WO1990008620A1 - Articulation de poignet pour robot industriel d'usinage au laser - Google Patents
Articulation de poignet pour robot industriel d'usinage au laser Download PDFInfo
- Publication number
- WO1990008620A1 WO1990008620A1 PCT/JP1990/000084 JP9000084W WO9008620A1 WO 1990008620 A1 WO1990008620 A1 WO 1990008620A1 JP 9000084 W JP9000084 W JP 9000084W WO 9008620 A1 WO9008620 A1 WO 9008620A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- wrist
- robot
- hollow
- laser
- drive shaft
- 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
- B23K26/36—Removing material
- B23K26/362—Laser etching
-
- 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
- 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 a wrist structure for an industrial laser robot, and more particularly to an industrial laser robot having a compact overall structure including a direct drive type motor as a wrist drive motor.
- a direct drive type motor as a wrist drive motor.
- the industrial laser port robot is mainly composed of a first robot arm, which corresponds to the upper arm, and is rotatably connected to the robot body around the horizontal axis (W axis).
- a so-called multi-joint industrial laser robot in which a second mouth-bottom arm corresponding to the forearm is articulated at the front end of the arm so as to be rotatable around a horizontal axis (U axis), has been conventionally used for laser energy.
- Passing and guiding the inside of the robot arm to the laser beam emitting nozzle provided at the tip of the wrist is a structure in which the above RV reducer allows the laser beam to penetrate the center of the center. Since it does not have a laser beam, a laser beam path that bypasses the outside of the mouth bot body is formed by a conduit and guided to the laser beam emitting nozzle while changing the course using a mirror near the tip of the robot wrist.
- a structure that emits as processing energy through a condenser lens has been adopted.
- Fig. 6 shows a typical example of the above-mentioned conventional articulated industrial laser robot.
- the robot body 8 is mounted on a robot base 7 that can move along the horizontal axis (Y axis) along the floor.
- the first robot arm 9 is articulated on the upper part of the robot turning body 8 so as to be pivotable about the horizontal axis (W axis).
- the second robot arm 10 has a configuration in which it is articulated so as to be pivotable about a U-axis parallel to the W-axis, and a laser light emitting nozzle 1 is provided at the distal end region of the second robot arm 10.
- 2 has a configuration in which a robot wrist 11 equipped with 2 is mounted.
- the laser beam is guided from a laser beam oscillator (not shown) through a suitable conduit to the vicinity of the robot body, and passes through conduits 13 and 14 to the rear end region of the second ⁇ -bot arm 10.
- the laser beam emitting nozzle 12 near the wrist 11 near the wrist 11 via the conduit 15 and the conduit 16 along the second mouth bot arm 10 1 2 Leading to.
- the robot wrist 1 It has a configuration in which the degree of freedom of movement (movement around two axes of orthogonal ⁇ and r) is given, and the above-mentioned RV reducer (not shown) in the transmission mechanism with two degrees of freedom has its center.
- the structure has a rotating input shaft or an output shaft, so that it is impossible to pass the laser light pipes 14 to 16 through the center of this reducer, and eventually the laser light path is set in the robot arm or wrist.
- the path of the laser beam is inevitably large, and the diameter becomes several tens of millimeters. Therefore, securing such a large-diameter laser beam path inside the robot body is extremely difficult to design and manufacture with the conventional mouth wrist structure consisting of a transmission mechanism with a built-in RV reduction gear.
- the laser light pipe is an external pipe
- there is a problem of interference with devices around the mouth bot the amount of rotation of the robot body is limited, and the tip of the mouth bot wrist
- the weight is large and the operation inertia is large, so it is difficult to obtain high-precision positioning and operation with high acceleration / deceleration, which is disadvantageous for applications.
- the output of the motor is inevitably input through the helical gear to the gearbox once to obtain the reduced speed output.
- K There is a disadvantage, such as bring by that accuracy deterioration in Tsu Pradesh, there is a solution should do Ka ⁇ . Disclosure of the invention
- a main object of the present invention is to solve the above-described problem in the wrist structure of the conventional articulated industrial laser robot that is frequently used.
- Another object of the present invention is to use a well-known direct drive motor as a rotation drive source of a wrist so that a laser light path can be built in a robot body.
