JP2017039141A - Welding apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a welding apparatus capable of improving safety and quality of welding.SOLUTION: A welding apparatus 1 according to an embodiment causes pillars 2, 3 to be in contact with each other, projects a laser beam L along a weld line Y set at a contact portion, and supplies assist gas A to the irradiated portion, thus welding the pillars 2, 3 together. The welding apparatus 1 includes: a laser head 15 for projecting the laser beam L toward the weld line Y; a depth measurement portion for measuring weld depth of the pillars 2, 3 at the contact portion; and a controller. According to the weld depth measured by the depth measurement portion, the controller performs at least one of: control of a position of the laser head 15 relative to the pillars 2, 3; control of the laser beam L projected from the laser head 15; and control of supply of the assist gas A.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a welding apparatus for welding a plurality of members with laser light.

  Japanese Patent Application Laid-Open No. 6-320446 discloses a welding robot that welds two steel frames arranged along the vertical direction. This welding robot is attached to a guide rail via a self-propelled carriage, and the guide rail is fixed to the surface of the upper steel frame by three magnet devices. The guide rail is U-shaped on a horizontal plane. The self-propelled carriage suspends and supports the welding robot, and the welding robot is movable with respect to the guide rail by the traveling of the self-propelled carriage.

  The welding robot includes a base fixed to the lower part of the self-propelled carriage, a swivel attached to the base, three arms and a wrist attached to the swivel, and a welding tool attached to the wrist. It has. A welding tool welds along the welding line set to the steel frame. In this welding robot, the welding tool is extended to the welding position of the steel frame by rotating the swivel base and rotating each arm to perform the above-described welding.

  As a means for welding a plurality of members, laser welding may be used in that the amount of heat input is relatively small and rapid welding is possible.

JP-A-6-320446

  As described above, when welding a plurality of members, it is important to grasp the welding depth of each member, particularly when performing laser welding. Here, the welding depth indicates the length in the thickness direction at the contact portions of a plurality of welding objects, that is, the depth of the part to be welded. If the energy of the laser beam is too strong with respect to the welding depth of the member, the amount of penetration of the member is too large and the laser beam may be detached from the member. On the other hand, if the energy of the laser beam is too weak with respect to the welding depth of the member, the amount of penetration of the member is too small, welding may be insufficient, and there may be a portion that is not welded between a plurality of members. Can also affect. For this reason, the balance between the welding depth of each member and the energy of the laser beam to be irradiated is important for ensuring the welding quality.

  The welding depth of each member may be grasped as a design value. However, in an actual welding site, there may be an error in the welding depth of each member due to a manufacturing error or an arrangement error of each member. When such an error occurs, the actual depth with respect to the design value is different, so that the above-described problem that the laser beam is disengaged or that the welding becomes insufficient may occur. And in the conventional welding, there exists a problem that the penetration of a member cannot be adjusted appropriately. As described above, if the laser beam is removed, the safety of welding cannot be ensured, and if the welding is insufficient, the quality of welding cannot be ensured.

  An object of this invention is to provide the welding apparatus which can ensure the safety | security and quality of welding.

  The welding apparatus according to the present invention brings a plurality of members into contact with each other by irradiating laser light along a welding line set in a contact portion and supplying an assist gas to the irradiated portion. A welding apparatus for welding, a laser head for irradiating a laser beam toward a welding line, a depth measuring unit for measuring a welding depth of a member at a contact portion, and a welding depth measured by the depth measuring unit. And a controller that performs at least one of control of the relative position of the laser head with respect to the member, control of laser light emitted from the laser head, and supply control of assist gas.

