Robot Laser

Abstract

The multi-axis robot includes multiple arms, the final arm closest to the workpiece having a tip or wrist configured to receive end-of-arm tooling (EOAT) rotatable about a sixth axis of the robot, and a mount coupled to the wrist for supporting a laser head assembly so that the laser head assembly does not rotate about the sixth axis of the robot.

Description

[Technical Field]

[0001] The present disclosure relates to a robot equipped with a laser head, and more particularly to a multi-axis robot with an improved mount configured to prevent displacement of the laser head about the final axis of the multi-axis robot, e.g., about the sixth axis of a six-axis robot. [Background technology]

[0002] The new World Robotics 2020 Industrial Robots report shows a record 2.7 million industrial robots operating in factories around the world. The industrial robot arm is the part that places the end effector. With a robot arm, the shoulder, elbow, and handling arm move and rotate to position the end effector in the exact right place. Each of these joints gives the robot a different degree of freedom, as will be explained shortly.

[0003] Lasers and robots are natural partners, with robots typically serving to guide the laser in welding, cutting, marking, and other processes. Advantageously, robots have an open architecture, allowing companies to design their own plug-ins and software modules to speed up the interface between the robot and the laser system and allow customization directly on the robot pendant. In laser processing automation processes, the laser source is typically located some distance from the robot arm. However, the laser head (a combination of beam guidance / beam shaping optics assembled in a single housing) is attached to the distal end of the robot forearm and is part of the laser-equipped robot's dress pack or end-of-arm tooling (EOAT). The EOAT is a combination of robot accessories, often referred to as end effectors, attached to the robot flange to perform functions. This includes, but is not limited to, the laser head, tool changer, force / torque detection system, collision sensor, gas nozzle, scanner, and, of course, multiple electrical, gas, and optical cables that deliver the respective media to the designated end effector.

[0004] For example, FIG. 1 illustrates a typical six-axis industrial robot 10, including a base 12 supporting a first arm 14 that, along with the rest of the robot 10, rotates relative to the base 12 about a first axis. The first arm 14 is also configured to move back and forth, i.e., pivot about a second axis. The distal end of the first arm 14 supports a lower or second arm 16 that swings about a third axis, e.g., so that the second arm 16 moves up and down. The second arm 16 is in turn connected to a third arm 18 that is operable to rotate about a fourth axis extending perpendicular to the third axis. A final, fourth arm 20 that is rotatable about a fifth axis is attached to the distal end of the third arm 18. The fourth arm 20 has a flange-supported EOAT 25 that rotates about a sixth or final axis. Drawing an analogy with the human anatomy, the third arm 18 is further referred to as a wrist, and the fourth arm 20 is referred to as a hand.

[0005] Referring to FIG. 2 , which illustrates the new “TruLaser Weld 5000” laser welding system manufactured by the German company TRUMPF, a hand 20 can support an EOAT 25, which can include not only the laser head itself but also any combination of the laser head, tool changer, end effector attached to the tool changer, cables, and other components. The laser beam can be directed to any desired location within the process space. Following modern trends, the laser head typically includes a scanner in addition to collimating and focusing optics. The scanner can include a pair of mirrors displaceable relative to each other, as disclosed in U.S. Pat. No. 10,413,995 B2, the entire contents of which are incorporated herein by reference, or can have an external scanner. The mirrors result in a wobbling motion of the laser spot. To follow the contours of the workpiece to be laser processed, the entire EOAT 25, including the laser head, often rotates around a final axis, such as the sixth axis of a typical six-axis industrial robot 10. Auxiliary tools such as wire feeders and gas nozzles necessarily rotate to follow the contours of the joint.

