JP2858447B2 - Industrial articulated robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot used for laser processing.

[0002]

2. Description of the Related Art When a conventional vertical articulated robot is provided with a laser processing device to perform laser processing, for example, as shown in FIG. A delivery device D that reaches the wrist H and transmits a laser beam to a light collecting unit G provided on the wrist H is provided. Since the delivery device D needs to perform the same movement as that of the articulated arm A, the reflection mirrors M1 to M1 facing each other at a predetermined angle for each joint are required.
M10 is provided so as to be able to rotate according to the movement of the joint.

[0003]

However, when the degree of freedom of operation of the robot increases, the number of axes of the joint increases, and accordingly, the number of times the laser beam bends increases, and the number of reflecting mirrors of the delivery device increases. When the number of reflecting mirrors is increased, the transmission efficiency of the laser is reduced, and the trouble of adjusting the optical axis and maintenance is increased, so that the function and reliability are disadvantageously reduced.
An object of the present invention is to increase the transmission efficiency and reliability of a laser by reducing the number of reflection mirrors.

[0004]

According to the present invention, there is provided an arm fixed to a rotating shaft provided above a column in a horizontal direction, a driving device for rotating the arm around the rotating shaft, and An industrial articulated robot provided with a driving device for moving the arm in the axial direction, a driving device for moving the column in the axial direction of the rotating shaft, and a box-shaped robot having one end rotatably supported on the rotating shaft. A support portion, a sliding portion inside the support portion for slidably supporting the arm in a direction orthogonal to the rotation axis, and an independent portion provided on the column in parallel with the rotation axis. Provide two drive shafts that are rotated and driven, and a parallel link mechanism including a drive lever fixed to the two drive shafts, and connect the parallel link mechanism and the arm with a pin around the rotation shaft. The above With rotating the arm with over isolation portion, it is intended to slide the arm to the support portion. Further, the rotating shaft and the arm are formed in a hollow shape, one end of the rotating shaft is opened toward a laser exit of a laser oscillator, a reflection mirror is provided at the other end of the rotating shaft, and a side surface of the rotating shaft is provided. A through-hole for passing the laser beam reflected by the reflection mirror through the arm is provided, a wrist is provided at the tip of the arm, and a reflection mirror is provided at the wrist to allow the laser beam to pass through the arm. The laser beam is reflected, and the laser beam is emitted from a focusing unit provided at the tip of the wrist.

[0005]

The concentric drive shafts are independently driven by the two drive units to rotate the two drive levers, and the arm is operated by the combined operation of the parallel link mechanism including the two drive levers, the connecting lever and the driven lever. Is rotated around the rotation axis together with the support portion, and at the same time, the arm is slid along the sliding portion of the support portion to move in the axial direction. The laser beam enters the rotation shaft from the beam exit of the laser oscillator, is reflected by the reflection mirror, passes through the arm, is reflected by the reflection mirror at the wrist, and is emitted from the light collection unit provided at the tip of the wrist. You. Therefore, the laser beam is transmitted from the laser oscillator to the focusing unit by a small number of reflection mirrors.

[0006]

BRIEF DESCRIPTION OF THE DRAWINGS FIG.
FIG. 1 is a side sectional view showing an embodiment of the present invention, and FIG. 2 is a front view, in which a rail 11 extending in a longitudinal direction is provided on a rectangular base 1 which is long in one direction, and can run on the rail 11. The robot 2 is placed. The robot 2 is provided with a column 3 extending upward, and a bifurcated support portion 31 is provided above the column 3. A bearing 32 is provided above each of the support portions 31 to support a hollow cylindrical rotary shaft 41 extending in the horizontal direction in the same direction as the rail 11 so as to be rotatable. The rotary shaft 41 is a box-shaped support portion. 4 is fixed to one end. A sliding part 42 such as a hollow linear ball guide extending in a direction perpendicular to the rotation shaft 41 is provided inside the support part 4, and the hollow arm 5 can slide on the sliding part 42 linearly. So that the tip of the arm 5 enters and exits from the other end of the support portion 4. A projecting portion 51 is provided on the lower side surface of the arm 5, and projects outward from a cutout groove 43 provided in the sliding portion 42 along the longitudinal direction of the arm 5. Further, a first drive shaft 6 and a second drive shaft 7 which are supported on both support portions 31 of the column 3 so as to be rotatable in parallel with the rotation shaft 41 and are concentric with each other are provided, respectively. 1 drive unit 6
The first and second driving sections 71 independently drive. One end of a first drive lever 62 is fixed to the first drive shaft 6, and a driven lever 6 is attached to the other end of the first drive lever 62.
The intermediate part of No. 3 is pin-connected. The second drive shaft 7 has a second
One end of the drive lever 72 is fixed, and the second drive lever 72
Is connected to one end of a connecting lever 73 by a pin, and the other end of the connecting lever 73 is connected to one end of a driven lever 63 by a pin. The first driving lever 62, the second driving 72, the connecting lever 73, and the driven The lever 63 forms a parallel link mechanism. The other end of the driven lever 63 is the protrusion 5 of the arm 5.
1 is pin-connected.