  In the welding apparatus according to the present invention, the depth measuring unit measures the welding depth at the contact portion of the plurality of members, and according to the welding depth, the relative position control of the laser head with respect to the member, the control of the laser beam, and At least one of the supply control of the assist gas is performed by the control unit. The moving speed of the laser head can be adjusted by controlling the laser head, the output of the laser light can be adjusted by controlling the laser light, and the assist gas pressure control can be adjusted by the assist gas supply control. It can be performed. For example, when the welding depth value of the member is large, the energy of the laser beam to the member can be increased by slowing the moving speed of the laser head or increasing the output of the laser beam. When the value is small, the energy of the laser beam to the member can be decreased by increasing the moving speed of the laser head or decreasing the output of the laser beam. As described above, the laser head, laser beam, or assist gas can be controlled according to the welding depth of the member, so that the laser beam is prevented from coming off the member and the problem of insufficient welding is avoided. can do. And the penetration of each member by welding can be adjusted appropriately. Therefore, since the laser beam does not come off, the safety of welding can be ensured and the welding can be sufficiently performed, so that the quality of welding can be ensured.

  Further, the above-described welding apparatus includes a mismeasurement unit that measures a misalignment that is a step of a surface on the laser head side in a plurality of members, and the control unit is configured to respond to the mismeasurement measured by the mismeasurement unit. The relative position control of the laser head with respect to the member, the control of the laser light emitted from the laser head, and the supply control of the assist gas may be performed. In this case, for example, the angle of the laser head or the laser beam can be adjusted when the difference is large and the surface level difference between the members is large, and the laser head, laser beam or assist according to the actually measured value of the difference. Gas can be adjusted. Therefore, by measuring the misunderstanding state, the penetration of each member by welding can be adjusted with higher accuracy.

  Moreover, the above-mentioned welding apparatus may be provided with the welding start point end point calculation part which calculates the welding start point and welding end point in a welding line. In this case, by calculating the welding start point and the welding end point, the situation where the laser beam is not irradiated to the portion where the laser beam should be irradiated or the portion where the laser beam should not be irradiated is irradiated with the laser beam. This can be avoided more reliably. Therefore, the situation where the laser beam is detached from the member and the situation where the laser beam becomes insufficient can be avoided more reliably.

  Further, the above-described welding apparatus may include a rail arranged so as to surround the member, and the laser head may weld a plurality of members while moving along the rail. In this case, since the laser head moves along the rail surrounding the member, the laser head can perform welding while moving smoothly.

  According to the present invention, the safety and quality of welding can be ensured.

It is a perspective view which shows the welding apparatus which concerns on 1st Embodiment. It is a block diagram which shows the function of the welding apparatus of FIG. It is a side view which shows the positional relationship between the misunderstanding in two pillars which are examples of a base material, and a laser head. It is a side view which shows the positional relationship of the two pillars of FIG. 3, and a measuring device. It is a side view which shows the welding along the welding line of the welding apparatus of FIG. It is a figure which shows irradiation of the laser beam and supply of assist gas in the welding apparatus of FIG. It is a figure for demonstrating calculation of a welding start point and a welding end point. (A) is a side view which shows the welding apparatus which concerns on 2nd Embodiment, (b) is a top view which shows the welding apparatus which concerns on 2nd Embodiment. It is a figure for demonstrating the attachment procedure of the welding apparatus of FIG. 8, (a) is a figure which shows the state which attaches a rail, (b) is a figure which shows the state which rotates a rail, (c) is the completion of installation of a rail It is a figure which shows the state of. It is a figure which shows the modification of the part which contacts a some member.

  Hereinafter, embodiments of a welding apparatus according to the present invention will be described in detail with reference to the drawings. In addition, the welding apparatus which concerns on this invention is not limited to the welding apparatus which concerns on the following embodiment, It can change suitably.

(First embodiment)
As shown in FIG. 1, the welding apparatus 1 according to the first embodiment is, for example, a welding robot, and welds two columns 2 and 3 arranged along the vertical direction. The welding apparatus 1 is used at a construction site. The columns 2 and 3 are examples of members (base materials) that are welding targets of the welding apparatus 1, and the welding target of the welding apparatus 1 is a member other than the columns 2 and 3 (for example, columns and beams, or beams and beams, etc. ). The welding apparatus 1 brings the end faces 2b and 3b of the two columns 2 and 3 into contact with each other, and irradiates the laser beam L along the welding line Y set at the contacted portion.

