JP2022102586A - Oscillation welding system and oscillation welding method - Google Patents

Abstract

To provide a welding bonding system and a welding bonding method capable of reducing production cost and capable of welding bonding of to-be-bonded objects in various shapes.SOLUTION: An oscillation welding system 1 comprises: a horn side robot 2 comprising a horn unit 40 for oscillation heating a welding junction Wp of two to-be-bonded objects W1 and W2; and an anvil side robot 3 comprising an anvil 7 for holding the welding junction Wp. The horn unit 40 comprises a horn 41. The anvil 7 comprises a holding face 10 for holding the welding junction Wp. Under a state that the two to-be-bonded objects W1 and W2 are mated together, the anvil side robot 3 holds the welding junction Wp on the holding face 10 from the to-be-bonded object W1 side, and the horn side robot 2 performs heating treatment in which the horn 41 is brought into contact with the welding junction Wp from the to-be-bonded object W2 side and the horn 41 is oscillated for oscillation heating the welding junction Wp. The horn side robot 2 and the anvil side robot 3 perform the heating treatment while moving the horn 41 and the anvil 7.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vibration welding system and a vibration welding method.

Vibration welding is known as one of the methods for joining objects to be joined to each other. Generally, when vibration welding is performed, the objects to be welded are fixed to each other using a mold (hereinafter referred to as anvil) during the formation of a bond by vibration heating and the hardening / stabilization of the joint portion by cooling (Patent Documents). 1).

Japanese Patent No. 6488584

However, there are a wide variety of anvils (holders in Patent Document 1) as disclosed in Patent Document 1 because it is necessary to prepare a dedicated one for each object to be joined according to the shape of the object to be joined. In order to deal with objects to be joined, it is necessary to prepare a huge number of anvils, and an increase in manufacturing cost has been an issue.

Therefore, an object of the present invention is to provide a welding joining system and a welding joining method capable of welding and joining objects to be joined in various shapes while reducing the manufacturing cost.

In order to achieve the above object, the invention according to claim 1 is a vibration welding system for welding and joining two welded objects, and is a horn unit that vibrates and heats the welded joint portion of the two welded objects. The horn unit is provided with a rod-shaped horn, and the anvil is provided with a holding surface for holding the welded joint. With the objects to be welded together, the anvil-side robot holds the welded joint from one side of the two welded objects on the holding surface, and the horn-side robot holds the welded joint on the other side of the two welded objects. The horn is brought into contact with the horn from the side, and the horn is vibrated by the horn unit to perform heat treatment to vibrate and heat the welded joint. It is characterized by performing heat treatment while moving the top.
The invention according to claim 2 is characterized in that, in the configuration of claim 1, the tip of the horn has a spherical shape including a hemisphere.
According to the third aspect of the present invention, in the configuration of the first or second aspect, the horn-side robot and the anvil-side robot can advance and retreat the horn and the anvil with respect to the two objects to be joined during the heat treatment. It is characterized by having.
The invention according to claim 4 comprises, in any of the configurations of claims 1 to 3, the horn-side robot and the anvil-side robot include a force sensor for measuring the pressure on the two objects to be joined, the horn and the anvil. It is characterized by.
The invention according to claim 5 is characterized in that, in any of the configurations of claims 1 to 4, the anvil can change the shape of the holding surface capable of holding the welded joint.
The invention according to claim 6 is a vibration welding system including a horn-side robot including a horn unit that vibrates and heats a welded joint of two objects to be welded, and an anvil-side robot including an anvil that holds the welded joint. It is a vibration welding method in which two welded objects are welded together by using, the horn unit is provided with a rod-shaped horn, and the anvil is provided with a holding surface for holding the welded welded portion. In the combined state, the anvil-side robot holds the welded joint from one side of the two welds on the holding surface, and the horn-side robot holds the horn to the welded joint from the other side of the two welds. A vibration welding process in which the horn-side robot and the anvil-side robot perform heat treatment while moving the horn and the anvil on two objects to be welded. It is characterized by carrying out.
According to the invention of claim 7, in the configuration of claim 6, the anvil-side robot holds the two objects to be welded until the welding and bonding of the two objects to be welded by the vibration heating by the horn-side robot is completed. It is characterized in that it is held from one side and the anvil is moved after the welding and joining of the two objects to be joined is completed.

