WO2023090134A1

WO2023090134A1 - Welding method and welding device

Info

Publication number: WO2023090134A1
Application number: PCT/JP2022/040649
Authority: WO
Inventors: 善文小野塚; 雅彦森
Original assignee: 精電舎電子工業株式会社
Priority date: 2021-11-16
Filing date: 2022-10-31
Publication date: 2023-05-25

Abstract

[Solution] A welding device provides control such that the following are performed in order from (1) to (5): (1) a movement means is made to move to a first location, and a preprocessing drive means moves and a preprocessing means is used to perform an operation for preprocessing one synthetic resin material; (2) a second movement means is used to move, to a welding location, a welding unit that has gripped the one synthetic resin; (3) the one synthetic resin material, while in a stretched state, is closely adhered to another synthetic resin material; (4) the movement means is moved to a second location, and a welding means presses the one synthetic resin material and the other synthetic resin material; and (5) the welding means 7 performs welding by ultrasonic vibration.

Description

Welding method and welding equipment

TECHNICAL FIELD The present invention relates to a welding method and a welding apparatus for welding pretreatment means and welding means, or welding means and posttreatment means, in conjunction with each other, and in particular, pretreatment means and welding for winding a skin material around a base material before welding. The present invention relates to a welding method and a welding apparatus for welding means in conjunction with each other, and a welding method and a welding apparatus for interlocking the welding means with a post-processing means such as cutting a portion that is no longer necessary after welding.

Generally, in order to adhere and weld one synthetic resin material to another synthetic resin material, there is known a welding system in which pretreatment means, welding means, and post-treatment means are arranged and the welding work is performed as shown in FIG. (See, for example, Patent Document 1).

In FIG. 56, (1) necessary pretreatment is performed as a preliminary preparation for welding, and the synthetic resin material is brought into close contact at a predetermined position. (2) Welding the synthetic resin materials in close contact with each other by welding means. Then, (3) the post-processing of cutting after welding is performed as an independent process in the order in which it is arranged.

On the other hand, there are conventional examples shown in FIGS.

In the conventional example shown in FIG. 57, a box-shaped base material 20 and a sheet-shaped skin material 30 larger than the base material 20 are integrated. 57(a) and 57(b), as a pretreatment, the edge of the skin material 30 is lifted from the outside of the base material 20, intersects the wall 20a, and is moved to the inside of the base material 20, The skin material 30 and the base material 20 are brought into close contact with each other. Then, it is shown that the portion from the position of the wall 20a of the base material to the position of the edge of the skin material 30 is integrated by a method such as adhesion or welding (see, for example, Patent Document 2).

As a first requirement for this welding pretreatment, as shown in FIG. It was required to pull with a force large enough not to cause wrinkles.

As a conventional method of pulling the skin material 30, as a mechanical method instead of manual work by an operator, as shown in FIG. The edge of the base material 20 is intersected from the outside of the base material 20 and moved to the welding position inside the base material 20 , and the skin material 30 is pulled by the frictional force of the piece 40 against the skin material 30 . A method has been proposed in which the position of the edge of the base material 20 and the position of the edge of the skin material 30 are welded. FIG. 58(a) shows a state in which the piece 40 begins to move the skin material 30 from left to right in the drawing, and FIG. FIG. 58(c) shows a state in which the tool horn of the welding means 50 is inserted into the through hole opened in the piece 40 and welded, and FIG. It shows the state of returning to The pieces 40 are moved horizontally in the figure by driving means 45, and the welding means 50 are moved vertically in the figure by driving means 55 (see Patent Document 3, for example).

However, due to the frictional force of the bridge, it was not possible to control the pulling force of the slippery skin material because the bridge and the skin material slipped, and the skin material could not be pulled sufficiently.

As a second requirement for welding pretreatment, as shown in FIG. The ingredients pile up without being absorbed and form a dumpling shape as shown by S1. It can also wrinkle. Therefore, in order to reduce or eliminate the occurrence of lumps and wrinkles, it is required to spatially absorb the surplus at the ends of the skin material 30 when the skin material 30 is rolled. rice field.

As a method for absorbing the surplus portion of the end portion of the skin material 30 when the conventional skin material 30 is rolled, as shown in _FIG _. It has been proposed to make the wall thicknesses of the straight portions thinner than L ₁ and L ₃ to create spaces near the corner portions to absorb the surplus portion of the skin material 30 as shown in FIG. 57(d). (See, for example, Patent Document 2).

However, when the difference between the wall thicknesses _L2 , _L4 near the corners and the wall thicknesses _L1 , _L3 of the straight portions cannot be made large, or when the wall thicknesses cannot be changed, the skin material No pretreatment was possible to absorb the excess of 30.

Further, as another conventional example, as shown in FIG. It was proposed to absorb the surplus. FIG. 59(a) shows a state in which the wall 20a near the corner portion of the base material is formed with a raised portion of the protrusion 26 inside, and FIG. 59(c) shows a state after welding in a state in which the material 31 is covered and the surplus of the skin material is applied to the projections 26, and FIG. A rear view is shown in a sectional view (see, for example, Patent Document 4).

However, when the projections 26 could not be formed inside the wall 20a of the corner portion, the pretreatment for absorbing the surplus of the skin material 31 could not be performed.

The third requirement for pretreatment was that the pretreatment means for welding consisted of small and lightweight means and could be moved quickly in a narrow space.

However, as shown in FIG. 58, the driving source 45 for the piece 40, which is the pretreatment means for welding, and the driving source 55 for the welding means operate independently of each other. However, it is not sufficient in terms of smooth and reliable operation even when there are fluctuations in timing and positioning (see, for example, Patent Document 3).

JP 2009-202421 A JP 2017-30014 A JP-A-8-174601 JP-A-10-24493

A first object of the present invention is to configure the welding pretreatment means and the welding means, or the welding means and the posttreatment means, as small and lightweight means so that the pretreatment means and the welding means, or the welding means and the posttreatment means can be combined. To provide a welding method and a welding device for performing welding pretreatment and welding, or welding and post-treatment so as to smoothly and reliably interlock.

The second problem is that, particularly in the case where the skin material is wrapped around the base material before welding, the skin material must be applied with a force greater than a predetermined amount so that the skin material does not wrinkle when the skin material is wrapped around the base material. To provide a welding method and a welding device for welding together a pretreatment means and a welding means that pull in size.

The third problem is to reduce or eliminate wrinkles and lumps where the skin material overlaps at the corners where the wall of the base material is bent at a right angle, especially when the skin material is wrapped around the base material before welding. It is an object of the present invention to provide a welding method and a welding apparatus for absorbing and welding surplus skin materials by interlocking pretreatment means and welding means so as to be similar to each other.

At least one of the above three problems is the problem to be solved by the present invention.

The welding apparatus of the present invention uses a welding unit in which welding pretreatment means or welding posttreatment means is arranged near the welding means, and the welding means moving means is shared as a drive source for the welding pretreatment means or welding posttreatment means. Therefore, the welding pretreatment means and the welding means, or the welding means and the post-treatment means are performed in conjunction with each other.

In addition, the welding apparatus of the present invention is a welding method and welding apparatus for welding in conjunction with a pretreatment means for winding a skin material around a base material before welding and a welding means.
(a) welding means for welding one synthetic resin material (base material) to another synthetic resin material (skin material);
(b) first moving means for moving the welding means toward the surface of the other synthetic resin material (skin material);
(c) pretreatment means used for welding pretreatment;
(d) pretreatment drive means for driving the pretreatment means;
(e) bracket means for mounting the welding means, the first moving means, the pretreatment means and the pretreatment driving means;
(f) a welding unit in which the first moving means attached to the bracket means is shared as a driving source of the pretreatment driving means and is interlocked;
(g) second moving means for moving the welding unit;
(h) control means;
By the control means,
(1) moving the welding unit to a position where pretreatment of the other synthetic resin material (skin material) is started using the second moving means of (g);
(2) moving the first moving means from the origin position to the first position, operating the pretreatment drive means of (d), and using the pretreatment means to ) for preprocessing,
(3) moving the welding unit to a welding position where the second synthetic resin material (skin material) and the one synthetic resin material (base material) are welded by the second moving means of (g); Adhering another synthetic resin material (skin material) to one synthetic resin material (base material),
(4) With the other synthetic resin material (skin material) in close contact with the one synthetic resin material (base material), the first moving means of (b) is used to move the welding means to the It moves to the second position toward the surface of another synthetic resin material (skin material), and presses the surface of the other synthetic resin material (skin material) with the welding means.
(5) In particular, in a welding apparatus using a plurality of welding units, the pretreatment means (c) is used to attach the other synthetic resin material (skin material) of the corner portion to the wall of one synthetic resin material (base material). After winding, the other synthetic resin material (skin material) and the wall of one synthetic resin material (base material) are pressed,
(6) The other synthetic resin material (skin material) is welded to the one synthetic resin material (base material) while absorbing the surplus of the other synthetic resin material (skin material).
(1) to (6) are controlled.

In other words, when the first moving means moves to the first position, the preprocessing driving means moves and performs preprocessing operations with the preprocessing means. The welding unit gripping another synthetic resin material (skin material) is moved to the welding position by the second moving means. The other synthetic resin material (skin material) adheres to the one synthetic resin material (base material) while being pulled. Then, when the first moving means moves to the second position, the welding means presses the other synthetic resin material (skin material) and the one synthetic resin material (base material). Here, the welding means is controlled to be ultrasonically vibrated for welding.

As a result, it is possible to perform pretreatment and welding in conjunction with pressing another synthetic resin material (skin material) against one synthetic resin material (base material) and welding them together in close contact with each other. there is

In the present invention, another synthetic resin material (skin material) is pulled with a force greater than or equal to a predetermined amount, and while tension is applied to the other synthetic resin material (skin material), one synthetic resin material (base material) is applied. It was made to adhere and weld. As a result, since the other synthetic resin material (skin material) is welded under tension, the other synthetic resin material (skin material) is pulled tightly by the tension, and wrinkles do not occur.

In the present invention, the surplus of the other synthetic resin material (skin material) is absorbed by welding at the corner where the wall of one synthetic resin material (base material) is bent at right angles. As a result, when the thickness of the wall of one synthetic resin material (base material) cannot be made large between the thickness of the corner portion and the thickness of the straight portion, or when the thickness of the wall cannot be changed, one synthetic resin material ( Even when projections cannot be formed inside the wall of the base material), the corner part where the wall of one synthetic resin material (base material) bends at a right angle is a dumpling-like portion where another synthetic resin material (skin material) overlaps and wrinkles can be reduced or eliminated.

In addition, the present invention enables the pretreatment means to grip not only other synthetic resin materials (skin materials) but also block-shaped objects to be welded. As a result, the block-shaped object to be welded can be gripped and superimposed on one synthetic resin material (base material) at the welding position and welded by the welding means.

Further, according to the present invention, the pretreatment means is used as a pressing means, and another synthetic resin material (skin material) or other object to be welded is pressed against one synthetic resin material (base material) and welded in a state of close contact. made it possible. As a result, even when one synthetic resin material (base material) is a material that is prone to denting, the welding strength is increased, and the other synthetic resin material (skin material) and one synthetic resin material (base material) are welded so that they do not peel off. made possible.

In addition, according to the present invention, the pressing surface of the welding means for pressing the synthetic resin material (skin material) is made uneven. As a result, the other synthetic resin material (skin material) is welded to the one synthetic resin material (base material) in a three-dimensional manner. As a result, the other synthetic resin material (skin material) is welded to the one synthetic resin material (base material) in such a manner that it bites into the first synthetic resin material (base material) three-dimensionally.

In addition, according to the present invention, the first moving means is used as a common drive source for the post-processing means, and the post-processing is performed in conjunction with the welding means after the welding means is operated. As a result, welding and post-processing can be performed even in a narrow space. Moreover, it can be quickly moved by the second moving means.