[0007] One end of the rotating shaft 41 is opened toward the beam exit 81 of the laser oscillator 8 so that a laser beam is incident on the rotating shaft 41 as shown by a broken line. A reflection mirror 82 is provided. A through hole 44 is provided on a side surface of the rotation shaft 41 to allow the laser beam reflected by the reflection mirror 82 to pass in the axial direction of the arm 5. A wrist 52 having a hollow portion at the tip of the arm 5
And a light collecting unit 53 is provided at the tip of the wrist 52. Reflection mirrors 83 and 84 are provided in the wrist 52, and the laser beam reflected by the reflection mirror 82 passes through the arm 5, is reflected by the reflection mirrors 83 and 84, and is emitted from the light collection unit 53 to the outside. I have to do it. Between the opening of the rotating shaft 41 and the beam outlet 81 of the laser oscillator 8, there is provided a bellows-like protective cover 85 which expands and contracts as the robot 1 moves on the rail 11. Therefore, when the arm 5 is operated, the first drive shaft 6 and the second drive shaft 7 are independently driven by the first drive unit 61 and the second drive unit 71, and the first drive lever 62 and the second drive shaft By rotating the lever 72 and performing the combined operation of the first drive lever 62 and the driven lever 63, for example, as shown by a dashed line in FIG.
Is rotated together with the support 4 around the rotation axis 41, and at the same time, the arm 5 is
To move in the axial direction. At this time, regardless of the rotation or sliding of the arm 5, the laser beam enters the rotation shaft 41 from the beam exit 81 of the laser oscillator 8, is reflected by the reflection mirror 82, passes through the through hole 44, and
The light is reflected by the reflection mirrors 83 and 84 of the wrist 52 through the inside and is emitted from the light collection unit 53, and is transmitted from the laser oscillator 8 to the light collection unit 53 by being refracted by the three reflection mirrors. Also, since the robot 1 moves parallel to the rotation axis 41, the laser beam always enters the rotation axis 41 without being affected by the movement of the robot 1 or the robot arm 5, and is condensed by a small number of reflection mirrors. Transmitted to the unit.

[0008]

As described above, according to the present invention, the laser beam emitted from the laser oscillator enters the hollow rotary shaft, is reflected by the reflecting mirror, passes through the arm, and is reflected on the wrist. And the light is emitted from the light collecting unit, so that the number of reflecting mirrors can be extremely reduced as compared with the conventional configuration. Further, the arm is linearly slid on the support portion rotatably supported, and the combined operation of the rotational motion and the linear motion is simultaneously performed by the parallel link mechanism. And the operating area can be expanded.

[Brief description of the drawings]

FIG. 1 is a side sectional view showing an embodiment of the present invention.

FIG. 2 is a front view showing the embodiment of the present invention.

FIG. 3 is a perspective view showing a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Base 11 Rail 2 Robot 3 Column 31 Support part 4 Support part 41 Rotating shaft 42 Sliding part 43 Notch groove 44 Through hole 5 Arm 53 Condensing unit 6 First drive shaft 62 First drive lever 63 Follower lever 7 Second Drive shaft 72 Second drive lever 73 Connecting lever 8 Laser oscillator 82, 83, 84 Reflecting mirror

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-59-134682 (JP, A) JP-A-63-39416 (JP, A) Jikai Sho-63-94684 (JP, U) (58) Investigation Field (Int.Cl. ⁶ , DB name) B25J 9/06 B25J 19/00

Claims (3)

(57) [Claims] 1. An arm fixed to a rotating shaft provided horizontally above a column, a driving device for rotating the arm around the rotating shaft, and a driving device for moving the arm in the axial direction of the arm. In an industrial articulated robot equipped with a device, a box-shaped support portion having one end rotatably supported on the rotation axis, and the arm slid inside the support portion in a direction orthogonal to the rotation axis. A sliding portion movably supported, two drive shafts provided on the column in parallel with the rotation shaft and independently driven to rotate, and a drive lever fixed to the two drive shafts. A parallel link mechanism including the parallel link mechanism and the arm, and connecting the pin with the arm to rotate the arm together with the support section around the rotation axis, and sliding the arm to the support section. An industrial articulated robot characterized in that: 2. The rotating shaft and the arm are formed in a hollow shape, one end of the rotating shaft is opened toward a laser exit of a laser oscillator, and a reflecting mirror is provided at the other end of the rotating shaft. The laser beam reflected by the reflection mirror is provided on the side surface of a shaft with a through hole through which the arm passes, the wrist is provided at the tip of the arm, the reflection mirror is provided on the wrist, and the arm passes through the arm. 2. The industrial articulated robot according to claim 1, wherein the laser beam is reflected, and the laser beam is emitted from a focusing unit provided at a tip of a wrist. 3. The industrial articulated robot according to claim 1, further comprising a driving device that moves the column in an axial direction of the rotating shaft.