According to the inventions of claims 1 and 6, by continuously performing vibration welding while moving the horn and the anvil by a pair of robots of the horn side robot and the anvil side robot, each work required in the past is performed. It eliminates the need for different dedicated anvils and makes it possible to reduce manufacturing costs.
According to the second aspect of the present invention, in addition to the above effects, the tip of the horn can be brought into contact with the welded joint surface of the object to be joined from an oblique direction. Even if the welded joint has a complicated free curved surface or is narrow, welding can be efficiently performed.
According to the inventions of claims 3 and 4, in addition to the above effects, the pressure of the horn and the anvil with respect to the object to be joined can be adjusted so as to maintain a predetermined pressure. Further, it is possible to prevent the horn-side robot, the anvil-side robot, the horn unit, the horn, and the anvil from being damaged by applying an excessive force.
According to the fifth aspect of the present invention, in addition to the above effects, the area of the holding surface is changed depending on the time required for the object to be joined after the heat treatment to be cured and stabilized, thereby moving the horn and the anvil. It enables flexible response to speed and productivity.
According to the invention of claim 7, in addition to the above-mentioned effect, even if vibration welding is continuously performed, two objects to be welded can be reliably welded and joined.

It is explanatory drawing which shows the vibration welding system of this invention. It is a perspective view which shows the periphery of the tip of the horn side robot. It is explanatory drawing which outlines the shape of the horn, (a) is explanatory drawing which shows the conventional horn, (b) is explanatory drawing which shows the horn of this invention. It is explanatory drawing which shows the anvil of this invention, (a) is the side view which shows the state which opened the holding surface, (b) is the side view which shows the state which the holding surface is closed. It is explanatory drawing which shows the working state of the vibration welding system of this invention, (a) is explanatory drawing which shows the state which the holding surface of anvil is closed, (b) shows the state which the holding surface of anvil is expanded. It is a side view. It is explanatory drawing which shows the anvil of the modification 1, (a) is the side view which shows the state which opened the holding surface, (b) is the side view which shows the state which the holding surface is closed. It is explanatory drawing which shows the anvil of the modification 2, (a) is the side view which shows the state which opened the holding surface, (b) is the side view which shows the state which the holding surface is closed.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram showing a vibration welding system of the present invention.
As shown in FIG. 1, the vibration welding system 1 includes a horn-side robot 2 which is an articulated robot and an anvil-side robot 3, and two objects W1 and W2 are combined with the horn-side robot 2 and the anvil-side robot. It is used to weld and join two objects W1 and W2 while being sandwiched between 3 and moving within the range of a predetermined welded joint Wp.

FIG. 2 is a perspective view showing the periphery of the tip of the horn-side robot. 3A and 3B are explanatory views illustrating the shape of the horn, FIG. 3A is an explanatory diagram showing a conventional horn, and FIG. 3B is an explanatory diagram showing the horn of the present invention.
As shown in FIG. 2, the horn-side robot 2 is provided with a horn unit 40 at the tip thereof, and a force sensor 6 is provided between the horn unit 40 and the arm 5.
The horn unit 40 includes a horn 41 projecting toward the tip of the horn unit 40, a vibration welding machine 42 that causes the horn 41 to generate an arbitrary vibration movement including ultrasonic vibration movement, and a horn 41 and a vibration welding machine 42. It is provided with a uniaxial slider 43 that can be moved in the protruding direction of 41.
Conventionally, as shown in FIG. 3A, a horn used for vibration welding has a flat tip, and it is necessary to bring the horn into contact with the welded joint surface of the object to be welded from the vertical direction. was there. On the other hand, in the horn 41 of the present invention, as shown in FIG. 3B, the tip portion 41a is formed in a spherical shape including a hemisphere. As a result, the tip 41a of the horn 41 can be brought into contact with the welded joint Wp of the object to be joined from an oblique direction, so that the welded joint Wp of the two objects W1 and W2 is complicated. If it is a free curved surface, it can be welded and joined even if it is narrow.

