JPS61140395A - Laser beam machine provided with robot - Google Patents

Abstract

PURPOSE:To obtain a large working range by leading a laser beam led to a point adjacent to the base end of the 2nd arm to the final wrist through the arm and supplying the beam to an end effector through the through hole on the driving shaft of the final wrist. CONSTITUTION:The base end of the 2nd arm 13 is supported on the top of the 1st arm 12 to be capable of rocking and is drived and controlled. The wrist 14 is supported on the top of the 2nd arm 13 to be capable of rocking and an end effector 62 for laser beam machining is set on the top of the wrist 14. The laser beam L led to a point adjacent to the base end of the 2nd arm 13 is led to the wrist 14 through the arm 13 and mirrors M4 and M5. Then, the laser beam L is supplied to the end effector 62 through the through hole 4a on the shaft 45. The method reduces the size of the 2nd arm 13, so that a working range of a robot is expanded.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application] The present invention relates to a laser processing device using a robot, and to an improvement of its optical path.

[Prior art]

In a conventional laser processing device using a robot, as disclosed in Japanese Patent Application Laid-Open No. 59-134682, a plurality of robots support an end effector for laser processing and move it along the processing surface of a workpiece. An optical path tube was provided on the outside of the arm to pass the laser light. [Problems to be solved by the invention] - In such conventional products, the dimensions of the movable parts consisting of the arm and the optical path tube are large, making it difficult to process the deep part of the workpiece or the inside of a container such as a tank. When an end effector is inserted for this purpose, there is a problem in that the movable parts, especially the optical path tube, interfere with the workpiece, limiting the working range. The present invention attempts to solve the above-mentioned problems by passing the optical path for transmitting the laser beam through the inside of the arm of the robot.

[Means for solving problems]

For this purpose, the laser processing apparatus using the robot of the present invention has the base end of the second arm 13 pivotably supported at the tip of the first arm 12 supported by the base 10, as shown in the attached drawings. an interlocking device 30 which controls and drives the second arm 13 with respect to the first arm 12, and is provided by penetrating the inside of the second arm 13 with a wrist portion 14 pivotably supported at the tip of the second arm 13; The wrist portion 14 is connected to the drive device 18 via the .40.
In the robot controlled and driven by the second arm 19, an end effector 62 for laser processing is provided on the final wrist 14b, which forms at least a part of the wrist section 14 and is controlled and driven by the drive device 19, and the base end of the second arm 13 is The laser beam introduced near the end effector 62 is guided into the wrist part 14 through the second arm 13, and passes through a through hole 45a provided coaxially with a pivot 45 that rotatably supports the final rest 14b. It was designed to be supplied to

[Operation] The second arm 13, which is swingably supported at the tip of the first arm 12, is controlled and driven with respect to the v11 arm 12, and at the same time, the second arm 13 is swingably supported at the tip of the second arm 13. The final wrist 14a is controlled and driven via an interlocking device 40 provided through the inside of the second arm 13.
The tip of the end effector 62 provided at b is brought close to the processing location of the workpiece, and the end effector 62 is moved along the processing surface of the workpiece while changing the angle. At the same time, the laser beam introduced into the vicinity of the base end of the second arm 13 is transmitted to the second arm 13, the wrist portion 14, and the through hole 4 of the pivot shaft 45.
5a and the end effector 62 through the final mirror M6.
The beam is supplied to the machine, focused and irradiated onto the workpiece to perform processing.

〔Effect of the invention〕

According to the present invention, the second arm 13
An interlocking device 40 that controls and drives the final rest 14a.
Since the optical path of the laser beam supplied to the end effector 62 provided in Therefore, when machining the deep part of a workpiece or the inside of a container such as a tank, even if the wrist part 14 is inserted into the deep part of the workpiece or the inside of the workpiece together with the end effector 62, the movable parts of the robot will not interfere with the workpiece. There is less work to do, and the scope of work can be expanded.

〔Example〕

The entire robot will be explained with reference to FIG. 4 showing the entirety of this embodiment.
The base end of the first arm 12 is pivotally supported around the horizontal axis A2 and controlled and driven by the first servo motor 15, and the base end of the first arm 12 is pivotally supported at the upper end of the swing base 11 so as to be swingable around the horizontal axis A2. 16, and the lth arm 12
The base end of the second arm 13 is pivotally supported to be able to swing around the horizontal axis A3, and is controlled and driven by a third servo motor (only the actuation iron 17 is shown). A wrist portion 14 is swingably supported on the shaft. The wrist part 14 consists of a pend wrist 14a and a swivel wrist 14b, and the bent wrist l-142 is pivotally supported at the tip of the second arm 13 so as to be swingable around the tilt axis A4, and is controlled and driven by a fourth servo motor (drive device) 18. The swivel wrist 14b is rotatably supported by the pendant wrist 14a around a swivel axis A5, and is controlled and driven by a fifth servo motor (drive device) 19. An end effector 62 of a laser processing device is provided in the swivel list 14b forming the final list.