  The welding apparatus 1 is attached to a rail 11 disposed so as to surround the lower pillar 3, a carriage 12 that moves along the rail 11, an arm portion 13 that extends from the carriage 12, and a tip portion of the arm portion 13. The measurement device 14, the laser head 15, and the assist gas supply unit 16 are provided. The laser head 15 welds the columns 2 and 3 by irradiating the columns 2 and 3 with the laser light L. The assist gas supply unit 16 supplies the assist gas A to the portion irradiated with the laser light L. The assist gas A is used for mixing the melted member. A protective device 4 is provided between the upper column 2 and the lower column 3.

  For example, the rails 11 are arranged in a circular shape on a horizontal plane, and two rails 11 are provided in a pair of upper and lower sides. The rail 11 is detachable from the pillar 3. The carriage 12 is, for example, a self-propelled carriage that straddles the two rails 11 and travels on the two rails 11. In addition, the rail 11 may be arrange | positioned so that the upper pillar 2 may be enclosed, and the arrangement position, arrangement | positioning aspect, and shape of the rail 11 are not specifically limited.

  The arm unit 13 is, for example, a robot arm. The arm portion 13 includes a leg portion 13b that is placed on the carriage 12 and supported so as to be turnable with respect to the carriage 12, a first arm 13c that is swingable with respect to the leg portion 13b, and a first arm. A second arm 13d swingably attached to the tip of 13c, and a support 13e rotatably attached to the tip of the second arm 13d to support the measuring device 14, the laser head 15, and the assist gas supply unit 16. It has.

  In addition, the said structure of the arm part 13 is an example, and can be changed suitably. Further, as described above, the welding apparatus 1 is an arm type robot provided with an arm unit 13, but the welding apparatus according to the present invention may not be an arm type robot, for example, a SCARA robot provided with an XY table. There may be.

  The measuring device 14 includes a camera, for example, and measures various information related to laser welding of the welding device 1. As shown in FIGS. 2 to 4, the measuring device 14 includes a depth measuring unit 21 that measures the welding depth of the columns 2 and 3 in a portion where the upper column 2 and the lower column 3 are in contact with each other, A mis-measurement unit 22 that measures mis-measuring M, a distance measurement unit 23 that measures distances D1 and D2 between the laser head 15 and the pillars 2 and 3, and a head position measurement unit 24 that measures the self-position of the laser head 15 And.

  For example, the depth measuring unit 21 measures the thicknesses T1 and T2 of the columns 2 and 3 with ultrasonic waves. The depth measurement unit 21 includes two probes 21a. The probe 21a transmits and receives ultrasonic waves to and from the contact medium 25 attached to the surface 2a of the pillar 2 and the contact medium 25 attached to the surface 3a of the pillar 3, respectively. The thicknesses T1 and T2 are measured.

  The depth measurement unit 21 measures the welding depth (thickness) of the columns 2 and 3 at the contact portions of the columns 2 and 3 from the thicknesses T1 and T2. In the example of FIG. 4, the welding depth of the connection portion between the columns 2 and 3 is equal to the thickness T1. Instead of the depth measurement unit 21 that measures the welding depth by ultrasonic waves, a depth measurement unit that measures the depth by another means such as another elastic wave or electromagnetic wave may be used. The aspect of the depth measuring unit can be changed as appropriate.

  The distance measuring unit 23 measures a distance D1 between the laser head 15 and the upper column 2 and a distance D2 between the laser head 15 and the lower column 3. The distance measuring unit 23 is a laser type that measures the distances D1 and D2 by irradiating the columns 2 and 3 with a laser, or an ultrasonic type that measures the distances D1 and D2 by applying ultrasonic waves to the columns 2 and 3. Various sensors can be used.