4A and 4B are explanatory views showing an anvil of the present invention, FIG. 4A is a side view showing a state in which the holding surface is opened, and FIG. 4B is a side view showing a state in which the holding surface is closed. be.
As shown in FIG. 1, the anvil-side robot 3 is provided with an anvil 7 at its tip, and is provided with a uniaxial slider 8 movable in the protruding direction of the anvil 7 and a force sensor 9 at a mounting portion of the anvil 7.
As shown in FIG. 4A, the anvil 7 includes a central holding surface 10a as a holding surface 10 and four fan-shaped holding surfaces 10b around the central holding surface 10a. Further, the anvil 7 includes a shaft 11, and a moving portion 12 is provided on the shaft 11 so as to be movable in the axial direction of the shaft 11. Further, the moving portion 12 and each fan-shaped holding surface 10b are connected by an angle 13, and as shown in FIG. 4B, the fan-shaped holding surface 10b is interlocked with the movement of the moving portion 12 via the angle 13. And it is rotatable. By such rotation of the fan-shaped holding surface 10b, the anvil 7 can change the shape of the holding surface 10 for holding the object to be joined W1 or W2.
Further, the anvil 7 is attached to the anvil side robot 3 via the shaft 11, but for attachment, an existing attachment mechanism such as an ATC (Automatic Tool Changer) device can be used, and automatic or manual operation is possible. It can be easily replaced.

5A and 5B are explanatory views showing a working state of the vibration welding system of the present invention, FIG. 5A is an explanatory view showing a state in which the holding surface of the anvil is closed, and FIG. 5B is an explanatory view showing the holding of the anvil. It is a side view which shows the state which the surface is spread out.
Subsequently, the welding and joining of the objects to be welded W1 and W2 using the vibration welding system 1 of the present invention will be described.
First, the objects to be joined W1 and W2 are fixed by any fixing means in a state where the desired welded joints Wp of the objects to be joined W1 and W2 are overlapped with each other.

Next, as shown in FIG. 5A, the anvil-side robot 3 has a fan-shaped holding surface of the anvil 7 in a state of being closed to the welded joint Wp of the object to be joined W1 from the side not in contact with the object W2. The objects W1 and W2 to be joined are held in contact with 10b. For holding the objects to be joined W1 and W2, the central holding surface 10a may be used depending on the shape, position and the like of the welded joint Wp. At this time, the contact pressure of the anvil 7 to the object to be joined W1 is measured by a force sensor 9 provided on the anvil side robot 3, and the anvil 7 is joined by at least one of the 1-axis slider 8 and the anvil side robot 3. By advancing and retreating with respect to the object W1, it is adjusted to maintain a predetermined pressure. Further, as shown in FIG. 5B, by changing the shape of the holding surface 10 of the anvil 7, the object to be joined W1 is matched with the shapes of the objects to be joined W1 and W2, the posture of the robot 3 on the anvil side, and the like. And W2 can be flexibly held.
Then, from the side of the welded object W2 that is not in contact with the welded object W1 of the object to be joined W2, the horn-side robot 2 is at the tip of the horn 41 at the portion held by the anvil 7 in the welded joint portion Wp of the object to be joined W2. The 41a is brought into contact with it. At this time, the contact pressure of the horn 41 with the object to be joined W2 is measured by a force sensor 6 provided on the horn-side robot 2, and the horn 41 is covered by at least one of the uniaxial slider 43 and the horn-side robot 2. By advancing and retreating with respect to the joint W2, it is adjusted to maintain a predetermined pressure.
Further, the contact pressure of the anvil 7 with respect to the object W1 and the contact pressure of the horn 41 with the object W2 are measured by the force sensor 9 of the anvil-side robot 3 and the force sensor 6 of the horn-side robot 2, respectively. By adjusting each pressure with the uniaxial sliders 8 and 43, it is possible to prevent the anvil-side robot 3, the horn-side robot 2, the vibration welding machine 42, the horn 41, and the anvil 7 from being damaged by applying an excessive force.
Then, the horn-side robot 2 causes ultrasonic vibration in the horn 41 by the vibration welding machine 42 of the horn unit 40, whereby the horns 41 of the objects to be welded W1 and W2 in the welded joint Wp are in contact with each other. A heat treatment is performed to vibrate and heat the vicinity of the site.

