WO1990004487A1 - Robot articule pour usinage au laser - Google Patents
Robot articule pour usinage au laser Download PDFInfo
- Publication number
- WO1990004487A1 WO1990004487A1 PCT/JP1989/001065 JP8901065W WO9004487A1 WO 1990004487 A1 WO1990004487 A1 WO 1990004487A1 JP 8901065 W JP8901065 W JP 8901065W WO 9004487 A1 WO9004487 A1 WO 9004487A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- wrist
- laser light
- laser
- hollow
- Prior art date
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
- B23K26/0869—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
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0283—Three-dimensional joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- 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
Definitions
- the present invention relates to an articulated robot for laser operation, which emits laser light and is used in industrial applications such as welding cutting and deburring in a three-dimensional space, and in particular, Also, the present invention relates to an improved structure of a robot wrist having a laser condensing and emission unit in a multi-articulated robot for laser operation.
- laser operations such as welding, material cutting, and scraping of solid and molded products are performed by unmanned operation of the manipulator or robot.
- Various laser robots have been conventionally provided.
- the laser working manipulators are arranged in two orthogonal directions in a horizontal plane and in a direction perpendicular to the ice plane, along the machine frame assembled in a gate shape (uniform gantry).
- a portal-type laser processing machine equipped with a laser exit unit that also moves, and is effectively used for laser light irradiation processing such as welding to a planar work.
- the robot and the robot of the rectangular coordinate system are used to perform other operations in two directions perpendicular to the horizontal plane and at right angles to the two axes.
- the rectangular coordinate type laser port of the user can set the distance to the workpiece with a high accuracy by using a distance sensor for the work that is drawn out of plane. It can perform one laser operation-It has an advantage, but for the corners of complicated 3D solid products, the laser output and the tip of the condensing unit are attached to the corner.
- the laser working port for overcoming these disadvantages is the laser working robot.
- a laser focusing and emission unit is provided on the wrist, which has freedom of movement around multiple axes due to multiple joints. Even so, there is an advantage that the tip of the laser emission unit can be brought close to the laser irradiation unit to perform a desired laser work by irradiating the laser light.
- the distance sensor detects the machining position on the workpiece and attempts to correct the error, it must be able to start up quickly and operate around each joint axis.
- the revolving torso of a multi-joint robot, the robot arm, etc. are large because their own inertia is large even though they cannot be corrected to real time.
- the rising speed of the operation is limited, so that the correction operation is eventually delayed and complete correction cannot be performed.
- an object of the present invention is to provide a laser explosion articulated robot having a structure capable of overcoming the above-mentioned disadvantages of the conventional laser working articulated mouthpiece. To provide a kit.
- Another object of the present invention is to provide an improved structure of a robot wrist having a laser condensing and emitting unit in a multi-joint robot for laser operation. To do that.
- an inner hollow robot space is articulated on the robot base so as to be pivotable about one axis at a lower end and extends toward the upper end.
- the robot swiveling body with the hollow inside and the above! Attached to the upper end of the pot revolving barrel at the rear end about a single axis orthogonal to the revolving axis of the robot revolving barrel, so as to be swingable at the rear end.
- the inside hollow first mouth-bottom arm extending toward the tip and the tip of the above-mentioned first mouth-pot arm, the axis of rotation of the first mouth-bottom arm and other parallel
- An inner hollow second part which is rotatably connected to a part thereof so as to be swingable around the axis of the shaft, extends from the part toward the tip, and is rotatable about a rotation axis perpendicular to the other axis.
- a laser light condensing unit provided at the end of the second robot arm and having a laser light emission port for emitting laser light in a predetermined direction.
- the laser light collecting unit is held, and the laser light conduit unit!
- Laser work in which laser light can be irradiated from the mouth to a desired position in three-dimensional space Aru in the present invention provides a bot.
- FIG. 1 is a cross-sectional view showing details of a wrist structure of a multi-joint port for laser work according to an embodiment of the present invention.
- FIG. 2 is a side view showing the general configuration and joint arrangement of a multi-purpose robot for laser operation provided with the robot wrist of FIG.
- a typical example of an articulated laser pi-bot is shown, where the robot 10 is an internal robot installed on the floor at the site of use.
- the first robot arm 16 of an inner hollow structure which is articulated at the rear end side at one point 16a to the top of 4 and can swing about the horizontal axis (W axis). 1 is connected to the distal end of the ⁇ -bottom arm 16 at a point 16 b at a node, and can swing around another horizontal axis (U axis) parallel to the W axis.