  The mismeasurement unit 22 measures the misunderstanding M between the upper column 2 and the lower column 3. Here, the difference M is the level difference between the surfaces 2 a and 3 a on the laser head 15 side in the columns 2 and 3. The misinterpretation measuring unit 22 measures the misunderstanding M using the distances D1 and D2 obtained by the distance measuring unit 23, for example. Specifically, the misinterpretation measuring unit 22 measures the difference between the distance D1 from the laser head 15 to the upper column 2 and the distance D2 from the laser head 15 to the lower column 3 as the misalignment M. . The misinterpretation measuring unit 22 may measure the misunderstanding M without using the distances D1 and D2, for example, may measure the misunderstanding M from an image captured by a camera.

  The head position measurement unit 24 includes, for example, a camera 24a and performs position measurement from an image captured by the camera 24a. The head position measurement unit 24 sets a contact portion between the upper column 2 and the lower column 3 as a welding line Y. Further, the head position measurement unit 24 may measure the position of the laser head 15 as the positional deviation E of the laser head 15 with respect to the welding line Y.

  In addition, the welding apparatus 1 includes a calculation unit 30 that calculates various parameters used in the welding of the welding apparatus 1 from information measured by the measurement apparatus 14. The calculation unit 30 includes, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), and a RAM (Random Access Memory), and each function of the calculation unit 30 stores a program stored in the ROM in the RAM. It may be realized by loading and executing on the CPU. In addition, about the form and arrangement | positioning location of the calculating part 30, it can change suitably and is not specifically limited.

  The calculation unit 30 includes a head feed rate calculation unit 31 that calculates the feed rate of the laser head 15, a head position calculation unit 32 that calculates the relative position of the laser head 15 with respect to the columns 2 and 3, and the output (power) of the laser light L ), A focal length calculation unit 34 for calculating the focal length of the laser beam L, a laser incident angle calculation unit 35 for calculating the incident angle of the laser beam L with respect to the columns 2 and 3, and an assist. A gas supply parameter calculation unit 36 for calculating the pressure of the gas A and a welding start point end point calculation unit 37 for calculating the welding start point and the welding end point of the welding line Y are provided.

  The head feed speed calculation unit 31, the head position calculation unit 32, the laser output calculation unit 33, the focal length calculation unit 34, the laser incident angle calculation unit 35, the gas supply parameter calculation unit 36, and the welding start point end point calculation unit 37 ( Hereinafter, it may be referred to as each component of the calculation unit 30), for example, calculates the optimal parameter values for ensuring the quality of laser welding by the welding apparatus 1. The welding apparatus 1 can optimize the quality of laser welding by controlling the laser head 15 or the assist gas supply unit 16 based on the values calculated by the components of the calculation unit 30. In addition, each component of the calculation unit 30 may perform calculation using a preset equation, or may perform calculation based on a preset map or graph. As described above, various methods and modes of each calculation performed by the calculation unit 30 can be mentioned.

  As shown in FIGS. 2 and 5, the head feed speed calculation unit 31 calculates the speed V of the laser head 15 based on the measurement values measured by the measurement device 14. The head feed speed calculation unit 31 calculates the speed V from the values of the thicknesses T1 and T2 measured by the depth measurement unit 21. For example, the value of the speed V calculated by the head feed speed calculation unit 31 increases as the values of the thicknesses T1 and T2 decrease, and decreases as the values of the thicknesses T1 and T2 increase. Thus, by calculating the speed V by the head feed speed calculation unit 31, the speed V according to the thicknesses T1 and T2 can be controlled, and the penetration amount by welding can be optimized.

  The head position calculation unit 32 calculates the position and orientation (tilt, etc.) of the laser head 15 with respect to the columns 2 and 3. As shown in FIGS. 2 and 3, the head position calculation unit 32 calculates the position of the laser head 15 from the values of distances D <b> 1 and D <b> 2 measured by the distance measurement unit 23. The head position calculation unit 32 may measure the position of the laser head 15 from the value of the deviation E measured by the head position measurement unit 24, and the position and orientation of the laser head 15 so that the deviation E becomes zero. May be controlled. Further, the head position calculation unit 32 may calculate the tilt of the laser head 15 according to the value of the difference M measured by the difference measurement unit 22.