It should be noted that the welding unit of the present invention was attached to a fixed frame instead of the second moving means so that it could be used as a welding device like a press. As a result, it can be used as a welding device like a press capable of pre-processing and post-processing of a wide range of contents.

The present invention
(1) For the first problem, the pretreatment means and the welding means, or the welding means and the post-treatment means are configured as small and lightweight means, and the pre-treatment means and the welding means, or the welding means and the post-treatment. It is possible to provide a welding method and a welding apparatus for performing welding pretreatment and welding, or welding and post-treatment by smoothly and reliably interlocking the means.

Since the welding pretreatment and welding posttreatment have various processing contents, the present invention can be applied to the case where a wide variety of welding pretreatment means and welding posttreatment means are performed in conjunction with the welding means. effective.

(2) For the second problem, when the skin material is welded to the base material before welding, the skin material is not wrinkled when the skin material is rolled into the base material. It is possible to provide a welding method and a welding apparatus that weld together the pretreatment means and the welding means that pull with a force of .

(3) For the third problem, when the skin material is wrapped around the base material before welding, it is possible to reduce wrinkles and dumplings where the skin material overlaps at the corner where the wall of the base material is bent at a right angle. It is possible to provide a welding method and a welding apparatus for absorbing and welding the surplus of the skin material by interlocking the pretreatment means and the welding means so as to remove or eliminate the surplus of the skin material.

FIG. 2 is a side view showing the positional relationship between the welding device according to the first embodiment of the present invention and the base material and skin material that are objects to be welded. FIG. 2 is a side view, partly in cross section, showing the structure of the welding unit of the welding device according to the first embodiment of the present invention; FIG. 2 is an exploded view showing the structure of the welding unit of the welding device according to the first embodiment of the present invention; FIG. 4 is a side view showing a partial cross section with arrows indicating the operation of each part of the welding unit of the welding apparatus according to the first embodiment of the present invention. FIG. 4 is a flowchart showing the procedure of welding work using the welding unit of the welding apparatus according to the first embodiment of the present invention; (a) A view showing a state immediately before the welding unit of the welding device according to the first embodiment of the present invention grips the edge of the skin material (b) Welding by the welding device according to the first embodiment of the present invention The figure which showed the state which the unit hold|gripped the skin material edge part. FIG. 5 is a diagram explaining that the tension applied to the skin material changes when the elongation amount of the skin material changes due to the amount of movement of the welding unit of the welding apparatus according to the first embodiment of the present invention. (a) A diagram showing a state in which the welding unit of the welding apparatus according to the first embodiment of the present invention pulls the edge of the skin material to apply tension. (b) Welding according to the first embodiment of the present invention. The figure which showed the state when welding by the apparatus. (a) to (c) Appearance perspective view of the shape of the pressing surface of the tool horn of the welding device according to the first embodiment of the present invention as viewed from below (d) The welding device according to the first embodiment of the present invention 2 is a cross-sectional view showing a state after the skin material is welded to the base material by the tool horn of FIG. FIG. 8 is a side view showing a partial cross-section of the structure of the welding unit of the welding device according to the second embodiment of the present invention, and a diagram showing the positional relationship between the skin material and the base material. (a) to (d) are partial cross-sectional transition diagrams showing states in which a welding operation is being performed by the welding apparatus according to the second embodiment of the present invention. The figure which showed simultaneously the external view of the front-end|tip of the tool horn concerning 2nd embodiment of this invention, and sectional drawing of the welding target object welded with the welding apparatus, and the tool horn used for ultrasonic welding. (a) (b) Appearance of the tip of the tool horn for welding the corner portion according to the second embodiment of the present invention, cross-sectional view of the object to be welded by the welding device, and the tool horn used for ultrasonic welding and a side view of the . FIG. 11 is a perspective view showing a state after welding by the welding device according to the second embodiment of the present invention and the outer shape of the tip of the tool horn; FIG. 5 is a flowchart showing the procedure of welding work using the welding unit of the welding device according to the second embodiment of the present invention; (a) A diagram showing a state in which the welding unit of the welding apparatus according to the second embodiment of the present invention grips the edge of the skin material at the corner portion and the edge portion of the skin material at the straight portion, respectively. The figure which showed the state which moved the welding unit of the corner|angular part of the welding apparatus concerning embodiment 2, and moved the skin material edge part inside the wall of a base material. (a) A state in which the welding unit for the corner portion of the welding apparatus according to the second embodiment of the present invention is moved next to the welding unit for the straight portion to move the end portion of the skin material toward the inner side of the wall of the base material. Illustrated diagram. (b) A diagram showing a state in which welding is started by the welding unit of the welding apparatus according to the second embodiment of the present invention after the edge of the skin material is wrapped around the wall of the base material. The figure which showed simultaneously the top view which showed the state after welding by the welding apparatus concerning the modification of 2nd embodiment of this invention, and the perspective view which showed the outer shape of the front-end|tip of a tool horn. The perspective view which showed the state after welding by the welding apparatus concerning the modification of 2nd embodiment of this invention. The side view which showed the positional relationship of the welding apparatus concerning 3rd embodiment of this invention, and an object to be welded. (a) An external view showing a state before welding of an object to be welded according to a third embodiment of the present invention. (b) and (c) are external views showing the state after welding of the object to be welded according to the first embodiment of the present invention. (a) Perspective view showing the appearance of an object to be welded according to a modification of the third embodiment of the present invention (b) Position of the welding device and object to be welded according to a modification of the third embodiment of the present invention The side view which showed the relationship. The side view which showed the welding apparatus concerning 4th embodiment of this invention. (a) and (b) are side views showing a state in which objects to be welded are welded by a welding apparatus according to a fourth embodiment of the present invention. FIG. 11 is a perspective view showing the external appearance of a tool horn used for welding and an object to be welded that is welded by a welding apparatus according to a fourth embodiment of the present invention; (a) Perspective view showing appearance of object to be welded according to fifth embodiment of the invention (b) Side view showing positional relationship between welding device and object to be welded according to fifth embodiment of the invention . FIG. 11 is a side view showing a state in which a welding operation is performed by a welding device according to a sixth embodiment of the present invention; FIG. 11 is a plan view showing a state in which an object to be welded is being welded by a welding apparatus according to a sixth embodiment of the present invention; FIG. 11 is a side view showing a state in which a welding operation is performed by a welding device according to a modification of the sixth embodiment of the present invention; The side view which showed the welding unit of the welding apparatus concerning 7th embodiment of this invention. (a) A view from arrow D in FIG. 30 showing the movement of the pretreatment means of the welding apparatus according to the seventh embodiment of the present invention (b) The pretreatment means of the welding apparatus according to the seventh embodiment of the present invention FIG. 30(c) is an exploded view viewed from arrow D in FIG. 30 showing the movement of (c) of FIG. D arrow view. (a) A partially cross-sectional side view showing a state in which one object to be welded is gripped by the welding unit of the welding apparatus according to the seventh embodiment of the present invention (b) Seventh embodiment of the present invention FIG. 11C is a side view of a seventh embodiment of the present invention, showing a state in which one object to be welded is gripped by the welding unit of the welding apparatus and moved upward from the welding position; (d) A side view (partially in cross section) showing a situation in which welding is being performed by the welding unit of such a welding apparatus (d). FIG. 10 is a partially cross-sectional side view showing a state when the grip is released and the position is moved upward from the welding position; FIG. 12 is a side view showing a partial cross section of the structure of the welding unit of the welding device according to the eighth embodiment of the present invention; FIG. 11 is a flowchart showing the procedure of welding work using the welding unit of the welding device according to the eighth embodiment of the present invention; (a) to (d) are transition diagrams showing the procedure of welding work using the welding unit of the welding apparatus according to the eighth embodiment of the present invention. FIG. 21 is a side view showing a partial cross section of the structure of the welding unit of the welding device according to the modification of the eighth embodiment of the present invention; FIG. 21 is a side view showing a partial cross-section of the structure of a welding unit of a welding device according to a ninth embodiment of the present invention; FIG. 12 is a flowchart showing the procedure of welding work using the welding unit of the welding device according to the ninth embodiment of the present invention; (a) to (d) are transition diagrams showing states in which pretreatment, welding, and post-treatment are performed by the welding apparatus according to the ninth embodiment of the present invention. FIG. 20 is a side view showing a partial cross section of the structure of the welding unit of the welding device according to the tenth embodiment of the present invention; FIG. 20 is a side view showing a partial cross section of the structure of the welding unit of the welding device according to the eleventh embodiment of the present invention; FIG. 12 is a side view showing a partial cross-section of the structure of the welding unit of the welding device according to the twelfth embodiment of the present invention; FIG. 21 is a side view showing a partial cross-section of the structure of a welding unit of a welding device according to a thirteenth embodiment of the present invention; (a) to (c) transition diagrams showing the procedure of welding work using the welding unit of the welding apparatus according to the thirteenth embodiment of the present invention. FIG. 21 is a side view showing a partial cross-section of the structure of the welding unit of the welding device according to the first modification of the thirteenth embodiment of the present invention; (a) and (b) are diagrams showing states of welding work using the welding unit of the welding apparatus according to the first modification of the thirteenth embodiment of the present invention. 13(a) to 13(d) are diagrams showing states of welding work using the welding unit of the welding apparatus according to the second modified example of the thirteenth embodiment of the present invention; FIG. FIG. 11 is a side view showing the positional relationship between the welding device according to the modification of the first embodiment of the present invention, and the base material and the skin material that are objects to be welded. FIG. 5 is a flowchart showing the procedure of welding work using the welding unit of the welding apparatus according to the modification of the first embodiment of the present invention; (a) The figure which showed the state when the welding apparatus concerning the modification of 1st embodiment of this invention complete|finishes the welding of the skin material edge part for the first time of welding. (b) The figure which showed the state just before the welding apparatus concerning the modification of 1st embodiment of this invention rotates and grips the next skin material edge part. FIG. 10 is a diagram showing a table of gripping positions and welding positions stored in a storage means of the welding device according to the modification of the first embodiment of the present invention; (a) and (b) are enlarged views of gripping means and welding means of the welding device according to the modification of the first embodiment of the present invention. FIG. 20 is a side view showing a partial cross-section of a configuration in which a welding unit according to a fourteenth embodiment of the present invention is divided into a split unit for gripping and a split unit for welding, and arrows indicating the operation of each part. FIG. 20 is a side view showing a partial cross section with arrows indicating the operations of each part of the welding unit and the gripping unit according to the modification of the fourteenth embodiment of the present invention. (a) and (b) when the welding unit and the gripping unit according to the modified example of the fourteenth embodiment of the present invention are used to pull and tension the edge of the skin material and weld it. The figure which showed the state of. FIG. 2 is a conceptual diagram of a conventional welding system in which pretreatment means, welding means, and posttreatment means are arranged and operated sequentially. (a) and (b) are diagrams showing situations before and after welding work is performed with a conventional welding device, and (c) and (d) are diagrams showing situations before and after welding work is performed with a conventional welding device. (a) to (d) are transition diagrams showing the procedure of carrying out the welding work by winding the skin material around the base material with another conventional welding device. (a) Perspective view showing the state of a base material with projections before welding with still another conventional welding device (b) Shows the state where the skin material is wound around the base material and welded with still another conventional welding device Perspective view (c) is a cross-sectional view showing a state welded by still another conventional welding device.

In the first to fourth embodiments, "a welding method and a welding apparatus for welding by interlocking a pretreatment means for winding a skin material around a base material before welding and a welding means" will be described.

Next, in the modification of the third embodiment, and the fifth, sixth, seventh, and eighth embodiments, "welding pretreatment means and welding means are performed in conjunction with each other. Welding Method and Welding Apparatus".

In the ninth to eleventh embodiments, "a welding method and a welding apparatus in which welding pretreatment means, welding means, and posttreatment means are performed in conjunction" will be described.

In the twelfth embodiment, a "welding method and welding apparatus in which the welding means and the post-treatment means for welding are performed in conjunction" will be described.