- the forearm portion 18a has a mouth J around the axis (r-axis) in the arm length direction.
- the second mouth-bottom arm 18 of the internal hollow structure having a JMS, and the second ⁇ -bottom arm 1 8 Forearm 1 at the tip of 8a And a robot wrist 20 to be fitted.
- the robot wrist 20 has a laser light conduit, which will be described later, inside thereof, and a laser wrist at its tip. It is provided with a condensing unit 22 for condensing and emitting the light.
- the rotational movement around each axis is all generated by a drive module composed of a servomotor.
- the multi-joint robot of the present embodiment is formed as a laser working port robot, the laser light emitted from the laser light source 10Q has a built-in reflecting mirror 104. Introduced into the robot body from the robot case 12 by the appropriate laser light conduit 102, the laser beam path is formed inside by the hollow structure, and the robot rotating body 14. The first and second ⁇ -bottom arms 16 and 18 are formed so as to allow the laser beam to travel.
- the robot pot neck 20 of the multi-lane robot 10 for laser operation of the present embodiment is connected to the outside front of the condensing unit 22 as shown in FIG.
- the laser beam can be rotated about an axis (J9 axis) orthogonal to the laser light emission direction Ls, and the condensing unit 22 is straight forward and backward as will be described in detail later. It is formed so as to be movable, so that the condensing unit 22 is configured to be linearly movable back and forth along an axis that coincides with the laser emission direction (this is the Z-axis below £ 1). It is being done.
- the well-known distance sensor 24 (such as a type that emits light and detects reflected light) that measures the exact distance to the processing position of the workpiece to be processed is provided by the focusing unit 22. It is provided to measure the precise distance between the emission port and the processing position of the workpiece (not shown in Fig. 2).
- FIG. 1 the figure shows details of the robot wrist 20 connected to the tip of the second robot arm 18 of the internal hollow structure.
- the detailed structure is shown in the figure, and the first wrist case 2 is attached to the end of the forearm 18 a of the second robot arm 18 by using an appropriate screw or the like. 8a is connected and fixed.
- the inside of the second robot arm 18 is formed in a hollow structure as described above, and therefore, two hollow rotating shafts 3_0a and 30b are coaxially arranged in the inside.
- the outer first hollow shaft 3a is provided by the combination of a gear 32 provided at the rear end and a small gear (vinyl) 34 attached to the output shaft of the drive motor M) 9.
- the drive motor M) 9 is driven to rotate and forms a drive shaft of the mouth port wrist 20 which rotates 9 axes.
- the inner second hollow shaft 30 b has an inner space that forms a laser light conduit, and a gear 36 provided at the rear end side is connected to the output shaft of the drive motor MZ-. It is rotationally driven by the same drive motor Mz through the engagement with the attached small gear (pinion) 38, causing the condensing unit 22 to be described later to move forward and backward.
- Drive axis
- the outer first hollow drive shaft 30a has a spline joint 3 at the front end side with a pepel gear 40a provided at the entrance end of the first wrist case 28a. 1a. So as to be integrally rotatable, and accordingly, the Pepel gear 40a is rotationally driven. This bevel gear 40a rotates while being sandwiched between the rotary bearings 42a, 42b and the rotary bearings 44a, 44b, and rotates in the direction of rotation to the other pepel gear 40b. 90. The rotation is transmitted by conversion. As a result, the Pepel gears 40b are connected to the first and second wrist gears via the coaxial reducer 46 composed of a well-known RV reducer (trade name of Teijin Machinery Co., Ltd.
- Case 28 a, 28 bt The wrist components mounted inside are rotated around the iS axis that coincides with the axis of the Pepper gear wheel 40 and the speed reducer 46. In other words, a mechanism is constructed in which the ⁇ -bot wrist 20 can rotate around the ⁇ -axis.
- the second robot wrist 28b is threadedly connected to a cylindrical third wrist case 28c, and a light-collecting unit 2 described later is attached to the front end of the third wrist case 28c.
- the condensing unit 22 is provided via a rotation-linear conversion mechanism that starts the front-rear rotation of the ⁇ -bottom 2, the rotation of the ⁇ -bot wrist 20 around the i9 axis is, of course, Robot wrist 20 Focusing unit 22 at the tip is also rotated together.) Rotate around 9 axes.