  The laser output calculation unit 33 calculates the output of the laser light L applied to the pillars 2 and 3. The laser output calculation unit 33 calculates the output from the thicknesses T1 and T2 measured by the depth measurement unit 21, for example. The output value calculated by the laser output calculator 33 increases as the values of the thicknesses T1 and T2 increase, and decreases as the values of the thicknesses T1 and T2 decrease. As described above, the laser output calculation unit 33 calculates the output of the laser beam L according to the values of the thicknesses T1 and T2, thereby further optimizing the welding penetration amount.

  As shown in FIGS. 2 and 6, the focal length calculation unit 34 calculates, for example, the focal length of the laser light L and the focal depth S. Here, the focal depth S indicates the distance from the surfaces 2a and 3a of the columns 2 and 3 to the focal point P located inside the columns 2 and 3. The focal length calculation unit 34 calculates the focal depth S from the thicknesses T1 and T2 measured by the depth measurement unit 21. The calculated focal depth S increases as the thicknesses T1 and T2 increase, and decreases as the thicknesses T1 and T2 decrease. As a result, the focal depth S can be adjusted according to the thicknesses T1 and T2.

  The laser incident angle calculation unit 35 calculates the incident angle θ according to, for example, the thicknesses T1 and T2 measured by the depth measurement unit 21 and the difference M measured by the difference measurement unit 22. Further, the gas supply parameter calculation unit 36 calculates the pressure value of the assist gas A supplied from the assist gas supply unit 16 to the columns 2 and 3 as part of the supply control of the assist gas A. The gas supply parameter calculation unit 36 calculates the pressure value of the assist gas A using, for example, the thicknesses T1 and T2 and the difference M, and the pressure values are the values of the thicknesses T1 and T2 and the difference M. The bigger it is, the bigger it becomes. The gas supply parameter calculation unit 36 may calculate the flow rate of the assist gas A, and may further calculate the supply angle of the assist gas A.

  2 and 7, the welding start point end point calculation unit 37 uses the thickness measured by the depth measurement unit 21 and the distance measured by the distance measurement unit 23 to use the welding line Y. Calculate the welding start point and welding end point at. In the example shown in FIG. 7, the thickness measured by the depth measuring unit 21 is T3 and the distance measured by the distance measuring unit 23 is D3 in a portion other than the corner C of the columns 2 and 3. On the other hand, at the corner C, the distance measured by the distance measuring unit 23 is D3, but the thickness measured by the depth measuring unit 21 is T4 larger than T3.

  The welding start point end point calculation unit 37 calculates the welding start point Y1 and the welding end point Y2 using the change in the thicknesses T3 and T4. That is, the welding start point end point calculation unit 37 sets the thickness change points measured by the depth measurement unit 21 as the welding start point Y1 and the welding end point Y2. In addition, the welding start point end point calculation unit 37 may set the change point of the distance measured by the distance measurement unit 23 as the welding start point Y3 and the welding end point Y4.

  The calculation method by each component of the calculating part 30 is not limited to the content mentioned above, It can change suitably. Moreover, if there is an unnecessary function among the components of the calculation unit 30, it can be omitted as appropriate.

  The arithmetic unit 30 is connected to the measuring device 14, but is also connected to the laser head 15 and the assist gas supply unit 16. Further, the welding apparatus 1 includes a control unit 40 that controls laser welding. The control unit 40 includes a laser head relative position control unit 41, a laser light control unit 42, and a gas supply control unit 43. The laser head relative position control unit 41 and the laser light control unit 42 are provided in the laser head 15, and the gas supply control unit 43 is provided in the assist gas supply unit 16. The calculation unit 30 inputs measurement signals from the measurement device 14 and outputs control signals to the laser head relative position control unit 41, the laser light control unit 42, and the gas supply control unit 43.

