WO1996023622A1 - Method and apparatus for laser spot welding - Google Patents

Method and apparatus for laser spot welding Download PDF

Info

Publication number
WO1996023622A1
WO1996023622A1 PCT/JP1996/000191 JP9600191W WO9623622A1 WO 1996023622 A1 WO1996023622 A1 WO 1996023622A1 JP 9600191 W JP9600191 W JP 9600191W WO 9623622 A1 WO9623622 A1 WO 9623622A1
Authority
WO
WIPO (PCT)
Prior art keywords
laser
spot welding
welding
spot
torch
Prior art date
Application number
PCT/JP1996/000191
Other languages
French (fr)
Japanese (ja)
Inventor
Yoshiharu Inaba
Atsushi Watanabe
Ryo Nihei
Ryuichi Hara
Original Assignee
Fanuc Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Ltd filed Critical Fanuc Ltd
Publication of WO1996023622A1 publication Critical patent/WO1996023622A1/en

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/08—Devices involving relative movement between laser beam and workpiece
    • B23K26/0869—Devices involving movement of the laser head in at least one axial direction
    • B23K26/0876—Devices involving movement of the laser head in at least one axial direction in at least two axial directions
    • B23K26/0884—Devices involving movement of the laser head in at least one axial direction in at least two axial directions in at least in three axial directions, e.g. manipulators, robots
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K26/00—Working by laser beam, e.g. welding, cutting or boring
    • B23K26/20—Bonding
    • B23K26/21—Bonding by welding
    • B23K26/22—Spot welding

