JPS6136713A - Manipulator of multijoint reflection mirror system - Google Patents
Manipulator of multijoint reflection mirror systemInfo
- Publication number
- JPS6136713A JPS6136713A JP15763184A JP15763184A JPS6136713A JP S6136713 A JPS6136713 A JP S6136713A JP 15763184 A JP15763184 A JP 15763184A JP 15763184 A JP15763184 A JP 15763184A JP S6136713 A JPS6136713 A JP S6136713A
- Authority
- JP
- Japan
- Prior art keywords
- optical axis
- mirror holder
- mirror
- adjustment
- manipulator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B7/00—Mountings, adjusting means, or light-tight connections, for optical elements
- G02B7/18—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors
- G02B7/182—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors
- G02B7/1822—Mountings, adjusting means, or light-tight connections, for optical elements for prisms; for mirrors for mirrors comprising means for aligning the optical axis
- G02B7/1824—Manual alignment
- G02B7/1825—Manual alignment made by screws, e.g. for laser mirrors
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optics & Photonics (AREA)
- Mounting And Adjusting Of Optical Elements (AREA)
Abstract
Description
【発明の詳細な説明】
〔発明の技術分野〕
本発明は、多関節反射鏡式マニピュレータ、例えば、レ
ーザー手術装置に用いられる多関節反射鏡式マニピュレ
ータであって、特にその反射ミラー調整装置に関するも
のである。Detailed Description of the Invention [Technical Field of the Invention] The present invention relates to a multi-joint reflector manipulator, for example, a multi-joint reflector manipulator used in a laser surgical device, and particularly relates to a reflector adjustment device thereof. It is.
従来、この種の装置の関節部の一例としては第１図に示
すようなものがあった。Conventionally, an example of a joint part of this type of device is shown in FIG.
すなわち１図において、符号ｌは入射光軸、コは出射光
軸、３はハウジング、ｔＩはハウジング３に設けられた
反射ミラー設置のための開口部、５は軸受６を介してハ
ウジング３の一端が回転自在に支持されているアーム、
７は反射ミラーｔが一面に取り付けられているミラーホ
ルダ、９はミラーホルダクをハウジングＪＫ押し付ける
よう（作用する押ばね、１０はミラーホルダ７をハウジ
ング３から離すよ５に作用する引ばね、／／は入射光軸
／と出射光軸−とｉｔぼ等角に傾斜する開口部すの開口
の細心、／コは反射ミラーｔの回転軸である。That is, in Fig. 1, the symbol l is the incident optical axis, the c is the output optical axis, 3 is the housing, tI is the opening provided in the housing 3 for installing the reflection mirror, and 5 is the one end of the housing 3 via the bearing 6. An arm that is rotatably supported,
7 is a mirror holder with a reflective mirror t attached to one side; 9 is a push spring that acts to press the mirror holder against the housing JK; 10 is a tension spring that acts on 5 to separate the mirror holder 7 from the housing 3; The fineness of the opening of the aperture S which is inclined approximately equiangularly with the incident optical axis / and the output optical axis - is the rotation axis of the reflecting mirror t.
従来装置は上記のように構成されるが１次にその作用に
ついて説明する。Although the conventional device is constructed as described above, its operation will be explained first.
多関節反射鏡式マニピュレータでは第１図に行す関節部
が複数個接続されレーザービームな導（・ていくもので
ある。それ故もし反射ミラーｌへの入射光軸ｌと反射ミ
ラーの回転軸ｌコとが一致していない場合には１反射ミ
ラーｔの回転によって。In an articulated reflector type manipulator, a plurality of joints shown in Fig. 1 are connected to guide the laser beam.Therefore, if the incident optical axis l to the reflection mirror l and the rotation axis of the reflection mirror If the 1 and 1 do not match, by rotating the 1 reflecting mirror t.
出射光軸コは芯プレを生じる。そしてこの芯ブレはレー
ザービームの伝達距離が長くなるにつれて拡大し、最終
的にはアームの内壁に当たり、以後レーザービームが伝
達されなくなってしまうものである。従って、このよう
な関節部では入射光軸と反射ミラーの回転軸とが常圧一
致するように各関節部で調整されていなければならず、
また、ショック等により光軸が狂わない構造でなくてを
言ならない。The output optical axis produces a core pre. This core wobbling increases as the transmission distance of the laser beam increases, and eventually it hits the inner wall of the arm, and the laser beam is no longer transmitted. Therefore, in such joints, each joint must be adjusted so that the incident optical axis and the rotation axis of the reflection mirror match under normal pressure.
