Laser cutting robot of three-dimensional hollow shaft light guide structure

Abstract

The utility model belongs to the technical field of laser cutting, and discloses a laser cutting robot of a three-dimensional hollow shaft light guide structure, which comprises a base, a first swing arm, a second swing arm, a third swing arm and a fourth swing arm. The first swing arm drives the second swing arm through a multi-stage synchronous belt speed reducing mechanism by means of a servo motor. The second swing arm drives the third swing arm by utilizing a servo motor through a multi-stage synchronous belt speed reducing mechanism; the first swing arm and the second swing arm swing in an XY plane; a collimated light inlet of laser is formed in the base, the laser is transmitted in pipelines in the first swing arm, the second swing arm, the third swing arm, the fourth swing arm, the fifth swing arm and the laser head through the reflecting mirror, and the laser is transmitted to a mouth of the laser head for laser cutting. The laser cutting device has the beneficial effects that on the basis of a hollow shaft light guide structure, posture control of the laser head is achieved through low-cost, light-weight and accurate synchronous belt transmission, and a low-cost structure is provided for laser cutting.

Description

TECHNICAL FIELD

[0001] The utility model belongs to laser cutting technical field especially relates to a three -dimensional hollow shaft light guide structure's laser cutting robot. BACKGROUND

[0002] The present robot laser cutting adopts the method of hanging the optical fiber outside the mechanical arm, but the carbon dioxide laser and pulse laser cannot be transmitted through the optical fiber; The running speed of the robot with optical fiber hanging outside the mechanical arm is very low, and the precision is poor; The five-axis robot carbon dioxide laser cutting equipment using internal light guide technology has poor flexibility.

[0003] The three-dimensional internal light guide laser cutting 6-axis robot has the characteristics of stable load, high precision and good flexibility, and will become the main platform of future laser cutting equipment, but the existing 6-axis robot is difficult to realize internal light guide for laser cutting. SUMMARY

[0004] The utility model embodiment aims at providing a three-dimensional hollow shaft light guide structure's laser cutting robot with low cost and improved performance, aiming at solving the problems of poor flexibility, large equipment area and high cost of the existing three-dimensional laser cutting equipment, and the technical problem that the laser cutting technology cannot be popularized and applied.

[0005] The utility model embodiment is realized as follows:

[0006] A three-dimensional hollow shaft light guide structure's laser cutting robot, the laser cutting robot comprises:

[0007] The base drives the first swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0008] The first swing arm drives the second swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0009] The second swing arm drives the third swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0010] The third swing arm drives the fourth swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor,

[0011] The fourth swing arm drives the fifth swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0012] The fifth swing arm drives the laser head by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0013] The first swing arm and the second swing arm swing in the XY plane;

[0014] The third swing arm and the fourth swing arm swing in the plane perpendicular to the XY plane;

[0015] The fifth swing arm rotates around the fourth swing arm rotation shaft, and the laser head controls the posture, that is, the laser head rotates around the fifth swing arm rear rotation shaft; the base is provided with a laser collimating light entrance, and the laser is transmitted in the pipeline in the first swing arm, the second swing arm, the third swing arm, the fourth swing arm, the fifth swing arm and the laser head through a mirror, and the laser is transmitted to the mouth of the laser head for laser cutting.

[0016] Further, the driving between the base, the first swing arm, the second swing arm and the third swing arm adopts three-stage speed reduction synchronous belt driving; the driving between the fourth swing arm, the fifth swing arm and the laser head adopts two-stage speed reduction synchronous belt driving.

[0017] Further, the servo motor is driven through a multi-stage synchronous belt reduction mechanism, which comprises a servo motor, a first large synchronous pulley driven by a first synchronous belt and a first small synchronous pulley connected at the center of the first large synchronous pulley, a second large synchronous pulley connected by a second synchronous belt to the first small synchronous pulley, a second small synchronous pulley connected at the center of the second large synchronous pulley, a third large synchronous pulley connected by a third synchronous belt to the second small synchronous pulley, forming a multi-stage synchronous belt reduction mechanism.