The welding of the objects W1 and W2 to be welded by the vibration welding system 1 is carried out by continuously performing the above heat treatment while moving the horn 41 and the anvil 7 in a predetermined orbit within the range of the welding junction Wp. Will be done.
Hereinafter, the case where the heat treatment is performed by moving the horn 41 and the anvil 7 in the direction indicated by the arrow in FIG. 5A will be described in detail.

The horn-side robot 2 moves the horn 41 in the direction indicated by the arrow in FIG. 5 while keeping the horn 41 in contact with the object W2 at a constant pressure.
On the other hand, the anvil-side robot 3 brings the anvil 7 into contact with the object W1 at a constant pressure, and moves the anvil 7 in the direction indicated by the arrow in FIG. 5 while holding the objects W1 and W2. In welding bonding, fusion bonding occurs between the objects to be welded as the contact surface between the objects to be welded softens due to vibration heating, and after a certain cooling period, the fused and bonded objects are cured and stabilized. It will be realized by that. Therefore, it is necessary for the anvil 7 to continue holding the objects W1 and W2 until the objects W1 and W2 are hardened and stabilized even after the horn 41 is moved after the heat treatment is applied to the objects W1 and W2. be. Therefore, the anvil 7 follows the movement of the horn 41 and is covered while swinging in accordance with the movement of the horn 41 until the welding and joining of the objects W1 and W2 to be welded due to the vibration heating by the horn 41 is completed. The holding of the joints W1 and W2 is continued, and after the welding of the joints W1 and W2 is completed, the anvil 7 moves following the horn 41. At this time, it is necessary to adjust the moving speeds of the horn 41 and the anvil 7 depending on the material, shape, and the like of the objects to be joined W1 and W2. Further, as shown in FIG. 5B, since the shape of the holding surface 10 of the anvil 7 is variable, the object to be joined W1 after the heat treatment is considered in consideration of the moving speed and the productivity of the horn 41 and the anvil 7. And by changing the shape of the holding surface 10 depending on the time required for the W2 to cure and stabilize, flexible response becomes possible.
As described above, the vibration welding system 1 is used by a vibration welding step in which the horn 41 and the anvil 7 are continuously heat-treated while being moved in a predetermined orbit within the range of the welding joint Wp of the objects to be welded W1 and W2. Welding of W1 and W2 to be welded is carried out.

The vibration welding system 1 of the above embodiment is for welding and joining two welded objects W1 and W2, and is a horn side provided with a horn unit 40 that vibrates and heats the welded junction Wp of the two welded objects W1 and W2. A robot 2 and an anvil-side robot 3 having an anvil 7 for holding the welded joint Wp are provided, the horn unit 40 is provided with a rod-shaped horn 41, and the anvil 7 is a holding surface 10 for holding the welded joint Wp. The anvil-side robot 3 holds the welded joint Wp from the side of the two welds W1 and W2 on the holding surface 10 in a state where the two welds W1 and W2 are combined. The horn-side robot 2 abuts the horn 41 on the welded joint Wp from the side of the two welded objects W1 and W2, and vibrates the horn 41 by the horn unit 40 to generate the welded joint Wp. The heat treatment is performed by vibration heating, and the horn side robot 2 and the anvil side robot 3 perform the heat treatment while moving the horn 41 and the anvil 7 on the two welded objects W1 and W2.
According to the vibration welding system 1 configured in this way, a pair of robots of the horn side robot 2 and the anvil side robot 3 continuously perform vibration welding while moving the horn 41 and the anvil 7. It is possible to reduce the manufacturing cost by eliminating the need for a dedicated anvil that differs for each required work.

