the outer end portion 38a of the bracket member 38 that projects in the lateral direction like the support member 32. It is pivotally held through. The main body portion 38b of the bracket member 38 is formed so as to be rotatable around the W axis with respect to the robot column 30 as described above, and the second laser light mirror 102 is also rotated around the W axis through an appropriate holder. It is held so as to rotate together. The bracket member 38 is provided with a known linear guide means 38c for linearly slidably holding the arm 50 as shown in FIG. 7A, and the arm 50 itself is moved through the linear guide means 38c. It is held so that it can rotate around the axis.

According to the above configuration, when the ball screw shaft 34 rotates in either forward or reverse direction due to the rotation output of the turning drive motor Mw, the ball screw nut 36 meshed with the ball screw shaft 34 receives the feed operation force by the screw engagement. . At this time, the ball screw nut 36 is pivotally held by the outer end portion 38a of the bracket member 38, and the bracket member 38 itself having the outer end portion 38a is opposed to the robot column 30 about the W axis. Since it is provided so as to be pivotable, the feed motion force acting on the ball screw nut 36 is
Generates torque to turn 38 around the W axis. When the bracket member 38 pivots in this manner, the ball screw shaft 34 pivots with respect to the support member 32 together with the pivot drive motor Mw, so that the ball screw shaft 34 can pivot (W ₁ ) following the pivoting motion of the bracket member 38. In addition, since the ball screw nut 36 is also pivotally held by the outer end portion 38a of the bracket member 38, the ball screw nut 36 also pivots (W ₂ ) in accordance with the pivoting motion of the bracket member 38, and the bracket member 38 is also rotated. This provides a degree of freedom of smooth turning motion. Moreover, as described above, when the bracket member 38 pivots, the second laser light mirror 102 held at the internal position of the arm 50 via the bracket member 38 also pivots following the W axis.
Therefore, the laser light reflected by the first laser light mirror in the robot column 30 is received and is always in a fixed direction, that is, the laser light of the arm 50 held by the bracket member 38 via the linear guide means 38c. It can be directed to conduit 52. The rotation direction “W ₃ ” shown in FIG. 7B indicates the forward and reverse rotation directions of the ball screw shaft 34.

FIG. 8 and FIG. 9 are views for explaining the linear sliding of the arm 50, that is, the arm linear motion mechanism for obtaining the third degree of freedom of movement of this laser robot. In FIG. 8 and FIG. 9 which is a mechanism diagram showing the operation of the arm linear motion mechanism in an easy-to-understand manner, the linear drive motor M _R is mounted on the bracket member 38 shown in FIG. 6 and FIG. 7A described above. , mounting brackets, is held via an appropriate mounting means such as mounting bolts, this linear drive motor M _R main gear 44a meshed with and driven gear 44b mounted on the output shaft of the ball screw nut 46 Are integrally mounted, and are decelerated and rotated according to an appropriate gear ratio by the rotation output of the direct-acting drive motor M _R. This ball screw nut
46 is rotatably held via a rotary bearing 47, and is appropriately held by, for example, the bracket member 38 separated from the main body of the arm 50. The ball screw nut 46 is threadably engaged with a ball screw shaft 48. As a result,
Gear ball screw nut 46 by the linear drive motor M _R
When the ball screw shaft 48 is driven to rotate through the meshing of 44a and 44b, the ball screw shaft 48 is fed in the left-right direction in FIG. At this time, since both ends of the ball screw shaft 48 are fixedly coupled to the arm 50, the main body of the arm 50 follows the linear guide means 38c of the bracket member 38 (FIG. 7A in FIG. 7A) according to the feeding action acting on the ball screw shaft 48. , FIG. 8) guides a linear sliding action in the R-axis (FIG. 1) direction. 8th
The linear guide rail 54 shown in the figure is attached to the arm 50, and is slid and fitted to the linear guide means 38c so that the arm 50 can perform smooth linear sliding. The linear-to-sliding action as well as the rotation-linear motion conversion can be generated for highly accurate linear motion according to the rotation of the drive motor M _R. As described above, since the linear drive motor M _R for driving the linear sliding action of the arm 50 is mounted on the bracket member 38 separated from the arm 50, the linear displacement of the arm 50 is caused by the arm itself. Therefore, only the laser beam conduit 52 housed inside needs to move, and therefore, the weight reduction is achieved, and the stroke of the linear sliding displacement of the arm 50 is made sufficiently large ignoring the high critical speed of the ball screw shaft 48. The work area of the robot can be expanded as needed.