[0006] Those skilled in the art of robotics are well aware of several drawbacks associated with rotating a laser head around a final axis, e.g., the sixth axis. A rotatable laser head can affect the robot's dynamics and velocity, increasing the tool center control (TCP) length. The rotational motion of the laser head can contribute to inertia, resulting in robot-generated positioning errors and deviations from the desired path. Furthermore, various industrial robots, including but not limited to YASAKAWA (Figure 3A), FANUC (Figure 3B), ABB, and KUKA (Figure 3C), require large, complex cable and hose bundles around the robot's lower / second arm and wrist / third arm, which supports the rotatable laser head. Even with the introduction of hollow-arm robots, where several cable bundles may be routed through the center of the lower / second arm, wrist / third arm, and hand / fourth arm, protecting the laser head from mechanical hazards, such as unwanted whipping motion, remains a problem. The laser head also increases the footprint of the EOAT 25, which can be a significant drawback because the workspace is often too small, limiting the robot's effective maneuverability. The robot must be used frequently to switch from a laser source to a different type of power source, such as arc, drone arc, or capacitor discharge, and / or to replace or add one or more end effectors. For example, laser welding and brazing processes frequently require the use of a filler wire or so-called cold wire. The high affinity of some metals, such as titanium, to atmospheric gases such as oxygen and hydrogen requires strong gas shielding. The presence of the laser head can complicate desired replacement or reconfiguration of the EOAT 25, increase machine downtime, and increase the cost of the final product.

[0007] The problem discussed in the previous paragraph is not limited to six-axis robots. Any robot, regardless of the number of axes, provided with a hand-like component 20 adapted to work with a rotatable laser head experiences the same problem. Figure 3C shows an example of such a robot. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] U.S. Patent No. 10,413,995 Summary of the Invention [Problem to be solved by the invention]

[0009] Therefore, there is a need for a multi-axis robot for operating in laser-related industrial processes in which the laser head is rotationally decoupled from the rest of the EOAT, thereby contributing to a compact footprint of the processing arm, minimizing robot-induced positioning errors, and enabling increased operating speeds of the processing arm. [Means for solving the problem]

[0010] This need is met in accordance with the concepts of the present invention by an improved multi-axis industrial robot with a laser head mounted on the hand or final arm. Specifically, the structure of the present invention includes a laser head mounted on the hand such that the laser head is rotationally decoupled from the rest of the EOAT, rotatable about the final axis. Note that the following description is exemplified with a six-axis robot; however, the concepts of the present invention relate to any robot provided with a rotatable laser head.

[0011] The six-axis robot of the present invention is configured with a first arm and a second arm that are angularly displaceable relative to each other about a third axis (A3). The second arm is displaceable relative to the first arm about a fourth axis (A4). The tip of the second arm is connected to a wrist that pivots relative to the processing arm about an axis A5 that extends perpendicular to axis A4.

[0012] The wrist is connected to a hand that includes a housing configured as a hollow cylinder or housing and a hollow shaft mounted coaxially within the housing and provided with a flange. The housing pivots with the arm about the fifth axis but is not rotatable about the sixth or final axis. The shaft is rotatable about the sixth axis in addition to being movable about the fifth axis. A laser head, mounted on the end of the housing coaxially with the housing and shaft, allows the laser beam to propagate freely through the shaft toward the target. In contrast to known prior art, the laser head is not rotatable about the sixth or final axis. In other words, the laser head is rotationally decoupled from the shaft, a configuration that offers numerous advantages, as discussed below.

[0013] The flange extends beyond the end of the housing opposite the end supporting the laser head and terminates flush with the end. The flange is machined to accept various end effectors, thus functioning as a tool changer. The shaft, tool changer, and end effector are part of the EOAT. The laser head is typically considered part of the hand and therefore rotates about the sixth axis. The inventive structure simplifies the robot's construction by eliminating the need for rotation of the laser head with the shaft and achieving several associated benefits, particularly reducing inertia in the robot structure and improving the precision of the robot's movements.

[0014] The various end effectors are typically either directly attached to the flange or to a plate coupled to the flange and configured to receive and support the effectors. The use of various sensors within the end effectors may be considered. In addition to or as an alternative to the various sensors, a wire payout mechanism may be removably coupled to the plate, either alone or in various combinations with other end effectors. A gas delivery mechanism may also be attached, either alone or in combination with all or some of the end effectors. The position of the laser head, rotationally decoupled from the rest of the EOAT, facilitates the use of robots with different power sources for non-laser-related tasks. In contrast to established practice, in which the laser head is often detached from the robot, the inventive structure allows the laser head to remain attached while the retrofit robot participates in non-laser tasks. Naturally, the combination of laser welding with various welding techniques, such as tungsten inert gas (TIG) welding or stud welding, benefits solely from the inventive concept, since there is no need to readjust the position of the laser head if any given operation does not require its use.