- the rotation of the inner second hollow drive shaft 30b is caused by the fact that its front end is connected to the bevel gear 46a via the spline connection 31b.
- the bevel gear 46a is rotated and driven, and the bevel gear 46b coupled to the pepel gear 46a is rotationally driven. Therefore, the rotation of the bevel gear 46 b is connected to the hollow shaft 50 having a laser light conduit extending through the center of the speed reducer 46 formed therein. It is transmitted via 48a. Therefore, the hollow shaft 50 rotates, and the rotation is transmitted to the petal gear 52 a through the spline joint 48 b formed at the upper end of the hollow shaft 50.
- the rotation is transmitted by rotating the 90 ° rotation direction to the other bevel gear 52 b combined with the pebble gear 52 a.
- the latter gear 52 b rotates in the third wrist case 28 c while being supported by a pair of rotating bearings 54, and rotates the same gear 52 b.
- the power is transmitted to the rotatable cylindrical member 60 rotatably supported via a pair of rotary bearings 58a and 58b inside the wrist case 28c.
- the rotating cylindrical member 60 has a well-known port screw nut mechanism nut 62 in front of the rotating cylindrical member 60, and has a ball screw nut mechanism nut 62.
- the robot wrist 20 uses the two drive motors Mj8 and Mz attached to and held on the second port arm 18 as drive sources.
- the laser light exit and the direction change of the condensing unit 22 are finely adjusted in the front-rear direction with the laser beam exit for a single machining point to correct the optimal machining position.
- the drive motors M3 and Mz are controlled by a well-known robot controller via a support system.
- a laser light conduit is formed in the robot wrist 20. That is, the laser beam traveling inside the inner hollow shaft 30b inside the second robot arm 18 is reflected by the one-sided end of the first wrist case 28a of the wrist 20. The course is changed by 90 ° by being reflected by the mirror 70, the vehicle travels substantially in the center of the hollow shaft 50, and the other is fixedly held by the second wrist case 28 b. Reflected by the mirror 72 again, the bevel gear 52 b, the rotating cylindrical member 6 and the ball screw shaft 6 4, which were formed into a hollow structure by changing the course of 90 ⁇ again, The laser beam travels through the internal space as a conduit and reaches the laser light collection unit 22.
- This condensing unit 22 has a laser beam condensing system (shown in Fig. 1) composed of an optical lens system inside, where the laser light is collected into a thin beam shape and welded.
- the laser beam is emitted toward the work direction from the emission port 22a at the tip while securing the laser energy suitable for laser operation m such as cutting and paring.
- reference numeral 24 denotes a well-known distance sensor, which detects a desired work position in a three-dimensional space.
- the laser beam emits an external laser light source 100, travels through the mouth port body, and has an inner hollow shaft inside the second robot arm 18. 30 b.
- the laser light condensing unit 20 provided at the tip thereof is connected to the wrist.
- the tip of 20 is provided so as to be capable of linear operation independently in the front-rear direction, so that the condensing unit 22 reaches the position on the page where the laser beam should be irradiated by robot operation
- the distance sensor 24 performs accurate distance measurement between the work and the exit end 22a, and performs a correction operation based on the distance measurement data
- the focusing sensor Since only the socket 22 moves back and forth to perform the distance correction, the conventional multi-articulated robot starts the rotation around each joint of the mouth pot, The operation makes it possible to easily and highly accurately perform the adjustment operation compared to the case where the distance between the tip of the light collection unit and the processing position of the workpiece is adjusted. It was.
- the light collection unit 22 only moves directly back and forth with respect to the wrist cases 28a to 28c.
- the present embodiment has many advantages.
- the articulated laser robot's wrist uses only the condensing unit 22 for the inertia, so the rise of the operation in the laser application process can be reduced.
- the speed can be extremely increased, and the correction action can be performed and achieved extremely fast without any delay with respect to the distance data from the distance sensor. In other words, the precision of the laser processing can be remarkably improved at a high level.
- a laser robot constituted by a multi-articulated mouth port is frequently used.
- Knot function Not only can the laser work not only on the flat surface, but also on the euna part of the complex three-dimensional stand-up work, etc. Since the work such as welding can be performed by accurately projecting the desired irradiation position, laser work with extremely high precision can be obtained. In addition, since fine distance adjustment at the time of laser beam projection can be performed easily and with high accuracy based on measurement data from the distance sensor, industrial applications that require precise laser processing technology Thus, it is possible to provide a multi-joint robot for laser work that can be effectively applied to the robot.