Now, when the arm 50 slides linearly as described above, the laser light conduit 52 is provided inside the arm 50, but the laser light conduit 52 has the telescope structure as described above. Since it is formed as the two first and second relatively slidable laser light conduits 52a and 52b, there is no fear that the direct operation of the arm 50 may adversely affect the laser light conduit 52. Rather, the isolated telescope type laser light path is formed inside the arm 50 to completely avoid the fear that the laser light leaks to the outside even when the laser light having high energy is emitted. .

FIG. 10 to FIG. 11 are views showing a wrist turning operation mechanism that provides two movement degrees of freedom of the wrist 70 of the polar coordinate type multi-degree-of-freedom laser robot of this embodiment.

First, referring to FIG. 10 and FIG. 11, the swing drive motors Mγ and Mβ in the swing operation mechanism 73 of the wrist 70 are
It is arranged in the outer peripheral region of the laser light conduit 52 in the tip end region of 50, and the rotation of the output shaft of one of the turning drive motors Mγ is rotated via the first gear transmission mechanism 76 to the outside wrist housing 74a.
Is rotated about the γ-axis, and therefore the wrist body 70a holding the third and fourth laser light mirrors 104 and 106 provided on the wrist 70 is rotated about the γ-axis. It is driven to rotate via a bearing 84.

Further, the other turning drive motor Mβ temporarily drives the inside-wrist housing 74b via the second gear transmission mechanism 78 about an axis centered on the γ axis. At this time, since a pair of bevel gear mechanisms 80 are interposed and disposed between the tip of the in-wrist housing 74b and the wrist main body 70a, the turning of the in-wrist housing 74b undergoes a 90 ° direction change, The wrist body 70a is driven to rotate around the β axis described above via the rotary bearing 86.

In the above configuration, the first and second gear transmission mechanisms 76,
78 is disposed in a sealed oil chamber 82 formed inside the wrist rear housing 74c in such a manner that it is immersed in lubricating oil, and therefore both gear mechanisms 76, 78 are always lubricated and operate smoothly. It is driven to rotate in a noise reduced state. At this time, the sealed oil chamber 82 is provided in a structure that is isolated from the outer circumference of the laser light conduit 72 of the wrist 70, and has a structure that is sealed by the oil seal hand 85. The entry of lubricating oil into the oil is completely prevented. Therefore, even when the high energy temperature of the laser light is transmitted to the sealed oil chamber 82 during the operation of the laser robot, the oil vapor adversely affects the laser light optical path system, for example, the laser light mirrors 100 to 106 Inconveniences such as soiling are also prevented.

FIG. 11 shows the gear mechanism 7 in the swing operation mechanism 73 of the wrist 70.
6 and 78 are enlarged in detail, and both gear mechanisms 76 and 78 are shown.
Is a pinion 88, 94 that is driven and rotated according to the rotational drive from the output shafts of the swing drive motors Mγ, Mβ, and reduction gears 90, 92 and 96 meshed with the drive side pinion 88, 94.
It is composed of 98 and. That is, the driven reduction gear 90,
As shown in FIG. 12, 92, 96, and 98 each have a structure in which two gears are coupled by being displaced in the circumferential direction by an elastic ring 99, and the respective drive pinions 88 and 94 are meshed with them. Therefore, it is possible to remove the backlash,
Therefore, the turning accuracy of the turning operation mechanism 73 of the wrist 70 can be improved.

As is clear from the above description, the polar coordinate type five degree of freedom laser robot according to the embodiment of the present invention is provided with a highly precise and novel operation mechanism for robot operation, and the number of robot robots is reduced as much as possible. Therefore, by arranging only four laser light mirrors 100 to 106, the laser processing in the three-dimensional space is suppressed to the minimum loss of the laser light energy, and the laser processing using the high energy of the laser light is enabled. Of.