[0015] The above and other features and advantages of the disclosed robot will be readily apparent from the following detailed description of the invention taken in conjunction with the drawings. [Brief explanation of the drawings]

[0016] [Figure 1] FIG. 1 is a diagram of an exemplary six-axis robot. [Figure 2] 1 is a diagram of a processing arm provided with a laser head in a known six-axis robot. [Figure 3A] FIG. 1 is a diagram of an exemplary industrial robot frequently used for laser-related tasks and designed to benefit from the structure of the present invention. [Figure 3B] FIG. 1 is a diagram of an exemplary industrial robot frequently used for laser-related tasks and designed to benefit from the structure of the present invention. [Figure 3C] FIG. 1 is a diagram of an exemplary industrial robot frequently used for laser-related tasks and designed to benefit from the structure of the present invention. [Figure 4] FIG. 1 is a diagram of an exemplary welding system utilizing a known six-axis robot. [Figure 5] FIG. 5 is a close-up view of the six-axis robot of FIG. 4 reconfigured in accordance with the concepts of the present invention. [Figure 6] 1 is a diagram of a robot of the present invention. [Figure 7] FIG. 7 is a bottom view of the hand of the robot of the present invention in FIG. 6. [Figure 8] FIG. 7 is a close-up view of the wrist / hand combination of the robot of FIG. 6. [Figure 9A] FIG. 7 is a perspective view of the wrist / hand of FIG. 6 equipped with a laser head and sensors. [Figure 9B] FIG. 7 is a side view of the wrist / hand of FIG. 6 equipped with a laser head and sensors. [Figure 10] FIG. 7 is a side view of the wrist / hand of FIG. 6, provided with a laser head, sensor, and cold wire payout mechanism. [Figure 11] FIG. 7 is a side view of the wrist / hand of FIG. 6 provided with a laser head, sensors, and gas supply nozzles. [Figure 12] FIG. 7 is a side view of the wrist / hand of FIG. 6, provided with a laser head, sensor, cold wire payout mechanism, and gas nozzle. [Figure 13] FIG. 7 is a side view of the wrist / hand of FIG. 6 configured to perform a stud welding operation. [Figure 14A] FIG. 7 is a side view of the wrist / hand of FIG. 6 configured for TIG operations. [Figure 14B] FIG. 7 is a side view of the wrist / hand of FIG. 6 with the TIG and cold wire payout mechanism. [Figure 15A] FIG. 1 is a side view of another known robot provided with a wrist of the present invention. [Figure 15B] FIG. 15B is a close-up perspective view of the wrist / hand of FIG. 15A. [Figure 15C] FIG. 15B is a side view of the wrist / hand of FIG. 15A. DETAILED DESCRIPTION OF THE INVENTION

[0017] FIG. 4 shows a portion of an exemplary system incorporating a known six-axis robot 10 suspended on a gantry system 22. The illustrated gantry system 22 is utilized to assemble a variety of objects, such as those used to assemble commercial kitchen equipment. However, the robot 10 may be used in a variety of other operations that do not require a gantry platform. For example, as shown in FIGS. 1, 3A, 3B, and 3C, the robot 10 is often used as a stand-alone unit.

[0018] FIG. 5 illustrates an example of a multi-axis robot of the present invention, in this case a six-axis robot 30 configured similarly to the robot 10 of FIG. 4 and including, inter alia, a first arm 42, a second or lower arm 44, a third arm or wrist 48, and a fourth arm or hand 20, which are connected to one another in a known manner typical of six-axis robots in this example. In accordance with the concept of the present invention, the laser head assembly 40 is mounted on the hollow hand 20 of the robot 30 such that its position relative to the hollow hand 20 is fixed, in particular so that the laser head assembly is rotationally fixed about the final robot axis, i.e., the sixth axis 6 in this example. As shown in FIG. 5, the laser head assembly 40 is preferably mounted on the end of the hollow hand 20 opposite the workpiece. In other words, the laser beam output by the laser head assembly 40 through the hollow hand 20 is rotationally fixed about the final sixth axis of the robot 30.