[0018] Further, the multi-stage synchronous belt reduction mechanism in the servo motor driven by the multi-stage synchronous belt reduction mechanism is front-mounted, and the servo motor and the multi-stage synchronous belt reduction mechanism drive the next stage of the mechanical arm.

[0019] Further, the connection between the base, the first swing arm, the second swing arm, the third swing arm, the fourth swing arm, the fifth swing arm and the laser head is connected through a mirror and an expander lens to realize stable output of the mouth of the laser head during the movement of the robot.

[0020] Further, the pipeline in the fifth swing arm is provided with an expander lens.

[0021] Further, the laser head is provided with a focusing lens.

[0022] The utility model discloses a positive effect is: with SCARA mechanical arm (Selective Compliance Assembly Robot Arm) as the foundation, based on hollow shaft light guide structure, through low -cost, light weight and accurate synchronous belt drive, realize laser head posture control, provide low -cost structure for laser cutting, in base, base utilizes servo motor through multistage synchronous belt reduction mechanism drive first swing arm, first swing arm utilizes servo motor through multistage synchronous belt reduction mechanism drive second swing arm, second swing arm utilizes servo motor through multistage synchronous belt reduction mechanism drive third swing arm, third swing arm utilizes servo motor through multistage synchronous belt reduction mechanism drive fourth swing arm, fourth swing arm utilizes servo motor through multistage synchronous belt reduction mechanism drive fifth swing arm, and fifth swing arm utilizes servo motor through multistage synchronous belt reduction mechanism drive laser head, and first swing arm and second swing arm swing in XY plane, and third swing arm and fourth swing arm swing in the plane vertical with XY plane,

[0023] Fifth swing arm rotates around fourth swing arm pivot, and laser head rotates around fifth swing arm rear pivot, and base is equipped with laser collimating light entrance, and laser is transferred to the mouth of laser head and carries out laser cutting through the pipeline in first swing arm, second swing arm, third swing arm, fourth swing arm, fifth swing arm and laser head in reflector, to realize laser head posture control, realize normal RTCP movement of laser head at any point on complex curved surface through this low -cost SCARA mechanical arm structure, provide low -cost structure and technical prerequisite for laser cutting, and the problem of fiber winding and unable to adopt fiber transmission laser is solved simultaneously. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 It is three -dimensional structure schematic drawing of the utility model discloses a kind of laser cutting robot with three-dimensional inner light guide structure;

[0025] Figure 2 It is Figure 1 Transmission structure schematic drawing of one of swing arm of the utility model disclosed in the utility model discloses a kind of laser cutting robot with three-dimensional inner light guide structure is shown in it;

[0026] Figure 3 It is Figure 2 Structure schematic drawing of synchronous belt drive in the transmission structure of first swing arm second swing arm and third swing arm of the utility model disclosed in the utility model discloses a kind of laser cutting robot with three-dimensional inner light guide structure is shown in it;

[0027] Figure 4 It is Figure 1 Three-dimensional inner light guide structure principle view of the utility model disclosed in the utility model discloses a kind of laser cutting robot with three-dimensional inner light guide structure is shown in it;

[0028] Figure 5 It is Figure 4The three-dimensional inner light guide structure in the laser cutting robot Figure 1 A schematic diagram of the arrangement structure in the mechanical arm of the laser cutting robot with a three-dimensional inner light guide structure;

