JPS61176491A - Articulated arm type robot for laser beam machining - Google Patents

Articulated arm type robot for laser beam machining

Info

Publication number
JPS61176491A
JPS61176491A JP60017665A JP1766585A JPS61176491A JP S61176491 A JPS61176491 A JP S61176491A JP 60017665 A JP60017665 A JP 60017665A JP 1766585 A JP1766585 A JP 1766585A JP S61176491 A JPS61176491 A JP S61176491A
Authority
JP
Japan
Prior art keywords
laser beam
arm means
straight line
robot
joint arm
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP60017665A
Other languages
Japanese (ja)
Inventor
Ryuichi Nakai
隆一 中井
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shibuya Corp
Original Assignee
Shibuya Kogyo Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shibuya Kogyo Co Ltd filed Critical Shibuya Kogyo Co Ltd
Priority to JP60017665A priority Critical patent/JPS61176491A/en
Priority to US06/819,773 priority patent/US4675499A/en
Priority to GB08601251A priority patent/GB2170472B/en
Priority to KR1019860000547A priority patent/KR890000719B1/en
Priority to SE8600393A priority patent/SE469372B/en
Priority to FR8601216A priority patent/FR2576816B1/en
Priority to DE19863603033 priority patent/DE3603033A1/en
Publication of JPS61176491A publication Critical patent/JPS61176491A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/0025—Means for supplying energy to the end effector
    • B25J19/0029—Means for supplying energy to the end effector arranged within the different robot elements
    • B25J19/0037—Means for supplying energy to the end effector arranged within the different robot elements comprising a light beam pathway, e.g. laser
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/046—Revolute coordinate type
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
    • G02B7/20—Light-tight connections for movable optical elements
    • G02B7/24—Pivoted connections

Abstract

PURPOSE:To simplify an optical system and also to enlarge the scope of work by providing reciprocatively the main body of a robot along the prescribed straight line and by feeding the laser beam propagated linearly from an oscillator to an arm via the optical component arranged on the base part of articulated arm means. CONSTITUTION:A robot 1 is provided freely reciprocatively on optional straight line 2. The base part 4 of articulated arm means 3 is fitted on the upper part of the robot 1 so that its rotary shaft becomes in parallel to said straight line 2 and turnable as well. The laser beam L which is from a laser oscillator is made rotatable in parallel to said straight line 2 and the rotary shaft is coincided with the optical axis of the laser beam L. The laser beam L is made so as to reflect in the longitudinal direction of the first arm 5 by arranging a mirror 12 as the optical component on the first joint part 7 provided at the inlet part of the articulated arm means 3. The optical system can be thus simplified and the enlargement of the work range of the robot is enabled.

Description

【発明の詳細な説明】 「産業上の利用分野」 本発明は、レーザ加工用のロボットに関し、より詳しく
は多関節アーム手段を用いたレーザ加工用多関節アーム
型ロボットに関する。DETAILED DESCRIPTION OF THE INVENTION "Field of Industrial Application" The present invention relates to a robot for laser processing, and more particularly to a multi-joint arm type robot for laser processing using multi-joint arm means.

ｒ従来の技術」 レーザ加工用多関節アーム型ロボットは従来既に公知で
あり、通常、基部をロボット本体に回転可能に取付けた
多関節アーム手段と、この多関節アーム手段の先端部に
設けられ、多関節アーム手段により案内されてきたレー
ザ光線を被加工物に向けて照射するレーザノズルとを備
え、上記多関節アーム手段によりレーザノズルを任意の
方向に向けることができるようにして自由な方向にレー
ザ光線を照射するようにしている。4. Prior Art A multi-joint arm type robot for laser processing is already known in the art, and usually includes a multi-joint arm means whose base is rotatably attached to the robot body, and a distal end of the multi-joint arm means, and a laser nozzle that directs the laser beam guided by the multi-joint arm means toward the workpiece, and the multi-joint arm means allows the laser nozzle to be directed in any direction. It is designed to irradiate laser beams.

「発明が解決しようとする問題点」 しかるに、従来のこの種のレーザ加工用多関節アーム型
ロボットにおいては、多関節アーム手段が任意の方向に
移動するためこれにレーザ光線を供給するのが必ずしも
容易ではなく、一般に複雑な光学系が必要となり、また
ロボットの作業範囲も小さくなるという欠点があった。``Problems to be Solved by the Invention'' However, in conventional multi-joint arm robots for laser processing of this type, the multi-joint arm means moves in any direction, so it is not always necessary to supply the laser beam to the multi-joint arm means. This is not easy, generally requires a complex optical system, and has the disadvantage that the robot's working range is also small.

