US4650952A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Robot-laser system
Assignee: Fanuc Robotics North America Inc
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Filing: 1984-12-20
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Granted: 1987-03-17
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Expires: 2004-12-20
Abstract
Abstract A robot-laser system having a minimum number of mirrors for reflecting a laser beam from a fixed laser beam source to a desired location wherein the mirrors are mounted within the hollow, servo-controlled parts of the robot to move therewith. Only a single mirror is mounted within its associated controlled part to reflect the laser beam as it travels between adjacent controlled parts. The robot has a number of degrees of freedom constituted by two orthogonally related linear movements along intersecting longitudinal axes and two orthogonally related rotary joints having intersecting pivotal axes. Preferably, two of the mirrors are mounted so that the laser beam strikes and is reflected from both points of axes intersection within two of the controlled parts. In one of the disclosed embodiments a mirror mounted in the base of the robot reflects the laser beam from the source to the other mirrors.
Inventors
- 👤 Hadi A. Akeel
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-26 07:30
CPC Classifications
B; B23; B23K; B23K26/00; B23K26/08; B23K26/0869; B23K26/0876; B23K26/0884; B25; B25J; B25J17/00; B25J17/02; B25J17/0258; B25J19/00; B25J19/0025; B25J19/0029; B25J19/0037; B25J9/00; B25J9/02; B25J9/04; B25J9/041
Claims Analysis
Total Claims: 13
Claim 1
Independent Claim
260 words
A robot-laser system for providing a laser beam at a desired location, the system comprising: a laser beam source for generating a laser beam; a robot having at least three degrees of freedom and including a base and a robot arm supported on said base, the robot arm having first and second elongated arm parts, the second arm part projecting from the first arm part, the robot arm having a wrist mechanism located at the distal end of the second arm part, said arm parts and said wrist mechanism being hollow and fluidly interconnected to define a laser beam path therewithin extending through said first arm part, along the entire projecting length of said second arm part and through said wrist mechanism, said arm parts and said wrist mechanism being adapted to direct the laser beam therewithin; and at least one mirror for reflecting the laser beam, a single mirror being mounted to and supported by said arm therewithin at a position of fluid interconnection between the arm parts to move therewith and reflect the laser beam wherein a first one of said degrees of freedom comprises a linear movement of said first arm part along an axis coincident with said laser beam path, a second one of said degrees of freedom comprises a linear movement of said second arm part along a second axis coincident with said laser beam path through the second arm part and a third one of said degrees of freedom comprises a rotary movement of one of said arm parts about said laser beam path.
Claim 2
Dependent Claim
260 words
A robot-laser system for providing a laser beam at a desired location, the system comprising: a laser beam source for generating a laser beam; a robot having at least three degrees of freedom and including a base and a robot arm supported on said base, the robot arm having first and second elongated arm parts, the second arm part projecting from the first arm part, the robot arm having a wrist mechanism located at the distal end of the second arm part, said arm parts and said wrist mechanism being hollow and fluidly interconnected to define a laser beam path therewithin extending through said first arm part, along the entire projecting length of said second arm part and through said wrist mechanism, said arm parts and said wrist mechanism being adapted to direct the laser beam therewithin; and at least one mirror for reflecting the laser beam, a single mirror being mounted to and supported by said arm therewithin at a position of fluid interconnection between the arm parts to move therewith and reflect the laser beam wherein a first one of said degrees of freedom comprises a linear movement of said first arm part along an axis coincident with said laser beam path, a second one of said degrees of freedom comprises a linear movement of said second arm part along a second axis coincident with said laser beam path through the second arm part and a third one of said degrees of freedom comprises a rotary movement of one of said arm parts about said laser beam path.