[0019] 6 and 7, an example of the concept of the present invention is realized by a mount 50 attached to the distal end of the wrist / third arm 48 and supported on a base 52 of the hand 20 that is pivotable about a fifth axis relative to the wrist 48. The base 52 is provided with a channel 54 that is shaped and dimensioned to receive the tool change assembly 47 of the hand 20, including a housing 58 and a flanged shaft 60. The housing 58 and the flanged shaft 60 are coaxial and centered about a final sixth axis, about which the flanged shaft 60 is rotatable. It should generally be mentioned that the mount 50 can be implemented as part of the hollow hand 20, as an external element attached to the hollow hand 20, or as a combination of the above alternatives.

[0020] Looking at the mount 50 that supports the laser head assembly 40, those skilled in the art of machining will readily understand that its structure is intended for infinite design. Critical to the mount 50 is its positioning on the robot 30 so that the laser head assembly 40 is rotationally decoupled from the tool change assembly 47, i.e., so that the laser head assembly is fixed while the tool changer 47 rotates with the flanged shaft 60 about the final sixth axis.

[0021] 6 and 7, mount 50 includes a frame including a plurality of U-shaped rails 56 extending along and across base 52. Rails 56 can be bolted to base 52, for example, although any other mount configuration and connection can be utilized by one skilled in the art, provided a secure connection between the base and mount 50 is provided. Mount 50 has one end 66 (FIG. 6) associated with a flanged shaft 60 that is connected to tool changer 47, and an opposite end 64 (FIG. 7) that supports laser head assembly 40. Alternatively, laser head assembly 40 can be directly attached to arm 20, for example, by direct screwing.

[0022] As better shown in FIG. 6 , it is easy to see how bulky the laser head assembly 40 can be. If it were attached to and rotatable with the end 66 of the same base 52 as the tool changer assembly 47, the laser head / tool ​​changer assembly would simply be too cumbersome. Considering how small the workspace can be, which is rather typical, the maneuverability of the robot 30, and particularly its wrist 48, would be severely limited, primarily due to the large footprint of the tool changer / laser head structure. Furthermore, even if the robot 30 has a hollow arm, there may still be loose cables 62, 64, including light delivery fibers, flexible tubing, hoses delivering coolant, or electrical cables for sensors and other designated equipment, as shown in FIGS. 6 and 7 , respectively. Indeed, loose cables do not aid maneuverability and, in fact, may be a hazard to other end effectors connected to the laser head assembly and flange 60. The inventive structure reduces the footprint and eliminates the hazards posed by these cables.

[0023] 8, the wrist 48 of the exemplary robot 30 has a distal split or forked tip featuring two fingers 66 spaced apart along a fifth axis VV, a hand 20, and a side base 52 of a mount 50 connected to the hand 20. The laser head assembly 40 is connected to the mount 50 so that a beam 68 focused on the illuminated target always propagates collinearly with and coaxially with the final axis VI-VI about which the base 52 is centered. Clearly, the end 66 of the mount 50 has a structure that does not interfere with the beam 68 propagating along the sixth axis VI-VI.

[0024] 9A and 9B show an EOAT including a plate 70 coupled to and rotatable with flange 60 (FIG. 7) of tool changer 47. Plate 70, in turn, provides support for various end effectors. For example, a sensor 72 is coupled to plate 70. In accordance with the concepts of the present invention, plate 70 with sensor 72 can rotate about a sixth axis VI-VI along which beam 68 emitted from laser head assembly 40 propagates, while laser head assembly 40, mounted on mount 50, does not rotate.

[0025] 10 shows an additional end effector coupled to plate 70 for rotation about a sixth axis VI-VI. Specifically, a cold wire payout mechanism 74 is supported by plate 70 so that wire, as is often required in laser welding or brazing, may be paid out to the weld area illuminated by beam 68. As shown here, plate 70 supports both sensor 72 and wire payout mechanism 74, but all end effectors are easily removable so that any individual end effector may be quickly removed from or added to plate 70.