Definitions

  • the present invention relates to a method for performing spot welding by gripping two superposed workpieces with a gripping mechanism, and to an improvement in an apparatus therefor.
  • Resistance welding is known as a welding method used for spot welding.
  • this welding method two workpieces are superimposed, sandwiched between two electrodes circulating cooling water, and this is strongly pressed by the electrodes to flow a large current to generate Joule heat.
  • spot welding is performed by melting only the vicinity of the contact surface between the workpieces, particularly, by the cooling effect of the cooling water described above.
  • FIG. 3 shows a general example of the configuration required to perform resistance welding.
  • reference numeral 100 denotes a spot welding robot, and a spot welding gun 101 is attached to an end of the arm.
  • the spot welding gun 101 has electrodes 102 and 103 for strongly pressing two superposed workpieces, and drives and controls the spot welding robot 100.
  • one of the electrodes 103 is driven to be able to freely move toward and away from the other electrode 102.
  • Reference numeral 104 denotes a welding transformer that provides machining power to the electrodes 102 and 103, and operates for a set time in response to an operation command from the controller 106.
  • the welding time is controlled by the spot welding timer 105.
  • Reference numeral 107 denotes a balancer, which has a function as a mass balance that supports a part of the weight of the spot welding gun 101 and reduces the operation force.
  • the process of resistance welding is performed as follows. First, the control device 106 drives and controls the spot welding robot 100 to position the spot welding gun 101 at the spot welding position of the workpiece. 2 and 103 are driven to hold the two workpieces with high pressure. Next, the control device 106 actuated the spot welding head 105 to apply machining power to the electrodes 102 and 103 for a predetermined time, and performed spot welding by resistance welding. Then, after confirming that the operation of the spot welding timer 105 has been completed, the electrodes 102 and 103 are opened, and the welding operation is completed.
  • the above is the normal sequence operation for one welding spot. If there are many spot welding spots, the positioning target position (spot welding position) of the spot welding gun 101 is determined.
  • the control unit 106 calls one after another from the machining program, and the same sequence operation as described above is repeatedly executed at each welding position.
  • An object of the present invention is to solve the above-mentioned disadvantages of the prior art, to provide a spot welding method and a spot welding method capable of performing a spot welding operation efficiently without the need for a dressing operation facility. Machine.
  • a spot welding method comprises: polymerizing two or more workpieces; irradiating a laser to a desired welding position on the polymerized workpiece; These workpieces are spot-welded by melting them together.
  • a torch for irradiating a laser beam to a workpiece is integrally attached to a robot hand having a gripping function, and welding is performed while pressing two or more workpieces by the robot hand. I am trying to do it.
  • a spot welding machine includes a mouth port node having a gripping function attached to an end of an arm of an industrial robot, and a laser mounted on the robot node. Connecting the torch with the laser torch and the laser oscillator A laser transmitting means, and irradiating a laser from the laser torch to two or more welding objects to be superimposed and held by the robot hand, thereby spot welding those objects. I do.
  • the gripping portion of the gripped welding target is substantially the same as the portion to be welded. To match.
  • a YAG laser is used as the laser
  • a fiber cable connects the laser oscillator and the laser torch.
  • non-contact welding is performed using the melting of a workpiece by laser irradiation, so that even if spot welding is repeatedly performed, the processing means does not wear or wear. Since dressing work for correcting deformation due to wear and wear is not required, spot welding can be continuously performed without stopping welding work.
  • FIG. 1 is a perspective view showing an outline of a spot welding system according to an embodiment for implementing the method of the present invention.
  • FIGS. 2A and 2B are diagrams each conceptually showing an example of mounting a laser tip on a robot node
  • FIG. 3 is a diagram showing a general example of a configuration required for performing resistance welding, which is a conventional spot welding method.
  • FIG. 1 is a perspective view showing an outline of a spot welding system according to an embodiment for carrying out the method of the present invention.
  • reference numeral 1 denotes an industrial robot that is also used as a spot welding robot or the like, and a robot node 2 attached to the end of the arm has a YAG (yttrium, Aluminum, Ga-net)
  • a laser torch 3 is installed.
  • the robot hand 2 has an upper hand 2a and a lower hand 2b for gripping two or more workpieces that have been polymerized, and is controlled by a control device 4 that drives and controls the industrial robot 1.
  • Reference numeral 5 denotes a laser oscillator of the YAG laser, which is connected to the laser torch 3 by a fiber cable 6. 0 NZ FF control of the laser output of the laser oscillator 5 is performed by a command from the control device 4.
  • the laser torch 3 is attached to the upper hand 2a while being shifted from the grip located at the tip of the upper node 2a, as shown in FIG. 2A.
  • the former is advantageous for protecting the robot node 2 when the workpiece is heated to a considerably high temperature, and the latter is advantageous for securing the positioning accuracy of the spot welding position. It is.
  • the gripping reference position of robot hand 2 and laser torch 3 If there is a deviation from the mounting position, the teaching operation should be performed based on the mounting position of the laser torch 3, and the industrial robot 1
  • the robot hand 2 is positioned by the sensor means provided in the robot, and the teaching robot is controlled to drive the industrial robot 1 only by numerical program control. In such a case, by storing this deviation as a correction value in the control device 4, normal positioning control based on the mounting position of the laser torch 3 is performed. To do so.
  • the gripping function of the robot hand 2 is sufficient if it has enough force to bring two or more workpieces into close contact with each other. (High-pressure gripping is not required to ensure energization as in the case of resistance welding.) ).
  • the spot welding process using this system is performed as follows.
  • the control device 4 controls the driving of the industrial robot 1 to position the laser torch 3 of the robot head 2 and the laser torch 3 at the spot welding position of the workpiece, and the upper hand 2a and the lower hand 2a. Drive the terminal 2b to grip the two workpieces 7 and 8 as shown in FIG. 2A or 2B.
  • the control device 4 gives a laser output command to the laser oscillator 5 and irradiates the laser to the target position of spot welding by the laser torch 3 for a set time, thereby locally processing the workpieces 7 and 8.
  • the upper hand 2a and the lower hand 2b are opened, and the welding operation is completed.
  • the work piece 7 is used so that deep penetration suitable for spot welding can be obtained. , Adjust in advance according to the type and thickness of 8.
  • the above is the sequence operation for one spot welding spot. Furthermore, when there are many spot welds, the positioning target positions (spot weld positions) of the robot hand 2 are called one after another, and the same sequence as above is performed at each welding position. The operation will be executed repeatedly.
  • spot welding is not performed using a processing method that wears out as in the case of resistance welding, processing is performed even when spot welding is repeatedly performed on a large number of welding locations. There is no need for dressing means, and many spots can be continuously spot welded.
  • a fiber cable can be used, and only the laser torch 3 needs to be attached to the robot node 2, so that the equipment of the robot hand 2 is reduced in weight.
  • the operation is smooth, and no balancer is required for balance adjustment.
  • an excessively high gripping ability of the mouth bot hand 2 is not required.
  • the power described in the laser oscillator 5 using a YAG laser as a stationary type and transmitting laser light to the laser torch 3 via the fiber cable 6 is described.
  • industrial robots It is also possible to transmit a laser beam by installing a mirror in the joints of Fig. 1.
  • the spot welding method of the present invention does not require electrodes for welding work, so that equipment for dressing slicing is not required, which is required for spot welding. Equipment is downsized as a whole. Further, since it is not necessary to stop the welding work for correcting the shape of the electrode, the work can be performed in a short time even when spot welding is performed on a large number of welding locations.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Optics & Photonics (AREA)
  • Plasma & Fusion (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Laser Beam Processing (AREA)
  • Lining Or Joining Of Plastics Or The Like (AREA)
  • Manipulator (AREA)

Abstract

A welding robot (1) comprising a gripping hand (2) on the distal end of its arm, wherein an object held by the hand is spot-welded by applying a laser beam thereto from a laser torch (3) provided on the robot hand (2). When a YAG laser is used, a laser oscillator (5) and the laser torch can be connected through a fiber cable.