Claim 3
Dependent Claim
24 words
A robot-laser system for providing a laser beam at a desired location, the system comprising: a laser beam source for generating a laser beam;
Claim 4
Dependent Claim
24 words
A robot-laser system for providing a laser beam at a desired location, the system comprising: a laser beam source for generating a laser beam;
Claim 5
Dependent Claim
318 words
a robot having at least three degrees of freedom and including a hollow base and a robot arm supported on said base, the base being fluidly interconnected to said source, the robot arm having a hollow first arm part and an elongated, hollow second arm part projecting from the first arm part, the robot arm having a hollow wrist mechanism located at a distal end of the second arm part, said wrist mechanism having at least one rotational axis and at least one knuckle rotatably supported on said axis; said first arm part being fluidly interconnected with said base, said first arm part being fluidly interconnected to said second arm part and said second arm part and said wrist mechanism being fluidly interconnected to define a laser beam path therewithin extending through the base, through the first arm part, along the projecting length of said second arm part and through said wrist mechanism; said base, said first and second arm parts and said wrist mechanism being adapted to direct the laser beam therewithin; and at least two mirrors for reflecting the laser beam, a first one of said mirrors being mounted to and supported by said knuckle therewithin to move therewith and reflect the laser beam, and a single mirror being supported by said arm therewithin at a position of fluid interconnection between the arm parts to reflect the laser beam to the first one mirror wherein a first one of said degrees of freedom comprises a linear movement of said first arm part along an axis coincident with said laser beam path, a second one of said degrees of freedom comprises a linear movement of said second part along a second axis coincident with said laser beam path through the second arm part and a third one of said degrees of freedom comprises a rotary movement of one of said arm parts about said laser beam path.
Claim 6
Dependent Claim
318 words
a robot having at least three degrees of freedom and including a hollow base and a robot arm supported on said base, the base being fluidly interconnected to said source, the robot arm having a hollow first arm part and an elongated, hollow second arm part projecting from the first arm part, the robot arm having a hollow wrist mechanism located at a distal end of the second arm part, said wrist mechanism having at least one rotational axis and at least one knuckle rotatably supported on said axis; said first arm part being fluidly interconnected with said base, said first arm part being fluidly interconnected to said second arm part and said second arm part and said wrist mechanism being fluidly interconnected to define a laser beam path therewithin extending through the base, through the first arm part, along the projecting length of said second arm part and through said wrist mechanism; said base, said first and second arm parts and said wrist mechanism being adapted to direct the laser beam therewithin; and at least two mirrors for reflecting the laser beam, a first one of said mirrors being mounted to and supported by said knuckle therewithin to move therewith and reflect the laser beam, and a single mirror being supported by said arm therewithin at a position of fluid interconnection between the arm parts to reflect the laser beam to the first one mirror wherein a first one of said degrees of freedom comprises a linear movement of said first arm part along an axis coincident with said laser beam path, a second one of said degrees of freedom comprises a linear movement of said second part along a second axis coincident with said laser beam path through the second arm part and a third one of said degrees of freedom comprises a rotary movement of one of said arm parts about said laser beam path.
Claim 7
Dependent Claim
20 words
The invention as claimed in claim 1 or claim 2 wherein said robot has at least five degrees of freedom.
Claim 8
Dependent Claim
55 words
The invention as claimed in claim 1 or claim 2 wherein said first and second degrees of freedom are constituted by two orthogonally related linear movements along intersecting longitudinal axes, and wherein the single mirror is mounted so that the laser beam strikes the single mirror at the point of intersection of the longitudinal axis.
Claim 9
Dependent Claim
27 words
The invention as claimed in claim 1 or claim 2 wherein the number of mirrors is less than the number of degrees of freedom of the robot.
Claim 10
Dependent Claim
27 words
The invention as claimed in claim 1 or claim 2 including focusing means mounted on said robot for focusing the reflected laser beam at the desired location.
Claim 11
Dependent Claim
15 words
The invention as claimed in claim 6 wherein said focusing means comprises a focusing lens.
Claim 12
Dependent Claim
24 words
The invention as claimed in claim 1 or claim 2 including a track wherein said robot is mounted on said track to move thereon.
Claim 13
Dependent Claim
30 words
The system as claimed in claim 1 or claim 2 wherein said base is fluidly interconnected to said source by an aperture extending completely through a wall of said base.
References Cited (Backward Citations)
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1990-03-16 | 1990-09-15 | 1991-03-17 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1994-03-16 | 1994-09-15 | 1995-03-17 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1998-03-16 | 1998-09-15 | 1999-03-17 | $7700.00 | Window Closed / Lapsed |