| 摘要 |
PURPOSE:To prevent a driving mechanism and a laser light transmission system from being entangled by constituting this robot so that a transmitted laser light is transmitted to the base end of an L-shaped arm, passes through a condensing system from the inside of the tip of the L-shaped arm and a working object work is irradiated therewith. CONSTITUTION:This robot is provided with six degrees of freedom of a coaxial rotation (i) right under an optical system in the upper part of the robot, an oscillation (ii) of an optical joint E2, a coaxial rotation (iv) of an oscillation transmission pipe P3 of the optical joint E2, an oscillation (v) of an optical joint E3, and turning (vi) in the base end of a second arm 17 (L-shaped arm). This robot can follow up in accordance with a three-dimensional motion (attitude variation) of the base end of a second arm 17 (L-shaped arm). In such a way, a laser light is led to the axial center from the rear end of a second arm 17, a second arm 17 and a third arm 21 can use a transmission pipe as a structure part as it is, and the tip of a third arm 21 and a condensing system 19 become slim. |