Description

明 細 害  Harm
レーザを用いたスポ ッ ト溶接方法及び溶接機  Spot welding method and welding machine using laser
技 術 分 野  Technical field
本発明は、 重合した 2枚の被加工材を把持機構で把持 してスポッ ト溶接をする方法及びそのための機器の改良 に関する。  The present invention relates to a method for performing spot welding by gripping two superposed workpieces with a gripping mechanism, and to an improvement in an apparatus therefor.
背 景 技 術  Background technology
スポ ッ ト溶接に用いられる溶接方法と して抵抗溶接が 公知である。 この溶接方法は、 2枚の被加工材を重合し, 冷却水を循環させた 2つの電極間に挟み、 これを前記電 極で強圧して大電流を流すことによ り ジュール熱を発生 させ、 被加工材の各々、 特に、 前記した冷却水の冷却効 果によ って被加工材同士の接触面の近傍のみを溶融させ てスポ ッ ト溶接を行う ものである。  Resistance welding is known as a welding method used for spot welding. In this welding method, two workpieces are superimposed, sandwiched between two electrodes circulating cooling water, and this is strongly pressed by the electrodes to flow a large current to generate Joule heat. In addition, spot welding is performed by melting only the vicinity of the contact surface between the workpieces, particularly, by the cooling effect of the cooling water described above.
抵抗溶接を実施するために必要と される構成の一般例 を図 3 に示す。 図 3 において、 符号 1 0 0はスポ ッ ト溶 接ロボッ トであり、 そのアーム先端にはスポ ッ ト溶接ガ ン 1 0 1 が装着されている。 スポ ッ ト溶接ガン 1 0 1 は、 重合された 2枚の被加工材を強圧するための電極 1 0 2 および 1 0 3 を有し、 スポ ッ ト溶接ロボ ッ ト 1 0 0 を駆 動制御する制御装置 1 0 6からの指令によ り、 一方の電 極 1 0 3が他方の電極 1 0 2 に対して接離自在に駆動さ れるよ う になっている。 符号 1 0 4 は電極 1 0 2および 1 0 3 に加工電源を提供する溶接 ト ラ ンスであり、 制御 装置 1 0 6からの作動指令を受けて設定時間だけ作動す るスポ ッ ト溶接タ イ マ 1 0 5によ り通電時間を制御され る。 なお、 1 0 7はバラ ンサであ り、 スポ ッ ト溶接ガン 1 0 1 の重量の一部を支えて操作力を軽減するマスバラ ンス と しての機能を有する。 Figure 3 shows a general example of the configuration required to perform resistance welding. In FIG. 3, reference numeral 100 denotes a spot welding robot, and a spot welding gun 101 is attached to an end of the arm. The spot welding gun 101 has electrodes 102 and 103 for strongly pressing two superposed workpieces, and drives and controls the spot welding robot 100. In response to a command from the control device 106, one of the electrodes 103 is driven to be able to freely move toward and away from the other electrode 102. Reference numeral 104 denotes a welding transformer that provides machining power to the electrodes 102 and 103, and operates for a set time in response to an operation command from the controller 106. The welding time is controlled by the spot welding timer 105. Reference numeral 107 denotes a balancer, which has a function as a mass balance that supports a part of the weight of the spot welding gun 101 and reduces the operation force.
抵抗溶接の過程は次のよ う に して行われる。 まず、 制 御装置 1 0 6がスポ ッ ト溶接ロボ ッ ト 1 0 0を駆動制御 してスポ ッ ト溶接ガン 1 0 1 を被加工材のスポ ッ ト溶接 位置に位置決め し、 霓極 1 0 2および 1 0 3を駆動 して 2枚の被加工材を強圧把持させる。 次いで、 制御装置 1 0 6がスポ ッ ト溶接夕イ マ 1 0 5を作動させて電極 1 0 2および 1 0 3に所定時間だけ加工電源を印加 し、 抵抗 溶接によるスポ ッ ト溶接を行っ た後、 スポ ッ ト溶接タイ マ 1 0 5の作動完了を確認して、 電極 1 0 2および 1 0 3 を開き、 溶接作業を終了する。  The process of resistance welding is performed as follows. First, the control device 106 drives and controls the spot welding robot 100 to position the spot welding gun 101 at the spot welding position of the workpiece. 2 and 103 are driven to hold the two workpieces with high pressure. Next, the control device 106 actuated the spot welding head 105 to apply machining power to the electrodes 102 and 103 for a predetermined time, and performed spot welding by resistance welding. Then, after confirming that the operation of the spot welding timer 105 has been completed, the electrodes 102 and 103 are opened, and the welding operation is completed.
以上が、 1 溶接箇所に対する通常のシーケ ンス動作で あ り、 多数のスポ ッ ト溶接箇所がある場合には、 スポ ッ ト溶接ガン 1 0 1 の位置決め 目標位置 （スポ ッ ト 溶接位 置） を制御装置 1 0 6が加工プログラムから次々 と呼び 出 して、 各溶接位置において前記と同様のシーケ ン ス動 作を繰 り返 し実行するこ と になる。  The above is the normal sequence operation for one welding spot. If there are many spot welding spots, the positioning target position (spot welding position) of the spot welding gun 101 is determined. The control unit 106 calls one after another from the machining program, and the same sequence operation as described above is repeatedly executed at each welding position.
