Laser robot with approach time from origin to a starting positio

Details Laser robot with approach time from origin to a starting positio Laser robot with approach time from origin to a starting positio

1994-08-10

1995-11-14

Evans, Geoffrey S.

Electric heating

Metal heating

By arc

2191216, 21912167, 36447408, B23K 2600

Patent

active

054669090

DESCRIPTION:

BRIEF SUMMARY
TECHNICAL FIELD

The present invention relates to a laser machining method employing a multi-articulated laser:equipped robot having a plurality of axes of motion (an axis about which one of the movable elements of an industrial robot has a degree of freedom of motion is referred to as an axis of motion.), and a multi-articulated laser robot provided with a control apparatus for carrying out the method. More particularly, it relates to a laser-beam machining method that feeds a laser-beam projecting unit, attached to the extremity of a laser robot, by the controlling operation of an additional motion- axis mechanism, incorporating therein two feed motors, along a narrow machining locus of a small diameter to thereby efficiently machine a workpiece with a laser beam projected through a laser beam projecting nozzle on the laser beam projecting unit, and a multi-articulated laser robot suitable for carrying out the laser-beam machining method.


BACKGROUND ART

A laser robot, particularly a well-known multi-articulated laser robot having freedom of motion about six axes, is provided with a robot wrist, i.e., one of the movable elements of the robot, attached to the extremity thereof. The robot is further provided with an additional-axis mechanism including two drive motors and moves a laser beam projecting unit along a predetermined path, i.e., a feed path, in a biaxial coordinate plane using the additional motion-axis mechanism. Such a laser robot capable of forming a precision small hole in a workpiece by feeding the laser beam projecting unit along a circular feed path having a small diameter has been proposed and put into practical use for laser-beam machining.
A multi-articulated laser robot provided with the above-mentioned additional motion-axis mechanism has a robot unit as shown in FIG. 1, and the operation of the robot unit is controlled by a well-known robot controller for implementing the desired laser-beam machining.
The robot unit 1 has a robot base 2, a robot body 3 set upright on the robot base 2, a turning robot body 4 turnably joined to the upper part of the robot body 3, a robot upper arm 5 pivotally joined for rotating about a horizontal axis to one end of the turning robot body 4, a robot forearm 6 pivotally joined, for rotating about a horizontal axis relative to the robot upper arm 5, to the extremity of the robot upper arm 5, a robot wrist 7 having three degrees of freedom of motion, joined to the extremity of the robot forearm 6 and capable of rotatinging about three axes perpendicular to one another in a three-dimensional space, and an additional motion-axis mechanism 8 attached to the robot wrist 7 and holding a laser-beam machining head 9 including a laser beam projecting device that projects a laser beam for laser-beam machining.
The additional motion-axis mechanism 8 is provided with two built-in drive motors, such as servomotors, not shown, and controls the laser-beam projecting nozzle 9a of the laser-beam machining head 9 for movement, for example, along a desired path in an orthogonal biaxial coordinate plane according to commands provided by the robot controller so as to carry out laser-beam machining of a workpiece by the use of a laser beam for cutting, boring and such.
The additional motion-axis mechanism 8 is mainly used as a mechanism specially for forming small holes with the laser-beam machining head 9. The additional motion-axis mechanism 8 holds the laser beam projecting nozzle 9a at a predetermined position of origin while the movable elements of the six-axis system (the revolving robot body 4, the robot upper arm 5, the robot forearm 6 and the robot wrist 7) of the robot unit 1 are in operation, and the two drive motors of the additional motion-axis mechanism 8 are actuated after the laser beam projecting nozzle 9a of the laser-beam machining head 9 has been positioned by the robot unit 1 at the center of a small hole to be formed so as to move the laser beam projecting nozzle 9a of the laser-beam machining head 9 along a machining locus, such as a circular locus,

REFERENCES:
patent: 4169976 (1979-10-01), Cirri
patent: 5293024 (1994-03-01), Sugahara et al.

Affiliated with

Also associated with

Rating

Laser robot with approach time from origin to a starting positio does not yet have a rating. At this time, there are no reviews or comments for this patent.

If you have personal experience with Laser robot with approach time from origin to a starting positio, we encourage you to share that experience with our LandOfFree.com community. Your opinion is very important and Laser robot with approach time from origin to a starting positio will most certainly appreciate the feedback.

Rate now

Comments { 0 }

Profile ID: LFUS-PAI-O-1222780