In the thirteenth embodiment, the ``squeezing means'' for squeezing the skin material is used as the pretreatment means, and the ``welding method for welding by interlocking the welding means and the pretreatment means for squeezing the skin material to the base material before welding. Welding device” will be explained.

In the fourteenth embodiment, "the welding unit is divided into a welding split unit and a gripping split unit, and if necessary, the relative positional relationship of each split unit, specifically the relative position and relative angle Welding method and welding apparatus configured to be able to change , and perform joint operations for welding.

In addition, in each embodiment below, for the purpose of understanding the invention, the moving direction of the first moving means, specifically, the expansion and contraction direction of the air cylinder will be described as the vertical direction.

(First embodiment)
FIG. 1 shows a welding apparatus according to a first embodiment of the present invention, in which the edge of a sheet-like skin material 3 is wrapped around a thick box-shaped base material 2 and welded. .

In the welding device according to the first embodiment of the present invention, the welding unit 1 is attached to the arm 10 of the articulated robot, which is the second moving means. The control means 90 are in the articulated robot. The control means 90 controls the pretreatment means and the welding means of the welding unit 1 and the operation control of the arm 10 which is the second moving means.

On the other hand, the skin material 3 and the base material 2 are placed in the recess of the pedestal 11, and the edge of the skin material 3 faces upward. In FIG. 1, the right end of the skin material 3 shows the state before welding, and the left end shows the state after welding. The welding unit 1 is positioned on the edge of the skin material 3 by moving the arm 10 of the multi-joint robot. The material 2 is welded by the welding means 7 while being in close contact with the surface of the material 2. - 特許庁

FIG. 2 shows the structure of the welding unit 1 of the present invention. In the welding unit 1, the bracket means 9 is provided with a holding means which is a pretreatment means 5 for performing pretreatment for welding, an elastic member (spring) which is a pretreatment driving means 6 for operating the pretreatment means 5, and a welding means 7. and a first moving means 8 for moving the welding means 7 toward the surface of the skin material. The first moving means 8 is shared as a driving source for moving the welding means 7 and operating the pretreatment means 5, and the movement of the welding means 7 and the operation of the pretreatment means 5 are interlocked. For the purpose of understanding the invention, an arrow-shaped part M is mounted above the first moving means 8, and the bracket means 9 is provided with a black triangular mark (▴) indicating the position of the origin and the first position. A hatched triangle mark and an open triangle mark (Δ) indicating the second position are displayed. The triangular mark indicated by the arrow-shaped part M is used to identify the position of the first moving means.

The arm 10 is a second moving means, is connected to the bracket means 9, and moves the welding unit 1 as a whole. Specifically, as shown in FIG. 1, it moves three-dimensionally as an arm of an articulated robot. However, the arm is not limited to the articulated robot arm, and other moving means may be used as long as it can move in a predetermined manner.

FIG. 3 is an exploded view showing each means in order to explain the structure of the welding unit 1. As shown in FIG. As shown in FIG. 3, the first moving means 8 has the tip of a piston rod 8b that moves up and down protruding upward from a main body 8a of the air cylinder. The main body 8a of the air cylinder is covered with a horizontally extending welding means mounting portion 8c and an outer wall 8e having a spring support rod 8d below. The tip of the piston rod 8b is fixed to the bracket means 9 as indicated by the arrow (1) in FIG. The side surface of the main body 8a slides up and down along the guide surface 9s of the bracket means 9. As shown in FIG.

The welding means 7 is composed of an ultrasonic transducer 7a, a booster 7b, and a tool horn 7c which are integrally assembled from the top of FIG. transmitted to the underside. The shape of the lower surface of the tool horn 7c is uneven as will be described later with reference to FIGS. 9(a) to 9(c). The welding means 7 is fixed to the welding means mounting portion 8c of the first moving means as indicated by the arrow (2) in FIG. In other words, the welding means 7 also moves in parallel with the movement of the first moving means 8 .

The pretreatment means 5 has a bent portion of an inverted L-shaped swing arm 5b swingably attached to a support shaft 5c attached to the fixed arm 5a. A U-shaped groove is cut in the upper tip of the swing arm 5b, and the U-shaped groove is engaged with the spring support rod 8d as indicated by the arrow (3) in FIG. 3, the fixed arm 5a is fixed to the lower tip side of the L-shaped bracket means 9 as indicated by the arrow (4) in FIG. The bracket means 9 is fixed to an arm 10 which is a second moving means shown in phantom lines in FIG.

FIG. 4 is a side view showing the operation of each part of the welding unit of the welding device according to the first embodiment of the present invention with arrows. In the welding unit 1 of FIG. 4, the solid line indicates the state where the first moving means 8 is at the origin, and the two-dot chain line indicates the state where it is at the first position. In FIG. 4, when the first moving means 8 moves downward from the original position to the first position as indicated by the arrow (1), the spring, which is the pretreatment driving means 6, is lowered and supported by the support shaft 5c. The rocking arm 5b is rocked clockwise as indicated by an arrow (2). That is, in the swinging arm 5b, the vertical movement of the first moving means 8 is converted into horizontal movement, and the tip of the swinging arm 5b moves toward the fixed arm 5a as indicated by arrow (3). and make a grasping motion. The surfaces of the fixed arm 5a and the swing arm 5b for gripping the skin material 3 are provided with unevenness to prevent the skin material 3 from slipping.

After that, when the first moving means 8 moves downward from the first position to the second position as indicated by the arrow (4), the movement of the rocking arm 5b is absorbed by the spring, which is the pretreatment driving means 6. while the welding means 7 is further lowered. That is, while the skin 3 is gripped by the fixed arm 5a and the swing arm 5b, the welding means 7 is lowered to the side of the gripped portion of the skin 3. As shown in FIG. Thus, the lower surface of the tool horn 7c of the welding means 7 presses the skin material 3 to be welded. Then, the welding means 7 is ultrasonically vibrated to weld the skin material 3 and the base material 2 together.

FIG. 5 is a flowchart showing the procedure of the welding operation of the welding unit of the welding device according to the first embodiment of the present invention. FIGS. 6(a) and 6(b), FIGS. 7 and 8(a) and 8(b) are explanatory diagrams of the operation of the welding operation of the welding device according to the first embodiment of the present invention.

The procedure of the welding work will be described below using FIGS. 5 to 8. When the work is started after determining the work contents in step ST1 of FIG. Move to the gripping position. At this point, the first moving means 8 of the welding unit 1 is at the origin position. Next, the first moving means 8 is pushed down to the first position (step ST2). Then, the gripping operation of the pretreatment means 5 is performed, and the fixed arm 5a and the swing arm 5b of the pretreatment means 5 grip the ends of the upholstery material 3 as shown in FIG. 6(b) (step ST3). If the task determined in step ST1 is to pull the skin material 3 (YES in step ST4), the arm 10, which is the second moving means, moves the welding unit 1 along the surface of the skin material 3. . At this time, the moving amount of the welding unit 1 by the arm 10, which is the second moving means, is set to a value that produces a predetermined force or more that does not cause wrinkles in the skin material 3, and the skin material 3 is pulled (step ST5).

FIG. 7 is a diagram for explaining that the stretch amount of the skin material changes depending on the amount of movement of the welding unit, and the tension applied to the skin material changes. In FIG. 7, if the skin material 3 protruding above the base material 2 is folded on the base material 2 with zero tension, the folded length of the skin material is _L0. , the folded length of the skin material is folded with a length L extended by ΔL. A tension is applied to the skin material 3 due to the elongation by ΔL. The tension increases in proportion to the value of ΔL. Therefore, by determining a length L obtained by adding ΔL, which produces a tension that does not cause wrinkles, to the length _L0 when the tension is zero, it is possible to perform wrinkle-free welding. The tension of the skin material could not be controlled by the conventional method using a sliding piece, but the tension of the skin material can be controlled by the present invention. FIG. 8(a) shows an operation of pulling the upholstery material 3 with a force that does not cause wrinkles.

After that, when the first moving means 8 is pushed down to the second position, the lower surface (pressing surface) of the tool horn 7c of the welding means 7 presses the skin material 3 to be welded as shown in FIG. step ST6). Then, the welding means 7 is ultrasonically vibrated to weld the skin material 3 and the base material 2 (step ST7). After welding is completed, the first moving means 8 is returned to the first position. The welding means 7 leaves the object to be welded. Further, when the first moving means 8 is returned to the original position, the pretreatment means 5 releases the grip and finishes the welding work (step ST8). If the task determined in step ST1 is to pull the skin material 3 (NO in step ST4), the operation of pulling the skin material 3 in step ST5 is not performed, and steps ST6 to ST8 are performed.

Here, regarding the operations of "lowering to the first position" and "lowering to the second position" of the first moving means 8 in steps ST2 and ST6, the air pressure of the air cylinder, which is the first moving means 8, is controlled by changing In step ST2, a relatively small first air pressure (P1) is applied to push down to the first position, and the spring, which is the pretreatment driving means 6, is pressed down. In step ST6, a second air pressure (P2) larger than the first air pressure (P1) is applied to push down to the second position, and the lower surface of the tool horn 7c of the welding means 7 presses the skin material 3. As shown in FIG.

When an electric means such as a servomotor or a linear motor is used as the first moving means 8 instead of the air cylinder, the amount of rotation of the servomotor or the amount of movement of the linear motor can be used to "lower to the first position." ' and 'lower to second position' can be controlled.

FIGS. 9(a) to 9(c) are external perspective views of the shapes of pressing surfaces of

several tool horns

70, 71, 72 used in the welding device according to the first embodiment of the present invention, viewed from below. . In FIG. 9(a), the pressing surface of the tool horn is formed as an uneven surface by carving a plurality of parallel grooves 70b in the cylindrical end surface 70a. In FIG. 9(b), a plurality of bar-shaped projections 71a are erected on the cylindrical end surface 71b to form an uneven surface. In FIG. 9(c), a plurality of parallel grooves 72b are carved in the end surface 72a of the prism to form an uneven surface.

FIG. 9(d) emphasizes the state after the skin material 3 has been welded to the base material 2 by the tool horn of the welding device according to the first embodiment of the present invention. As indicated by the arrow A in FIG. 9(d), the surface material 3 is welded to the surface of the base material 2 so that the tension of the surface material 3 does not separate the welded portion. Since the tension remains when the skin material 3 is pulled, the skin material 3 is taut and wrinkle-free.

In the above description, the ultrasonic welding means is used as the welding means, but other welding means, such as impulse welding means, may be used as long as the welding means is capable of welding synthetic resin materials.

In the first embodiment, as described above, the first problem, "the pretreatment means for welding is constituted by a small and lightweight means, is smoothly and reliably interlocked with the welding means, and the pretreatment for welding is achieved." Welding Method and Welding Apparatus for Performing Welding.

In addition, the second problem, "When the skin material is wrapped around the base material, the pretreatment means for pulling the skin material with a force greater than a predetermined level so that the skin material does not wrinkle and the welding means are interlocked and welded. Welding Method and Welding Equipment”.

(Modified example of the first embodiment)
FIG. 48 shows a welding apparatus according to a modification of the first embodiment of the present invention, in which the edge of the sheet-like skin material 3 is wrapped around the thick box-shaped base material 2 and welded. showing.

The welding device according to the modification of the first embodiment of the present invention has an articulated robot arm 10, and as shown in FIG. It is The arm 10 has a wrist 10d at its distal end that can rotate around the axis α indicated by the dashed line in FIG. The welding unit 1 is attached to the wrist 10d of the arm 10 of the articulated robot. Control means 90 and storage means 91 are in the articulated robot.

FIG. 49 is a flowchart showing the procedure of the welding operation of the welding unit of the welding device according to the modified example of the first embodiment of the present invention. 6(a)(b), 8(a)(b), and 50(a)(b) show the transition of the welding work operation of the welding device according to the modification of the first embodiment of the present invention. It is a diagram. FIG. 51 is a diagram showing a table of gripping positions and rotation angles stored in the storage means 91 of the welding device according to the modification of the first embodiment of the present invention.