しか し、 多数のス ポ ッ ト溶接箇所に対 して抵抗溶接を 繰 り返 し実行する場合、 電極 1 0 2および 1 0 3の先端 が加圧および通電等の理由で消耗 し変形して しま う と、 被加工材に対する電極 1 0 2および 1 0 3の接触面積が 変化し、 溶接部に流れる単位面積当 り の電流が変わ っ て し ま うため、 正常な溶接作業ができなく なる場合がある, このため、 電極 1 0 2および 1 0 3の形状を整える ド レ ッ シング作業のための設備が必要と され、 周辺設備が大 型化するといった問題がある。 また、 電極 1 0 2および 1 0 3が消耗する度に ド レ ッ シング作業が行われ、 その 間は溶接作業を停止しなければならないので、 作業効率 の点でも問題がある。 However, when resistance welding is repeatedly performed on a large number of spot welds, the tips of the electrodes 102 and 103 are worn out and deformed due to pressurization, energization, etc. Then, the contact area of the electrodes 102 and 103 with the workpiece changes, and the current per unit area flowing through the weld changes. As a result, normal welding work may not be performed.Therefore, dressing work for adjusting the shapes of the electrodes 102 and 103 is required, and peripheral equipment is large. There is a problem such as typing. In addition, dressing work is performed every time the electrodes 102 and 103 are worn out, and the welding work must be stopped during that time, so that there is a problem in terms of work efficiency.
発 明 の 開 示  Disclosure of the invention
本発明の目的は、 前記従来技術の欠点を解消し、 ドレ ッ シング作業のための設備を必要とせず、 効率よ く スポ ッ ト溶接作業を行う こ とのできるスポッ ト溶接方法及び スポッ ト溶接機を提供するこ とにある。  SUMMARY OF THE INVENTION An object of the present invention is to solve the above-mentioned disadvantages of the prior art, to provide a spot welding method and a spot welding method capable of performing a spot welding operation efficiently without the need for a dressing operation facility. Machine.
上記目的を達成するため、 本発明によるスポッ ト溶接 方法は、 2以上の被加工材を重合し、 それら重合された 被加工材上の溶接所望位置にレーザを照射して、 これら の被加工材を共に溶融させること によ り これら被加工材 をスポ ッ ト溶接するよ う に している。  In order to achieve the above object, a spot welding method according to the present invention comprises: polymerizing two or more workpieces; irradiating a laser to a desired welding position on the polymerized workpiece; These workpieces are spot-welded by melting them together.
なお好ま し く は、 被加工材にレーザを照射する トーチ は把持機能を有するロボッ トハン ドに一体的に取り 付け て、 そのロボッ トハン ドによ り 2以上の被加工材を圧接 しながら溶接を行う よ う に している。  Preferably, a torch for irradiating a laser beam to a workpiece is integrally attached to a robot hand having a gripping function, and welding is performed while pressing two or more workpieces by the robot hand. I am trying to do it.
また、 本発明によるスポ ッ ト溶接機は、 産業用ロボッ ト のアーム先端に取 り付けられた、 把持機能を有する口 ボッ ト ノヽン ド と、 前記ロボッ トノヽン ドに装着された レー ザ トーチと、 前記レーザ トーチと レーザ発振器とを結ぶ レーザ伝達手段とから構成され、 前記ロボッ トハン ドで 把持された重合せる 2枚以上の溶接対象物に対して前記 レーザ トーチからレーザを照射するこ と によ り、 それら 溶接対象物をスポッ ト溶接する。 In addition, a spot welding machine according to the present invention includes a mouth port node having a gripping function attached to an end of an arm of an industrial robot, and a laser mounted on the robot node. Connecting the torch with the laser torch and the laser oscillator A laser transmitting means, and irradiating a laser from the laser torch to two or more welding objects to be superimposed and held by the robot hand, thereby spot welding those objects. I do.
なお好ま し く は、 前記レーザ ト ーチを前記ロボッ トハ ン ドの先端の把持部に埋め込むこ とによ り、 かく 把持さ れた溶接対象物のその把持部位を溶接すべき部位と実質 的に一致させる。  Preferably, by embedding the laser torch in the gripping portion at the tip of the robot hand, the gripping portion of the gripped welding target is substantially the same as the portion to be welded. To match.
また好ま し く は、 レーザには Y A Gレーザを用いるこ とで、 レーザ発振器と レーザ トーチとの間をフ ァ イバー ケ一ブルで結ぶ。  Also, preferably, a YAG laser is used as the laser, and a fiber cable connects the laser oscillator and the laser torch.
以上のよう に本発明は、 レーザの照射による被加工材 の溶融を利用 して非接触の溶接作業を行うので、 スポ ッ ト溶接を繰り返し実行しても加工手段に磨耗や消耗が生 じず、 磨耗や消耗による変形を修正するための ドレ ッ シ ング作業が不要となるので、 溶接作業を休むこ とな く、 連続的にスポ ッ ト溶接を行う ことができる。  As described above, according to the present invention, non-contact welding is performed using the melting of a workpiece by laser irradiation, so that even if spot welding is repeatedly performed, the processing means does not wear or wear. Since dressing work for correcting deformation due to wear and wear is not required, spot welding can be continuously performed without stopping welding work.
図 面 の 簡 単 な 説 明  Brief explanation of drawings
図 1 は本発明の方法を実施する一実施例のスポ ッ ト溶 接システムの概要を示す斜視図、  FIG. 1 is a perspective view showing an outline of a spot welding system according to an embodiment for implementing the method of the present invention.
