| 摘要 |
PURPOSE:To minimize the reflecting mirrors to be disposed in a robot and to allow the easy adjustment of an optical axis by providing an external optical system which moves in follow up to the forward arm axis of the robot on the outside part of the perpendicular articulated robot and making a laser beam incident on the internal optical system of the robot from this external optical system. CONSTITUTION:The incident laser beam on the front arm axis 8 is refracted by the 3rd reflecting mirror 11 and 4th reflecting mirror 14 respectively of a wrist axis 20 and is then condensed to a lens 13, from which the laser beam is projected and used for processing. The external optical system of this case is pulled by the forward arm axis 8 to move in follow up to the arbitrary movements of the robot body 1 as the 1st and 2nd reflectors 16, 18 can turn respectively in two ways and a light guide 17 has 6 degrees of freedom to allow expansion, contraction and rotation. The laser beam is thus made incident always on the axial center of the forward arm shaft 8. |