「問題点を解決するための手段」 本発明はそのような事情に鑑み、上記ロボット本体を所
定の直線上で往復動回部に設けるとともにレーザ発振器
から上記多関節アーム手段に供給すべきレーザ光線を上
記直線と平行に放射可能とし、かつ、上記多関節アーム
手段の基部におけるロポ・ント本体に対する回転軸を上
記直線と平行に設定するとともにその回転軸上にレーザ
光線を屈曲させる光学部品を配設し、上記直線と平行に
放射されたレーザ光線をその光学部品を介して上記多関
節アーム手段に供給するようにしたものである。"Means for Solving the Problems" In view of such circumstances, the present invention provides the robot body on a reciprocating rotating section on a predetermined straight line, and a laser beam to be supplied from a laser oscillator to the multi-jointed arm means. The laser beam can be emitted parallel to the straight line, and the rotation axis of the robot body at the base of the multi-joint arm means is set parallel to the straight line, and an optical component is arranged on the rotation axis to bend the laser beam. A laser beam emitted parallel to the straight line is supplied to the multi-jointed arm means through the optical component.

「作用」 このような構成によれば、上記多関節アーム手段の基部
に複雑な光学系を介することなくレーザ光線を供給する
ことができるので、構成が簡単になり、しかもロボット
を上記直線上を任意の距離だけ移動させることができる
ので、その作業範囲を従来に比較して大きくすることが
できるようになる。"Operation" According to this configuration, the laser beam can be supplied to the base of the multi-joint arm means without going through a complicated optical system, so the configuration is simple and the robot can be moved along the straight line. Since it can be moved by an arbitrary distance, the work range can be made larger than in the past.

「実施例」 以下図示実施例について本発明を説明すると、第１図に
おいて、ロボット本体１は任意の直線２上に往復動自在
に設けてあり、この本体１の上部に多関節アーム手段３
の基部４をその回転軸が上記直線と平行となるようにし
て回転可能に取付けている。そして図示しないレーザ発
振器からのレーザ光線りを上記直線２と平行に放射可能
とし、かつ、上記基部４の本体ｌに対する回転軸と上記
レーザ光線りの光軸とを一致させている。``Embodiment'' The present invention will be described below with reference to the illustrated embodiment. In FIG.
The base 4 is rotatably mounted so that its axis of rotation is parallel to the straight line. A laser beam from a laser oscillator (not shown) can be emitted parallel to the straight line 2, and the axis of rotation of the base 4 relative to the main body 1 is made to coincide with the optical axis of the laser beam.

第１図、第２図に示すように、上記多関節アーム手段３
は２木のアーム５．６と４つの関節部７．８．９、ｌＯ
とを備えており、第１関節部７は第１アーム５と本体１
との連結部すなわち上記基部４に、第２関節部８は第１
アーム５と第２アーム６との連結部に、第３関節部９は
上記第２アームの先端部にそれぞれ設けてあり、さらに
第４関節部１０は第３関節部９の先端部に連続して設け
ている。そしてこの第４関節部１０の先端にレーザ光線
りを照射するレーザノズル１１を取付けている。As shown in FIGS. 1 and 2, the multi-joint arm means 3
has two wooden arms 5.6 and four joints 7.8.9, lO
The first joint portion 7 has a first arm 5 and a main body 1.
The second joint 8 is connected to the base 4, that is, the first
A third joint part 9 is provided at the distal end of the second arm at the joint between the arm 5 and the second arm 6, and a fourth joint part 10 is continuous with the distal end of the third joint part 9. It is set up. A laser nozzle 11 for irradiating a laser beam is attached to the tip of the fourth joint 10.

上記多関節アーム手段３の入口部分に設けた第１関節部
７には、上記直線２と平行に放射されたレーザ光線りを
第２関節部８に向けて直角に反射させる光学部品として
のミラー１２を備えており、このミラー１２は、上記基
部４の回転軸上であ・って、かつ第１アーム５における
レーザ光線りの供給側とは反対側の外部に配設して第１
アーム５と一体的に回転するように取付けている。した
がって、上記直線２と平行に放射されたレーザ光線りは
第１関節部７の中心部に形成した通路１３を透過してか
らミラー１２によって第１アーム５の長手方向に反射さ
れるようになる。A first joint 7 provided at the entrance of the multi-joint arm means 3 includes a mirror as an optical component that reflects the laser beam emitted parallel to the straight line 2 at a right angle toward a second joint 8. 12, this mirror 12 is disposed on the rotation axis of the base 4 and outside on the side opposite to the laser beam supply side of the first arm 5.
It is attached so that it rotates integrally with the arm 5. Therefore, the laser beam emitted parallel to the straight line 2 passes through the passage 13 formed in the center of the first joint 7 and is then reflected by the mirror 12 in the longitudinal direction of the first arm 5. .