〔The invention's effect〕

As can be understood through the above description of the embodiments, according to the present invention, the arm is tilted up and down with respect to the robot column having a certain degree of freedom of rotation about the axis of the robot base. And a linear sliding degree of freedom along the longitudinal axis orthogonal to the vertical axis of rotation of the arm, and the pivoting degree of freedom about the two orthogonal axes at the tip of this arm. A robot body having a polar coordinate-type multi-degree-of-freedom robot operating mechanism is formed, and only one in the robot column in the robot body, one in the arm, and two on the wrist, only four in total. Since the laser robot is configured with the laser photophysics system in which the laser light mirrors are arranged, the laser light energy can be maintained at a high level and laser processing can be performed. Not only to reduce energy loss, the process fabrication of the laser robot, it is possible that as much as possible facilitate the optical axis adjustment work of the mirror in the maintenance process. In addition, the laser photophysics system arranged inside the robot body, in particular, the laser light conduit and the operation mechanism for robot operation are structurally separated from the inside and the outside, and the oil seal is sealed. Since the structure ensures that the lubricating oil of the actuating mechanism does not leak to the laser photodynamic system, it is possible to obtain the effect that contamination of the reflecting surface of the laser light mirror can be prevented as much as possible.

Further, since the robot operation mechanism has a configuration in which the rotation output from the drive motor is transmitted to each operation unit with high accuracy, the robot operation accuracy in the three-dimensional space is improved, and thus the laser processing accuracy is improved. It is possible.

[Brief description of drawings]

FIG. 1 is a perspective view showing the external structure of a polar coordinate type multi-degree-of-freedom laser robot according to an embodiment of the present invention and the axes of motion of the multi-degree-of-freedom (5 degrees of freedom), and FIG. FIG. 3 is a side view showing an example of the laser beam entering the laser robot and the arrangement of a robot column and an arm, and FIG. IV- in FIG. 5 showing the operating mechanism of the turning motion of the robot column
Partial sectional view taken along line IV, Fig. 5 is a plan view of the same operating mechanism,
FIG. 6 is a side view of an operating mechanism for raising and lowering of an arm of the same laser robot, and FIGS. 7A and 7B are schematic perspective views and mechanism diagrams for schematically explaining an operating mechanism of raising and lowering of an arm. FIG. 8 is a sectional view of an arm portion of the robot,
Fig. 10 is a schematic mechanism diagram for explaining the linear sliding operation mechanism of the arm, Fig. 10 is a sectional view of the wrist portion of the laser robot, and Fig. 11
The figure is a partially enlarged cross-sectional view showing an actuation mechanism for two turning motions of the wrist, and FIG. 12 is an exploded perspective view showing a gear in order to explain the configuration of a gear mechanism in the wrist actuation mechanism. 10 ... Robot base, 30 ... Robot column, 50 ... Arm, 70 ... Wrist, 90 ... Laser light output device, 100 to 106
...... Laser light mirror, Mθ, Mw, M _R , Mγ, Mβ …… Drive motor, 52 …… Laser light conduit, 72 …… Laser light conduit.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Akihiro Terada 3580 Kobaba, Oshinomura, Otsunomura, Minamitsuru-gun, Yamanashi FANUC CORPORATION Product Development Research Center

Claims (7)

