JPS59107785A - Multijoint arm type robot for laser working - Google Patents

Abstract

PURPOSE:To assure the operator's safety and to improve workability by enabling irradiation of the laser light passed through the inside of a multijoint arm type robot combined with hollow arms to an optional position at an optional angle. CONSTITUTION:Reflecting mirrors 27, 28, 29, 30, 31, 32, 33 are provided to the respective ends of a cylindrical body part 1, a shoulder part 2 and arm parts 3, 4, 5, 6. The reflecting mirrors are so installed that the specular surfaces are inclined respectively at 45 deg. angle to axes 7, 8, 8', 9, 10, 11 at the intersected points of the respective axes and the axial line 34 at the end 6' on the output side in the arm part 6. The laser light is then bent at right angles on each reflecting mirror. A condenser lens 35 is provided at the end 6' perpendicularly to the axis 34 to condense the laser light to a focus 36 set at a prescribed position. The laser light 37 emitted from a separate light source is thus passed through the inside of this multijoint robot so that the laser light is irradiated always in the direction normal to the product surface having a three-dimensional shape.

Description

DETAILED DESCRIPTION OF THE INVENTION In the present invention, welding, cutting, etc. by irradiating a laser beam is not often used because it is difficult to direct the laser beam in the normal direction of the processed surface. Under these circumstances, there has been a desire for a laser processing machine that can be used for welding and cutting steel plates, etc., that can match the shape of the product and freely direct the laser beam in the normal direction of the processed surface.

The present invention is intended to meet the above demands, and utilizes the internal space of a multi-joint arm robot with a hollow arm to pass laser light, and directs the laser light from the tip of the arm in the normal direction of an arbitrary machined surface. The purpose of the present invention is to provide an articulated arm type robot for laser processing that can irradiate laser beams.

The features of this device are that a multi-joint arm robot RC is formed by combining hollow arm members, and a reflector with a 45° angle is provided for each axis at the intersection of the axes of each arm member. A condensing lens is provided at the tip of the multi-joint arm, and multiple arm members are arranged so that laser light can be irradiated from the base of the multi-joint arm to any position on the outside of the multi-joint arm at any angle through the condensing lens provided at the tip of the multi-joint arm. It is connected so that it can rotate freely.

Hereinafter, one embodiment of the present invention will be explained with reference to the drawings.

In the figure, 1 is the body of the robot forming the base of the multi-jointed arm, 2 is the shoulder part of the robot, 3, 4, 5
．． ? S is an arm part. Body part 1 and shoulder part 2
, shoulder part 2 and earth part 3, and earth part 3, 4.4, 5.5 and 6 are respectively connected to shafts 7, 8, 9, 10 and 1.
1 to be able to rotate around the center. To rotate the fitting part, a small gear 17 is driven by DC servo motors 12, 13, 14, 15, and 16 that have built-in encoders and potentiometers.
Internal gears 22, 23, 24, 25, 26 provided inside the shaft side fitting part via ゜18.19, 211.21
This is done by rotating the . Each of the fitting parts can be rotated independently, and a plurality of fitting parts can also be rotated in different directions at the same time.

Reflectors 27, 28, 29, 30, 51° 32.
35 are provided. This reflecting mirror has a mirror surface @7,8
．． 8', 9. At the intersection of 10, 11 and the axis 64 of the output side end 6' of the arm part B, an angle of 45° f@ is applied to each axis.
It is installed so that it is inclined at a certain angle. As a result, the laser beam is bent at right angles by each reflecting mirror. A condensing lens 5 is provided perpendicularly to the shaft 4 at the output end 6' of the arm part B, and the laser beam is condensed at a focal point 36 set at a predetermined position.

In this example, the robot body is not provided with a laser light source.
A laser beam emitted from a separate light source (not shown) is reflected onto the shaft 7 by the reflecting mirror 27 of the body part 1 and reflected toward the shoulder side, and is sequentially reflected from the reflecting mirror 28 at 29.30, 31, 32.33. A type of light is shown in which the light is irradiated to a focal point 36 through a condensing lens at the output end 6'. In this model, the robot body is simplified fL, and the incident laser beam 37 enters the reflecting mirror 27 as a beam 38 along @7, is reflected toward the axis 8 side, and becomes a beam along the axis 8. 59 and enters the reflecting mirror 29.

The light ray 40 reflected along the axis 8' by the reflector 29 is further reflected by the reflector 30 and enters the reflector 61 as a light ray 41 along the axis 9. The light ray 42 reflected by the reflecting mirror 61 and changed to @10 is reflected by the reflecting mirror 32 as a light ray 43 changed to @11, and enters the reflecting mirror 36. The laser beam is reflected by the reflecting mirror 33 along the axis 64 of the output side end 6', and the convergent light 44 is irradiated to the focal point 66 through the condensing lens 35. Therefore, the present invention can be applied to any shape of robot as long as there is enough space inside the robot to avoid continuous laser beams.

Another aspect of the present invention is one in which a laser light source is housed inside the body part 1 or shoulder part 2, and in this case, the light beams 38 to 69 may be replaced with laser light emitted from the light source. In yet another embodiment, all the laser oscillation devices including the power supply are housed in the body part 1 or the shoulder part 2, and the robot is completely independent as a laser processing robot.

As described above, in the multi-joint arm robot for laser processing of the present invention, the optical axis of the laser beam and the robot arm 41j
1 and by reflecting and bending the laser beam with a reflecting mirror fixed at the intersection of each arm axis, the laser beam can be bent in many ways according to the movement of the arm of the robot Y-0.

Therefore, it is possible to always irradiate the three-dimensional product surface with laser light in the normal direction. In order to pass the optical path of the laser light inside the robot, the shadow order of the working environment is eliminated.
The safety of workers can be ensured, and work efficiency can be improved as a result.

[Brief explanation of the drawing]

The figure is a perspective view of an articulated arm type robot for laser processing according to the present invention. DESCRIPTION OF SYMBOLS 1... Body part (multi-joint arm base), 2... Shoulder part, 3, 4, 5.6... Arm part, 6'... Output side end, 7, 8, 8', 9, 10, 11
, 34...axis, 27.2B. 29.50,31,32,33...reflector, 65...
·Condenser lens.

Claims (1)

[Claims] (1) A multi-joint arm type robot is formed by combining hollow arm members, and a reflector is provided at the intersection of the axes of each arm member at an angle of 45° with respect to each axis, and the tip of the multi-joint arm The multi-joint arm is equipped with a condensing lens, and a plurality of arm members are rotatably connected so that the laser beam that has passed through the inside of the multi-joint arm can be irradiated to any position on the outside of the multi-joint arm at any angle. An articulated arm robot for laser processing.