JPH0243585Y2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] This invention relates to a laser beam guiding device in a laser processing machine that performs processing such as drilling and cutting by irradiating laser light.

[Conventional technology]

A laser processing machine guides laser light emitted from a laser oscillator to an irradiation nozzle via a mirror, and irradiates the workpiece with the laser light from the irradiation nozzle.The irradiation nozzle moves along a predetermined trajectory. The workpiece is machined by irradiating the laser beam at the target position.

Therefore, as the irradiation nozzle moves during processing, the distance from the oscillator to the irradiation nozzle constantly changes, and as a result, the diameter of the laser beam at the processing point changes as the distance changes. It will end up being put away.

Therefore, no matter where the irradiation nozzle moves to the workpiece, the distance from the oscillator to the processing point is kept constant so that a constant laser beam can be obtained, and the direction of the laser beam is adjusted to allow the processing of the workpiece. Multi-joint guidance mechanisms have been developed to allow for free orientation to suit any surface.

This multi-joint guidance mechanism is composed of a plurality of cylindrical joint arm units connected in series, the joints between each joint arm unit are rotatably connected, and each joint arm unit has a first A mirror is provided for guiding the laser beam from the articulated arm unit to the second articulated arm unit, from the second articulated arm unit to the n-th articulated arm unit, and from the n-th articulated arm unit to the irradiation nozzle. It is made up of

One of the means for guiding the laser beam to the processing point by moving the irradiation nozzle provided at the tip of the multi-joint guiding mechanism configured as above and freely changing its direction.
One example is a laser beam guiding device in which an articulated arm unit of a multi-joint guidance mechanism is supported by an arm of a robot in parallel with the arm, and the robot moves an irradiation nozzle provided at the tip of the multi-joint guidance mechanism. It is considered.

[Problem that the invention attempts to solve]

The laser beam guidance device using the above-mentioned robot has a structure in which the axis of the rotation axis of the joint of the articulated arm unit constituting the multi-joint guidance mechanism is aligned with the axis of the rotation axis of the joint between the arms of the robot. If this is not correct, the robot will not be able to perform smooth guidance operations. However, if a joint arm unit with a multi-joint guidance mechanism is attached to the robot arm,
It is extremely troublesome to connect the respective joints so that their rotation axes coincide with each other, and this makes it difficult to implement a laser beam guiding device that guides a multi-joint guiding mechanism using a robot. There is.

In view of the above-mentioned points, this invention has been developed in such a way that even if there is a slight misalignment between the axis of rotation of the joint of the articulated arm unit constituting the multi-joint guidance mechanism and the axis of rotation of the rotation axis of the joint of the robot arm, The object of the present invention is to provide a laser beam guiding device for a laser processing machine, which is intended to enable smooth guidance by a robot.

[Means for solving problems]

In order to achieve the above object, this invention provides a sliding block that allows the joints of the articulated arm unit of the multi-joint guidance mechanism and the joints of the robot arm to mutually rotate freely and slide in a direction perpendicular to the axis of rotation. Connected through.

[Effect]

When the arm of the robot is rotated, the articulated arm unit supported by this arm is rotated in the same direction by the arm, but at this time, the axis of rotation of the joint of the arm and the joint of the articulated arm unit are If there is a misalignment of the axes of the rotation axes of the two axes, this misalignment of both axes will be detected by the rotation of the arm and the articulated arm unit, and the sliding block will slide while rotating, thereby correcting the misalignment of both axes. to enable smooth rotation of the arm and joint arm unit.

〔Example〕

This invention will be described in detail below based on embodiments shown in the drawings, but this invention is not limited to the embodiments.

