| 摘要 |
<p>A beam delivery system (21) for delivering a laser beam from stationary laser (43) to a point (41) in space under robot (23) control wherein the robot has a fixed base (27), a universal or spherical shoulder joint (29) which is free to rotate in any direction and a wrist joint (31), is mounted with a spherical or universal shoulder joint (47) close to the vertical axis of the robot shoulder (29) and below articulated arm mechanism (35, 37) of the robot (23) and coupled by telescoping sealed tubes (49) to a wrist joint (51) so that the beam delivery system (21) accesses a maximum volume beneath the articulated mechanism of the robot (23). The beam delivery system utilizes a minimum of internal mirrors to minimize power loss in the beam. The mirrors are close coupled and precision mounted in both the shoulder joint (47) and the wrist joint (51) to enable the beam to be transmitted in a long throw from the shoulder joint (47) to the wrist joint (51) through sealed telescoping tubes (49) by a mechanism which minimizes the effect of inertial forces on the beam delivery system (21). The mirrors in the joints (47, 51) are front moulded and those in the shoulder joint (47) may be adjustable so the mirrors can be easily positioned during initial set up and can also be readjusted or replaced, if necessary, during operation without the necessity to recalibrate the beam delivery system (21). A magnetic clamp (99) may be used, operating from one side only of objects being welded, which is operated by alternating current in coils (105) and has cooling coils (107) cooling focusing lens (95), port (101) and coils (105). <IMAGE></p> |