[0029] Legend: 1 - base, 101 - first drive motor, 2 - first swing arm, 201 - first swing arm front pivot, 202 - first swing arm rear pivot, 3 - third swing arm, 301 - third swing arm front pivot, 302 - third swing arm rear pivot, 303 - third large synchronous pulley, 304 - first large synchronous pulley, 305 - servo motor output shaft, 306 - second large synchronous pulley, 307 - first small synchronous pulley, 308 - servo motor, 309 - first synchronous belt, 310 - second synchronous belt 310, 311 - third synchronous belt 311, 4 - fourth swing arm, 401 - fourth swing arm pivot, 402 - fourth swing arm pivot drive motor, 5 - fifth swing arm, 501 - fifth swing arm front pivot, 502 - fifth swing arm rear pivot, 6 - laser head, 601 - laser head pivot, 7 - second swing arm, 701 - second swing arm front pivot, 702 - second swing arm rear pivot, 8 - collimated light, 9 - first mirror, 10 - second optical axis, 11 - second mirror, 12 - fifth mirror, 13 - sixth optical axis, 14 - sixth mirror, 15 - seventh optical axis, 16 - seventh mirror, 17 - beam expander, 18 - eighth optical axis, 19 - ninth mirror, 20 - condenser, 21 - ninth optical axis, 22 - eighth mirror, 23 - fourth mirror, 24 - fourth optical axis, 25 - third mirror, 26 - third optical axis, 27 - base mirror, 28 - first optical axis, 29 - fifth optical axis. DETAILED DESCRIPTION

[0030] The utility model will be described in detail below in combination with the drawings and specific embodiments:

[0031] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as a limitation on the utility model. The indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the utility model.

[0032] In order to make the purpose, technical scheme and advantages of the utility model clearer and more apparent, the utility model will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the utility model and not to limit the utility model.

[0033] As Figures 1 to 5 shown, a structure diagram of a three-dimensional hollow shaft light guide structure's laser cutting robot provided by the utility model embodiment, the laser cutting robot comprises:

[0034] The base 1 drives the first swing arm 2 by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0035] The first swing arm 2 drives the second swing arm 7 by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0036] The second swing arm 7 drives the third swing arm 3 by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0037] The third swing arm 3 drives the fourth swing arm 4 by a multi-stage synchronous belt reduction mechanism through a servo motor,

[0038] The fourth swing arm 4 drives the fifth swing arm 5 by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0039] The fifth swing arm 5 drives the laser head 6 by a multi-stage synchronous belt reduction mechanism through a servo motor;

[0040] The first swing arm 2 and the second swing arm 7 swing in the XY plane;

[0041] The third swing arm 2 and the fourth swing arm 4 swing in a plane perpendicular to the XY plane;

[0042] The fifth swing arm 5 rotates around the fourth swing arm rotation shaft 401, the laser head controls the posture of the swing arm, and the laser head 6 rotates around the fifth swing arm rear rotation shaft 501; The base 1 is provided with a collimated light inlet of a laser, which is transmitted in the pipeline in the first swing arm 2, the second swing arm 7, the third swing arm 3, the fourth swing arm 4, the fifth swing arm 5 and the laser head 6 through a reflecting mirror, and the laser is transmitted to the mouth of the laser head 6 for laser cutting.

[0043] Among them, the drive between the base 1, the first swing arm 2, the second swing arm 7 and the third swing arm 3 adopts three-stage reduction synchronous belt drive; The drive between the fourth swing arm 4, the fifth swing arm 5 and the laser head 6 adopts two-stage reduction synchronous belt drive.

[0044] The servo motor is driven through a multi-stage synchronous belt reduction mechanism, comprising a servo motor, the output shaft of the servo motor drives a first large synchronous pulley 304 through a first synchronous belt 309, the center of the first large synchronous pulley 304 is connected with a first small synchronous pulley 307, the first small synchronous pulley 307 is connected with a second large synchronous pulley 306 through a second synchronous belt 310, the center of the second large synchronous pulley 306 is connected with a second small synchronous pulley, and the second small synchronous pulley is connected with a third large synchronous pulley 303 through a third synchronous belt 311, so as to form the multi-stage synchronous belt reduction mechanism.

[0045] Preferably, the servo motor is driven through the multi-stage synchronous belt reduction mechanism, and the multi-stage synchronous belt reduction mechanism is arranged in front of a front-stage mechanical arm, and the servo motor and the multi-stage synchronous belt reduction mechanism drive a rear-stage mechanical arm.

[0046] Preferably, the connection between the base 1, the first swing arm 2, the second swing arm 7, the third swing arm 3, the fourth swing arm 4, the fifth swing arm 5 and the laser head 6 is connected through a reflecting mirror and a beam expander, so as to realize stable output of the mouth part of the laser head during movement of the robot, the beam expander is arranged in a pipeline in the fifth swing arm, and a focusing mirror is arranged in the laser head.