  The laser head relative position control unit 41 controls the position of the laser head 15 with respect to the columns 2 and 3 based on the calculated value by the head feed speed calculating unit 31 and the calculated value by the head position calculating unit 32. Specifically, the laser head relative position control unit 41 moves the laser head 15 so that the position and posture (tilt) of the laser head 15 calculated by the head position calculation unit 32 are obtained. Then, the laser head relative position control unit 41 uses the welding start points Y1 and Y3 calculated by the welding start point end point calculation unit 37 to move the laser head 15 to the welding line at the speed V calculated by the head feed speed calculation unit 31. The welding is performed by moving along the Y and moving the laser head 15 to the welding end points Y2 and Y4 calculated by the welding start point end point calculating unit 37.

  The laser light control unit 42 controls the laser light L emitted from the laser head 15 based on the calculated values obtained by the laser output calculation unit 33, the focal length calculation unit 34, and the laser incident angle calculation unit 35. Specifically, the laser light control unit 42 calculates the output calculated by the laser output calculation unit 33, the focal length and focal depth S calculated by the focal length calculation unit 34, and the laser incident angle calculation unit 35. The laser beam L is output by controlling the optical system of the laser beam L so that the incident angle θ becomes the same.

  The gas supply control unit 43 controls the assist gas A injected from the assist gas supply unit 16 based on the value calculated by the gas supply parameter calculation unit 36. Specifically, the gas supply control unit 43 controls the supply of the assist gas A from the assist gas supply unit 16 so that the pressure value, the flow rate, and the inclination angle calculated by the gas supply parameter calculation unit 36 are obtained. The assist gas A is jetted onto the irradiated portion of the laser beam L.

  By the way, in the conventional welding apparatus, the laser head speed or the like may be adjusted while observing the welding penetration amount with a camera. However, when welding is performed at a construction site, manufacturing errors or positional deviations are more likely to occur than when welding is performed at a factory or the like, and thus variations such as welding depth (thickness) and misunderstanding of members are likely to occur. . In addition, when welding columns that are lined up and down at a construction site, a non-uniform gap may be formed between the upper column and the lower column. Therefore, alignment of each member (upper column and lower column) becomes difficult as compared with the case where welding is performed in a factory or the like. Further, at the construction site, it is likely that the laser head does not actually exist at a desired position or the laser beam is not irradiated to the desired position.

  As described above, in laser welding at a construction site, it is difficult to align members and the like as compared with a factory or the like, and various errors occur. Therefore, as described above, the laser head and the like are adjusted while checking the amount of penetration with a camera. This is not sufficient and can cause various problems. Specifically, there may be a problem that the penetration of the member due to welding cannot be properly adjusted, a problem that the laser beam is detached from the member, or a problem that the welding is insufficient and the quality of the welding is deteriorated. On the other hand, although the welding apparatus 1 of this embodiment is a welding apparatus which performs laser welding at a construction site, it solves the various problems described above.

  That is, in the welding apparatus 1, the depth measuring unit 21 measures the welding depth (thickness) at the contact portion between the columns 2 and 3, and the laser head for the columns 2 and 3 according to the measured value of the welding depth. The control unit 40 performs 15 relative position control, control of the laser beam L, and supply control of the assist gas A. The speed V of the laser head 15 and the tilt of the laser head 15 can be adjusted by controlling the laser head 15, and the output of the laser light L, the incident angle θ of the laser light L, and the laser can be controlled by controlling the laser light L. The focal length of the light L can be adjusted, and in the supply control of the assist gas A, the pressure of the assist gas A can be adjusted.

  Therefore, for example, when the value of the welding depth of the pillars 2 and 3 is large, the energy V of the laser light L with respect to the pillars 2 and 3 is reduced by decreasing the speed V of the laser head 15 or increasing the output of the laser light L. When the value of the welding depth of the columns 2 and 3 is small, the speed V of the laser head 15 is increased or the output of the laser beam L is decreased to reduce the laser beam L to the columns 2 and 3. Energy can be weakened.

