JPS6397388A - Laser beam machine using flexible arm - Google Patents

Laser beam machine using flexible arm

Info

Publication number
JPS6397388A
JPS6397388A JP61240728A JP24072886A JPS6397388A JP S6397388 A JPS6397388 A JP S6397388A JP 61240728 A JP61240728 A JP 61240728A JP 24072886 A JP24072886 A JP 24072886A JP S6397388 A JPS6397388 A JP S6397388A
Authority
JP
Japan
Prior art keywords
flexible arm
mirror holder
mirror
flexible
around
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
JP61240728A
Other languages
Japanese (ja)
Inventor
Wataru Iida
亘 飯田
Eiichiro Uchida
内田　栄一郎
Yasuo Shinno
康生 新野
Yoshito Kato
加藤　由人
Kazuhisa Sanpei
和久 三瓶
Yasuo Ishiguro
石黒　恭生
Kazumasa Itoga
糸賀　一聖
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.)
Toyota Motor Corp
Toyoda Koki KK
Original Assignee
Toyota Motor Corp
Toyoda Koki KK
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 Toyota Motor Corp, Toyoda Koki KK filed Critical Toyota Motor Corp
Priority to JP61240728A priority Critical patent/JPS6397388A/en
Publication of JPS6397388A publication Critical patent/JPS6397388A/en
Pending legal-status Critical Current

Links

Classifications

    • 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
    • B23K26/10—Devices involving relative movement between laser beam and workpiece using a fixed support, i.e. involving moving the laser beam

Abstract

PURPOSE:To prevent the light slippage of a laser light by fitting a mirror holder respectively at both ends of 1st or 2nd flexible arm and connecting said both mirror holders freely rotatably around the horizontal axis to the other mirror holder freely rotatable around the vertical axial line. CONSTITUTION:The space between the light path part 32 of a rotor 3 and laser oiscillator 2 is connected by the 1st flexible arm 40 and 2nd flexible arm 41 for laser light leading path. 5th and 5th mirror holders 47, 46 are fitted to the 1st and 2nd flexible arm 40, 41 and said both holders 46, 47 are connected to the 3rd, 4th mirror holders 45, 48 freely rotating around the vertical axial line and freely rotated around the horizontal axial line. When servomotors 20, 21 are actuated, the 1st flexible arm 40 is rotated around the vertical axial line and both arm 40, 41 are refracted with the revolving of the 2nd flexible arm 41. With this machine, the machining without the mirror being inclined for the flexible arms 40, 41, nor fear of the laser light being dislocated can be performed.

Description

【発明の詳細な説明】 〈産業上の利用分野〉 本発明は、水平面内で移動可能なロボットの可動部とレ
ーザ発振器間を２本のフレキシブルアームで接続し、フ
レキシブルアーム内にレーザ光を通すようにしたフレキ
シブルアームを用いたレーザ加工機に関するものである
。[Detailed Description of the Invention] <Industrial Application Field> The present invention connects the movable part of a robot that can move in a horizontal plane and a laser oscillator with two flexible arms, and passes laser light through the flexible arms. The present invention relates to a laser processing machine using such a flexible arm.

〈従来の技術〉 かかる従来のレーザ加工機は、第１フレキシブルアーム
の両端に第１、第２のミラーブロックを取り付け、第２
フレキシブルアームの両端に第３、第４のミラーブロッ
クを取り付け、前記第１のミラーブロックをレーザ発振
器の架台に鉛直軸線回りに回転自在に設けた回転スリー
ブに接続し、第２のミラーブロックと第３のミラーブロ
ックを鉛直軸線回りに回転自在に接続し、第４のミラー
ブロックを水平移動可能な可動台に鉛直軸線回りに回転
自在に取り付けていた。<Prior Art> Such a conventional laser processing machine has first and second mirror blocks attached to both ends of a first flexible arm.
Third and fourth mirror blocks are attached to both ends of the flexible arm, the first mirror block is connected to a rotating sleeve provided on the pedestal of the laser oscillator so as to be rotatable around the vertical axis, and the second mirror block and the fourth The third mirror block was connected to be rotatable around the vertical axis, and the fourth mirror block was attached to a horizontally movable movable base so as to be rotatable around the vertical axis.