　Hereinafter, the welding work procedure will be described with reference to FIGS. 49, 6, 8, 50, and 51. In step ST1 of FIG. 49, when the work content is determined and the work is started, the arm 10, which is welding unit moving means (also referred to as second moving means, the same shall apply hereinafter), moves the welding unit 1 as shown in FIG. 6(a). The gripping means (also referred to as pretreatment means, hereinafter the same) 5 moves to a position where it grips the edge of the upholstery material 3 (step ST2). At this point, the moving means (also referred to as first moving means, hereinafter the same) 8 of the welding unit 1 is at the origin position. The grip position and welding position include XYZ information that determines the three-dimensional position (coordinates) of the welding unit 1 and the rotation angle of the wrist 10d of the arm 10 that controls the orientation of the welding unit 1. FIG. As an example, in FIG. 6(a), the holding position of the left end of the upholstery material 3 in the drawing is No. of the table in FIG. 1, (X1, Y1, Z1, 0°), the gripping position of the right end of the upholstery material 3 in the drawing is No. of the table in FIG. 2 (X2, Y2, Z2, 180°) is stored in the storage means 91 .

Next, lower the moving means 8 to the first position (holding position). Then, the gripping operation of the gripping means 5 is performed, and the fixed arm 5a and the swinging arm 5b of the gripping means 5 grip the left end of the upholstery material 3 as shown in FIG. 6(b) (step ST3).

Next, the arm 10, which is the welding unit moving means, moves the welding unit 1 in the direction along the surface of the skin material 3 to the welding position. At this time, as shown in FIG. 8(a), the amount of movement of the welding unit 1 by the arm 10, which is the welding unit moving means, is set to a value that produces a force greater than or equal to a predetermined force that does not cause creases in the skin material 3. is pulled (step ST4).

Thereafter, when the moving means 8 is lowered to the second position, the lower surface (pressing surface) of the tool horn 7c of the welding means 7 presses the surface material 3 to be welded as shown in FIG. 8(b) (step ST5). . Then, the welding means 7 is ultrasonically vibrated to weld the skin material 3 and the base material 2 (step ST6). When the welding of this part is completed, the moving means 8 is returned to the first position. The welding means 7 leaves the object to be welded. Further, when the moving means 8 is returned to the original position, the gripping means 5 releases the gripping and determines whether or not there is a next welded portion (step ST7).

If there is a next welding point (YES in step ST7), the gripping position and welding position are updated (ST8), and in the example shown in FIG. is moved toward the upper surface of the base material 2, the gripping means moves to the gripping position of the right end of the surface material 3 in the drawing (step ST2). At this time, the gripping position of the right end of the upholstery material 3 in the drawing is No. in the table of FIG. 2 position data (X2, Y2, Z2, 180°), the welding unit 1 is rotated 180° on the horizontal plane from the attitude shown in FIG. 50(a). After that, the same operations as in steps ST3 to ST6 described above are performed, and the ends of the skin material 3 are wrapped around the base material 2 and welded.

On the other hand, if there is no next welding point (NO in step ST7), the welding unit 1 is moved to the origin by the arm 10, which is the welding unit moving means (step ST9), and the welding operation is completed (step ST10).

Here, the movement of the moving means 8 to "lower to the first position" and "lower to the second position" in steps ST3 and ST5 is controlled by changing the air pressure of the air cylinder, which is the moving means 8. ing. In step ST3, a relatively small first air pressure (P1) is applied to push down to the first position to hold down the spring that is the grip driving means (also called pretreatment moving means, hereinafter the same) 6. FIG. In step ST5, a second air pressure (P2) larger than the first air pressure (P1) is applied to push down to the second position, and the lower surface of the tool horn 7c of the welding means 7 presses the skin material 3. As shown in FIG.

When an electric means such as a servomotor or a linear motor is used as the moving means 8 instead of the air cylinder, the amount of rotation of the servomotor and the amount of movement of the linear motor can be changed to "lower to the first position" and "lower to the first position" respectively. Control of the "lower to second position" movement can be provided.

FIG. 52 is an enlarged view of the gripping means 5 and the welding means 7 in FIG. 8(a). A diagram showing a state in which the edge is strongly held and pulled without slipping, and the unevenness of the tip of the tool horn is used to bite into the surface of the skin material 3, exhibiting an anchor effect and strongly welded. is.

In the welding device of the present invention, the surface where the gripping means 5 grips the skin material 3 has unevenness. As a result, the skin material 3 can be strongly gripped without slipping, and by firmly pulling the skin material 3 in this state, the object to be welded is prevented from being wrinkled.

Also, the tool horn 7c of the welding means 7 has an uneven tip. As a result, the anchor effect can be exhibited by biting into the surface of the skin material 3, and the welding strength can be improved.

By using the welding unit 1 of the welding apparatus of the present invention, the edge of the skin material 3 is gripped by the gripping means 5 and pulled strongly without slipping, and in this state, the unevenness of the tip of the tool horn 7c is applied to the skin material. It is possible to weld the skin material 3 without wrinkles by making it bite into the surface of the skin material 3 and exerting an anchor effect for strong welding.

The third problem is that the welding means and the pretreatment means are interlocked with each other to reduce or eliminate the dump-like portions where the skin material overlaps at the corners where the wall of the base material is bent at right angles, and to eliminate wrinkles. Absorbing and welding the surplus of" will be explained in the second embodiment.

(Second embodiment)
FIG. 10 shows the welding unit 1a of the welding apparatus according to the second embodiment of the present invention, and the welding unit 1a, the skin material 3a, and the skin material 3a when the skin material 3a is wound around the thin box-shaped base material 2a and welded. The positional relationship with the base material 2a is shown. In FIG. 10, the tip of the tool horn 7 is thickened so that welding can be performed over a wide area. Others are substantially the same as the welding unit 1 described in the first embodiment. 10 differs in that the arm 10, which is the second moving means, is attached to the upper surface of the bracket means 9, but three-dimensionally moving the welding unit 1a is the same.

FIGS. 11(a) to 11(d) are transition diagrams showing states in which welding is being performed by the welding device according to the second embodiment of the present invention. 11(a), the pretreatment means 5 is moved above the tip of the skin material 3a, the tip of the skin material 3a is gripped in FIG. 11(b), and the skin material 3a is removed in FIG. 11(c). 11(d), the skin material 3a is wound inside the wall of the base material 2a, the tip of the welding means 7 is pressed against the skin material 3a and the base material 2a, and the welding means is brought into close contact with the base material 2a. 7 is ultrasonically vibrated for welding.

FIG. 12 is an external view of the tip of the tool horn according to the second embodiment of the present invention, and a cross-sectional view of the object to be welded by the welding device and the tool horn used for ultrasonic welding. .

In the second embodiment, as shown in FIG. 12, the tip of the prism of the tool horn _7c1 has a stepped uneven surface. When the skin material 3a is wrapped around the base material 2a, the surplus of the skin material 3a is absorbed as a curved surface corresponding to the uneven surface. Since the surplus is particularly large near the end of the tip of the skin material 3a, the tool horn _7c1 is deeply pushed under the wall of the base material 2a.

In the second embodiment, the tip of the tool horn _7c1 is pressed obliquely below the wall of the substrate 2a. The skin material 3a gripped by the pretreatment means 5 is pulled by the pretreatment means 5 in the direction of the arrow (1) in the drawing, pushed in the direction of the arrow (2) by the tool horn 7c1, and is pushed by the tool horn _7c1 in the direction of the arrow (3). , welds under strong tension. Due to the deep depression of the tool horn _7c1 under the walls of the substrate 2a, the thickness La of the walls of the substrate 2a is reduced below the walls as indicated by Lb.

FIGS. 13(a) and 13(b) are external views of tips of tool horns _{7d1 and} _7d2 for welding corner portions according to the second embodiment of the present invention, and cross-sectional views of welding objects welded by the welding device. and a side view of a tool horn used for ultrasonic welding.

At the corners where the two walls of the base material 2a intersect at right angles, the tips of the tool horns 7d1 _and _7d2 have two crossed pressing surfaces (R , L). FIG. 13(a) shows the shape when the two crossing pressing surfaces R1 and L1 are planes in order to explain the shape in an easy-to-understand manner. FIG. 13(b) shows a shape when the two intersecting pressing surfaces R2 and L2 are stepped uneven surfaces. The skin material 3a is pulled by the pretreatment means 5 in the direction of the arrow (1) in the figure, pushed by the tool horns _{7d1 and} _7d2 in the direction of the arrow (2), and pulled strongly as shown by the arrow (3). Welding in the closed state is the same as described in FIG. Also in FIG. 13, the thickness La of the wall of the substrate 2a is reduced below the wall as indicated by Lc by deeply pushing the tool horn _7c1 under the wall of the substrate 2a.

FIG. 14 shows the welding apparatus according to the second embodiment of the present invention, in particular, the state after welding the skin material 3a of the corner portion and the base material 2a with the tool horn _7d1 having the shape of FIG. 13(a) and the tool. It is the figure which showed the external shape of the front-end|tip of horn _7d1 . In the conventional example described with reference to FIG. 58, the triangular pyramidal projections 26 were provided to absorb the surplus of the skin material 3a. The surplus portion of the skin material 3a is absorbed by being recessed in the shape of a cone. For reference, in FIG. 14, B indicates the state after welding the skin material 3a and the base material 2a in the linear portion.

For the purpose of understanding the invention, the movement of the welding unit when welding the corner portion according to the second embodiment will be explained using the flowchart of FIG. 15 and FIGS. 16 and 17. FIG.

FIG. 15 is a flowchart showing the procedure of the welding operation of the welding unit of the welding device according to the second embodiment of the present invention. FIGS. 16 and 17 are explanatory diagrams showing the operation of winding the skin material 3a into the wall 2a of the base material by the coordinated operation of the plurality of welding units 1a and 1b. 15 to 17, the welding unit 1a for welding the skin material to the straight portion of the substrate and the welding unit 1a for welding the skin material to the corner portion of the substrate have the same basic structure as the welding units. A welding method using two types of welding units, the welding unit 1b for welding, will be described as an example.

When the work content is determined in step ST21 of FIG. 15 and the work is started, as the first work of wrapping the skin material around the base material, the second moving means moves the plurality of welding units to the ends of the skin material at the corners and the straight parts. are moved to positions for gripping the ends of the skin material (step ST21). When the first moving means 8 of each welding unit moves to the first position, the pretreatment means of each welding unit grips the edge of the skin material (step ST22). In FIG. 16(a), the pretreatment means of each of the

welding units

1a and 1b of the welding apparatus according to the second embodiment of the present invention pre-processes the edge of the skin material 3a in the straight portion and the edge of the skin material 3a in the corner portion. holding each part.

Then, the skin material 3a previously gripped by the welding unit 1b for the corner portion is wound inside the wall of the base material 2a for the corner portion (step ST23). In FIG. 16(b), only the welding unit 1b that grips the skin material 3a at the corner portion is first moved in the direction of arrow (1), and the edge of the skin material 3a at the corner portion is moved in the direction of arrow (2). It shows a state in which it is moved to the inner side of the wall of the base material 2a.

In FIG. 17(a), the welding unit 1b is moved in the direction of arrow (3), the skin material 3a is pulled in the direction of arrow (4), and after a short delay, the welding unit grips the skin material 3a in the linear portion. 1a is moved in the direction of the arrows (5R) and (5L) to move the end portions of the skin material 3a in the linear portion to the inside of the wall of the base material 2a (step ST24). In FIG. 17(a), the welding unit 1b gripping the corner portion and the two welding units 1a gripping the edge of the straight portion of the skin material 3a are moved to move the edge of the skin material 3a to the base. It shows a state in which the material 2a is moved to the inside of the wall and rolled up. In this manner, by winding the skin material 3a at the corner portion before the skin material 3a at the straight portion, the skin material 3a at the corner portion can be reliably pressed against the inner side of the wall of the base material 2a.