[0047] In the embodiment of the utility model, based on the structure of low cost, light weight and energy saving, the first swing arm 2 is connected with the first driving motor 101 at the top of the base 1, the second swing arm 7 is connected with the first swing arm rear pivot 202 through the first swing arm 2, the basic structure of SCARA mechanical arm is kept, the third swing arm 3, the fourth swing arm 4, the fifth swing arm 5 and the laser head 6 are extended out from the second swing arm 7, the first swing arm 2 and the second swing arm 7 swing in XY plane, the third swing arm 3 and the fourth swing arm 4 swing in the plane vertical to XY plane, the fifth swing arm 5 rotates around the fourth swing arm pivot 401, and the laser head 6 rotates around the fifth swing arm rear pivot 502, which are used to compensate the angle deflection in XYZ coordinate system and realize the attitude control of the laser head. Through the low-cost SCARA mechanical arm structure, the attitude control of the laser head is realized, and a low-cost technical prerequisite is provided for laser cutting.

[0048] Specifically, as shown in Figures 1 to 5 A kind of laser cutting robot of three-dimensional hollow shaft light guide structure, comprising:

[0049] The top of the base 1 is connected with the first swing arm 2 through the first driving motor 101, and the first driving motor 101 is connected with the first swing arm front pivot 201 through a synchronous belt;

[0050] The first swing arm 2 is connected with the second swing arm 7 through the first swing arm rear pivot 202.

[0051] The first swing arm 2 is provided with a servo motor 308, the servo motor output shaft 305 is connected with a first synchronous belt 309, the other end of the first synchronous belt 309 is matched with a first large synchronous pulley 304, the center of the first large synchronous pulley 304 is provided with a first small synchronous pulley 307, the first small synchronous pulley 307 is connected with a second large synchronous pulley 306 through a second synchronous belt 310, the center of the second large synchronous pulley 306 is provided with a second small synchronous pulley, the second small synchronous pulley is connected with a third large synchronous pulley 303 through a third synchronous belt 311, the third large synchronous pulley 303 drives the second swing arm 7 to rotate around the first swing arm rear pivot 202 through the first swing arm rear pivot 202, and the first swing arm rear pivot 202 is fixedly connected with the second swing arm front pivot 701.

[0052] The first swing arm 2 and the second swing arm 7 swing in the XY plane.

[0053] The second swing arm 7 is connected with the third swing arm 3 through the second swing arm rear pivot 702.

[0054] The second swing arm 7 is provided with a servo motor 308, the servo motor output shaft 305 is connected with a first synchronous belt 309, the other end of the first synchronous belt 309 is matched with a first large synchronous pulley 304, the center of the first large synchronous pulley 304 is provided with a first small synchronous pulley 307, the first small synchronous pulley 307 is connected with a second large synchronous pulley 306 through a second synchronous belt 310, the center of the second large synchronous pulley 306 is provided with a second small synchronous pulley, the second small synchronous pulley is connected with a third large synchronous pulley 303 through a third synchronous belt 311, the third large synchronous pulley 303 drives the third swing arm 3 to rotate around the second swing arm rear pivot 702 through the second swing arm rear pivot 702, and the second swing arm rear pivot 702 is fixedly connected with the third swing arm front pivot 301.

[0055] The third swing arm 3 is connected with the fourth swing arm 4 through the third swing arm rear pivot 302,

[0056] The third swing arm 3 is provided with a servo motor 308, the servo motor output shaft 305 is connected with a first synchronous belt 309, the other end of the first synchronous belt 309 is matched with a first large synchronous pulley 304, the center of the first large synchronous pulley 304 is provided with a first small synchronous pulley 307, the first small synchronous pulley 307 is connected with a second large synchronous pulley 306 through a second synchronous belt 310, the center of the second large synchronous pulley 306 is provided with a second small synchronous pulley, the second small synchronous pulley is connected with a third large synchronous pulley 303 through a third synchronous belt 311, the third large synchronous pulley 303 drives the fourth swing arm 4 to rotate around the third swing arm rear shaft 302 through the third swing arm rear shaft 302; The third swing arm rear shaft 302 is fixedly connected with the fourth swing arm shaft 401;