図 2 A及び 2 Bはロボッ トノヽン ドに対する レーザ ト一 チの装着の例をそれぞれ概念的に示す図、 及び、  FIGS. 2A and 2B are diagrams each conceptually showing an example of mounting a laser tip on a robot node, and
図 3 は従来のスポ ッ ト溶接方法である抵抗溶接を実施 するために必要と される構成の一般例を示す図である。  FIG. 3 is a diagram showing a general example of a configuration required for performing resistance welding, which is a conventional spot welding method.
発 明 を 実施す る た めの最良 の形態 以下、 図面を参照 して本発明の実施例を説明する。 図 1 は本発明の方法を実施する一実施例のスポ ッ ト溶接シ ステムの概要を示す斜視図である。 図 1 において、 符号 1 はスポッ ト溶接ロボッ ト等と しても利用される産業用 ロボッ トであり、 そのアーム先端に装着されたロボッ ト ノヽン ド 2 には Y A G (イ ッ ト リ ウム， アルミ ニウム， ガ 一ネ ッ ト） レーザのレーザ トーチ 3が装着されている。 ロボッ トハン ド 2は、 重合された 2枚以上の被加工材を 把持するための上側ハン ド 2 a と下側ハン ド 2 b を有し, 産業用ロボッ ト 1 を駆動制御する制御装置 4 からの指令 によ り、 上側ハン ド 2 a と下側ハン ド 2 bが開閉駆動さ れるよう になっている。 符号 5は Y A G レーザのレーザ 発振器であり、 レーザ トーチ 3 とはフ ァ イバーケーブル 6 によ り接続されている。 レーザ発振器 5のレーザ出力 の 0 N Z 0 F F制御は、 制御装置 4からの指令で行われ る。 Best mode for carrying out the invention Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a perspective view showing an outline of a spot welding system according to an embodiment for carrying out the method of the present invention. In FIG. 1, reference numeral 1 denotes an industrial robot that is also used as a spot welding robot or the like, and a robot node 2 attached to the end of the arm has a YAG (yttrium, Aluminum, Ga-net) A laser torch 3 is installed. The robot hand 2 has an upper hand 2a and a lower hand 2b for gripping two or more workpieces that have been polymerized, and is controlled by a control device 4 that drives and controls the industrial robot 1. The upper hand 2a and the lower hand 2b are driven to open and close according to the command. Reference numeral 5 denotes a laser oscillator of the YAG laser, which is connected to the laser torch 3 by a fiber cable 6. 0 NZ FF control of the laser output of the laser oscillator 5 is performed by a command from the control device 4.
レーザ トーチ 3 は、 図 2 Aに示されるよ う に、 上側ノ、 ン ド 2 aの先端に位置する把持部からずら して上側ハン ド 2 a に取り 付ける場合と、 図 2 Bに示されるよ う に、 上側ハン ド 2 aの先端に位置する把持部に直接埋設する 場合とがある。 前者は被加工材が相当な高温に加熱され るよ う な場合にロボッ ト ノヽン ド 2 を保護するのに有利で あ り、 また、 後者はスポ ッ ト溶接位置の位置決め精度の 確保に有利である。 As shown in FIG. 2A, the laser torch 3 is attached to the upper hand 2a while being shifted from the grip located at the tip of the upper node 2a, as shown in FIG. 2A. As described above, there is a case where it is directly buried in the grip portion located at the tip of the upper hand 2a. The former is advantageous for protecting the robot node 2 when the workpiece is heated to a considerably high temperature, and the latter is advantageous for securing the positioning accuracy of the spot welding position. It is.
ロボッ トハン ド 2 の把持基準位置と レーザ トーチ 3の 取 り 付け位置との間にずれがあるよ う な場合には、 レー ザ ト ーチ 3 の取り 付け位置を基準に して教示操作を行う よ う に し、 ま た、 産業用ロボッ ト 1 が備えるセ ンサ手段 によ っ てロボ ッ トハン ド 2 の位置決めを行っ た り、 教示 操作をォ ミ ッ ト して数値によ るプログラム制御のみによ つ て産業用ロボッ ト 1 を駆動制御するよ う な場合では、 こ のずれを補正値と して制御装置 4 に記憶させてお く こ と によ り、 レーザ ト ーチ 3 の取り 付け位置を基準とする 正常な位置決め制御が行われるよ う にする。 The gripping reference position of robot hand 2 and laser torch 3 If there is a deviation from the mounting position, the teaching operation should be performed based on the mounting position of the laser torch 3, and the industrial robot 1 The robot hand 2 is positioned by the sensor means provided in the robot, and the teaching robot is controlled to drive the industrial robot 1 only by numerical program control. In such a case, by storing this deviation as a correction value in the control device 4, normal positioning control based on the mounting position of the laser torch 3 is performed. To do so.
ロボ ッ トハン ド 2 の把持機能は 2枚以上の被加工材を 密着させられるだけの力があれば十分である （抵抗溶接 の場合のよ う に通電確保のための強圧把持は要求されな い） 。  The gripping function of the robot hand 2 is sufficient if it has enough force to bring two or more workpieces into close contact with each other. (High-pressure gripping is not required to ensure energization as in the case of resistance welding.) ).
このシステムを用いたスポ ッ ト 溶接の過程は次のよ う に して行われる。  The spot welding process using this system is performed as follows.