〈発明が解決しようとする問題点〉 前記可動台はレールに案内されており、このし−ルは組
付は上、レーザ発振器に対してごくわずかに傾くことは
避けられない。この結果、可動台を移動させたときに可
動台がレーザ発振器に対して上下に移動し、この上下動
を吸収すべく第１、第２フレキシブルアームがたわみ、
フレキシブルアームに対するミラーの傾度が変ってレー
ザ光軸がずれる問題があった。<Problems to be Solved by the Invention> The movable table is guided by a rail, and when assembled, it is inevitable that this rail will tilt slightly with respect to the laser oscillator. As a result, when the movable base is moved, the movable base moves up and down with respect to the laser oscillator, and the first and second flexible arms bend to absorb this vertical movement.
There was a problem that the inclination of the mirror with respect to the flexible arm changed, causing the laser optical axis to shift.

〈問題点を解決するための手段〉 本発明は上述した問題点を解決するためになされたもの
で、第１フレキシブルアーム若しくは第２フレキシブル
アームの両端に第５のミラーホルダと第６のミラーホル
ダを取り付け、第５のミラーホルダと第６のミラーホル
ダを鉛直軸線回りに回転自在なミラーホルダに水平軸線
回りに回転自在に接続したちである。<Means for Solving the Problems> The present invention has been made to solve the above problems, and includes a fifth mirror holder and a sixth mirror holder at both ends of the first flexible arm or the second flexible arm. The fifth mirror holder and the sixth mirror holder are connected to the mirror holder which is rotatable about the vertical axis so as to be rotatable about the horizontal axis.

く作用〉 ロボットの可動部が移動すると、第１、第２フレキシブ
ルアームが鉛直軸線回り旋回し、第１フレキシブルアー
ムに対し第２フレキシブルアームが屈折する。可動部の
上下方向の移動に対しては、第１フレキシブルアーム若
しくは第２フレキシブルアームが水平軸線回りに旋回し
、第１、第２フレキシブルアームには撓ませる力が作用
しない。Action> When the movable part of the robot moves, the first and second flexible arms rotate around the vertical axis, and the second flexible arm bends with respect to the first flexible arm. When the movable part moves in the vertical direction, the first flexible arm or the second flexible arm turns around the horizontal axis, and no bending force acts on the first and second flexible arms.

〈実施例〉 以下本発明の実施例を図面に基づいて説明する。<Example> Embodiments of the present invention will be described below based on the drawings.

第１図及び第２図において、１はレーザ発振器２を設置
している架台、３はロボットである。このロボット３の
構成は次の通りである。１０はベッドであり、その上面
の四隅に支柱１１が立設されている。この支柱１１間上
には一対の案内レール１２が平行して掛は渡され第１直
動部１３が案内レール１２に沿って移動可能に案内され
ている。In FIGS. 1 and 2, 1 is a pedestal on which a laser oscillator 2 is installed, and 3 is a robot. The configuration of this robot 3 is as follows. Reference numeral 10 denotes a bed, and pillars 11 are erected at the four corners of the upper surface of the bed. A pair of guide rails 12 are provided in parallel between the columns 11, and the first linear motion part 13 is movably guided along the guide rails 12.

２１は図略のポールネジを正逆回転し、第１直動部１３
を案内レール１２に沿って移動させるサーボモータであ
る。21 rotates a pole screw (not shown) in forward and reverse directions, and
This is a servo motor that moves the guide rail 12 along the guide rail 12.