After the skin material 3a is wrapped around the wall of the base material 2a, it is first welded by the welding unit 1b for the corner portion and then by the welding unit 1a for the straight portion (step ST25). FIG. 17(b) is a diagram showing a state in which welding is started by the welding unit 1b that grips the corner portion of the skin material 3a after the edge of the skin material 3a is wrapped around the wall of the base material 2a. . The reason why the skin material 3a at the corner portion is welded first is that the surplus of the skin material 3a generated when winding is pushed into the wall of the base material 2a and absorbed. After that, even in the welding unit 1a that grips the edge of the skin material 3a in the straight part, the remaining surplus part of the skin material 3a is pushed into the wall of the base material 2a and absorbed.

Here, an example is shown in which the three

welding units

1a and 1b are simultaneously moved at one corner portion of the base material 2a and a straight portion connected thereto. For example, a single welding unit may be used to wrap and weld the skin material 3a of the straight portion later.

In addition, if the skin material that is wrapped around the corners of the base material is notched in advance, the surplus of the skin material is reduced by the number of cuts. If the present invention is applied to the case where the skin material is notched in advance, it is possible to further reduce or eliminate wrinkles and lump-like portions where the skin material overlaps at the corners.

In other words, in the present invention, the skin material is pulled to the inside of the wall of the box-shaped base material by a predetermined amount to give tension, and the tool horn that is ultrasonically vibrating is placed over the skin material that is wound and covered. By forming the pressing recesses and welding the surplus skin material to the recesses of the base material, the surplus skin material is absorbed by the recesses of the base.

Then, by using a welding unit in which the welding pretreatment means is arranged in the vicinity of the welding means, the moving means of the welding means is shared as a drive source for the welding pretreatment means, and the welding means and the welding pretreatment means are used in common. are working in tandem.

As described above, in the second embodiment, in addition to solving the first problem and the second problem of the present invention, the third problem, "The surface material is A welding method and a welding device for absorbing and welding the surplus of the surface material by linking the pretreatment means and the welding means so as to reduce or eliminate wrinkles and dumplings where the skin overlaps.

(Modification of Second Embodiment)
In a modification of the second embodiment, the tip of the tool horn 7b is shaped to have two surfaces with stepped unevenness as shown in FIG. Press and weld.

The plan view of FIG. 18 shows the state after welding by the welding device according to the modification of the second embodiment of the present invention. FIG. 19 shows a perspective view of the state after welding. When welded, the wall thickness (Ld, Le) of the corner portion becomes thinner than the wall thickness (La, Le) of the straight portion.

Comparing FIG. 18 with FIG. 56(c) showing a conventional example, it can be seen that the present invention later reduces the wall thickness of the corner portion and increases the wall thickness of the straight portion, thereby increasing the thickness of the skin material. It is understood that the surplus of 3a is absorbed. If the wall thickness of the substrate is relatively thin, it cannot be pushed deep under the wall. In this case, the surplus of the skin material 3a can be absorbed by welding with the welding device according to the modification of the second embodiment of the present invention shown in FIGS.

In addition, if the skin material that is wrapped around the corners of the base material is notched in advance, the surplus of the skin material is reduced by the number of cuts. If the present invention is applied to the case where the skin material is notched in advance, it is possible to further reduce or eliminate the dumpling-shaped portions where the skin material overlaps and wrinkles generated at the corners, which is the same as the second embodiment. is.

In other words, in the present invention, the skin material is pulled to the inside of the wall of the box-shaped base material by a predetermined amount to give tension, and the tool horn that is ultrasonically vibrating is placed over the skin material that is wound and covered. By pressing and forming a recess near the corner where the thickness of the wall near the corner is thinner than the wall thickness of the straight part, and by welding the surplus of the skin material to the surface of the recess of the base material. , the surplus of the skin material is absorbed on the surface of the recess of the base material.

Then, using a welding unit in which the welding pretreatment means is arranged near the welding means, the moving means of the welding means is shared as a drive source for the welding pretreatment means, and the welding means and the welding pretreatment means are used in common. are working in tandem.

As described above, in the modified example of the second embodiment as well, the third problem is that the front surface is designed to reduce or eliminate wrinkles and dump-like portions where the skin material overlaps at the corners where the walls of the base material are bent at right angles. A welding method and a welding device for absorbing and welding surplus skin materials by interlocking processing means and welding means.

(Third embodiment)
FIG. 20 shows a welding apparatus according to a third embodiment of the present invention, in which the edge of the covering material 3 covering the base material 2 is folded over the base material 2 and welded.

FIG. 21(a) is an external view showing the state before welding of the object to be welded according to the third embodiment of the present invention, and FIGS. FIG. 2 is an external view showing a state after welding of such objects to be welded.

The structure of the welding device of the third embodiment of the present invention is similar to the welding device of the first embodiment, but as shown in FIG. is provided with rotation positioning means 10R for rotatably rotating and positioning at an arbitrary angle on a plane orthogonal to the rectilinear direction in which the welding means moves. The rotation positioning means 10R has a structure in which the lower portion (10RL) rotates around the axis Q passing through the center of the welding unit with respect to the upper portion (10RU). Assuming that the tip of the arm 10 is a wrist, the orientation of the welding unit 1 is changed by rotating and positioning the wrist at an arbitrary rotation angle to perform pretreatment and welding. By providing the rotation positioning means 10R, when the ends of the skin material 3 covering the upper surface of the cubic base material 2 shown in FIG. can turn.

That is, in FIG. 21(a), the base material 2 is placed in the synthetic resin skin material 3 of the same shape as a bag. 21(b) or 21(c), the triangular ends of the skin material 3 erected substantially vertically from each side of the upper surface are folded over the upper surface of the base material 2 to form the ends of the skin material 3. It is welded at the

welding position

4a or 4b near the part. In FIG. 21(b), a total of four welds are performed, one at each edge of the skin material 3. In FIG. In FIG. 21(c), after one edge of the skin material 3 is welded, the remaining edge is repeatedly overlapped and welded repeatedly.

As described above, the welding apparatus of the present invention arranges the pretreatment means 5 right next to the welding means 7 and welds the sheet-like skin material to the base material, for example, product boxes and product boxes. It can also be applied to the welding of a sheet-like packaging material covering the .

(Modification of the third embodiment)
FIG. 22(a) is a perspective view showing an appearance of an object to be welded by a welding device according to a modification of the third embodiment of the present invention, and FIG. 22(b) is a positional relationship between the welding device and the object to be welded. is a side view showing In FIG. 22(a), a plate-like protruding portion 3kh that can be gripped by the pretreatment means 5 of the welding unit 1 is provided on the upper surface of a block-shaped object to be welded 3k consisting of a hollow cylinder having an upper wall. In FIG. 22(b), the projecting portion 3kh of the block-shaped object 3k on the left side of the pedestal 18 is gripped by the pretreatment means 5 of the welding unit 1, and the cylindrical base material placed on the pedestal 18 is 2k, and the welding means 7 is ultrasonically vibrated for welding.

As shown in FIG. 22(a), if a block-shaped object 3k to be welded has a protruding portion 3kh that can be gripped by the pretreatment means 5 of the welding unit, the block-shaped object can also be a welding unit as shown in FIG. 22(b). It has been shown that the pretreatment means 5 of No. 1 can grip the protruding portion 3kh, bring it to the welding position, overlap it on another object 2k to be welded, and weld it in close contact with each other.

(Fourth embodiment)
FIG. 23 is a side view showing a welding device according to a fourth embodiment of the invention. In the fourth embodiment of the present invention, the direction in which the skin material 3c is gripped by the pretreatment means 5 is the horizontal direction in the drawing. The structure of the welding unit 1c is almost the same as that of the first embodiment, but the structure of the pretreatment means is different. In the pretreatment means 5 of the fourth embodiment, a fixed arm 5a extends leftward (toward the welding means 7) from the lower portion of a bracket means 9c extending vertically in FIG. A swing arm 5d is swingably supported at a fulcrum 5ad below the bracket means 9c. A spring 17 is provided at the central portion of the fixed arm in the longitudinal direction, and the swing arm 5d is urged upward from below by the spring 17. When the first moving means 8 is at the origin position, the fixed arm 5d is pushed upward. 5a, the mouth opens (upward swing).

In FIG. 23, arrows indicating the operation of each part are shown. The movement of each part is basically the same as the movement of the first embodiment explained with reference to FIG. When the first moving means 8 moves downward from the origin position to the first position as indicated by the arrow (1), the spring, which is the pretreatment driving means 6, is lowered as indicated by the arrow (2) and swings. The arm 5d is swung counterclockwise. Then, the tip of the swing arm 5d moves toward the fixed arm 5a as indicated by arrow (3) to perform a gripping operation. After that, when the first moving means 8 moves downward from the first position to the second position as indicated by the arrow (4), the welding means 7 moves relative to the bracket means 9 and the pretreatment means 5. Move relatively downward. In other words, while the skin 3 is gripped by the fixed arm 5a and the swinging arm 5b, the welding means 7 is lowered to the side of the gripped portion of the skin 3. As shown in FIG. In this way, the tip of the tool horn 7c of the welding means 7 presses the surface material 3 to be welded, as indicated by an arrow (5). Then, the welding means 7 is ultrasonically vibrated to weld the skin material 3 and the base material 2 together.

FIGS. 24(a) and 24(b) are side views showing a welding operation being performed by a welding device according to a fourth embodiment of the present invention. In FIG. 24( a ), after the front end of the strip-shaped skin material 3 c is previously welded to the peripheral surface of the cylindrical base material 2 c , the opposite end of the skin material 3 c is gripped by the pretreatment means 5 of the welding unit 1 . Then, while pulling the skin material 3c, the base material 2c is rotated to wind the skin material 3c around the peripheral surface. As shown in FIG. 24(b), when the skin material 3c has been wrapped around and the skin materials 3c have overlapped with each other, the rotation of the base material 2c is stopped and the welding means 7 welds them together.

FIG. 25 is a perspective view showing the external appearance of the tool horn 7c used for welding by the welding device according to the fourth embodiment of the present invention and the welded objects. Since the tool horn 7c is elongated in the depth direction, the entire periphery of the cylindrical base material 2c and the rectangular parallelepiped base material 2d are covered with

skin materials

3c and 3d, respectively, and welded while being pulled. Since the skin material is welded by pulling it tightly, it can be welded without wrinkles.

(Fifth embodiment)
FIG. 26 shows a welding unit 1d of a welding apparatus according to a fifth embodiment of the present invention, which grips an object 3g to be welded and has a tab portion 3gh that extends horizontally, and holds the base material 2g at the welding position. It shows a welding device that brings the substrate 2g to the upper surface of the base material 2g and welds it. The structure of the welding unit 1d is the same as that of the fourth embodiment.

In FIG. 26(b), a block-shaped object 3g on the right side of the pedestal 18g is gripped by the fixed arm 5a and the swing arm 5b of the pretreatment means 5 of the welding unit 1d, and the pedestal It covers the base material 2g on the 18g, and is welded by ultrasonically vibrating the welding means 7. As shown in FIG.

According to the fifth embodiment, as shown in FIG. 26(a), if the object 3g to be welded has a knob portion 3gh that can be gripped by the pretreatment means 5 of the welding unit 1d, even a block-like object can be used as shown in FIG. As shown in b), the pretreatment means 5 of the welding unit grasps the object, carries it to the welding position, overlaps it with another object 2g to be welded, and welds them in close contact with each other.

(Sixth embodiment)
FIG. 27 shows that four welding units 1c of the welding apparatus according to the sixth embodiment of the present invention are used to grip the four corners of a square sheet-like skin material 3e and to adhere and weld it to a base material 2e on a flat plate. showing the situation. FIG. 28 is a plan view showing a state in which an object to be welded is being welded by a welding apparatus according to a sixth embodiment of the present invention. The structure of the welding unit 1c is the same as that of the fourth embodiment.