Also, it must have a structure that will not cause the optical axis to go awry due to shocks, etc.
上記のような調整をするために、第７図に示す従来装置
においては押ねじｔと引ねじ１０とが６ｏ”間隔で１個
おきに設けられている。今、この押ねじと引ねじとを、
適宜、前進、後退させることによって、ミラーホルダ７
の傾斜角度及び前後方向の調節を行ない、最終的に反射
ミラーｔの回転軸／コと入射光軸／とを完全に一致させ
、かつ入射光軸／と反射光軸コが直交するようＶＣｖ４
整する。In order to make the above adjustment, in the conventional device shown in FIG. of,
By moving the mirror holder 7 forward and backward as appropriate,
VCv4 is adjusted so that the rotational axis of the reflecting mirror t and the incident optical axis are completely aligned, and the incident optical axis and the reflected optical axis are perpendicular to each other.
Arrange.
従来の多関節反射鏡式マニピュレータの関節部は以上の
ように構成されかつ調節されるので、ミラーホルダクは
、押ねじり、引ねじ１０の微妙なバランスによって調節
し保持されているために。Since the joints of the conventional multi-joint reflector manipulator are constructed and adjusted as described above, the mirror holder is adjusted and held by a delicate balance between the push-twist and draw screws 10.
外部ショックによって簡単に変位させられ、その結果、
光軸が狂うことがしばしばあった。また。easily displaced by external shocks, resulting in
The optical axis often went awry. Also.
従来の構造では１反射ミラーＩの角度調整及び前後位置
の調節を同時に行なわなければならず、そして、この両
者は相互に関連しており、一方のみを単独で調整するこ
とはできず、従って、同時に調整することは非常に難し
いという欠点があった〔発明の概要〕
本発明は、上記のような従来装置の欠点を除去して、容
易に反射ミラーの角度調整及び前後位置調整が可能な多
関節反射鏡式マニピュレータを得ることを目的としてな
されたものであって、そのために５反射ミラーの角度調
整と前後位置調整とをそれぞれ別個に行ない、しかも、
一度調整したら容易に狂わないようにするために、ミラ
ーホルダをハウジングとの間にばねを介して設け、ハウ
ジングに固定したばね受けにミラーホルダを背後におい
て押圧する１個の前後調整ねじと複数個の角度調整ねじ
とを設けたミラー調整機構を有する関節部を供えた多関
節反射鏡式マニピュレータを提供するものである。In the conventional structure, it is necessary to simultaneously adjust the angle and the front-rear position of one reflecting mirror I, and these two are interrelated, and it is not possible to adjust only one of them independently. [Summary of the Invention] The present invention eliminates the drawbacks of the conventional device as described above, and provides a multi-function device that can easily adjust the angle and longitudinal position of the reflecting mirror. This was made for the purpose of obtaining an articulated reflector type manipulator, and for this purpose, the angle adjustment and the front-back position adjustment of the five reflecting mirrors were performed separately, and furthermore,
In order to prevent the mirror holder from going out of order once it has been adjusted, a spring is installed between the mirror holder and the housing, and one longitudinal adjustment screw and several The present invention provides an articulated reflector manipulator having a joint portion having a mirror adjustment mechanism provided with an angle adjustment screw.
以下１本発明をその一実施例を示す図に基づいて説明す
る。DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be explained below based on figures showing one embodiment thereof.
第−図及び第３図において、入射光軸、出射光軸コ、ア
ーム５．軸受６．ミラーホルダ７、反射ミラーｔはいず
れも従来装置におけるものと同等のものであり、また、
符号コｌはハウジングＪとほぼ同様の構成を有するハウ
ジングであって、入射光軸／と出射光軸−とにほぼ等向
上傾斜する開口の軸心ココを有するように、従来装置と
ほぼ同様の開口部コ３が形成されている。また、λダは
反射ミラーｔの回転軸コ３はハウジングλ／に取り付け
られたばね受けであって、ばね受はユｊにはミラーホル
ダ７を背後から押圧する前後ｙ４整ねじコロがほぼ開口
の軸心２λに沿い、また、その周囲には複数個の角度調
整コクが設けられている。3 and 3, the input optical axis, the output optical axis, the arm 5. Bearing 6. The mirror holder 7 and the reflection mirror t are both equivalent to those in the conventional device, and
Reference numeral 1 denotes a housing having almost the same configuration as housing J, and is almost the same as the conventional device in that it has an aperture axis here that is tilted almost equilaterally to the input optical axis and the output optical axis. An opening 3 is formed. In addition, the rotation axis 3 of the reflection mirror t is a spring receiver attached to the housing λ/, and the spring receiver has a nearly open front and rear Y4 set screw roller that presses the mirror holder 7 from behind. A plurality of angle adjustment knobs are provided along and around the axis 2λ.