Further, the horn 41 has a spherical shape in which the tip portion 41a includes a hemisphere.
Therefore, since the tip portion 41a of the horn 41 can be brought into contact with the welded joint Wp of the object W2 from an oblique direction, the welded joint Wp of the two objects W1 and W2 is complicated. If it is a free curved surface, even if it is narrow, welding and joining can be performed efficiently.

Further, the horn-side robot 2 and the anvil-side robot 3 are provided with uniaxial sliders 43 and 8 capable of advancing and retreating the horn 41 and the anvil 7 with respect to the two objects to be joined W1 and W2 during the heat treatment.
Therefore, the contact pressure and contact pressure of the horn 41 and the anvil 7 with respect to the objects to be joined W1 and W2 can be adjusted so as to maintain a predetermined pressure. Further, it is possible to prevent the horn-side robot 2 and the anvil-side robot 3 from being damaged by applying an excessive force.

Further, the horn-side robot 2 and the anvil-side robot 3 are provided with force sensors 6 and 9 for measuring the pressures of the horn 41 and the anvil 7 on the two objects W1 and W2.
Therefore, the contact pressure and contact pressure of the horn 41 and the anvil 7 with respect to the objects to be joined W1 and W2 can be adjusted so as to maintain a predetermined pressure. Further, it is possible to prevent the anvil side robot 3, the horn side robot 2, the vibration welder 42, the horn 41 and the anvil 7 from being damaged by applying an excessive force.

Further, the anvil 7 can change the shape of the holding surface 10 capable of holding the welded joint Wp.
Therefore, by changing the shape of the holding surface 10 according to the time required for the objects to be joined W1 and W2 to be cured and stabilized after the heat treatment, the moving speed and productivity of the horn 41 and the anvil 7 can be improved. Flexible response is possible.

Further, the anvil-side robot 3 performs the two welded objects W1 and W2 from the bonded object W1 side until the welding and joining of the two welded objects W1 and W2 due to the vibration heating by the horn-side robot 2 are completed. The anvil 7 is moved after the welding of the two objects W1 and W2 to be welded is completed.
Therefore, even if vibration welding is continuously performed, the two objects W1 and W2 to be welded can be reliably welded and welded.

6A and 6B are explanatory views showing the anvil of the modified example 1, FIG. 6A is a side view showing a state in which the holding surface is opened, and FIG. 6B is a side view showing a state in which the holding surface is closed. Is.
As shown in FIG. 6A, the anvil 7a of the modified example 1 has a first holding surface 10c, four second holding surfaces 10d around the first holding surface 10c, and four first holding surfaces 10 as holding surfaces. 3 It is provided with a holding surface 10e. Further, the anvil 7a includes a shaft 11, and a moving portion 12 is provided on the shaft 11 so as to be movable in the axial direction of the shaft 11. Further, the moving portion 12 and the third holding surface 10e are connected by an angle 13, and the third holding surface 10e is interlocked with the movement of the moving portion 12 via the angle 13, and is further connected to the second holding surface 10d. Interlocks with the third holding surface 10e. As a result, as shown in FIG. 6B, the moving portion 12 moves so that the second holding surface 10d and the third holding surface 10e can be taken in and out below the first holding surface 10c. By moving the second holding surface 10d and the third holding surface 10e in and out, the anvil 7a can change the shape of the holding surface 10 for holding the object to be joined W1 or W2.

7A and 7B are explanatory views showing the anvil of the modified example 2, FIG. 7A is a side view showing a state in which the holding surface is opened, and FIG. 7B is a side view showing a state in which the holding surface is closed. Is.
As shown in FIG. 7A, the anvil 7b of the modified example 1 has a first holding surface 10f, a second holding surface 10g provided below the first holding surface 10f, and a second holding surface 10 as a holding surface 10. It is provided with a third holding surface 10h provided below the surface 10g. Further, the anvil 7b includes a shaft 11a, and the shaft 11a is connected to the first holding surface 10f, the second holding surface 10g, and the third holding surface 10h by an angle 13a, and can rotate around the shaft 11a. ing. As a result, as shown in FIG. 7B, by rotating the second holding surface 10g and the third holding surface 10h, the anvil 7b is formed on the holding surface 10 for holding the object to be joined W1 or W2. The shape can be changed.