前記第１直動部１３上に、前記案内レール１２に対し直
交する方向の案内レール１７が設けられ、これに第２直
動部（可動部）２３が移動可能に案内されている。１９
は案内レール１７に沿って設けられたボールネジであり
、サーボモータ２０によって正逆回転し前記第２直動部
２３を案内レール１７に沿って移動する。A guide rail 17 is provided on the first linear motion section 13 in a direction perpendicular to the guide rail 12, and a second translation section (movable section) 23 is movably guided by the guide rail 17. 19
is a ball screw provided along the guide rail 17, which is rotated forward and backward by the servo motor 20 to move the second linear motion section 23 along the guide rail 17.

さらに、前記第２直動部２３に第３直動部１８が昇降動
可能に案内され、この第３直動部１８にレーザトーチ３
１が旋回自在に設けられている。Further, a third linear motion section 18 is guided to the second translation section 23 so as to be movable up and down, and a laser torch 3 is guided to the third translation section 18.
1 is rotatably provided.

上記構成のロボット３の光路部３２とレーザ発振器２と
の間をレーザ導光路用の第１フレキシブルアーム４０並
びに第２フレキシブルアーム４１とによって継いでいる
。A first flexible arm 40 and a second flexible arm 41 for a laser light guide path connect the optical path section 32 of the robot 3 having the above configuration and the laser oscillator 2.

架台１の下部には回転スリーブ４２が鉛直軸線回りに回
転可能に設けられ、回転スリーブ４２の下部に第１のミ
ラーホルダ４３が取り付けられている。第１のミラーホ
ルダ４３に前記第１フレキシブルアーム４０の一端が取
り付けられ、第１フレキシブルアーム４０の他端には第
２のミラーホルダ４４が取り付けられている。第２のミ
ラーホルダ４４には第３のミラーホルダ４５が鉛直軸線
回りに回転自在に接続され、さらに第３のミラーホルダ
４５には第５のミラーホルダ４６が水平軸線回りに回転
自在に接続されている。第５のミラーホルダ４６には第
２フレキシブルアーム４１の一端が取り付けられ、第２
フレキシブルアーム４１の他端には第６のミラーホルダ
４７が取り付けられている。第６のミラーホルダ４７に
は第４のミラーホルダ４８が水平軸線回りに回転自在に
接続され、第４のミラーホルダ４８は第２直動部２３に
鉛直軸線回りに回転自在にブラケット４９を介して取り
付けられている。第４のミラーホルダ４８にはロボット
側の光路部３２が接続されている。各ミラーホルダには
レーザ光を屈折反射するミラーを備えている。A rotating sleeve 42 is provided at the bottom of the pedestal 1 so as to be rotatable around a vertical axis, and a first mirror holder 43 is attached to the bottom of the rotating sleeve 42 . One end of the first flexible arm 40 is attached to the first mirror holder 43, and a second mirror holder 44 is attached to the other end of the first flexible arm 40. A third mirror holder 45 is connected to the second mirror holder 44 so as to be rotatable around the vertical axis, and a fifth mirror holder 46 is connected to the third mirror holder 45 so as to be rotatable around the horizontal axis. ing. One end of the second flexible arm 41 is attached to the fifth mirror holder 46, and the second
A sixth mirror holder 47 is attached to the other end of the flexible arm 41. A fourth mirror holder 48 is connected to the sixth mirror holder 47 so as to be rotatable around the horizontal axis, and the fourth mirror holder 48 is connected to the second linear motion part 23 through a bracket 49 so as to be rotatable around the vertical axis. installed. The optical path section 32 on the robot side is connected to the fourth mirror holder 48 . Each mirror holder is equipped with a mirror that refracts and reflects laser light.