[0026] FIG. 11 shows another end effector combination. Laser processing of many metals, such as stainless steel, titanium, and the like, is frequently associated with the formation of color as a result of oxidation. For this and other reasons, the EOAT may include a gas supply mechanism 76 mounted on a plate 70 and provided with a gas nozzle 78. The gas nozzle 78 has a hollow interior traversed by both the laser beam 68 and a gas stream directed parallel or coaxially within the nozzle toward the outlet of the nozzle 78. This is accomplished by mounting the nozzle 78 so that the nozzle is centered about the sixth axis VI-VI.

[0027] 12, a gas supply mechanism 76, as well as all other end effectors, may be coupled to plate 70, either alone or in combination with other end effectors such as sensor 72. Thus, as shown here, a gas supply mechanism with nozzle 78 is mounted to plate 70 together with line supply mechanism 74 and sensor 72. The mounted end effectors are rotatable about a sixth axis VI-VI, while laser head assembly 40 is fixed relative to this axis.

[0028] FIG. 13 illustrates another advantage of the inventive structure, in which the laser head assembly 40 is rotationally decoupled from the rest of the EOAT. Laser welding alone may often be insufficient or simply unnecessary for any given task that is part of the overall process that includes that laser processing step. With the laser head assembly 40 rotationally decoupled from the tool changer 47, the laser head does not need to be removed from the robot 30 if another type of material processing is required. For example, as shown here, a stud welding assembly 80 is attached to a plate 70 while the laser head assembly 40 remains in place. Essentially, one end of the plate 70 supports the laser head assembly 40, while the opposite end of the plate supports the stud welding assembly 80, either alone or in combination with another end effector, such as a sensor 72. Stud welding is a process in which a metal stud is joined to a metal workpiece by heating both parts with an arc. Thus, although different from laser welding techniques, there is nothing to prevent the stud welding assembly 80 from being mounted on the robot 30 along with the laser head assembly 40 due to the disclosed location of the laser head which is spaced apart and rotationally decoupled from the tool changer 47. If desired, both laser and stud welding processes can be used simultaneously utilizing the structure of the present invention.

[0029] 14A and 14B show the robot 30 of the present invention used in another alternative material processing method: gas tungsten arc welding (GTAW), also known as tungsten inert gas (TIG) welding, depicted in these figures by the TIG assembly 82. The TIG process involves a tungsten electrode heating the metal being welded. This technique is known for the use of an inert gas, such as argon, to protect the joint from oxygen contamination. The TIG assembly 82 attached to the plate 70 can be used alone, without the laser head assembly 40. However, it is not uncommon to combine TIG and laser processes. An inert gas is also fed into the gas nozzle 78 shown in FIG. 14A. Additionally, FIG. 14B shows the wire feed mechanism 74. This laser / TIG hybrid welding can be a faster process compared to laser and TIG welding alone, thereby producing higher seam quality. The combination of laser and TIG welding methods improves the joint's resistance to joint fit-up.

[0030] FIGS. 15A-15C illustrate another type of laser provided with a structure constructed in accordance with the concepts of the present invention. While the robot 30 shown in FIGS. 5-14 is manufactured by Yaskawa Electric, FIGS. 15A-15C illustrate a robot 90 manufactured by Fanuc Corporation. However, conceptually, the configuration of FIGS. 15A-15C embodies the concepts of the present invention. Specifically, the distal end of a wrist 48 is connected to a hand 20 that supports a laser head assembly 40 at one end and a tool changer 47 at the other end. The laser head 40 is mounted on the hand 20 so that it is rotationally independent of the tool changer 47 and rotationally fixed relative to the final axis 6.

[0031] 4-15C, it should be understood that certain structural modifications may be incorporated into a wide variety of robots, including the illustrated robots 30 and 90. As previously disclosed, the laser head assembly 40 is attached to one end of the hand 92. However, the laser head assembly 40 may also be attached to the proximal end of the wrist, opposite the distal end of the wrist connected to the hand. However, such modifications require additional beam steering optics.