まず、 制御装置 4 が産業用ロボ ッ ト 1 を駆動制御 して ロボッ トノ、ン ド 2 の レーザ トーチ 3 を被加工材のスポ ッ ト 溶接位置に位置決め し、 上側ハン ド 2 aおよび下側ハ ン ド 2 b を駆動して、 図 2 A または図 2 B に示されるよ う に、 2枚の被加工材 7， 8 を把持させる。 次いで、 制 御装置 4 がレーザ発振器 5 に レーザの出力指令を与え、 レーザ ト ーチ 3 によ り設定時間だけスポ ッ ト 溶接の 目標 位置に レーザを照射させ、 被加工材 7 , 8 を局部的に溶 融させてスポ ッ ト溶接を行っ た後、 上側ハン ド 2 a およ び下側ハン ド 2 b を開き、 溶接作業を終了する。 レーザ ト ーチ 3 のノ ズルからのガスの噴出量やレーザの焦点位 置の調整および照射時間等に関 しては、 スポ ッ ト 溶接に 適 した深溶け込みが得られるよ う、 被加工材 7 , 8 の種 類や厚みに応じて予め調整 してお く よ う にする。 First, the control device 4 controls the driving of the industrial robot 1 to position the laser torch 3 of the robot head 2 and the laser torch 3 at the spot welding position of the workpiece, and the upper hand 2a and the lower hand 2a. Drive the terminal 2b to grip the two workpieces 7 and 8 as shown in FIG. 2A or 2B. Next, the control device 4 gives a laser output command to the laser oscillator 5 and irradiates the laser to the target position of spot welding by the laser torch 3 for a set time, thereby locally processing the workpieces 7 and 8. After spot melting and spot welding, the upper hand 2a and the lower hand 2b are opened, and the welding operation is completed. laser Regarding the amount of gas ejected from the nozzle of the torch 3 and the adjustment of the focal position of the laser and the irradiation time, etc., the work piece 7 is used so that deep penetration suitable for spot welding can be obtained. , Adjust in advance according to the type and thickness of 8.
以上が、 1 スポ ッ ト溶接箇所に対する シーケ ンス動作 である。 更に、 多数のスポ ッ ト溶接箇所がある場合には, ロボ ッ トハン ド 2 の位置決め目標位置 （スポ ッ ト溶接位 置） を次々 と呼び出 して、 各溶接位置において前記と 同 様のシーケンス動作を繰り返し実行する こ と になる。  The above is the sequence operation for one spot welding spot. Furthermore, when there are many spot welds, the positioning target positions (spot weld positions) of the robot hand 2 are called one after another, and the same sequence as above is performed at each welding position. The operation will be executed repeatedly.
抵抗溶接の場合のよ う に消耗する加工手段を利用 して スポ ッ ト溶接を行う わけではないので、 多数の溶接箇所 に対 してスポ ッ ト溶接を繰り返し実行する場合であ っ て も加工手段の ド レ ッ シ ング作業は必要な く、 多数の溶接 箇所を連続 してスポ ッ ト溶接する こ とができ る。  Since spot welding is not performed using a processing method that wears out as in the case of resistance welding, processing is performed even when spot welding is repeatedly performed on a large number of welding locations. There is no need for dressing means, and many spots can be continuously spot welded.
また、 Y A G レーザの場合においてはフ ァ イバーケ一 ブルが使用でき、 ロボッ トノヽン ド 2 には レーザ ト ーチ 3 のみを取り 付ければよいので、 ロボッ ト ハン ド 2 の装備 が軽量化されてその動作も円滑と な り、 バラ ンス調整の ためのバラ ンサ手段も必要ない。 そ して、 通電確保のた め に被加工材 7， 8 を強く 圧接する必要もないから、 口 ボ ッ ト ハン ド 2 の把持能力において も過大な ものは要求 さ れない。 以上、 一実施例と して、 Y A G レーザを用 い レーザ発振器 5 を据え置き型と し、 フ ァ イ バーケ一ブ ル 6 を介 して レーザ トーチ 3 に レーザ光を伝達する もの について説明 した力'、 他の レーザの場合産業用ロボ ッ ト 1 の関節部等に ミ ラーを内装して レーザ光を伝達するよ う にするこ と も可能である。 Also, in the case of a YAG laser, a fiber cable can be used, and only the laser torch 3 needs to be attached to the robot node 2, so that the equipment of the robot hand 2 is reduced in weight. The operation is smooth, and no balancer is required for balance adjustment. Also, since it is not necessary to press the workpieces 7 and 8 strongly in order to ensure energization, an excessively high gripping ability of the mouth bot hand 2 is not required. As described above, as an example, the power described in the laser oscillator 5 using a YAG laser as a stationary type and transmitting laser light to the laser torch 3 via the fiber cable 6 is described. For other lasers, industrial robots It is also possible to transmit a laser beam by installing a mirror in the joints of Fig. 1.
以上説明したよ う に、 本発明のスポッ ト溶接方法では 溶接作業のための電極を必要と しないので、 ド レ ツ シン グ作莱のための設備が不要となり、 スポ ッ ト溶接に必要 と される設備が全体と して小形化される。 また、 電極の 形状修正のために溶接作業を停止する必要がないので、 多数の溶接箇所に対してスポッ ト溶接を施す場合であつ ても、 その作業を短時間で行う こ とができる。  As described above, the spot welding method of the present invention does not require electrodes for welding work, so that equipment for dressing slicing is not required, which is required for spot welding. Equipment is downsized as a whole. Further, since it is not necessary to stop the welding work for correcting the shape of the electrode, the work can be performed in a short time even when spot welding is performed on a large number of welding locations.