- Another object of the present invention is to provide an industrial laser robot wrist that eliminates interference with the surrounding environment of the mouth robot and achieves overall compactness of the robot.
- a wrist provided with a laser beam emitting means, which is suitable for being attached to an end of the robot arm means of an industrial laser port robot having the robot arm means,
- Direct drive type motor means provided in the mouth-bottom arm means and functioning as a drive source for giving the wrist at least one degree of freedom of movement;
- Hollow wrist drive shaft means driven by the direct drive type motor means
- a brake means which is provided on the peripheral surface of the hollow drive shaft means so as to be able to contact and separate therefrom and performs a braking action
- a laser light pipe means provided inside the hollow drive shaft means and communicated from the robot arm means to the laser light emitting means;
- the laser light guided to the robot arm means of the body of the industrial robot via the external conduit passes through the laser arm oscillator and the hollow arm of the robot wrist. After passing through the live shaft means, it is guided to the laser light emitting means. Therefore, since the laser light pipe means is located inside the robot's fuselage and the laser light pipe means is provided in the hollow drive shaft means of the wrist, which requires rigidity and strength, a comparison for laser energy is made. By forming a large-diameter conduit and eliminating the external laser optical conduit from around the wrist, the overall structure of the robot wrist can be made compact.
- FIG. 1 is a cross-sectional view showing a wrist structure of an industrial laser robot according to one embodiment of the present invention.
- FIG. 2 is a sectional view showing a wrist structure of an industrial laser ⁇ -bot according to another embodiment of the present invention
- FIG. 3 is a cross-sectional view showing a modification of the embodiment shown in FIG. 2
- FIG. 4 is a cross-sectional view showing still another embodiment according to the present invention
- FIG. FIG. 6 is a cross-sectional view showing a modification of the embodiment
- FIG. 6 is a perspective view showing the structure of a conventional articulated industrial laser robot.
- FIG. 1 there is shown an example in which the present invention is applied to an industrial laser robot having a robot wrist having one degree of freedom of movement, which corresponds to a robot forearm having a degree of freedom of rotation around the U axis.
- a direct drive motor Mr having a well-known hollow structure is arranged at the end of the casing 20a of the robot arm 20 and is directly connected to the rotating element 22 of the direct drive motor Mr.
- the rear end 24 b of the wrist drive shaft 24 formed into a hollow tube structure is connected by an appropriate connection structure such as a bolt connection, and is electromagnetically operated continuously to the direct drive motor Mr.
- the wrist drive shaft 24 is provided with braking when necessary from the inside by providing a brake Br to be applied.
- a ⁇ -bot wrist 26 is coupled to the tip 24 a of the wrist drive shaft 24, and the rotational freedom of rotation about the center of the coaxial 24 is synchronized with the rotation of the wrist drive shaft 24 (r-axis). Rotation) is given.
- the robot wrist 26 is equipped with a nozzle 28 for emitting laser light. Therefore, the robot arm 20, the direct drive motor M, the brake Br, and the wrist drive shaft 24 pass through substantially the center of the wrist drive shaft 24, and the robot wrist 2 extends from the rear end side of the ⁇ -bot arm 20.
- a conduit 30 that penetrates and extends into the inside of the tube 6 to form a laser beam path can be provided. The laser light is guided from the rear end side of the robot arm 20 into the inside of the mouth robot wrist 26 by the laser light pipe 30.
- a mirror unit having a concave mirror 34 for focusing is provided.
- the laser beam is emitted from a laser beam emitting nozzle 28 to a target point such as a required laser processing section, for example, after receiving a course change that is bent at a substantially right angle by the target 32.
- the laser light pipe 30 is built in and housed inside the robot arm 20, the robot wrist drive shaft, the wrist 26, etc., which are elements of the robot body.
- Fig. 2 shows the configuration of the industrial laser robot wrist that implements the present invention, in which the robot wrist has two degrees of freedom of movement, and the robot wrist has a degree of freedom of rotation about the U axis.
- a direct drive motor M with a hollow structure at the end of the front casing 120 a of the corresponding mouth arm 120, which is directly connected to the rotating element 122 a of the direct drive motor And has a 9-axis wrist drive shaft 1 36, which comes and goes around the rear end 1 36 b of the wrist drive shaft 1 36 to apply braking force when abutting.