次に、第２関節部８はその中心部にレーザ光線りの透過
を許容する通路１４を有するとともに、その両側外部に
レーザ光線りを直角に屈曲させる一対の光学部品として
の第１ミラー１５と第２ミラー１６を備えている。上記
第１ミラー１５は第１アーム５に取付けてあり、上記第
１関節部７のミラー１２によって反射されたレーザ光線
りを第２関節部８の通路１４を透過させて、第２ミラー
１Ｂに向けて反射させることができるようになっている
。Next, the second joint part 8 has a passage 14 in its center that allows the laser beam to pass therethrough, and a first mirror 15 as a pair of optical parts that bends the laser beam at right angles on both sides thereof. A second mirror 16 is provided. The first mirror 15 is attached to the first arm 5, and transmits the laser beam reflected by the mirror 12 of the first joint 7 through the passage 14 of the second joint 8 to the second mirror 1B. It is now possible to aim and reflect it.

他方、上記第２ミラー１６は第２アーム６に取付けてあ
り、この第２ミラーＩＢは上記第１ミラー１５で反射さ
れたレーザ光線りの光軸を回転中心として第２アーム６
と一体に回転して、ＮＳ１ミラー１５で反射されたレー
ザ光線りをその回転中心から第２アーム６の長手方向に
反射させるようになっている さらに、第３関節部９も第２関節部８と基本的に同一に
構成しているが、一対のミラー１７．１８は第２アーム
の先端部両側に配設するのではなく、共にその一側に配
設している。そして第４関節部１０は第３関節部９から
のレーザ光線りを直角に反射させる１つのミラー１９を
備えており、それら関節部７〜１０によってレーザノズ
ル１１を所要の自由な方向に向けることができるように
している。そして、上記レーザノズルｌｌ内には図示し
ないレーザ光線りを集光させる光学部品を設けている。On the other hand, the second mirror 16 is attached to the second arm 6, and the second mirror IB rotates around the optical axis of the laser beam reflected by the first mirror 15.
The third joint part 9 also rotates together with the second joint part 8 to reflect the laser beam reflected by the NS1 mirror 15 in the longitudinal direction of the second arm 6 from its center of rotation. However, the pair of mirrors 17 and 18 are not disposed on both sides of the distal end of the second arm, but are disposed on one side thereof. The fourth joint 10 is equipped with one mirror 19 that reflects the laser beam from the third joint 9 at right angles, and these joints 7 to 10 can direct the laser nozzle 11 in any desired direction. We are making it possible to do so. An optical component (not shown) for condensing the laser beam is provided in the laser nozzle 11.

以上の構成において、図示しないレーザ発振器からのレ
ーザ光線りはロボット本体ｌの移動方向と平行に放射さ
れ、直接多関節アーム手段３の第１関節部７に導入され
る。そしてさらに多関節アーム手段３の各関節部８．９
．１０を介してレーザノズル１１まで案内され、そのレ
ーザノズル１１から図示しない被加工物に向けて照射さ
れる。In the above configuration, a laser beam from a laser oscillator (not shown) is emitted parallel to the moving direction of the robot main body 1, and is directly introduced into the first joint portion 7 of the multi-joint arm means 3. Furthermore, each joint portion 8.9 of the multi-joint arm means 3
．． 10 to a laser nozzle 11, from which the laser beam is irradiated toward a workpiece (not shown).

このように本実施例においては、上記多関節アーム手段
３に複雑な光学系を介することなくレーザ光線りを供給
することができるので構成が簡単になり、しかもロボッ
トを上記直線２上を任意の距離だけ移動させることがで
きるので、その作業範囲を従来に比較して大きくするこ
とができるようになる。In this way, in this embodiment, the laser beam can be supplied to the multi-joint arm means 3 without going through a complicated optical system, so the configuration is simple, and the robot can be moved along the straight line 2 at any desired direction. Since it can be moved by a certain distance, the work range can be made larger than in the past.

さらに本実施例においては、第２関節部８を構成する一
対のミラー１６．１７を第１および第２アーム５．６の
両側に配設しているので、両ミラー１８．１７を共に第
２アーム６の一側に設けた第３関節部９のように、一方
のミラーが他方のミラー１８と第２アーム６との間に配
置されることがなく、したがって両ミラー１６．１７の
保守、点検が容易になる。Furthermore, in this embodiment, since the pair of mirrors 16.17 constituting the second joint 8 are disposed on both sides of the first and second arms 5.6, both mirrors 18.17 are As with the third articulation 9 on one side of the arm 6, one mirror is not arranged between the other mirror 18 and the second arm 6, so that maintenance of both mirrors 16, 17, Inspection becomes easier.

なお、第３関節部９を第２関節部８と同様に構成しても
よく、また多関節アーム手段としては中空バイブのアー
ムを有してその内部においてレーザ光線を案内するよう
にした構成のもの等、適宜の構成のものであってもよい
ことは勿論である。Note that the third joint part 9 may be configured in the same manner as the second joint part 8, and the multi-joint arm means may have a hollow vibe arm and guide the laser beam inside the arm. Of course, it may be of any suitable configuration.