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Plasma & Fusion (AREA)
- Laser Beam Processing (AREA)
- Manipulator (AREA)
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP63259414A JPH02108489A (ja) | 1988-10-17 | 1988-10-17 | 多関節型レーザロボットの手首機構 |
JP63/259414 | 1988-10-17 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1990004487A1 true WO1990004487A1 (fr) | 1990-05-03 |
Family
ID=17333778
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1989/001065 WO1990004487A1 (fr) | 1988-10-17 | 1989-10-17 | Robot articule pour usinage au laser |
Country Status (4)
Country | Link |
---|---|
US (1) | US5132887A (ja) |
EP (1) | EP0407592A4 (ja) |
JP (1) | JPH02108489A (ja) |
WO (1) | WO1990004487A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5563056A (en) * | 1992-02-13 | 1996-10-08 | Bsi Corporation | Preparation of crosslinked matrices containing covalently immobilized chemical species and unbound releasable chemical species |
CN102528279A (zh) * | 2012-02-02 | 2012-07-04 | 江苏扬力数控机床有限公司 | 一种三维激光切割机 |
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JP3157847B2 (ja) * | 1991-03-12 | 2001-04-16 | 株式会社アマダ | レーザ加工ヘッド装置 |
GB9300403D0 (en) * | 1993-01-11 | 1993-03-03 | Huissoon Jan P | Dynamic seam tracking with redundant axes control |
FR2704166B1 (fr) * | 1993-04-20 | 1995-06-16 | Itp | Procédé et dispositif pour effectuer le soudage de tronçons de tube à l'aide de rayons laser. |
WO1995000865A1 (en) * | 1993-06-17 | 1995-01-05 | Xmr, Inc. | Improved optical beam integration system |
KR20040015536A (ko) * | 2002-08-13 | 2004-02-19 | 삼성전자주식회사 | 다관절 로봇 |
DE20306257U1 (de) * | 2003-04-17 | 2004-08-19 | Kuka Schweissanlagen Gmbh | Bearbeitungsvorrichtung |
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DE10333456A1 (de) * | 2003-07-22 | 2005-02-24 | Kuka Schweissanlagen Gmbh | Verfahren und Vorrichtung zum Laserbearbeiten von Werkstücken |
US7209500B2 (en) * | 2003-10-30 | 2007-04-24 | Metal Improvement Company, Llc | Stimulated Brillouin scattering mirror system, high power laser and laser peening method and system using same |
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US20050194367A1 (en) * | 2004-03-02 | 2005-09-08 | Fredrick William G.Jr. | System and method for remote controlled actuation of laser processing head |
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US11504853B2 (en) | 2017-11-16 | 2022-11-22 | General Electric Company | Robotic system architecture and control processes |
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CN111215759B (zh) * | 2018-11-23 | 2022-02-11 | 沈阳新松机器人自动化股份有限公司 | 混合反射式三维联动激光切割头 |
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JPS62199284U (ja) * | 1986-06-10 | 1987-12-18 |
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-
1988
- 1988-10-17 JP JP63259414A patent/JPH02108489A/ja active Pending
-
1989
- 1989-10-17 US US07/499,339 patent/US5132887A/en not_active Expired - Fee Related
- 1989-10-17 WO PCT/JP1989/001065 patent/WO1990004487A1/ja not_active Application Discontinuation
- 1989-10-17 EP EP19890911388 patent/EP0407592A4/en not_active Ceased
Patent Citations (2)
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JPS62130788A (ja) * | 1985-11-26 | 1987-06-13 | コマウ・ソシエタ・ペル・アチオ−ニ | レ−ザビ−ムによる熔接及び切断用工業ロボツト |
JPS62199284U (ja) * | 1986-06-10 | 1987-12-18 |
Non-Patent Citations (1)
Title |
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See also references of EP0407592A4 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5563056A (en) * | 1992-02-13 | 1996-10-08 | Bsi Corporation | Preparation of crosslinked matrices containing covalently immobilized chemical species and unbound releasable chemical species |
CN102528279A (zh) * | 2012-02-02 | 2012-07-04 | 江苏扬力数控机床有限公司 | 一种三维激光切割机 |
Also Published As
Publication number | Publication date |
---|---|
US5132887A (en) | 1992-07-21 |
EP0407592A4 (en) | 1991-05-22 |
JPH02108489A (ja) | 1990-04-20 |
EP0407592A1 (en) | 1991-01-16 |
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