二ｔはミラーホルダ７に設けられた凹球面で１前後ｖＩ
４瞥ねじココの先端がはまり込むようになっており、ミ
ラーホルダ７とハウジング２１との間にはミラーホルダ
７を後退させるよう九作用するばねコ？が設けられてい
る。また、３０はばね受け２ｊをハウジング２１へ取り
付けるための取付ねじである。2t is a concave spherical surface provided on the mirror holder 7 and is around 1 vI
The tips of the four-eye screws fit into each other, and there are nine springs between the mirror holder 7 and the housing 21 that act to move the mirror holder 7 backward. is provided. Further, 30 is a mounting screw for mounting the spring receiver 2j to the housing 21.
次に本発明装置の作用について説明する。Next, the operation of the device of the present invention will be explained.
今ミラーホルダ２はばねコクによって入射光軸ｌ及び出
射光軸コの交点０から遠ざかるように設けよれているの
で１前後調整ねじ２６を回すことＫよって適宜前進又は
後退させ、これによってミラーホルダクを前進又は後退
させる。この調整により反射ミラーｌの表面を入射光軸
ｌと出射光軸−との交点ＯＫ一致させる。Now, the mirror holder 2 is mounted so as to move away from the intersection point 0 of the incident optical axis L and the output optical axis K by the spring force, so by turning the front/rear adjustment screw 26, it can be moved forward or backward as appropriate, thereby moving the mirror holder forward. or retreat. By this adjustment, the surface of the reflecting mirror l is brought into alignment with the intersection of the incident optical axis l and the output optical axis -.
次いで、複数例えば３本の角度調整ねじ−７を回して適
宜前進、後退させ、これによって、ミラーホルダクを凹
球面コざを中心にして回転し、この回転により１反射ミ
ラーｔの角度調整を行ない。Next, a plurality of, for example, three, angle adjusting screws 7 are turned to advance or retreat as appropriate, thereby rotating the mirror holder around the concave spherical edges, and by this rotation, the angle of one reflecting mirror t is adjusted.
入射元軸／と出射光軸−とが直交しかつ入射光軸／及び
出射光軸λがそれぞれのアーム５の中心を通るようにす
る。The input source axis / and the output optical axis - are orthogonal, and the input optical axis / and the output optical axis λ pass through the center of each arm 5 .
また、前後調整ねじ、２ル及び角度調整ねじコクはばね
コ９により、ミラーホルダ７に押し付けられているので
、ばねコ９の強さをある程度強くすることによりこれら
調整ねじのゆるみを防止するようにしてもよく、又は、
それぞれにロックナツトを設けるか、あるいは又、これ
ら調整ねじのねじ六に直交するスリットをばね受けに形
成してゆるみを防止してもよい。In addition, since the front and rear adjustment screws, two screws, and the angle adjustment screws are pressed against the mirror holder 7 by the spring 9, it is possible to prevent these adjustment screws from loosening by increasing the strength of the spring 9 to a certain extent. or
A lock nut may be provided for each, or a slit orthogonal to the screws 6 of these adjustment screws may be formed in the spring receiver to prevent loosening.
以上のようにして調整するならば１反射ミラーの前後位
置と傾き角度との調整をそれぞれ独立して行なうことが
でき、その調整作業は簡単で熟練を要ｔ、ない。If the adjustments are made in the manner described above, the longitudinal position and inclination angle of one reflecting mirror can be adjusted independently, and the adjustment work is simple and does not require skill.
以上のように本発明によれば５反射ミラーの調整は前後
方向の位置の調整と傾き角度の調整とを別々に独立して
行なえるので、光軸調整が非常に簡単かつ容易となり、
また外部ショックを受けても容易には光軸が狂わず、更
Ｋまた。装置も安価に製作できて保守上のトラブルも生
じない多関節反射鏡式マニピュレータが得られるという
効果を有している。As described above, according to the present invention, the adjustment of the five reflecting mirrors can be performed separately and independently by adjusting the position in the front-rear direction and adjusting the tilt angle, so that the optical axis adjustment becomes very simple and easy.