- An electromagnetically actuated brake B ⁇ for the shaft system is provided.
- the tip 1 36a of the first wrist drive shaft 1 36 extends to the inside of the robot wrist 1 26, with a bevel gear 1 36 c at the very tip, and the end of the wrist 1 26.
- Other bevel gears provided on 1 2 In combination with 6c, the first degree of freedom around the axis of the mouth-bottom wrist 126 is obtained.
- Reference numeral 123 denotes an end cap for closing the end of the robot casing 120a.
- a direct drive motor Mr having another hollow structure is provided adjacent to the end cap 123 closing the end of the front casing 120 a of the robot arm 120.
- the rear end 124b of the second wrist drive shaft 124 is coupled to the rotation element 122b.
- the wrist drive shaft 124 is coaxially arranged outside the aforementioned wrist drive shaft 1336, and the tip 12a is connected to the robot wrist 126 so that the ⁇ -bot wrist is the same.
- the second degree of freedom (rotation around the r axis) is given to 1 2 6.
- an electromagnetically actuated brake Br is provided on the inner periphery of the rear end 1 2 4 b of the second wrist drive shaft 1 2 4 to apply a rotational braking force to the wrist drive shaft 1 2 4 Structure> o
- the wrist drive shafts 124, 136 both have a hollow shaft structure as in the previous embodiment, so that the first wrist drive shaft provided at the innermost position is provided.
- the interior of 1 36 can be used as a space to extend the optical path of the laser beam penetrating from the robot arm 120, and the laser beam pipe 130 is connected to the mouth robot arm 120
- the direct drive motors M, Mr and the two electromagnetically actuated brakes B are guided through the center of the brakes B, B to the tip of the mouth-bottom wrist 126, where they are driven by the first mirror unit 132a.
- the course was changed to a substantially right angle by the mirror 134a, and a bearing 14 was attached to the upper part of the same port wrist 126.
- the course is changed to a substantially right angle again by the condensing concave mirror mirror 13 4 b of the second mirror unit 13 2 b provided in the shaft rotating casing 1 26 a mounted via The laser beam is emitted from the laser emission nozzle 128 to the destination.
- a laser beam conduit 130 extending from the robot arm 120 is provided inside the wrist, and 132a.
- the route is changed by the mirror unit 1332a.132b to reach the laser beam emitting nozzle 128.
- the wrist structure is compacted by her husband.
- the reduction gear is not arranged at the operating portion of the robot wrist 126 at the end of the wrist drive shafts 124, 136, the weight of the wrist can be reduced, and therefore, the agility in the wrist operation can be reduced. In other words, the operating speed and the operating accuracy can be improved.
- Fig. 3 shows an example of a modified structure on the wrist of the industrial laser robot shown in Fig. 2.
- the degree of freedom of movement of the robot wrist 126 is two in the same manner as in the previous embodiment.
- the rear portion 124b of the wrist drive shaft 124 has a cylindrical shape including a cone-shaped portion.
- the pipeline 130 forming the laser beam path is inside the ⁇ -bot arm 120, the two direct drive motors M r ⁇ M, the brakes B and B ⁇ , and the innermost wrist drive.
- the respective axial space inside the shafts 13 6 extends to reach the robot wrists 126. Therefore, it is possible to enjoy the same advantages as those of the above-described embodiment, such as the formation of a characteristic structure having a built-in laser beam path.
- the industrial laser ⁇ -bot has three degrees of freedom of movement ( ⁇ the degree of freedom of rotation around the three axes of axis, / 3 axis and r axis).
- a laser wrist is provided in the robot arm and the robot wrist by providing a direct drive motor as a drive motor.
- the wrist structure of the laser robot has a direct drive motor ⁇ at the tip of the casing 220 a of the robot arm 220, as in the above-described embodiments.
- the output rotation of the drive motor ⁇ is directly transmitted to the rear end 240 b of the wrist drive shaft 240 of the hollow structure via the tillage element 222 c to rotate it.
- a brake B which comes in contact with and separates from the outer periphery of the rear end 240b of this wrist drive shaft 240 ⁇
- the wrist drive shaft 240 is configured to apply rotational braking.