[0032] While the principles of the present invention have been described herein, it is to be understood by those skilled in the art that this description is made by way of example only, and not as a limitation on the scope of the invention. In addition to the exemplary embodiments shown and described herein, other embodiments are contemplated within the scope of the present invention. Modifications and substitutions by those of ordinary skill in the art are deemed to be within the scope of the present invention, which should not be limited except as by the following claims. [Explanation of symbols]

[0033] 10 6-axis industrial robot, robot, 6-axis robot, 6-axis robot structure 12 base 14, 42 First arm 16 Second Arm 18, 48 Third arm, wrist 20 4th arm, hand, hollow hand 22 Gantry System 25 EOAT 30 6-axis robot, robot, multi-axis robot, 6-axis robot structure 40 Laser head assembly 44 Second arm, lower arm 47 Tool changer, tool change assembly 50 Mount 52 Base, side base 54 channels 56 U-shaped rail 58 Housing, hollow housing 60 Flanged shaft, flange, hollow flanged shaft, insert, hollow insert 62, 64 Loose cable 64 Opposite end (of mount) 66 Finger, end (of mount) 68 Beam, Laser Beam 70 Plate, support plate 72 Sensors, sensor assemblies, and end effectors 74 Cold wire payout mechanism, wire rod payout mechanism, wire rod supply mechanism, end effector 76 Gas supply mechanism, end effector 78 Gas nozzle, nozzle 80 Stud Welding Assembly, End Effector 82 Tungsten Inert Gas (TIG) Assembly, End Effector 90 Robots, multi-axis robots, 6-axis robot structures 92 hands A3 3rd axis A4 4th axis, axis A5 axis VV 5th axis VI-VI Final axis, 6th axis

Claims

1. A multi-axis robot (30, 90), a wrist portion (48) having a tip portion; a hollow hand (20) connected to the distal end of the wrist (48) so that the hollow hand (20) can swing about an axis adjacent to the final axis of the robot (30, 90) (see, for example, "axis 5" in FIG. 1 or axis "VV" in FIG. 8), and receiving an insert (60) that can rotate about the final axis of the robot (30) (see, for example, "axis 6" in FIG. 1 or axis "VI-VI" in FIG. 8); a laser head assembly (40) arranged to output a laser beam (68); A multi-axis robot (30, 90) comprising: The laser head assembly (40) is mounted on an end of the hollow hand (20) opposite the workpiece such that the laser head assembly (40) is rotationally decoupled from the insert (60), and the laser head assembly (40) outputs the laser beam (68) that is directed through the hollow hand (20) so that the laser beam is incident on the workpiece. A multi-axis robot (30, 90).

2. 2. The multi-axis robot (30, 90) of claim 1, wherein the multi-axis robot (30, 90) is a six-axis robot, the axis next to the final axis being a fifth axis of the multi-axis robot (30, 90), and the final axis being a sixth axis of the multi-axis robot (30, 90).

3. 3. The multi-axis robot (30, 90) of claim 1 or 2, wherein the laser head assembly (40) is attached to the hollow hand (20) by a mount (50), the mount (50) being implemented as part of the hollow hand (20) and / or as an external element attached to the hollow hand (20), and the laser head assembly (40) is decoupled from rotational movement of the robot (30, 90) about the final axis.

4. 4. The multi-axis robot (30, 90) of claim 3, further comprising an end-of-arm tooling (EOAT, 25) including at least one end effector removably attachable to the robot (30, 90), the at least one end effector being rotatable about the final axis of the robot (30, 90).

5. The at least one end effector includes: a sensor assembly (72), and / or a cold wire payout assembly (74), and / or a gas supply assembly (76), and / or a tungsten inert gas (TIG) assembly (82), and / or Metal Inert Gas (MIG) or Metal Arc Activated Gas (MAG) assemblies, and / or Stud Welding Assemblies(80) 5. The multi-axis robot (30, 90) according to claim 4, wherein:

6. 6. The multi-axis robot (30, 90) of claim 4 or 5, wherein the hollow hand (20) has a hollow housing (58) that receives a hollow flanged shaft (60) that is rotatable about the final axis of the robot (30, 90), the hollow flanged shaft (60) extending beyond an end of the mount (50) opposite an end of the mount (50) that supports the laser head assembly (40).