  As described above, the laser head 15, the laser beam L, or the assist gas A can be controlled according to the welding depth of the columns 2 and 3, so that the laser beam L is prevented from being detached from the columns 2 and 3. The problem of insufficient welding can be avoided. And the penetration of the columns 2 and 3 by welding can be adjusted appropriately. Therefore, since the laser beam L does not come off, the safety of welding can be ensured and the welding can be sufficiently performed, so that the quality of welding can be ensured.

  Further, the welding apparatus 1 includes a mis-measurement unit 22 that measures a misunderstanding M that is a step between the surfaces 2 a and 3 a on the laser head 15 side in the columns 2 and 3. In accordance with the measured difference M, the relative position control of the laser head 15 with respect to the columns 2 and 3, the control of the laser light L emitted from the laser head 15, and the supply control of the assist gas A are performed. Therefore, for example, when the difference M is large and the steps 2a and 3a between the columns 2 and 3 are large, the laser head 15 can be tilted more or the incident angle θ of the laser beam L can be adjusted. It is possible to adjust the laser head 15, the laser beam L, or the assist gas A according to the actually measured values. Therefore, by measuring the state of the misalignment M, the penetration of the columns 2 and 3 by welding can be adjusted with higher accuracy.

  Further, the welding apparatus 1 includes a welding start point end point calculation unit 37 that calculates the welding start points Y1, Y3 and the welding end points Y2, Y4 in the welding line Y. Therefore, by calculating the welding start points Y1 and Y3 and the welding end points Y2 and Y4, the laser beam L is not irradiated to the portion that should be irradiated with the laser beam L, or the portion that should not be irradiated with the laser beam L The situation of irradiating the light L can be avoided more reliably. Therefore, it is possible to more reliably avoid the situation where the laser beam L is detached from the pillars 2 and 3 and the situation where the laser beam L becomes insufficient.

  The welding apparatus 1 includes a rail 11 disposed so as to surround the column 3, and the laser head 15 welds the columns 2 and 3 while moving along the rail 11. Therefore, since the laser head 15 moves along the rail 11 surrounding the pillar 3, the laser head 15 can perform welding while moving smoothly.

(Second Embodiment)
Next, a welding apparatus 50 according to the second embodiment will be described with reference to FIGS. In the following description, the description of the same contents as those in the first embodiment will be omitted. Moreover, the same code | symbol is attached | subjected to the component which is the same as that of 1st Embodiment, or it corresponds, and the overlapping description is abbreviate | omitted.

  As shown in FIG. 8, the welding apparatus 50 includes a rail 51 having a shape different from that of the circular rail 11, and is different from the welding apparatus 1 in this respect. The outer periphery of the rail 51 has an arc shape on a horizontal plane. The central angle of the arc portion of the rail 51 is, for example, 270 degrees. That is, the rail 51 has a notch 51a lacking in an arc shape, and the central angle of the arc portion of the notch 51a is 90 degrees. The rail 51 is detachably attached to the column 3 via four columnar members 52 fixed to the column 3.

  Next, an example of a procedure for attaching the welding device 50 to the column 3 will be described. First, as shown in FIG. 9A, the rail 51 of the welding apparatus 50 is fitted into the column 3 from the side. Then, as shown in FIGS. 9B and 9C, the rail 51 is rotated with respect to the column 3 and is fixed to each columnar member 52 after the rotation position with respect to the column 3 is adjusted. Is attached to the pillar 3. As described above, the welding device 50 can be easily attached to the column 3. Moreover, since the welding apparatus 50 according to the second embodiment has the same configuration as that of the first embodiment except for the rails 51, the same effect as the welding apparatus 1 according to the first embodiment is obtained.

  The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the claims.

  For example, the welding apparatus according to the above-described embodiment brings the end faces 2b and 3b of the two columns 2 and 3 into contact with each other, and irradiates the laser beam L along the welding line Y set in the contact portion. . However, as shown in FIG. 10, for example, the welding apparatus according to the present invention brings the principal surfaces 61 a and 62 a of the plurality of plate-like members 61 and 62 into contact with each other, and a welding line W set in the contacting portion. You may irradiate a laser beam along. Thus, the direction and position where the member contacts are not particularly limited.