[0057] The third swing arm 3 and the fourth swing arm 4 swing in a plane perpendicular to the XY plane;

[0058] The fourth swing arm 4 is connected with the fifth swing arm 5 through the fourth swing arm shaft 401; the fifth swing arm 5 rotates around the fourth swing arm shaft 401;

[0059] The fourth swing arm shaft 401 is rotatably connected with the fifth swing arm front shaft 501;

[0060] The fourth swing arm 4 is provided with a fourth swing arm shaft driving motor 402, the servo motor output shaft 305 of the fourth swing arm shaft driving motor 402 is connected with a first synchronous belt 309, the other end of the first synchronous belt 309 is matched with a first large synchronous pulley 304, the center of the first large synchronous pulley 304 is provided with a first small synchronous pulley 307, the first small synchronous pulley 307 is connected with a second large synchronous pulley 306 through a second synchronous belt 310, the center of the second large synchronous pulley 306 is provided with a second small synchronous pulley, the second small synchronous pulley is connected with a third large synchronous pulley 303 through a third synchronous belt 311, the third large synchronous pulley 303 drives the fifth swing arm 5 to rotate around the fourth swing arm shaft 401 through the fifth swing arm front shaft 501;

[0061] The fifth swing arm 5 is connected with the laser head 6 through the fifth swing arm rear shaft 502; the laser head 6 rotates around the fifth swing arm rear shaft 502;

[0062] The fifth swing arm 5 is provided with a servo motor 308, the output shaft 305 of the servo motor is connected with a first synchronous belt 309, the other end of the first synchronous belt 309 is matched with a first large synchronous pulley 304, the center of the first large synchronous pulley 304 is provided with a first small synchronous pulley 307, the first small synchronous pulley 307 is connected with a second large synchronous pulley 306 through a second synchronous belt 310, the center of the second large synchronous pulley 306 is provided with a second small synchronous pulley, the second small synchronous pulley is connected with a third large synchronous pulley 303 through a third synchronous belt 311, the third large synchronous pulley 303 drives the laser head 6 to rotate around the fifth swing arm rear rotating shaft 502 through the fifth swing arm rear rotating shaft 502; the fifth swing arm rear rotating shaft 502 is fixedly connected with the rotating shaft of the laser head 6;

[0063] The third swing arm 3 and the fourth swing arm 4 swing in the plane perpendicular to the XY plane, and the fifth swing arm 5 rotates around the fourth swing arm rotating shaft 401 and the laser head 6 rotates around the fifth swing arm rear rotating shaft 502, which are used to compensate the angular deflection in the XYZ coordinate system, so as to realize the laser head posture control.

[0064] The base 1 is provided with a laser generator, and the laser is transmitted to the laser head 6 for laser cutting through the light path and the reflecting mirror arranged in the first swing arm 2, the second swing arm 7, the third swing arm 3, the fourth swing arm 4 and the fifth swing arm 5.

[0065] As shown in the figure, Figure 4 The collimated light 8 is the laser generated by the laser generator in the base 1, which is reflected into the first optical axis 28 through the base reflecting mirror 27 arranged below the first swing arm front rotating shaft 201, reaches the first reflecting mirror 9 at the top of the first swing arm front rotating shaft 201, is reflected into the second optical axis 10, reaches the second reflecting mirror 11 at the top of the first swing arm 202, is reflected into the third optical axis 26, reaches the third reflecting mirror 25 at the bottom of the second swing arm 701, is reflected into the fourth optical axis 24, reaches the fourth reflecting mirror 23 at the second swing arm rotating shaft, is reflected into the fifth optical axis 29, reaches the fifth reflecting mirror 12 at the third swing arm front rotating shaft 301, is reflected into the sixth optical axis 13, reaches the sixth reflecting mirror 14, is reflected into the seventh optical axis 15, reaches the seventh reflecting mirror 16, then passes through the beam expander 17, reaches the eighth reflecting mirror 22, is reflected into the ninth optical axis 21, reaches the ninth reflecting mirror 19, and then realizes laser cutting in the laser head 6 under the focusing of the focusing mirror 20.

