| 摘要 |
PURPOSE:To reduce the robot installation area by combining a vertical rotation axis, a horizontal rotation axis and a flexible axis so as to dissolve an offset and fitting a laser beam head to an end and passing a laser beam through a hollow part of each member by mirrors. CONSTITUTION:A rotary member 11 having the vertical rotation axis is supported pivotally on a pedestal 10 and a mirror 20 is provided on a center line of the rotation axis. An arm 13 is fitted to the rotary member 11 via the horizontal rotation axis 12 and further, the flexible axis 14 is fitted elastically. The wrist part 15 is supported pivotally on the other end of the flexible axis 14 and the offset between the rotary member 11 and the arm 13 is dissolved. The laser beam head 16 is supported pivotally on the end of the wrist part 15. The laser beam emitted from a laser beam oscillator 18 is reflected by the mirrors 20-24 via a mirror 19 in a transmission path 17 and passes through the hollow part of each member and projected on a work from the laser beam head 16. The robot 5 has the degree of freedom and can move the head 16 to a desired place. Since the laser beam oscillator 18 is arranged in series, the installation space is reduced. |