次に上述した構成に基づいて作用について説明する。サ
ーボモータ２０．２１を作動させると、第１直動部１３
と第２直動部２３が移動する。レーザ発振器２と第２直
動部２３間の距離が変化するため、第１フレキシブルア
ーム４０は回転スリーブ４２の回転軸線（鉛直軸線）回
りに旋回し、第２フレキシブルアーム４１は第４のミラ
ーホルダ４８の回転軸線回りに旋回し、第２フレキシブ
ルアーム４１は第１フレキシブルアーム４０に対して屈
折する。第１直動部１３と第２直動部２３の移動により
案内レール１２．１７の傾きによって第２直動部２３が
レーザ発振器２に対してご（わずかであるが上下動する
。この上下動により第２フレキシブルアーム４１は第５
のミラーホルダ４６の回転軸線（水平軸線）回りに旋回
し、第１フレキシブルアーム４０、第２フレキシブルア
ーム４１には撓まそうとする力が作用しない。従ってフ
レキシブルアームに対してミラーホルダが傾かないため
レーザ光がずれる恐れがない。Next, the operation will be explained based on the above-described configuration. When the servo motor 20.21 is operated, the first linear motion part 13
and the second linear motion section 23 moves. Since the distance between the laser oscillator 2 and the second linear motion part 23 changes, the first flexible arm 40 rotates around the rotation axis (vertical axis) of the rotation sleeve 42, and the second flexible arm 41 rotates around the rotation axis (vertical axis) of the rotation sleeve 42. 48, and the second flexible arm 41 is bent relative to the first flexible arm 40. Due to the movement of the first linear moving part 13 and the second linear moving part 23, the second linear moving part 23 moves up and down relative to the laser oscillator 2 (although slightly) due to the inclination of the guide rail 12.17. Accordingly, the second flexible arm 41
The mirror holder 46 rotates around the rotation axis (horizontal axis), and no force acting on the first flexible arm 40 and the second flexible arm 41 to bend them. Therefore, since the mirror holder does not tilt with respect to the flexible arm, there is no fear that the laser beam will shift.

なお、上述した例は第２フレキシブルアーム４１の両端
に水平軸線回りに回転する第５のミラーホルタ４６、第
６のミラーホルダ４７が取り付けられた例について述べ
たが、第１フレキシブルアーム４０の両端に第５のミラ
ーホルダ４６、第６のミラーホルダ４７を取り付けても
良い。Note that in the above example, the fifth mirror holder 46 and the sixth mirror holder 47, which rotate about the horizontal axis, are attached to both ends of the second flexible arm 41. A fifth mirror holder 46 and a sixth mirror holder 47 may be attached.

〈発明の効果〉 以上述べたように本発明は、第１フレキシブルアーム若
しくは第２フレキシブルアームの両端に第５のミラーホ
ルダと第６のミラーホルダを取り付け、第５のミラーホ
ルダと第６のミラーホルダを鉛直軸線回りに回転自在な
ミラーホルダに水平軸線回りに回転自在に接続したので
、ロボットの可動部を案内するレールがレーザ発振器に
対してごくわずかに傾いていても、可動部の上下動を第
１フレキシブルアーム若しくは第２フレキシブルアーム
の水平軸線回りの旋回によって吸収できる。<Effects of the Invention> As described above, the present invention has the fifth mirror holder and the sixth mirror holder attached to both ends of the first flexible arm or the second flexible arm, and the fifth mirror holder and the sixth mirror holder. Since the holder is connected to a mirror holder that can freely rotate around the vertical axis so that it can rotate around the horizontal axis, even if the rail that guides the moving part of the robot is slightly tilted with respect to the laser oscillator, the vertical movement of the moving part will not be affected. can be absorbed by pivoting the first flexible arm or the second flexible arm about the horizontal axis.

この結果、第１フレキシブルアーム若しくは第２フレキ
シブルアームには撓まそうとする力が作用せず、第１フ
レキシブルアーム、第２フレキシブルアームに対してミ
ラーが傾かないので、レーザ光がずれる恐れがない利点
が得られる。As a result, no bending force acts on the first flexible arm or the second flexible arm, and the mirror is not tilted with respect to the first flexible arm or the second flexible arm, so there is no risk of the laser beam shifting. Benefits can be obtained.