In the drawings, 1 and 1 are joint arm units of a joint guidance mechanism 2 for guiding laser light, 3 is a joint of the joint arm units 1 and 1, and 4 is a cylindrical rotation axis of the joint 3. The articulated arm units 1, 1 are designed to rotate about the axis 5 of this rotating shaft 4. 6 and 6 are arms of the robot, 7 is a joint of the arms 6 and 6, and 8 is a rotating shaft of the joint 7, and the arms 6 and 6 rotate about an axis 9 of this rotating shaft 8. The articulated arm units 1, 1 are attached to the arms 6, 6, and the articulated arm units 1, 1
The joint portion 3 of the arm 6 and the joint portion 7 of the arm 6 are connected to each other via a sliding block 10 so as to be rotatable about the axes 5 and 9 of both rotating shafts 4 and 8. The connection between the articulated arm unit 1 and the arm 6 will be explained in detail. Rotating bodies 11 and 12 whose axes are the same as the axes 5 and 9 of the rotating shafts 4 and 8 are provided on opposite sides of the joint parts 3 and 7 of the joint arm unit 1 and the arm 6, respectively.
is rotatably provided around the shaft center via bearings 13 and 14. These rotating bodies 11 and 12
a sliding block 10 positioned so as to slide in a direction perpendicular to the rotating shafts 4 and 8;
The base 15 of this sliding block 10 is fixed to the rotating body 12, and the table 16 is fixed to the rotating body 11. 17 is a track, and 18 is a roller.

Reference numeral 19 denotes a mirror provided inside the joint portion 3 of each joint arm unit 1, and the mirror 19 guides a laser beam 20 oscillated from an oscillator (not shown).

Therefore, the rotation axis 4 of the joint part 3 of the joint arm unit 1 is rotated by the rotation of the rotating bodies 11 and 12 and the sliding of the sliding block 10.
Parallel movement of the sliding block 10 is allowed within the range of the sliding width of the sliding block 10 in a 360 degree direction orthogonal to the sliding block 8.

Therefore, when the arm 6 of the robot is rotated,
The articulated arm unit 1 supported by this arm 1 is rotated in the same direction about the axis 5 of the rotating shaft 4 of the articulated arm unit 1; If there is a misalignment between the axes 5 and 9 of the joint 7 of the arm 6, the rotation axis 4 of the joint 3 of the articulated arm unit 1 will change as the arm 6 rotates. However, due to the misalignment between the axes 5 and 9, the rotating bodies 11 and 12 rotate in the direction in which they try to escape, and the table 1 of the sliding block 10 rotates in the same direction by the amount of the misalignment.
By sliding 6, the axis of rotation 4 of the joint part 3 of the articulated arm unit 1 is moved in parallel, and as a result, the axis 5 of the axis of rotation 4 of the articulated arm unit 1 is moved in parallel.
Even if there is a misalignment between the axis 9 of the rotating shaft 8 of the arm 6, the articulated arm unit 1 rotates smoothly.

[Effect of idea]

As described above, according to this invention, there is provided a laser beam guiding device in which an arm of a robot supports an articulated arm unit of a multi-joint guiding mechanism that guides a laser beam. The robot arm unit and the joint of the robot arm are mutually rotatable and connected via a sliding block that slides in a direction orthogonal to the rotation axis. Even if there is a misalignment between the axis and the axis of the rotating shaft at the joint of the robot, when the arm of the robot is rotated, the axis of rotation at the joint of the articulated arm unit will shift by the amount of the deviation between the axes. The robot arm moves in parallel and the articulated arm unit can rotate extremely smoothly, making it easy to support the articulated arm unit of the multi-joint guidance mechanism that guides the laser beam to the robot arm. The advantage is that the multi-joint guiding mechanism can be moved smoothly and the laser beam can be reliably guided toward the processing point.

[Brief explanation of the drawing]

The drawing shows one embodiment of this invention.
The figure is a sectional view showing the main part of this invention, and FIG. 2 is a schematic plan view showing a part of a laser beam guiding device implementing this invention. DESCRIPTION OF SYMBOLS 1... Joint arm unit, 2... Multi-joint guidance mechanism, 3... Joint part, 4... Rotating shaft, 6... Robot arm, 7... Joint part, 8... Rotating shaft, 1
0...Sliding block, 11...Rotating body, 12...Rotating body.

Claims (1)

[Scope of utility model registration request] A laser beam guiding device in which an articulated arm unit of a multi-joint guidance mechanism for guiding laser light is supported by an arm of a robot, wherein the joints between the joint arm units of the multi-joint guidance mechanism and the joints of the arm of the robot are mutually connected. A laser beam guiding device for a laser processing machine, which is connected via a sliding block that is rotatable and slides in a direction perpendicular to a rotation axis.