As shown in FIG. 3, the second arm 13 is connected to the first arm by a hollow support shaft 20 fixed to the second arm main body 13a at the base end.
It is pivotally supported by the forked tip of the arm 13. As shown in FIG. 1, the Bendris T-14a is pivotally supported via large-diameter bearings 22 and 23 in an opening formed at the tip of the second arm 13 perpendicular to the tilt axis A4. It has a bevel gear 34 formed coaxially. pendo list 1
4a is the second arm 13 as shown in FIGS. 1 and 2.
The first interlocking device 30 is provided through the interior of the rotary shaft 31, the gear 31a, the '32a1 rotary shaft 32, the gears 32b and 33a, the rotary sleeve 33, and the bevel gear 33b.
, 34-, and is controlled and driven by the fourth servo moke 18 (see FIG. 4). Further, as shown in FIG. 1, the swivel wrist 14b is pivotally supported by the pendant wrist 14a coaxially with the swivel axis A5 via an integrally formed pivot 45. Pend wrist 1 coaxial with tilt axis A4
A bevel gear 44 is pivotally supported on an inclined shaft 46 fixed to the pivot shaft 4a, and the bevel gear 44 is connected to the bevel gear 4 formed at the inner end of a pivot 45.
It meshes with 5b. As shown in FIGS. 1 and 2, the swivel squirrel 14b includes a second interlocking device 40, that is, a rotating shaft 41, and a toothed shaft 41, which is provided through the second arm 13. 41a.

42, 42a, 43a, a hollow shaft 43, bevel gears 43b, 44a, 44.45b, and a pivot shaft 45-, which are controlled and driven by a fifth servo motor 19 (see FIG. 4). The hollow shaft 43, the inclined shaft 46, and the pivot shaft 45 have coaxial through holes, and form an optical path for laser light as described later.

Next, to explain the optical path of the laser beam, as shown in FIG. transmitted, reflected at right angles and transmitted along a vertical axis B1 that is an extension of the vertical axis A1,
It is reflected at right angles by a second optical joint 54, which also has a built-in mirror, and is sent along a horizontal axis B2 parallel to the horizontal axis A3, and then to a third optical joint 55, which also has a built-in mirror.
The beam is reflected at right angles by the beam, and is sent through an extensible tube 56 made of a double tube that can be moved axially to a fourth optical joint 57 that incorporates a mirror provided at the tip of the first arm 12 . The second to fourth optical joints 54, 55, 57 each have a vertical axis B1 and a horizontal axis B2. It is freely rotatable around A3. Therefore, when the rotation base 11 of the robot rotates, the second optical joint 54 also rotates around the vertical axis 81, and when the first arm 12 swings around the horizontal axis A2. , as shown by the two-dot chain line in FIG. 4, the third and fourth optical joints 55, 57 are aligned with the horizontal axis B2. A
3 rotations, the telescopic tube 56 expands and contracts, and as a result, the optical path tube follows the movement of the robot and directs the laser beam from the laser oscillation device 51 to the second axis along the horizontal axis A3.
Send it into the arm 13.

As shown in FIG. 3, the fourth optical joint 57 has a joint body 57a.
and a mirror support 5 that supports the mirror M1 in an angle-adjustable manner.
7b, and the joint body 57a is pivotally supported by a cylindrical body 21 fixed to the tip of the first arm 12 coaxially with the horizontal axis A3. Laser light sent from the small diameter portion 57a of the telescopic tube 57, one end of which is fixed to the joint body 57a, passes through the elongated hole 21a provided along the circumferential direction of the cylinder 21, enters the joint body 57a, and enters the mirror. It is reflected at right angles by M1 and introduced into the second arm 13 along the horizontal axis A3, that is, the axis of the hollow support shaft 20.

As shown in FIGS. 2 and 3, the support shaft 20 has a window hole 20a near the center in the longitudinal direction, and a mirror support 57 having a mirror M2 at the tip is inserted up to the vicinity of the window hole 20a. 57 is provided with a mirror support protrusion 58 that projects outward from the support shaft 20 through a part of the window hole 20a. The laser beam introduced along the axis of the support shaft 20 is reflected at right angles by the mirror M2, passes through the window hole 20a and exits the support shaft 20, and is then reflected at right angles by the mirror M3 provided on the mirror support protrusion 5B. It is reflected and sent coaxially into the through hole 43c of the hollow shaft 43.