7. 7. The multi-axis robot (30, 90) of claim 6, wherein the robot (30) further includes a support plate (70) coupled to a surface of a flange of the hollow flanged shaft (60) facing laterally from the laser head assembly (40), the support plate (70) adapted to support one or a combination of the end effectors removably attached to the support plate (70).

8. A multi-axis robot (30, 90) as described in claim 5, wherein when the at least one end effector is or includes the tungsten inert gas (TIG) assembly (82), the tungsten inert gas (TIG) assembly (82) operates simultaneously with or independently of the laser head assembly (40).

9. 6. The multi-axis robot (30, 90) of claim 5, wherein the gas supply assembly (76) includes a gas nozzle (78) configured with a hollow interior, and the laser head assembly (40) outputs the laser beam (68) that traverses the hollow interior of the gas nozzle (78).

10. 10. The multi-axis robot (30, 90) of any one of claims 3 to 9, wherein the mount (50) comprises a frame removably coupled to the hollow hand (20).

11. A hollow hand (20) that can swing around the axis next to the final axis (see, for example, "axis 5" in FIG. 1 or axis "VV" in FIG. 8), a hollow insert (60) received within the hollow hand (20) and rotatable about a final axis (see, for example, "axis 6" in FIG. 1 or "axis VI-VI" in FIG. 8) extending laterally from the axis adjacent to the final axis (see, for example, "axis 5" in FIG. 1 or "axis VV" in FIG. 8); a laser head assembly (40) attached to the hollow hand (20) so that the laser head assembly (40) is fixed relative to the final axis (see, for example, "axis 6" in FIG. 1 or axis "VI-VI" in FIG. 8), the laser head assembly (40) outputting a laser beam (68) that is guided through the hollow insert (60) and incident on the irradiated workpiece; Multi-axis robots (30, 90), including:

12. a mount (50) mounted on the hollow hand (20) and configured to support the laser head assembly (40) such that the laser head assembly is coaxial with but rotationally decoupled from the hollow insert (60); a tool changer (47) coupled to an end of the hollow insert (60) opposite the workpiece and rotatable together with the hollow insert (60), wherein the hollow hand (20) includes a hollow housing (58) and a hollow flanged shaft (60) received within the hollow housing (58) and rotatable about the final axis (see, for example, "axis 6" in FIG. 1 or "VI-VI" in FIG. 8); 12. The multi-axis robot (30, 90) of claim 11, further comprising:

13. 13. The multi-axis robot (30, 90) of claim 12, wherein the tool changer (47) comprises a support plate (70) coupled to a flange of the hollow flanged shaft (60) and a plurality of end effectors, each removably attached to the support plate (70), the support plate (70) supporting one or a combination of the end effectors.

14. 14. The multi-axis robot (30, 90) of claim 13, wherein the end effector includes a tool selected from the group consisting of a sensor assembly (72), a cold wire payout assembly (74), a gas supply assembly (78), a tungsten inert gas (TIG) assembly (82), a metal inert gas (MIG) or metal arc activated gas (MAG) assembly, a stud welding assembly (80), and combinations of these assemblies.

15. 15. The multi-axis robot (30, 90) of claim 14, wherein the tungsten inert gas (TIG) assembly (82) operates simultaneously with or independently of the laser head assembly (40), while the laser head assembly (40) remains mounted on the hollow hand.

16. 15. The multi-axis robot (30, 90) of claim 14, wherein the gas supply assembly (76) includes a gas nozzle (78) configured with a hollow interior, and the laser head assembly (40) outputs the laser beam (68) that travels through the hollow interior of the gas nozzle (78).

17. 11. The multi-axis robot (30, 90) of claim 10, further comprising a plurality of arms (14, 16, 18, 20) connected to provide a six-axis robotic structure (10, 30, 90), the final axis (VI-VI) being a sixth axis of the six-axis robotic structure (10, 30, 90).

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