In addition, the optical axis does not easily shift even when subjected to external shocks, and it can be easily adjusted. The device also has the effect of providing an articulated reflector type manipulator that can be manufactured at low cost and does not cause maintenance troubles.
第７図は従来の多関節反射鏡式マニピュレータの関節部
の断面図、第２図は本発明の一実施例による多関節反射
鏡式マニピュレータの関節部の第３図のｎ−ｍ−ｎ線に
よる縦断面図、第３図は第２図の矢印■による矢視図で
ある。
／・・入射光軸、λ・・出射光軸、Ｊ、コト・ハウジン
グ、弘、コ３１１・開口部、５・・アーム、６・・軸受
、りｅ・ミラーホルダ、ｔ−−反射ミラー、／／、λコ
・ψ開口の軸心、ｌコ、コク・・回転軸、２よ・・ばね
受け、−６・拳前後調整ねじ、コア・・角度調整ねじ、
λｌ・・凹球面。
コク−・ばね、ＪＯ・・取付ねじ。
なお、各図中、同一符号は同−又は相当部分を示す。
づFIG. 7 is a cross-sectional view of the joint of a conventional multi-joint reflector manipulator, and FIG. 2 is a line nm-n in FIG. 3 of the joint of a multi-joint reflector manipulator according to an embodiment of the present invention. FIG. 3 is a longitudinal sectional view taken by the arrow ``■'' in FIG. 2. /... Incoming optical axis, λ... Outgoing optical axis, J, Housing, Hiro, Ko311, Opening, 5... Arm, 6... Bearing, ri e, Mirror holder, t-- Reflecting mirror, //, Axis center of λ/ψ opening, l, body...rotation axis, 2...spring support, -6, fist fore and aft adjustment screw, core...angle adjustment screw,
λl...Concave spherical surface. Body/Spring, JO/Mounting screw. In each figure, the same reference numerals indicate the same or corresponding parts. Zu
Claims (1)
互いに連結されると共にその内部にレーザービームを通
過させるアームとを有し、該関節部の少なくとも一端は
この一端に接続されるアームに回転自在に連結され、こ
れによつて入射レーザービームを任意の位置に伝送する
ようにした多関節反射鏡式マニピュレータにおいて、反
射ミラーが入射光軸及び出射光軸に面するように反射ミ
ラーを取り付けたミラーホルダをハウジングとの間にば
ねを介して設け、ハウジングに固定されたばね受けにミ
ラーホルダを背後において押圧する１個の前後調整ねじ
と複数個の角度調整ねじとを設けていることを特徴とす
る多関節反射鏡式マニピュレータ。An arm having a plurality of joints each having a reflecting mirror, and an arm that is connected to each other via the joints and allows a laser beam to pass through the joint, and at least one end of the joint is connected to this one end. In the articulated reflector type manipulator, which is rotatably connected to a laser beam and thereby transmits an incident laser beam to an arbitrary position, the reflector is arranged so that the reflector faces the input optical axis and the output optical axis. A spring is provided between the attached mirror holder and the housing, and a spring receiver fixed to the housing is provided with one longitudinal adjustment screw and a plurality of angle adjustment screws that press the mirror holder from behind. Features an articulated reflector manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15763184A JPS6136713A (en) | 1984-07-30 | 1984-07-30 | Manipulator of multijoint reflection mirror system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP15763184A JPS6136713A (en) | 1984-07-30 | 1984-07-30 | Manipulator of multijoint reflection mirror system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6136713A true JPS6136713A (en) | 1986-02-21 |
Family
ID=15653941
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP15763184A Pending JPS6136713A (en) | 1984-07-30 | 1984-07-30 | Manipulator of multijoint reflection mirror system |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6136713A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007025875A (en) * | 2005-07-13 | 2007-02-01 | Denso Wave Inc | Position-adjusting structure for optical axis of optical information reading device |
| US20180119715A1 (en) * | 2016-11-02 | 2018-05-03 | Toyota Jidosha Kabushiki Kaisha | Screw grommet attachment structure |
-
1984
- 1984-07-30 JP JP15763184A patent/JPS6136713A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007025875A (en) * | 2005-07-13 | 2007-02-01 | Denso Wave Inc | Position-adjusting structure for optical axis of optical information reading device |
| JP4539471B2 (en) * | 2005-07-13 | 2010-09-08 | 株式会社デンソーウェーブ | Optical axis position adjustment structure of optical information reader |
| US20180119715A1 (en) * | 2016-11-02 | 2018-05-03 | Toyota Jidosha Kabushiki Kaisha | Screw grommet attachment structure |
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