When the amount of pulling of each welding unit 1c is uniform, the pulling force becomes uniform. When pulled with the same force, the skin material 3e is welded while being stretched uniformly as a whole. If the skin material 3e is pulled with a force greater than or equal to a predetermined amount, the skin material 3e is not wrinkled.

(Modification of the sixth embodiment)
FIG. 29 is a side view showing a state in which a welding operation is being performed by a welding device according to a modification of the sixth embodiment of the present invention. FIG. 29 shows the case where the skin material 3f is welded to the base material 2f whose surface is an upwardly convex curved surface.

In this way, the skin material can be welded to flat base materials having various shapes using a plurality of welding units.

(Seventh embodiment)
In the seventh embodiment of the present invention, as shown in FIG. 30, the direction of gripping by the arm 5h of the pretreatment means 5 is the plane direction orthogonal to the vibration direction of the tool horn 7c (vertical direction in the figure), the so-called The welding unit 1h is shown in the depth direction of the figure.

When the arm 5h of the pretreatment means 5 opens and closes in the depth direction, the outer shape of the object to be welded in the form of a block is directly gripped, carried to the welding position, and placed on the base material, and no grip portion is formed on the base material. Objects to be welded can be welded.

FIG. 31 shows the appearance of the arm 5h of the pretreatment means 5. FIG. 31(a) shows a bottom view seen from arrow D in FIG. FIG. 31(b) shows an exploded view of the arm 5h as seen from arrow D in FIG. FIG. 31(c) shows a bottom view seen from arrow D in FIG. 30 when the object to be welded is gripped by the arm 5h.

FIG. 31(a) shows a state in which the pair of arms 5h of the pretreatment means 5 and the pair of arms 5h are pulled by the tension spring 6b so that the left side of the fulcrum P is open. The arm 5h swings through the fulcrum P. As shown in FIG. 31(a), when an inverted triangular pyramidal push rod 6h is inserted into the space on the right side, the right side of the fulcrum P of the arm 5h opens and the left side of the arm 5h closes. FIG. 31(b) shows the movement of each arm. As shown in FIG. 31(c), when an inverted triangular pyramidal push rod 6h is inserted into the space on the right side, the space between the pair of arms 5h on the left side clamps and grips the block-shaped object 9a to be welded.

As for the movement of each part, when the first moving means 8 moves from the position of the origin to the lower first position as indicated by the arrow (1) in FIG. The inverted triangular pyramid that is the driving means 6 is lowered, the arm 5h is closed in the depth direction as indicated by the arrow (3) in FIG. 30, and the object 9a to be welded is gripped. After that, the object 3h to be welded is superimposed on the base material 2h at the welding position by the second moving means 10. As shown in FIG. When the first moving means 8 moves from the first position downward to the second position as indicated by arrow (4) in FIG. ), the surface material 3 to be welded is pressed. Then, the welding means 7 is ultrasonically vibrated to weld the skin material 3 and the base material 2 together.

FIGS. 32(a) to 32(d) show a welding unit 1h of a welding apparatus according to the seventh embodiment of the present invention, picking up an object 3h to be welded, carrying it onto a base material 2h at the welding position, and adhering it. The transition diagram shows the operation of welding in the state. FIG. 32(a) shows a state in which one object 3h to be welded is gripped by the arm 5h of the pretreatment means 5 of the welding unit 1h. FIG. 32(b) shows the situation when one object 3h to be welded held by the welding unit 1h is moved above the welding position. FIG. 32(c) shows a state in which the base material 2h and the skin material 3h are welded together in the welding unit 1h. FIG. 32(d) shows a state in which the welding unit 1h is released from the grip and moved above the welding position after finishing welding with the welding device according to the third embodiment of the present invention.

In the seventh embodiment of the present invention, the direction of gripping by the arms 5h of the pretreatment means 5 is the depth direction in the drawing. It has also been demonstrated that a block-shaped object to be welded can be grasped and the object to be welded, which does not have a tab portion formed thereon, can be transported to the welding position and superimposed on the base material to be welded.

(Eighth embodiment)
In the eighth embodiment of the present invention, as shown in FIG. 33, the "pretreatment means 5 for gripping the edge of the skin material" of the welding unit 1c of the fourth embodiment is replaced with "the pretreatment means 5 for gripping the edge of the skin material". The welding unit 1k is shown in place of the pressing means 15'' for pressing the surface. By shortening the length of the fixed arm of the pretreatment means 5, the long swing arm can be used as the pressing means for pressing the object to be welded.

The movement of each part is basically the same as the movement of the fourth embodiment described in FIG. When the first moving means 8 moves downward from the origin position to the first position as indicated by the arrow (1) in FIG. 33, the spring that is the pretreatment driving means (pressing driving means 16) is lowered. The pressing means 15, which is supported by the support shaft 5kd under the bracket means 9k and whose lower surface is urged counterclockwise by the spring 17, moves along the arrow (2) as the first moving means 8 moves. Rotate clockwise like Then, the tip of the pressing means 15 moves downward as indicated by an arrow (3) to press the skin material 3 on the base material 2 . A hole through which the tool horn 7c can pass is formed in the pressing surface on the tip side of the pressing means 15. After that, when the first moving means 8 moves to the second position as indicated by the arrow (4), The tool horn 7c of the welding means 7 descends as indicated by an arrow (5) to press the skin material 3 to be welded. Then, the welding means 7 is ultrasonically vibrated to weld the skin material 3 and the base material 2 together.

FIG. 34 is a flowchart showing the procedure of the welding operation of the welding unit of the welding device according to the eighth embodiment of the present invention. FIGS. 35(a) to 35(d) are transition diagrams showing the procedure of the welding operation of the welding unit of the welding device according to the eighth embodiment of the present invention. The basic flow is the same as that of the first embodiment shown in FIG. 5, and the same step numbers are given to the same operations.

When the work content is determined in step ST1 of FIG. 34 and the work is started, the second moving means 10 moves the welding unit 1k to the position where the pressing means 15 should press the upholstery material 3 as shown in FIG. 35(a). do. At this point, the first moving means 8 of the welding unit 1k is at the origin. Next, the first moving means 8 is pushed down to the first position (step ST2). Then, a pressing operation of the pressing means 15 is performed, and the pressing means 15 presses the surface of the upholstery material 3 as shown in FIG. 35(b) (step ST13). Thereafter, when the first moving means 8 is pushed down to the second position, the tip of the tool horn 7c of the welding means 7 presses the covering material 3 to be welded as shown in FIG. 35(c) (step ST6). Then, the welding means 7 is ultrasonically vibrated to weld the skin material 3 and the base material 2 (step ST7). After welding is completed, the first moving means 8 is returned to the first position. The welding means separates from the object to be welded. Further, when the first moving means 8 is returned to the original position of the origin, the preprocessing means 5 releases the pressing means 15 to complete the welding operation (step ST8).

Here, the operation of "lowering to the first position" and "lowering to the second position" of the first moving means 8 in steps ST2 and ST6 is performed by the air pressure of the air cylinder which is the first moving means 8. controlling. This is the same as that explained in FIG. 5 of the first embodiment already explained in FIG.

In the eighth embodiment, the length of the fixed arm of the pair of arms of the pretreatment means 5 of the welding apparatus of the fourth embodiment shown in FIG. 23 is shortened, and the pretreatment means is a long swing arm. can be used as a pressing means for pressing the object to be welded.

Prevents misalignment between the skin material and the base material when welding the skin material to the base material in close contact with the base material, and provides preliminary compression (preload) when welding the skin material to a soft base material. It can be used when you want to weld the surface material and the base material while applying a predetermined pressing force. In particular, if the soft base material and the skin material are pressurized, the base material and the skin material are compressed and welded in close contact with each other, so that a desired welding force can be obtained.

(Modification of the eighth embodiment)
FIG. 36 is a side view showing the structure of the welding unit of the welding device according to the modification of the eighth embodiment of the present invention; In the modification of the eighth embodiment, a skin material 3m is placed on a thick base material 2m, and pressed by a pressing means 15 so that the base material 2m and the skin material 3m are welded together. rice field.

In a variant of the eighth embodiment of the invention of FIG. 36, instead of attaching the welding unit 1m to the second moving means, the bracket means 9m are fixed to an L-shaped frame 29 and a welding device such as a press is attached. It was shown to be used as When the first moving means 8 moves downward from the origin position to the first position as indicated by the arrow (1), the spring, which is the pretreatment driving means 16, is lowered, and the pressing force supported by the support shaft 5kd is lowered. The means 15 is swung clockwise as indicated by arrow (2). Then, the tip of the pressing means 15 presses the upholstery material 3m as indicated by an arrow (3). After that, when the first moving means 8 moves downward to the second position as indicated by the arrow (4), the tip of the tool horn 7m of the welding means 7 moves to the surface material to be welded as indicated by the arrow (5). Push 3m. Then, the welding means 7m is ultrasonically vibrated to weld the skin material 3m and the base material 2m. The operation is the same as that of the welding device of the eighth embodiment shown in FIG.

(Ninth embodiment)
In the ninth embodiment of the present invention, a cutter 13 is additionally provided as a post-processing means between the pre-processing means 5 and the welding means 7 of the already explained welding unit 1c. FIG. 37 shows the configuration of the welding unit 1c of the ninth embodiment. FIG. 38 is a flow chart showing the procedure of the welding operation of the welding unit of the welding device according to the ninth embodiment of the present invention. FIGS. 39(a) to 39(d) show transition diagrams of pretreatment, welding, and post-treatment in the ninth embodiment of the present invention.

In FIG. 37, the cutter 13 is attached below the welding means attachment portion 8c of the first moving means 8. The welding means 7 is not directly fixed to the welding means mounting portion 8c as in the previous embodiments, but is slidably mounted on the welding means mounting portion 8c and pushed down via a spring 14. FIG. Therefore, after the first moving means 8 reaches the second position, the first moving means 8 can be further moved to the third position. An arrow indicating the third position is added to the bracket means in FIG.

More specifically, the welding means 7 is provided via a spring 14 on the distal end side of the welding means mounting portion 8c that moves integrally with the main body 8a of the first moving means 8. As shown in FIG. A cutter 13 extends downward from the central portion of the welding means mounting portion 8c. The tip of the cutter 13 is positioned near the tip of the tool horn 7c of the welding means 7, and when the welding means 7 is in a non-pressing state, that is, when the spring 14 is in a non-compressed state, the tip of the tool horn 7c When the welding means 7 is in a pressed state, that is, when the spring 14 is in a compressed state, it is positioned below the tip of the tool horn 7c.

The operation of the ninth embodiment will be described below with reference to FIGS. 37 to 39. FIG. 38, when the work content is determined and the work is started, the arm 10, which is the second moving means (not shown), moves the welding unit 1 to a position where the pretreatment means 5 grips the edge of the skin material 3. do. Next, when the first moving means 8 is pushed down from the origin position to the first position as indicated by the arrow (1) in FIG. 37 (step ST2), the spring, which is the pretreatment driving means 6, is lowered, and the support shaft The rocking arm 5b supported by 5c is rocked clockwise as indicated by arrow (2) in FIG. Then, the tip of the swing arm 5b moves toward the fixed arm 5a as indicated by arrow (3) in FIG. 37, and performs a gripping operation as shown in FIG. 39(a).

After that, when the first moving means 8 moves downward to the second position as indicated by the arrow (4), the tip of the tool horn 7c of the welding means 7 moves the surface material 3 to be welded as shown in FIG. 39(b). (step ST6). Then, the welding means 7 is ultrasonically vibrated to weld the skin material 3 and the base material 2 (step ST7).

When the welding is finished, the first moving means 8 is pushed down to the third position (step ST26). Then, the descent of the welding means 7 is absorbed by the spring 14, and the cutter 13 is lowered as indicated by the arrow (7) in FIG. Then, as shown in FIG. 39(c), the cutter 13 descends from the tip of the tool horn 7c to cut the skin material 3 (step ST27).