- An intermediate casing 220b is provided at the end of the front casing 220a of the robot arm 220, and a direct drive motor having a rotating element 222a inside the intermediate casing 220b.
- M / 9 is built-in. That is, the rotating element 222a of the direct drive motor M; 5 is directly connected to the rear end 236b of a hollow wrist drive shaft 236 coaxially arranged outside the wrist drive shaft 240. Rotate and drive the wrist drive shaft 2 3 6.
- the brake B comes into contact with and separates from the outer peripheral surface of the rear end 236b of the wrist drive shaft 23 6 to apply or release the braking force, and apply rotational braking to the coaxial 2 36.
- a third direct drive motor Mr is provided on the wrist adjacent to the combination of the direct drive motor M / 5 and the brake year B i5, and the direct drive motor Mr is provided with the aforementioned wrist.
- the brake Br is configured to be able to apply a braking force by coming into contact with and separating from the inner peripheral surface of the wrist drive shaft 222.
- a bevel gear 250a provided at the tip 240a of the wrist drive shaft 240 is provided at one end of a hollow cylindrical body 250 provided inside the wrist middle casing 226a.
- the cylindrical body 2502 is driven to rotate in accordance with the pel gear 250b, and accordingly, the bevel gear 250c provided at the other end of the cylindrical body 2502 is integrally rotated. Therefore, the rotation is transmitted to the bevel gear 262 provided at the inner end of the hollow-structured holding body 260 of the laser light emitting nozzle 228 that has been turned into the bevel gear 250c, and the laser light is emitted.
- the holder 260 of the 228 allows ⁇ movement around the axis as the third degree of freedom of wrist operation.
- the laser light emission nozzle 228 held by the holder 260 ultimately moves around the three axes of “, ⁇ ,” with the wrist 2 26a, which is provided via the holder 260.
- a pipe 230 for the laser light path is provided in the inner space of the innermost wrist drive shaft 240, The laser beam introduced from the robot arm 220 reaches the mouth robot wrist 226 via the conduit 232, where the mirror of the first mirror unit 232a is formed.
- the path is changed to the laser beam path at the center of the hollow cylindrical body 252 by 34a, and the second mirror unit 2 3 2 is further advanced from here.
- the mirror was further changed by the mirror 234 b of b, and proceeded through the center of the hollow-structured holding body 260, and the mirror 2 3 4 composed of the concave mirror for condensing the third mirror unit 2 32 c
- the light is condensed and the course is changed at c, and the laser light is emitted from the laser light emitting nozzle 228.
- the laser beam path includes the robot arm 220 of the robot body, and three direct drive motors M ", M / 3, Mr, which form the robot wrist mechanism.
- Built-in type that is emitted from nozzle 228 for emitting laser light via holder 260, etc.
- the above three direct drive motors eliminate the reduction gears, so the robot wrist has three degrees of freedom and the structure is relatively lightweight, and the wrist movement is reduced. This has the advantage of achieving agility and improved operation accuracy.
- FIG. 5 is a modified example of the wrist structure of the industrial laser robot having the three degrees of freedom shown in FIG. 4, similar to the relationship between the above-described embodiment of FIGS. 2 and 3.
- the only difference is that the arrangement order of the direct drive motors Mo-Mr and the brakes B-Br is different in the continuous arrangement, and a detailed description thereof will be omitted.
- the pipeline 230 forming the laser beam path is disposed inside the innermost wrist drive shaft 240, and therefore, the laser beam path is located inside the robot body. This is exactly the same as the embodiment shown in FIG.
- a laser beam path extending from a robot arm is provided inside a robot wrist provided with a laser light energy emitting portion in an industrial laser robot. Since the laser light pipe is built in and housed inside the robot body, it is possible to eliminate the laser pipe from around the robot wrist, thus improving the compactness of the mouth robot wrist. By greatly reducing the risk of interference with the equipment around the robot, the workability of the robot at the robot usage site can be improved.
- the robot wrist uses a direct drive motor with a hollow structure to drive the wrist in order to secure a laser line inside the wrist, so the reduction gear is eliminated from the wrist mechanism.
- the fear of increasing the weight of the wrist is eliminated, and the inertia of the wrist movement is kept small, so that the accuracy of the wrist movement and the agility and speed can be obtained.