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

第１図は本発明にがかるレーザ加工機の部分斜視図、第
２図はレーザ加工機の正面図。 １・・・架台、２・・・レーザ発振機、３・・・ロボッ
ト、１２．１７・・・案内レール、１３・・・第１直動
部、２３・・・第２直動部（可動部）、４０・・・第１
フレキシブルアーム、４１・・・第２フレキシブルアー
ム、４３・・・第１のミラーホルダ、４４・・・第２の
ミラーホルダ、４５・・・第３のミラーホルダ、４６・
・・第５のミラーホルダ、４７・・・第６のミラーホル
ダ、４８・・・第４のミラーホルダ。FIG. 1 is a partial perspective view of a laser processing machine according to the present invention, and FIG. 2 is a front view of the laser processing machine. DESCRIPTION OF SYMBOLS 1... Frame, 2... Laser oscillator, 3... Robot, 12.17... Guide rail, 13... First linear motion part, 23... Second linear motion part (movable) part), 40...1st
Flexible arm, 41... Second flexible arm, 43... First mirror holder, 44... Second mirror holder, 45... Third mirror holder, 46...
...Fifth mirror holder, 47...Sixth mirror holder, 48...Fourth mirror holder.

Claims (1)

【特許請求の範囲】[Claims] レーザ発振器を設置した架台にレーザ導光路用の第１フ
レキシブルアームの一端を鉛直軸線回りに回転自在な第
１のミラーホルダを介して接続し、この第１フレキシブ
ルアームの他端に互いに鉛直軸線回りに回転自在な第２
、第３のミラーホルダを介して第２フレキシブルアーム
の一端を接続し、この第２フレキシブルアームの他端を
鉛直軸線回りに回転自在な第４のミラーホルダを介して
ロボットの可動部と接続したレーザ加工機において、第
１フレキシブルアーム若しくは第２フレキシブルアーム
の両端に第５のミラーホルダと第６のミラーホルダを取
り付け、第５のミラーホルダと第６のミラーホルダを鉛
直軸線回りに回転自在な前記ミラーホルダに水平軸線回
りに回転自在に接続したことを特徴とするフレキシブル
アームを用いたレーザ加工機。One end of the first flexible arm for the laser light guide path is connected to the pedestal on which the laser oscillator is installed via a first mirror holder that is rotatable around the vertical axis, and the other ends of the first flexible arms are connected to each other around the vertical axis. The second rotatable
, one end of the second flexible arm was connected via a third mirror holder, and the other end of the second flexible arm was connected to the movable part of the robot via a fourth mirror holder rotatable around a vertical axis. In the laser processing machine, a fifth mirror holder and a sixth mirror holder are attached to both ends of the first flexible arm or the second flexible arm, and the fifth mirror holder and the sixth mirror holder are rotatable around a vertical axis. A laser processing machine using a flexible arm, characterized in that the flexible arm is connected to the mirror holder so as to be rotatable around a horizontal axis.
JP61240728A 1986-10-09 1986-10-09 Laser beam machine using flexible arm Pending JPS6397388A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP61240728A JPS6397388A (en) 1986-10-09 1986-10-09 Laser beam machine using flexible arm

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP61240728A JPS6397388A (en) 1986-10-09 1986-10-09 Laser beam machine using flexible arm

Publications (1)

Publication Number Publication Date
JPS6397388A true JPS6397388A (en) 1988-04-28

Family

ID=17063819

Family Applications (1)

Application Number Title Priority Date Filing Date
JP61240728A Pending JPS6397388A (en) 1986-10-09 1986-10-09 Laser beam machine using flexible arm

Country Status (1)

Country Link
JP (1) JPS6397388A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0352791A (en) * 1989-07-20 1991-03-06 Fanuc Ltd Articulated arm type industrial laser robot

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0352791A (en) * 1989-07-20 1991-03-06 Fanuc Ltd Articulated arm type industrial laser robot

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