The above is a description of the present invention based on the illustrated examples, and the technical scope thereof is not limited thereto.
For example, the horn-side robot and the anvil-side robot can use other existing robots in addition to the articulated robot as long as the object to be welded can be welded and joined.
Further, the shape of the horn may be a spherical shape including a hemisphere at the tip portion, and can be changed to any shape such as increasing the diameter of the horn in consideration of rigidity and the like.
Further, the vibration generated by the vibration welder in the horn may be vibration of an arbitrary frequency.
Further, the force sensor may be provided on the uniaxial slider. In this case, the horn-side robot and the anvil-side robot do not have to be equipped with a force sensor.
Further, the moving speeds of the horn and the anvil can be adjusted arbitrarily.
Further, the mechanism for changing the shape of the anvil is not limited. The anvil may not change in shape.
Further, the material of the object to be joined is not limited, and may be a metal, a resin, or a combination thereof.

1 ... Vibration welding system, 2 ... Horn side robot, 3 ... Anvil side robot, 40 ... Horn unit, 41 ... Horn, 41a ... Tip, 43 ... 1-axis slider, 6 ... Force sensor , 7 ... anvil, 8 ... 1-axis slider, 9 ... force sensor, 10 ... holding surface, W1, W2 ... to be welded.

Claims (7)

A vibration welding system for welding and joining two objects to be welded.
A horn-side robot provided with a horn unit that vibrates and heats the welded joints of the two objects to be welded.
Anvil-side robot having an anvil that holds the welded joint,
The horn unit includes a rod-shaped horn and has a rod-shaped horn.
The anvil comprises a holding surface for holding the welded joint.
With the two objects to be joined together, the anvil-side robot holds the welded joint from one side of the two objects on the holding surface, and the horn-side robot holds the welded joint on the holding surface. The horn is brought into contact with the portion from the other side of the two objects to be joined, and the horn is vibrated by the horn unit to perform a heat treatment for vibrating and heating the welded joint.
A vibration welding system characterized in that the horn-side robot and the anvil-side robot perform the heat treatment while moving the horn and the anvil on the two objects to be joined. The vibration welding system according to claim 1, wherein the horn has a spherical shape including a hemisphere at the tip. The horn-side robot and the anvil-side robot are provided with a uniaxial slider capable of advancing and retreating the horn and the anvil with respect to the two objects to be welded during the heat treatment. Vibration welding system described in. The vibration according to any one of claims 1 to 3, wherein the horn-side robot and the anvil-side robot include a force sensor for measuring the pressure of the horn and the anvil on the two objects to be joined. Welding system. The vibration welding system according to any one of claims 1 to 4, wherein the anvil can change the shape of the holding surface capable of holding the welding joint. Using a vibration welding system including a horn-side robot provided with a horn unit that vibrates and heats the welded joints of two objects to be welded, and an anvil-side robot provided with an anvil that holds the welded joints, the two welds are welded. This is a vibration welding method for welding and joining joints.
The horn unit includes a rod-shaped horn and has a rod-shaped horn.
The anvil comprises a holding surface for holding the welded joint.
With the two objects to be joined together, the anvil-side robot holds the welded joint from one side of the two objects on the holding surface, and the horn-side robot holds the welded joint on the holding surface. The horn is brought into contact with the portion from the other side of the two objects to be welded, and heat treatment is performed by vibrating and heating the horn unit.
A vibration welding method characterized in that the horn-side robot and the anvil-side robot carry out a vibration welding step of performing the heat treatment while moving the horn and the anvil on the two objects to be joined. .. The anvil-side robot holds the two objects to be joined from one side until the welding and joining of the two objects to be welded due to vibration heating by the horn-side robot is completed, and the two objects to be joined are held. The vibration welding method according to claim 6, wherein the anvil is moved after the welding and joining of the above is completed.

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