When the skin material 3 is cut, the first moving means 8 is returned from the third position to the second position to separate the cutter 13 from the skin material 3 . When the first moving means 8 is returned from the second position to the first position, the welding means 7 rises and leaves the upholstery material 3 as shown in FIG. 39(d). When the first moving means 8 is returned from the first position to the original position, the swinging arm 5b is opened to release the cut ends of the skin material 3, and a series of operations including pretreatment, welding and post-treatment can be performed. End (step ST8).

Here, in steps ST2, ST6 and ST26, the operations of "lowering to the first position", "lowering to the second position" and "lowering to the third position" of the first moving means 8 are as follows: It is controlled by changing the air pressure of the air cylinder which is the first moving means 8 . This is the same as the description of the first embodiment already described with reference to FIG.

Thus, in the ninth embodiment of the present invention, in addition to the pretreatment means, the posttreatment means is added in the vicinity of the welding means, the first moving means is used as a common drive source, and the posttreatment means is the second. It has been shown that it is configured to be interlocked with one moving means, and post-treatment is interlocked after welding.

(Tenth embodiment)
In the tenth embodiment of the present invention, a cutter 13 is provided between the horizontal pretreatment means 5d and the welding means 7 already described. Movement of each part is similar to that of the ninth embodiment.

That is, in FIG. 40, when the first moving means 8 moves from the position of the origin to the first position downward as indicated by arrow (1), the spring, which is the pretreatment drive means 6, is moved as indicated by arrow (2). lowers to swing the swing arm 5d supported by the support shaft 5c counterclockwise. Then, the tip of the swing arm 5d moves toward the fixed arm 5a as indicated by arrow (3) to perform a gripping operation. After that, when the first moving means 8 moves downward to the second position as indicated by the arrow (4), the tip of the tool horn 7c of the welding means 7 presses the skin material 3 to be welded. Then, the welding means 7 is ultrasonically vibrated to weld the skin material 3 and the base material 2 together. After that, when the first moving means 8 moves further downward to the third position as indicated by arrow (6), the cutter 13 descends as indicated by arrow (7). The cutter 13 cuts the skin material 3 between the welding position welded by the welding means 7 and the position gripped by the fixed arm 5a and the swing arm 5b. In FIG. 40, the length of the fixed arm 5a is longer than that of the swing arm 5d, and the tip of the cutter 13 is received by the fixed arm 5a. there is

Thus, in the tenth embodiment of the present invention, in addition to the pretreatment means, the cutter 13 is added as post-treatment means in the vicinity of the welding means, and the first moving means for moving the welding means is used. , that the welding means and the post-treatment means are performed in conjunction with each other.

(Eleventh embodiment of the invention)
In the eleventh embodiment of the present invention, unlike the objects to be welded so far, the cap 3p is screwed onto the bottle 2p, the cap 3p and the bottle 2p are welded together, and after welding, the date of manufacture is printed on the side surface of the cap 3p. etc. is printed.

FIG. 41 shows a configuration in which stamp means 70 as post-processing means are provided in addition to pre-processing means 5 and welding means 7 . The configuration and movement of each part of the post-processing means are basically similar to the movements of the ninth and tenth embodiments, and the rest is based on the welding unit 1h of the seventh embodiment. In the eleventh welding unit 1ha, the bracket means 9c has an inverted U shape, and a stamp means 70 as post-processing means is provided at the end opposite to the end where the pre-processing means 5 is provided. is provided. The stamp means 70 has an inverted L shape, and a stamp material 71 is provided at the lower tip. The welding means mounting portion 8c supports the welding means 7 via a spring 14 at its central portion and extends downward at its tip portion. It extends to a position where the upper tip of means 70 can be pressed.

In FIG. 41, when the first moving means 8 moves downward from the original position to the first position as indicated by an arrow (1), the spring, which is the pretreatment drive means 6, moves as indicated by an arrow (2). It descends and moves the pair of arms 5h supported by the support shaft P so as to close as shown by the arrow (3) to grip the cap 3p. The welding unit is moved by the arm 10, which is the second moving means, the bottle 2p is covered with the cap 3p, the welding unit 1ha is rotated around the axis of the cap 3p, and the cap 3p is screwed onto the bottle 2p. Note that FIG. 41 shows a state in which the cap 3p is screwed onto the bottle 2p.

After that, when the first moving means 8 moves downward to the second position as indicated by an arrow (4), the tip of the tool horn 7c of the welding means 7 moves the cap 3p to be welded as indicated by an arrow (5). press . The welding means 7 is ultrasonically vibrated to weld the cap 3p and the bottle 2p. After that, when the first moving means 8 moves further downward to the third position as indicated by an arrow (6), the stamp means 70 swings counterclockwise as indicated by an arrow (7), and the stamp material 71 hits the side of the cap 3p to print characters and numbers.

Thus, in the eleventh embodiment of the present invention, post-processing means is added in addition to pre-processing means in the vicinity of the welding means, and the post-processing means uses the first moving means as a common drive source. It is shown that the stamping operation of a certain stamping means 70 is interlocked, and post-processing is interlocked after welding.

(Twelfth Embodiment)
In the twelfth embodiment of the present invention, the pretreatment means 5 is eliminated, and the already explained welding means 7 and the stamp means 70 for post-treatment after welding are provided. The movement of each part is the same as the construction and movement of the eleventh embodiment, except that the construction and movement of the preprocessing means are deleted. That is, in FIG. 42, when the first moving means 8 moves downward from the origin position to the first position as indicated by the arrow (1), the tip of the tool horn 7c of the welding means 7 moves to the position indicated by the arrow (2). , press the cap 3p that has been screwed onto the bottle 2p in advance. Then, the welding means 7 is ultrasonically vibrated to weld the cap 3p and the base material 2 together. After that, when the first moving means 8 moves downward to the second position as indicated by an arrow (3), the stamp means 70 swings as indicated by an arrow (4), and the stamp material 71 moves the side surface of the cap 3p. to print characters and numbers such as the date of manufacture.

In the twelfth embodiment of the present invention, post-processing means is provided near the welding means, and the first moving means is used as a common drive source to interlock the welding means and the post-processing means, and after welding, It was shown that the post-processing is performed in conjunction.

(Thirteenth Embodiment)
In the first to twelfth embodiments, as the pretreatment means, (1) "grasping means" for gripping the object to be welded, or (2) "pressing means" for pressing the object to be welded is used. explained the form. In the thirteenth embodiment, an embodiment using "squeezing means" for squeezing the object to be welded will be described.

In FIG. 43, a "squeezing roller 5er" as a squeezing means is rotatably supported obliquely below the tip of the swing arm 5e. The squeezing roller 5er has a fixed shaft provided at the tip of the swing arm 5e, and is coated with viscous grease and fitted with a cylindrical roller. If the viscosity of the grease is increased, the rotational resistance of the squeezing roller 5er increases, and the squeezing effect increases. Further, since the swinging arm 5e is urged from above and below by the spring 17 and the spring of the pretreatment driving means 6, the surfaces of the skin material 3c and the base material 2c against which the squeezing roller 5er contacts are slightly uneven. Also, the swing arm 5e is flexibly swung so that the squeezing roller 5er is pressed against the upholstery material 3c for squeezing.

When the first moving means 8 is lowered to the first position as indicated by the arrow (1) in FIG. 43, the spring, which is the pretreatment drive means 6, descends as indicated by the arrow (2) to move the swing arm 5e to the position indicated by the arrow (2). It is oscillated counterclockwise as shown in (3). Then, the squeezing roller 5er presses the upholstery material 3c as shown in FIGS. 43 and 44(a). In this state, the arm 10, which is the second moving means, is moved rightward in the drawing as indicated by an arrow (4). Then, as shown in FIG. 44(b), the upholstery material 3c is squeezed by the squeezing rollers 5er. The skin material 3c is pressed by the squeezing roller 5er and closely adheres to the base material 2c. When the first moving means 8 is lowered to the second position as shown by arrow (5), the tool horn 7c of the welding means 7 descends as shown by arrow (6) to separate the skin material 3c and the base material 2c. It presses like FIG.44(c). At this time, when the welding means 7 is ultrasonically vibrated, the skin material 3c and the base material 2c are welded in a tightly adhered state by being squeezed.

In the present invention, the squeezing roller 5er is provided in the welding unit 1c, and the squeezing operation is performed using the first moving means 8 as a driving source. If the surface of the skin material 3 may be scratched, a sliding piece may be used instead of the squeezing roller 5er.

Conventionally, as shown in FIG. 58, a dedicated moving piece 40 and a driving means 45 are arranged separately. The means 8 is shared as a drive source for the squeezing means, and the size and weight are reduced. We have realized a welding method and welding device that work together smoothly and reliably.

(First modification of the thirteenth embodiment)
In the first modification of the thirteenth embodiment of the present invention, a squeezing roller 5er is additionally provided as a further pretreatment means between the pretreatment means 5 and the welding means 7 of the already explained welding unit 1c. rice field.

Specifically, as shown in FIG. 45, a squeezing roller 5er is attached below the welding means attachment portion 8c of the first moving means 8 via a spring. The welding means 7 is directly fixed to the welding means mounting portion 8c.

More specifically, the welding means 7 is provided on the tip end side of the welding means mounting portion 8c that moves integrally with the main body 8a of the first moving means 8. A roller supporting portion extends downward from the central portion of the welding means mounting portion 8c, and a squeezing roller 5er is provided at the tip of the roller supporting portion via a spring. This spring can absorb the movement of the roller 5er in the pressing direction.

When the moving means 8 is lowered to the first position as indicated by arrow (1) in FIG. 45, the spring, which is the grip driving means 6, is lowered as indicated by arrow (2), and the swing arm 5e is moved to the position indicated by arrow (3). , to grip the skin material. At the same time, the squeezing roller 5er is lowered as indicated by an arrow (4). Thereafter, when the moving means 8 is moved to the second position as indicated by arrow (5), the welding means 7 is lowered as indicated by arrow (6) to press the skin material and the base material.

FIGS. 46(a) and 46(b) show pretreatment of the welding unit 1c of the first modification of the thirteenth embodiment described above when the skin material is wrapped around the wall of the thin box-shaped base material. It shows a state in which the welding work is performed using the "holding means" and "squeezing means" provided as means.

FIG. 46(a) shows a state in which the

arms

5a and 5b of the pretreatment means of the welding unit grip the skin material 3a, wind the skin material 3a around the wall of the base material 2a, and simultaneously squeeze the skin material 3a with the squeezing roller 5er. is shown. The ends of the skin material 3a are pulled while being gripped by the

arms

5a and 5b, and the skin material 3a is pressed against the base material 2a by the squeezing rollers 5er of the squeezing means. The base material 2a and the skin material 3a are squeezed by rollers and adhered to each other. The tool horn of the welding means 7 having stepped unevenness at its tip is separated from the skin material 3a. After that, when the first moving means moves to the second position, the tool horn of the welding means pushes the skin material 3a and the base material 2a as shown in FIG. 46(b). In this state, the welding means 7 is ultrasonically vibrated to weld the skin material 3a and the base material 2a.

When the skin material 3a is wrapped around the wall of the base material 2a, the surplus part of the skin material 3a may float below the wall of the base material 2a, as shown in FIG. 46(b). By (1) gripping and pulling, (2) squeezing, and (3) welding as described above, the work of wrapping and welding the skin material 3a around the wall of the base material 2a may be completed.

(Second modification of the thirteenth embodiment)
In the second modification of the thirteenth embodiment, when a skin material larger than the base material is wound around the surface of the thin plate-shaped base material, as pretreatment means of the welding unit, the "holding means" and the "squeezing means" are used. A plan view shows a state in which two "means" are provided and a welding operation is performed. In FIG. 47, illustration of the welding unit is omitted in order to facilitate understanding of the movement of the covering material.