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Plasma & Fusion (AREA)
- Laser Beam Processing (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1019900701954A KR910700121A (ko) | 1989-01-30 | 1990-01-25 | 산업용 레이저 로보트를 위한 손목 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP1/17431 | 1989-01-30 | ||
JP1017431A JPH02200390A (ja) | 1989-01-30 | 1989-01-30 | 産業用レーザロボットの手首構造 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1990008620A1 true WO1990008620A1 (fr) | 1990-08-09 |
Family
ID=11943837
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1990/000084 WO1990008620A1 (fr) | 1989-01-30 | 1990-01-25 | Articulation de poignet pour robot industriel d'usinage au laser |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0416112A4 (ja) |
JP (1) | JPH02200390A (ja) |
KR (1) | KR910700121A (ja) |
CA (1) | CA2020028A1 (ja) |
WO (1) | WO1990008620A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5374804A (en) * | 1991-03-12 | 1994-12-20 | Amada Company, Limited | Laser head device |
Families Citing this family (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE4040554A1 (de) * | 1990-12-18 | 1992-07-02 | Maho Ag | Werkzeugmaschine zur abtragenden werkstueckbearbeitung mittels laserstrahls |
JPH0494175U (ja) * | 1990-12-27 | 1992-08-14 | ||
DE9214118U1 (de) * | 1992-10-20 | 1994-02-24 | Reis GmbH & Co. Maschinenfabrik, 63785 Obernburg | Roboterhand für die 3-D-Bearbeitung von Werkstücken |
IT1319972B1 (it) * | 2000-03-17 | 2003-11-12 | Prima Ind Spa | Testa operatrice, in particolare per una macchina laser. |
JP2005199387A (ja) * | 2004-01-15 | 2005-07-28 | Fujikoshi Mach Corp | 両面研磨装置 |
JP2006061979A (ja) * | 2004-08-30 | 2006-03-09 | Sunx Ltd | レーザ加工装置 |
FI20185889A (fi) * | 2018-10-23 | 2020-04-24 | Masinova Oy | Järjestely eri energioiden syöttämiseksi moottoriyksikön yhteydessä |
DE102021115282A1 (de) | 2021-06-14 | 2022-12-15 | Dr. Johannes Heidenhain Gmbh | Roboterarm mit einem Handgelenk und einem Befestigungsflansch |
CN114425785A (zh) * | 2021-12-16 | 2022-05-03 | 哈尔滨理工大学 | 一种基于单目视觉可变换抓取方式的六指机械手 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60146687A (ja) * | 1983-12-29 | 1985-08-02 | 三菱電機株式会社 | ロボツト機構 |
JPS6127589U (ja) * | 1984-07-24 | 1986-02-19 | 渋谷工業株式会社 | レ−ザ加工機の反射鏡回転制御装置 |
JPS62199284U (ja) * | 1986-06-10 | 1987-12-18 |
-
1989
- 1989-01-30 JP JP1017431A patent/JPH02200390A/ja active Pending
-
1990
- 1990-01-25 CA CA002020028A patent/CA2020028A1/en not_active Abandoned
- 1990-01-25 EP EP19900902385 patent/EP0416112A4/en not_active Withdrawn
- 1990-01-25 WO PCT/JP1990/000084 patent/WO1990008620A1/ja not_active Application Discontinuation
- 1990-01-25 KR KR1019900701954A patent/KR910700121A/ko not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS60146687A (ja) * | 1983-12-29 | 1985-08-02 | 三菱電機株式会社 | ロボツト機構 |
JPS6127589U (ja) * | 1984-07-24 | 1986-02-19 | 渋谷工業株式会社 | レ−ザ加工機の反射鏡回転制御装置 |
JPS62199284U (ja) * | 1986-06-10 | 1987-12-18 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0416112A4 * |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5374804A (en) * | 1991-03-12 | 1994-12-20 | Amada Company, Limited | Laser head device |
Also Published As
Publication number | Publication date |
---|---|
KR910700121A (ko) | 1991-03-14 |
CA2020028A1 (en) | 1990-07-31 |
EP0416112A1 (en) | 1991-03-13 |
JPH02200390A (ja) | 1990-08-08 |
EP0416112A4 (en) | 1991-08-21 |
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