Claims

請 求 の 範 囲 The scope of the claims
1 . 2以上の被加工材を重合 し、 それら重合された被加 ェ材上の溶接所望位置に レーザを照射 して、 これらの 被加工材を共に溶融させる こ と によ り これら被加工材 をスポ ッ ト溶接するよ う に した、 スポ ッ ト溶接方法。 2 . 被加工材に レーザを照射する トーチは把持機能を有 するロボッ ト ノヽン ドに一体的に取り 付けて、 そのロボ ッ トハン ド によ り 2以上の被加工材を圧接 しながら溶 接を行う よ う に した請求の範囲第 1 項記載のスポ ッ ト 溶接方法。 '  1.2 Polymerize two or more workpieces, irradiate a laser to the welding desired position on the superposed workpieces, and melt these workpieces together to obtain these workpieces. Spot welding method, which is used for spot welding. 2. The torch that irradiates the workpiece with laser is integrally attached to a robot node that has a gripping function, and the robot hand welds two or more workpieces while pressing them together. The spot welding method according to claim 1, wherein the spot welding is performed. '
3 . レーザと して Y A G レーザを用いた請求の範囲第 1 項または第 2項記載のスポ ッ ト溶接方法。  3. The spot welding method according to claim 1 or 2, wherein a YAG laser is used as the laser.
4 . 産業用ロボッ 卜 のアーム先端に取り 付けられた、 把 持機能を有するロボ ッ トハン ド と、  4. A robotic hand with a gripping function attached to the end of the arm of the industrial robot,
前記ロボ ッ トハン ドに装着さ れた レーザ トーチ と、 前記レーザ トーチと レーザ発振器と を結ぶレーザ伝 達手段と  A laser torch mounted on the robot hand; and a laser transmission means for connecting the laser torch and a laser oscillator.
から構成さ れ、  Composed of
前記ロボ ッ トハ ン ドで把持さ れた重合せる 2枚以上 の溶接対象物に対 して前記レーザ ト ーチから レーザを 照射する こ と によ り、 それら溶接対象物をスポ ッ ト溶 接する、  By irradiating a laser from the laser torch to two or more welding objects to be superimposed gripped by the robot hand and being welded, the welding objects are spot-welded. ,
スポ ッ ト溶接機。  Spot welding machine.
δ . 前記レーザ ト ーチは前記ロボ ッ トハン ドの先端の把 持部に埋め込むこ と によ り、 か く 把持された溶接対象 物のその把持部位を溶接すべき部位と実質的に一致さ せるよ う に した、 請求の範囲第 4項記載のスポ ッ ト溶 接機。 δ. By embedding the laser torch into the holding part at the tip of the robot hand, the welding target thus held is 5. The spot welding machine according to claim 4, wherein a gripping portion of the object is made to substantially coincide with a portion to be welded.
6 . 前記レーザ発振器は Y A Gレーザを出力するもので あって、 このレーザ発振器からの Y A G レーザはフ ァ ィバーケーブルを介して前記レーザ トーチまで伝達さ れる、 請求の範囲第 4項記載のスポ ッ ト溶接機。  6. The spot according to claim 4, wherein the laser oscillator outputs a YAG laser, and the YAG laser from the laser oscillator is transmitted to the laser torch via a fiber cable. G welding machine.
7 . 前記レーザ伝達手段には、 前記産業用ロボッ ト の間 接部に内装したミ ラーが含まれる、 請求の範囲第 4項 記載のスポ ッ ト溶接機。  7. The spot welding machine according to claim 4, wherein the laser transmission means includes a mirror provided inside a part in contact with the industrial robot.
PCT/JP1996/000191 1995-02-02 1996-01-31 Method and apparatus for laser spot welding WO1996023622A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP7/35925 1995-02-02
JP7035925A JPH08206860A (en) 1995-02-02 1995-02-02 Spot welding method