  Moreover, the welding apparatus which concerns on embodiment mentioned above welded the two pillars 2 and 3. FIG. However, the welding object of the welding apparatus according to the present invention is not limited to two columns, and examples include various members such as two beams, columns and beams, columns or separate members such as beams and diaphragms, and the like. . Further, the number of members to be welded is not limited to two, but can be three or more.

  In addition, the welding apparatus according to the above-described embodiment controls the laser head 15, the laser beam L, and the assist gas A. However, the welding apparatus according to the present invention may not control all of the laser head 15, the laser beam L, and the assist gas A. That is, the welding apparatus according to the present invention may control at least one of the laser head, the laser beam, and the assist gas. Specifically, for example, when the laser head is fixed, the laser beam and the assist gas may be controlled, and when the laser beam is unchanged, the laser head and the assist gas may be controlled. Only at least one of the head and the laser beam may be controlled.

  In the above-described embodiment, the welding apparatus used at the construction site has been described. However, the welding apparatus according to the present invention can also be used outside a construction site such as a factory. Furthermore, in the above-described embodiment, the position of the laser head with respect to the two columns is controlled. However, the welding apparatus according to the present invention may control the position of the member relative to the laser head by fixing the position of the laser head and moving the member (base material).

DESCRIPTION OF SYMBOLS 1,50 ... Welding apparatus, 2, 3 ... Column (member), 2a, 3a ... Surface, 2b, 3b ... End face, 4 ... Guard, 11, 51 ... Rail, 12 ... Dolly, 13 ... Arm part, 14 ... Measuring device, 15 ... laser head, 16 ... assist gas supply unit, 21 ... depth measurement unit, 21a ... probe, 22 ... misplacement measurement unit, 23 ... distance measurement unit, 24 ... head position measurement unit, 25 ... Contact medium, 30 ... calculation unit, 31 ... head feed speed calculation unit, 32 ... head position calculation unit, 33 ... laser output calculation unit, 34 ... focal length calculation unit, 35 ... laser incident angle calculation unit, 36 ... gas supply parameter Calculation part 37 ... Welding start point end point calculation part 40 ... Control part 41 ... Laser head relative position control part 42 ... Laser light control part 43 ... Gas supply control part 52 ... Columnar member 61, 62 ... Plate member, 61a, 62a ... main surface, A ... Cyst gas, C ... corner, D1, D2 ... distance, E ... deviation, L ... laser beam, P ... focus, S ... focus depth, T1, T2 ... thickness, V ... velocity, W, Y ... welding line, Y1, Y3 ... welding start point, Y2, Y4 ... welding end point, θ ... incidence angle.

Claims (4)

A welding apparatus that welds the plurality of members by bringing a plurality of members into contact with each other, irradiating laser light along a welding line set in the contacting portion, and supplying an assist gas to the irradiated portion. There,
A laser head for irradiating the laser beam toward the welding line;
A depth measuring unit for measuring a welding depth of the member in the contacting portion;
At least one of a relative position control of the laser head with respect to the member, a control of the laser light emitted from the laser head, and a supply control of the assist gas according to the welding depth measured by the depth measurement unit. A control unit for performing one of the following:
A welding apparatus comprising: A misdiagnosis measuring unit that measures a misalignment that is a step of the surface on the laser head side in the plurality of members;
The control unit controls the relative position of the laser head with respect to the member, controls the laser light emitted from the laser head, and supplies the assist gas according to the mismeasurement measured by the mismeasurement unit Perform at least one of control,
The welding apparatus according to claim 1. A welding start point end point calculating unit for calculating a welding start point and a welding end point in the welding line;
The welding apparatus according to claim 1 or 2. A rail arranged to surround the member;
The laser head welds the plurality of members while moving along the rail.
The welding apparatus as described in any one of Claims 1-3.