[0066] It can be seen that Figure 5 At the connection between the first swing arm 2, the second swing arm 7, the third swing arm 3, the fourth swing arm 4 and the fifth swing arm 5, the rotating shafts at the connection for transmitting the laser are coaxial.

[0067] The foregoing has outlined some aspects and features of various embodiments, which should be construed as being illustrative only. Other beneficial results can be attained by applying the disclosed information in a different manner or by combining aspects of the disclosed embodiments. Other aspects and a more comprehensive understanding can be obtained by referring to the detailed description of the exemplary embodiments in connection with the accompanying drawings.

[0068] The above embodiments have made a detailed description of the present application. Of course, the above description is not a limitation of the present application, and the present application is not limited to the above examples. Changes, modifications, additions or reductions, and replacements made by related technical personnel within the essential scope of the present application also belong to the protection scope of the present application.

Claims

1. A laser cutting robot of a three-dimensional hollow shaft light guiding structure, characterized by, The laser cutting robot comprises: a base, the base drives a first swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor; the first swing arm drives a second swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor; the second swing arm drives a third swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor; the third swing arm drives a fourth swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor, the fourth swing arm drives a fifth swing arm by a multi-stage synchronous belt reduction mechanism through a servo motor; the fifth swing arm drives a laser head by a multi-stage synchronous belt reduction mechanism through a servo motor; the first swing arm and the second swing arm swing in an XY plane; the third swing arm and the fourth swing arm swing in a plane perpendicular to the XY plane; the fifth swing arm rotates around the fourth swing arm rotation shaft in the vertical direction, and the laser head controls the posture of the swing arm; the base is provided with a collimated light inlet of a laser, the laser is transmitted in the pipeline in the first swing arm, the second swing arm, the third swing arm, the fourth swing arm, the fifth swing arm and the laser head through a reflecting mirror, and the laser is transmitted to the mouth of the laser head for laser cutting.

2. The laser cutting robot of three-dimensional hollow shaft light guide structure according to claim 1, characterized in that, The driving between the base, the first swing arm, the second swing arm and the third swing arm adopts three-stage reduction synchronous belt driving; the driving between the fourth swing arm, the fifth swing arm and the laser head adopts two-stage reduction synchronous belt driving.

3. The laser cutting robot of hollow three-dimensional shaft light guide structure according to claim 2, characterized in that, The servo motor drives by a multi-stage synchronous belt reduction mechanism, comprising a servo motor, the output shaft of the servo motor drives a first large synchronous pulley through a first synchronous belt, the center of the first large synchronous pulley is connected with a first small synchronous pulley, the first small synchronous pulley is connected with a second large synchronous pulley through a second synchronous belt, the center of the second large synchronous pulley is connected with a second small synchronous pulley, the second small synchronous pulley is connected with a third large synchronous pulley through a third synchronous belt, thereby forming a multi-stage synchronous belt reduction mechanism.

4. The laser cutting robot for three-dimensional hollow shaft light guide structure according to claim 3, wherein The servo motor drives by a multi-stage synchronous belt reduction mechanism, the multi-stage synchronous belt reduction mechanism is front-mounted, and the servo motor and the multi-stage synchronous belt reduction mechanism drive the next stage of mechanical arm.

5. The laser cutting robot of a three-dimensional hollow shaft light guide structure according to any one of claims 1 to 4, characterized in that, The connection between the base, the first swing arm, the second swing arm, the third swing arm, the fourth swing arm, the fifth swing arm and the laser head is connected through a reflecting mirror and an expansion mirror, so as to realize the stable output of the mouth of the laser head in the movement process of the robot.

6. The laser cutting robot of hollow three-dimensional shaft light guide structure according to claim 5, wherein, The pipeline in the fifth swing arm is provided with an expansion mirror.

7. The laser cutting robot of hollow three-dimensional shaft light guide structure according to claim 6, wherein, The laser head is provided with a focusing mirror.

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