Publications (1)

Publication Number Publication Date
WO1996023622A1 true WO1996023622A1 (en) 1996-08-08

Family

ID=12455619

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP1996/000191 WO1996023622A1 (en) 1995-02-02 1996-01-31 Method and apparatus for laser spot welding

Country Status (3)

Country Link
JP (1) JPH08206860A (en)
KR (1) KR960031052A (en)
WO (1) WO1996023622A1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1488881A1 (en) * 2003-06-20 2004-12-22 TRUMPF LASERTECHNIK GmbH Clamping device for a laser machining apparatus
CN108568598A (en) * 2017-03-07 2018-09-25 现代自动车株式会社 Laser soldering device

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
ITPD20070290A1 (en) * 2007-09-11 2009-03-12 Tecnolaser S R L LASER WELDING DEVICE, PARTICULARLY FOR WELDING LEMBI OVERLAPPED METAL SHEETS

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5853392A (en) * 1981-09-25 1983-03-29 Toshiba Corp Laser seam welding device
JPH01180794A (en) * 1987-12-28 1989-07-18 Nissan Motor Co Ltd Laser beam welding equipment
JPH0661383U (en) * 1993-01-29 1994-08-30 関東自動車工業株式会社 Work clamp for laser welding robot

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5853392A (en) * 1981-09-25 1983-03-29 Toshiba Corp Laser seam welding device
JPH01180794A (en) * 1987-12-28 1989-07-18 Nissan Motor Co Ltd Laser beam welding equipment
JPH0661383U (en) * 1993-01-29 1994-08-30 関東自動車工業株式会社 Work clamp for laser welding robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1488881A1 (en) * 2003-06-20 2004-12-22 TRUMPF LASERTECHNIK GmbH Clamping device for a laser machining apparatus
CN108568598A (en) * 2017-03-07 2018-09-25 现代自动车株式会社 Laser soldering device
CN108568598B (en) * 2017-03-07 2022-01-04 现代自动车株式会社 Laser welding device

Also Published As

Publication number Publication date
JPH08206860A (en) 1996-08-13
KR960031052A (en) 1996-09-17

Similar Documents

Publication Publication Date Title
US6758382B1 (en) Auto-adjustable tool for self-reacting and conventional friction stir welding
JP2005515895A (en) Method and apparatus for increasing welding speed for high aspect ratio welds
EP0161037B1 (en) Method and apparatus for welding
JP4020099B2 (en) Laser processing method
EP1302271B1 (en) A method for ultrasonic welding stacked materials
KR20000075967A (en) Multiple beam laser welding apparatus
JP2006007237A (en) Work clamping device for laser beam welding
JPH07116864A (en) Welding release method of spot welding and spot welding equipment
JP3598683B2 (en) Optimal position control method of spot welding electrode
JP2010105015A (en) Laser spot welding apparatus
JP2007105754A (en) Laser irradiation arc welding method
WO1996023622A1 (en) Method and apparatus for laser spot welding
KR100602200B1 (en) Control apparatus for hybrid welding
JP3207062B2 (en) Control method and device for electric pressurized resistance welding machine
WO2023084907A1 (en) Arc welding device and arc welding method
JPH11226763A (en) Laser beam welding equipment
JPH02220790A (en) Welding method for motor stator
JP5617416B2 (en) Laser welding method and laser welding apparatus
US10960489B2 (en) Wire termination welder and method
KR20170102114A (en) Laser welding device for connecting of heterogeneous material
JPH02235591A (en) Portable type laser beam welding gun
JP4562354B2 (en) Welding method and welding apparatus
JP3575910B2 (en) YAG laser processing equipment
JP3885831B2 (en) Seam welding method and apparatus
JPH08132261A (en) Laser welding equipment

Legal Events

Date Code Title Description
AK Designated states

Kind code of ref document: A1

Designated state(s): US

AL Designated countries for regional patents

Kind code of ref document: A1

Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE

121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase