LASER ROBOT AND ITS CONTROL METHOD, OPTICAL BEAM DEFLECTION APPARATUS AND APPARATUS FOR GENERATING ITS CONTROL SIGNAL.

摘要

This invention belongs to a technical field relating to a laser robot and its control method, and more particularly makes it possible to weave a laser beam easily and accurately without disposing an oscillating condenser lens or the like on an arm tip portion. In the laser robot RB of this invention, a first inclined mirror (41a) is fitted to a motor (42a) at a predetermined angle of inclination from a plane perpendicular to the rotor shaft. A second inclined mirror (41b) is likewise fitted to the motor (42b) at a predetermined angle of inclination. A laser beam (LB) emitted from a laser oscillator (8) is sequentially reflected at the first and second inclined mirrors (41a) and (41b) in the laser robot (RB) and directed toward a work through the tip of a torch (7). A weaving mode of the laser beam (LB) is selected by controlling the rotating directions, the number of revolutions and the rotating phases of the first and second inclined mirrors (41a) and (41b).