The tilted shaft 46 at the tip of the second arm 13 is hollow, and a window hole 46a is provided on the side surface facing the axis of the hollow shaft 43, and a mirror M4 is placed in the tilted shaft 46 at a position opposite to the window hole 46a. A supporting mirror support 59 is provided. In addition, a mirror M5 is attached to the pendry wrist 14a along the tilt axis A4.
A mirror support 60 is provided above to support the mirror, and the swivel wrist 14b is provided with a mirror support 61 to support the final mirror M6 on the swivel axis A5. hollow shaft 4
The laser light passing through the through hole 43c of No. 3 is transmitted through the window hole 46a.
It is reflected by the mirror M4 and proceeds along the inclined axis A4, and then reflected by the mirror M5 and sent coaxially into the through hole 45a provided in the pivot axis 45 of the swivel wrist T-14b. The laser beam passing through the through hole 45a is reflected by the final mirror M6 and supplied to the end effector 62, where it is supplied to the end effector 62, where it passes through the built-in lens, etc. (not shown).
becomes a focused laser beam that processes the workpiece. As mentioned above, the second arm 1 is connected to the fourth optical joint 57.
3, the laser beam introduced into the robot's joints is always aligned with the joint axis A3. Since it moves along A4 and A5, the end effector 6 is always present regardless of the operating state of the robot.
2.

In the embodiment described above, the robot has a rotating base 11, first and second arms 12,13 and wrist parts 14a, 14.
b is controlled and driven around the respective axes A1 to A5 by respective servo motors, and is moved along the processing surface of the workpiece while changing the angle of the end effector 62 provided on the pend list 14b, which is the final list. The laser beam from the laser oscillation device 51 is transmitted through a fixed conduit 52. 1st
~Third optical joint 53, 54, 55, expansion tube 56 and fourth
It is guided by a flexible optical path tube consisting of an optical joint 57, is introduced into the second arm 13 along the horizontal axis A3 following the movement of the robot, and is further guided into the second arm 13 regardless of the robot's posture. Hollow shaft 4 provided inside
The light enters the pend wrist 14a through the through hole 43C of the swivel wrist 1-14b, and is supplied to the end effector 62 through the through hole 45a of the pivot 45 supporting the swivel wrist 14b and the final mirror M, 6, where it is focused and irradiated onto the workpiece. and processed.

As shown in the embodiment, the horizontal axis A3 of the second arm 13
In the further part, the first... Since the second interlocking devices 30, 40 and the optical path for guiding the laser beam to the end effector 62 are both built into the second arm 13 and the wrist section 14, the entire tip of the second arm 13 including the wrist section 14 This makes it possible to insert the end effector 62 together with the wrist part 14 into a narrow space such as inside a tank and perform processing, thereby expanding the working range.

Note that the introduction of the laser beam to the base end of the second arm 13 is not limited to the structure of the above embodiment; it may be introduced through the first arm 12, or it may be introduced through the base end of the second arm 13. Laser light may be directly introduced into the second arm 13 from a small laser oscillator.

Further, in the above embodiment, the through hole 4 of the hollow shaft 43 of the second interlocking device 40 that controls and drives the swivel wrist 14a is
Although the laser beam is guided through 3c, this structure does not require a separate space within the second arm 13 for passing the laser beam, so the second arm 13 can be further miniaturized.

[Brief explanation of drawings]

Figures 1 to 4 show an embodiment of a laser processing device using a robot according to the present invention, and Figures 1 and 2 are longitudinal sectional views of the tip and base ends of the second arm, respectively. , FIG. 3 is a sectional view taken along the line mm in FIG. 2, and FIG. 4 is a side view of the whole. Explanation of symbols 10...base, 12...first arm, 13...
2nd arm, 14... Wrist part, 14b... Final list (swivel list):, 18.19... Drive device (4th servo motor, 5th servo motor) 40... Interlocking device second interlocking device), 45... pivot, 45a.
...Through hole, 62...End effector, M6...
final mirror.

Claims (1)

[Claims] A base end of a second arm is swingably supported on the tip of the first arm supported by the base, and the second arm is controlled and driven relative to the first arm, and a wrist portion is attached to the tip of the second arm. In the robot, the wrist part is controlled and driven by a driving device via an interlocking device that is swingably supported and provided penetrating the inside of the second arm. An end effector for laser processing is provided on the final wrist controlled and driven by the device, and the laser beam introduced near the base end of the second arm is guided into the wrist through the second arm, and the final wrist is processed. A laser processing device using a robot that supplies the laser beam to the end effector through a through hole provided coaxially with a rotatably supported pivot.