「発明の効果」 以上のように、本発明によれば、多関節アーム手段ヘレ
ーザ光線を供給するための光学系が簡単となり、しかも
ロボットの作業範囲を大きくすることができるという効
果が得られる。[Effects of the Invention] As described above, according to the present invention, the optical system for supplying the laser beam to the multi-jointed arm means is simplified, and the working range of the robot can be increased.

【図面の簡単な説明】[Brief explanation of the drawing]

第１図は本発明の一実施例を示す正面図、第２図は第１
図の゛左側面図である。FIG. 1 is a front view showing one embodiment of the present invention, and FIG. 2 is a front view showing one embodiment of the present invention.
It is a left side view of the figure.

Claims (1)

【特許請求の範囲】[Claims] 　基部をロボット本体に回転可能に取付けた多関節アー
ム手段と、この多関節アーム手段の先端部に設けられ、
多関節アーム手段で案内されてきたレーザ光線を被加工
物に向けて照射するレーザノズルとを備えたレーザ加工
用多関節アーム型ロボットにおいて、上記ロボット本体
を所定の直線に沿って往復動可能に設けるとともに、レ
ーザ発振器から上記多関節アーム手段に供給すべきレー
ザ光線を上記直線と平行に放射可能とし、かつ、上記多
関節アーム手段の基部におけるロボット本体に対する回
転軸を上記レーザ光線の光軸上に配設するとともに、そ
の光軸上にレーザ光線を屈曲させる光学部品を配設し、
上記直線と平行に放射されたレーザ光線をその光学部品
を介して上記多関節アーム手段に供給することを特徴と
するレーザ加工用多関節アーム型ロボット。A multi-joint arm means whose base is rotatably attached to the robot body, and a distal end of the multi-joint arm means,
A multi-joint arm type robot for laser processing, which is equipped with a laser nozzle that directs a laser beam guided by a multi-joint arm means toward a workpiece, in which the robot body can reciprocate along a predetermined straight line. At the same time, the laser beam to be supplied from the laser oscillator to the multi-joint arm means can be emitted parallel to the straight line, and the rotation axis of the base of the multi-joint arm means relative to the robot body is aligned on the optical axis of the laser beam. and an optical component that bends the laser beam on its optical axis.
A multi-joint arm type robot for laser processing, characterized in that a laser beam emitted parallel to the straight line is supplied to the multi-joint arm means via its optical components.
JP60017665A 1985-01-31 1985-01-31 Articulated arm type robot for laser beam machining Pending JPS61176491A (en)

Priority Applications (7)

Application Number Priority Date Filing Date Title
JP60017665A JPS61176491A (en) 1985-01-31 1985-01-31 Articulated arm type robot for laser beam machining
US06/819,773 US4675499A (en) 1985-01-31 1986-01-16 Laser beam machining robot
GB08601251A GB2170472B (en) 1985-01-31 1986-01-20 Laser beam machining apparatus
KR1019860000547A KR890000719B1 (en) 1985-01-31 1986-01-28 Laser beam machining robot
SE8600393A SE469372B (en) 1985-01-31 1986-01-29 ROBOT MADE MACHINERY WITH LASER RADIATION
FR8601216A FR2576816B1 (en) 1985-01-31 1986-01-29 LASER BEAM MACHINING ROBOT
DE19863603033 DE3603033A1 (en) 1985-01-31 1986-01-31 LASER BEAM PROCESSING MACHINE

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP60017665A JPS61176491A (en) 1985-01-31 1985-01-31 Articulated arm type robot for laser beam machining

Publications (1)

Publication Number Publication Date
JPS61176491A true JPS61176491A (en) 1986-08-08

Family

ID=11950148

Family Applications (1)

Application Number Title Priority Date Filing Date
JP60017665A Pending JPS61176491A (en) 1985-01-31 1985-01-31 Articulated arm type robot for laser beam machining

Country Status (2)

Country Link
JP (1) JPS61176491A (en)
KR (1) KR890000719B1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104842367A (en) * 2015-02-06 2015-08-19 浙江工业大学 Serial-parallel quasi-human mechanical arm

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6192794A (en) * 1984-10-09 1986-05-10 ビジヤ・エ・カルル・ソシエタ・ペル・アジオニ Power laser beam cutting or welding robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS6192794A (en) * 1984-10-09 1986-05-10 ビジヤ・エ・カルル・ソシエタ・ペル・アジオニ Power laser beam cutting or welding robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104842367A (en) * 2015-02-06 2015-08-19 浙江工业大学 Serial-parallel quasi-human mechanical arm

Also Published As

Publication number Publication date
KR890000719B1 (en) 1989-03-30
KR860005681A (en) 1986-08-11

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