(57) [Claims] 1. A robot base, a robot column having a degree of freedom capable of turning with respect to the robot base, and a robot column having a degree of freedom capable of turning up and down with respect to the robot column. An arm extending in the direction of the longitudinal axis orthogonal to the axis of rotation and having a degree of freedom for linear displacement along the longitudinal axis with respect to the robot column, and provided at the tip of the arm. And a wrist unit having two rotational degrees of freedom around a first wrist axis coaxial with the longitudinal axis of the arm and a second wrist axis orthogonal to the first wrist axis. A first laser light mirror provided inside the robot column on the axis of the column turning axis for receiving and reflecting laser light from outside the robot body; and a laser reflected from the first laser light mirror. A second laser light mirror provided on the elevation axis of the arm so as to reflect and direct light toward a laser light conduit provided in the arm; and the first wrist axis in the wrist. A third laser light mirror provided on (γ) for receiving and reflecting the laser light traveling through the laser light conduit in the arm, and provided on the second wrist axis (β) at the tip of the wrist. And a laser light guiding optical mechanism including a fourth laser light mirror for receiving and condensing the laser light reflected from the third laser light mirror to form a laser output light. Multi-degree-of-freedom laser robot. 2. The first laser light mirror is provided in a fixed arrangement, and the second, third, and fourth laser light mirrors are respectively in the depression-elevation axis, the first wrist axis, and the second wrist axis. The polar coordinate type multi-degree-of-freedom laser robot according to claim 1, wherein the polar coordinate-type multi-degree-of-freedom laser robot is rotatably provided. 3. A robot base, a robot column having a degree of freedom of turning with respect to the robot base, and a hollow ring connected to the robot column and rotatably provided in the robot base. -Shaped gear, two sets of belt / pulley mechanisms for driving two pinions meshed with the hollow ring-shaped gear at two positions, and a first drive motor for rotationally driving the two sets of belt / pulley mechanisms in common and simultaneously. And a robot column swivel drive mechanism, which has a degree of freedom that allows the robot column to swivel upward and downward, and has a shape extending in the longitudinal axis direction orthogonal to the axis of the vertical swivel. And an arm having a degree of freedom for linear displacement with respect to the robot column along the longitudinal axis, and an arm provided at the tip of the arm and coaxial with the longitudinal axis of the arm. And polar robot actuation mechanism includes a wrist portion having two rotational degrees of freedom about a second wrist axis orthogonal to the first wrist axis and said first wrist axis,
A first laser light mirror provided inside the robot column on the column rotation axis and receiving and reflecting a laser light from outside the robot body; and a laser light reflected from the first laser light mirror, A second laser light mirror provided on the elevation axis of the arm so as to be reflected and directed toward a laser light conduit provided in the arm, and the first wrist axis (γ) in the wrist. A third laser light mirror that is provided on the third laser light mirror that receives and reflects the laser light that has traveled through the laser light conduit in the arm, and that is provided on the second wrist axis (β) at the tip of the wrist,
A laser light guiding optical mechanism comprising: a fourth laser light mirror for receiving and condensing the laser light reflected from the third laser light mirror to form a laser output light; and the robot base To a polar coordinate type multi-degree-of-freedom laser robot in which hollows communicating with the robot column are formed. 4. The polar coordinate robot actuating mechanism is further pivotally mounted on the robot column and is rotatable around the elevation axis, a bracket member, a ball screw nut held by the bracket member, and the ball screw nut. A ball screw shaft meshing with, a elevation drive motor (Mw) that rotationally drives the ball screw shaft, and a support member that pivotally supports the ball screw shaft and the elevation drive motor on the robot column. 4. The polar coordinate type multi-degree-of-freedom laser robot according to claim 3, wherein the bracket member is provided with an arm elevation / rotation mechanism which holds the arm so as to be linearly slidable in the longitudinal axis direction. 5. The polar coordinate robot actuating mechanism further comprises an arm direct-acting ball screw nut attached to the bracket member of the arm elevation / revolution mechanism via a rotary bearing.
An arm direct-acting ball screw shaft that is engaged with the arm direct-acting ball screw nut, extends in the longitudinal axis direction of the arm, and is provided so as to be integrally operable with the arm, and is mounted on the bracket member. The polar coordinate type multi-degree-of-freedom laser robot according to claim 3 or 4, further comprising an arm linear slide mechanism including an arm linear motion drive motor (Mr) that rotationally drives a ball screw shaft. 6. A laser light conduit provided in the arm has a double conduit structure that expands and contracts in accordance with the linear sliding of the arm, and one laser light conduit forming the double conduit structure. The polar coordinate multi-degree-of-freedom laser robot according to claim 5, wherein the path is connected to the second laser light mirror, and the other laser light conduit path is extended toward the third laser light mirror. . 7. The polar coordinate robot actuating mechanism is rotationally driven by first and second wrist driving motors (Mγ, Mβ) for driving a wrist provided at the tip of the arm and the first wrist driving motor. And a wrist rotating gear mechanism that is coupled to the wrist and rotates the wrist around the first wrist axis (γ), and the wrist is driven to rotate by the second wrist driving motor. A second wrist rotary gear mechanism that is coupled to the second wrist rotary gear mechanism via a bevel gear and rotates the wrist around a second wrist axis (β); and a sealed chamber that stores the first and second wrist rotary gear mechanisms. The polar coordinate multi-degree-of-freedom laser robot according to claim 3, further comprising a wrist rotation mechanism provided.