As shown in FIG. 47(a), when the skin material is wrapped around the surface of the thin plate-like base material, the surplus portion of the end portion of the skin material cannot be absorbed as already explained in FIGS.
In this case, as the pretreatment means of the welding unit, if the welding work is performed by providing two means of "gripping means" and "squeezing means", as shown in FIG. (1) pulling, (2) squeezing, and (3) welding. After that, as shown in FIG. 47(c), the skin material of the straight portion connected to the skin material of the corner portion is sequentially (1) pulled, (2) squeezed, and (3) welded. The excess skin material is squeezed by the squeezing means, folded as shown by 3s in FIG. 46(d), and welded by the welding means.

As a result, the surplus skin material can be welded in a folded state on top of the previously welded skin material.

(14th embodiment)
In the first to thirteenth embodiments of the present invention, a welding unit provided with welding means and gripping means is used, the edge of the skin material is pulled by the gripping means to apply tension, and the welding means is in that state. However, in the fourteenth embodiment of the present invention, the welding unit is divided into a welding split unit and a gripping split unit, and if necessary, the relative positional relationship of each split unit, specifically are configured so that their relative positions and relative angles can be changed, and are operated in conjunction with each other to carry out the welding work.

FIG. 53 is a partial cross-sectional side view showing a configuration in which the welding unit according to the fourteenth embodiment of the present invention is divided into a split unit for gripping and a split unit for welding, and arrows indicating the operation of each part. It is a diagram.

In the fourteenth embodiment of the present invention, a split unit for gripping 1aR and a split unit for welding 1aL are attached to two bracket means 9aR and 9aL, respectively. The split unit for gripping 1aR and the split unit for welding 1aL have moving means 8aR and 8aL for moving up and down, respectively. Between the two bracket means 9aR and 9aL, a split unit relative position changing means for changing the relative position of the split unit is provided.

In FIG. 53, two bracket means 9aR and 9aL are arranged slidably in the horizontal direction of the drawing, a cross-shaped portion is extended above the bracket means 9aL, and rotatably supported at both ends of the horizontal portion of the cross. A pair of rollers 9aM, which are connected to each other, support the weight of the split welding unit 1aL. A feed screw rod 52 is slidably screwed into the portion near the upper end of the cross shape so that the bracket means 9aL is slid in the horizontal direction of the drawing by the rotation of a servomotor 51 attached to the bracket means 9aR. configured. When the servomotor 51 rotates by a predetermined amount, the bracket means 9aL moves in the horizontal direction of the drawing according to the rotation angle of the feed screw rod 52. As shown in FIG. This component functions as division unit relative position changing means.

In the grasping divided unit 1aR of FIG. 53, when the moving means 8aR is moved downward to the first position as indicated by the arrow (1), the spring, which is the grasping drive means 6, is lowered, and the rocking shaft supported by the support shaft 5c is lowered. The moving arm 5b is swung clockwise as indicated by arrow (2). Then, the tip of the swing arm 5b moves toward the fixed arm 5a as indicated by the arrow (3), performs a gripping operation, and grips the upholstery material.

Next, the servomotor 51 of the divisional unit relative position changing means rotates by a predetermined amount, the bracket means 9aL moves according to the number of rotations of the feed screw rod 52, and the welding divisional unit 1aL moves to the side of the gripping divisional unit 1aR. Move in the direction of arrow (4) to line up. After that, when the moving means 8aL moves to the lower position as indicated by the arrow (5), the lower surface of the tool horn 7c of the welding means 7 presses the skin material to be welded. Then, the welding means 7 is ultrasonically vibrated to weld the skin material and the base material.

In the fourteenth embodiment of the present invention, if necessary, while the skin material is being pulled by the gripping split unit 1aR, the welding split unit 1aL is repeatedly moved up and down and welded, so that the skin material is moved to a plurality of positions. can also be welded.

(Modification of the fourteenth embodiment)
FIG. 54 shows a modification of the fourteenth embodiment of the present invention, in which the welding unit is divided into a welding split unit 1aL and a gripping split unit 1aR, and an articulated robot is welded to the gripping split unit moving means 10aR. 1 shows a configuration used as a unit moving means 10aL. The description of the arrows indicating the operation of each part in FIG. 54 is almost the same as the description of FIG. 53, so it is omitted.

FIG. 55(a) shows a state in which the split gripping unit 1aR is moved by the split gripping unit moving means 10aR so that the split gripping unit 1aR pulls the edge of the skin material 3 to apply tension. It is a diagram. FIG. 55(b) shows a state in which the dividing unit for gripping 1aR is pulling the edge of the skin material 3 to apply tension, and the dividing unit for welding 1aL is moved by the dividing unit for welding 10aL. 14 is a diagram showing a state in which the welding split unit 1aL moves to the side of the gripping split unit 1aR and presses and welds the upholstery material 3. FIG.

In the modification of the fourteenth embodiment of the present invention, the welding unit is divided into a welding divided unit and a gripping divided unit, and the divided units are operated by changing the relative positional relationship. As shown in FIGS. 55(a) and 55(b), the welding means and the gripping means are separated by attaching the divided units to the welding divided unit moving means 10aL and the gripping divided unit moving means 10aR, respectively. Welding can be performed in the same manner as in the form using a welding unit provided in one bracket means.

As described above from the first embodiment to the fourteenth embodiment, the present invention solves the first problem, that is, the pretreatment means and the posttreatment means for welding are constituted by small and lightweight means. To provide a welding method and a welding device for performing welding pretreatment and welding, or welding and post-treatment by smoothly and reliably interlocking with." Then, the second problem, "When the skin material is rolled into the base material, the pretreatment means that pulls the skin material with a force greater than a predetermined level so that the skin material does not wrinkle, and the welding method that welds by the welding means. and to provide a welding device.” Then, the third problem, "The pretreatment means and the welding means are interlocked so as to reduce or eliminate the wrinkles and the dump-like parts where the skin material overlaps at the corner parts where the wall of the base material is bent at right angles. To provide a welding method and a welding device for absorbing and welding the surplus of the skin material."

In addition to the field of welding a synthetic resin skin material to a base material, the present invention is applicable to a wide range of other synthetic resin material welding fields, such as the field of welding a synthetic resin block-shaped object to be welded to a base material. can be applied. In addition, the pre-treatment and post-treatment for welding synthetic resin materials include various pre-treatments and post-treatments. Therefore, the present invention can be applied to a wide variety of pre-treatments and post-treatments before and after welding.

1 welding unit 2 base material 3 skin material 5 pretreatment means 6 pretreatment drive means 7 welding means 8 first moving means 9 bracket means 10 second moving means 11, 18 pedestal 13 cutter means 15 pressing means

Claims

By using a welding unit in which the welding pretreatment means is arranged near the welding means, the welding pretreatment means and the welding means are interlocked by sharing the welding means moving means as a drive source for the welding pretreatment means. A welding device configured to weld an object to be welded,
(1) the moving means is moved to the first position, the pretreatment drive means is moved, and the pretreatment means performs an operation for pretreatment of another synthetic resin material;
(2) moving the welding unit holding another synthetic resin material to the welding position by the second moving means;
(3) Adhering to one synthetic resin material while pulling the other synthetic resin material,
(4) moving the moving means to the second position so that the welding means presses the other synthetic resin material and the one synthetic resin material;
(5) so that the welding means is ultrasonically vibrated for welding,
A welding device characterized in that it is controlled to perform (1) to (5) in order.
a welding means for welding one synthetic resin material to another synthetic resin material;
a first moving means for moving the welding means toward the surface of the other synthetic resin material;
pretreatment means used for welding pretreatment;
pretreatment drive means for driving the pretreatment means;
bracket means for attaching the welding means, the first moving means, the pretreatment means and the pretreatment driving means;
a welding unit in which the first moving means attached to the bracket means is shared as a driving source of the pretreatment driving means and is interlocked;
a second moving means for moving the welding unit;
a control means;
By the control means,
(1) using the second moving means to move the welding unit to a position where the other synthetic resin material is pretreated;
(2) moving the first moving means to the first position, operating the pretreatment drive means, and performing an operation for pretreatment of another synthetic resin material with the pretreatment means;
(3) moving the welding unit to a welding position where the other synthetic resin material and the one synthetic resin material are welded together to bring the other synthetic resin material into close contact with the one synthetic resin material;
(4) In a state in which the other synthetic resin material is pressed against the one synthetic resin material and the two are in close contact with each other, the first moving means is used to move the welding means to the surface of the other synthetic resin material. to a second position, and press the surface of the other synthetic resin material with the welding means,
(5) In particular, in a welding apparatus using a plurality of welding units, the pretreatment means wraps the other synthetic resin material of the corner portion into the wall of one synthetic resin material to combine the other synthetic resin material with the wall of one synthetic resin material. While adhering the resin material walls and absorbing the surplus of other synthetic resin materials,
(6) welding one synthetic resin material to another synthetic resin material;
By controlling (1) to (6),
A welding device characterized by being configured to weld an object to be welded.
By using a welding unit in which the welding pretreatment means is arranged near the welding means, the moving means for moving the welding means is shared as a drive source for the welding pretreatment means, and the welding pretreatment means and the welding means are interlocked. A welding method for welding an object to be welded by
(1) moving the moving means to the first position, the pretreatment drive means moving, and the pretreatment means gripping another synthetic resin material;
(2) moving the welding unit holding another synthetic resin material to the welding position by the second moving means;
(3) Adhering to one synthetic resin material while pulling the other synthetic resin material,
(4) moving the moving means to the second position so that the welding means presses the other synthetic resin material and the one synthetic resin material;
(5) welding by ultrasonically vibrating the welding means;
A welding method performed in order from (1) to (5).
a welding means for welding one synthetic resin material to another synthetic resin material;
a first moving means for moving the welding means toward the surface of the other synthetic resin material;
pretreatment means for performing pretreatment for welding;
preprocessing drive means for performing a gripping motion as a motion for preprocessing;
bracket means for attaching the welding means, the first moving means, the pretreatment means and the pretreatment driving means;
a welding unit in which the first moving means attached to the bracket means is shared as a driving source of the pretreatment driving means and is interlocked;
a second moving means for moving the welding unit;
Using a welding device having a control means,
(1) using the second moving means to move the welding unit to a position where the other synthetic resin material is pretreated;
(2) moving the first moving means to the first position, operating the pretreatment drive means, and performing an operation for pretreatment of another synthetic resin material with the pretreatment means;
(3) moving the welding unit to a welding position where the other synthetic resin material and the one synthetic resin material are welded together to bring the other synthetic resin material into close contact with the one synthetic resin material;
(4) With the other synthetic resin material pressed against the one synthetic resin material so that they are in close contact with each other, the first moving means is used to move the welding means to the surface of the other synthetic resin material. to a second position, and press the surface of the other synthetic resin material with the welding means,
(5) In particular, in a welding apparatus using a plurality of welding units, the pretreatment means wraps the other synthetic resin material of the corner portion into the wall of the one synthetic resin material to combine the other synthetic resin material with the wall of the one synthetic resin material. While adhering the resin material walls and absorbing the surplus of other synthetic resin materials,
(6) welding one synthetic resin material to another synthetic resin material;
By controlling (1) to (6),
A welding method characterized in that it is configured to weld an object to be welded.
1. The pretreatment means for performing pretreatment for welding is gripping means, and as the pretreatment for welding, one object to be welded is held and welded while being brought into close contact with another object to be welded. 3. The welding device according to 2.
1. The pretreatment means for performing pretreatment for welding is a pressing means, and as pretreatment for welding, one object to be welded is pressed to bring it into close contact with another object to be welded. 3. The welding device according to 2.
1. The pretreatment means for performing pretreatment for welding is a squeezing means, and as the pretreatment for welding, one object to be welded is squeezed and welded in a state in which it is brought into close contact with another object to be welded. 3. The welding device according to 2.
3. A post-treatment means for post-treatment of welding is used together with said pre-treatment means for pre-treatment for welding, and said post-treatment is performed after one object to be welded and another object to be welded are welded. The welding device according to .
A post-processing means for performing post-welding treatment is used instead of the pre-processing means for performing pre-treatment for welding, and after one object to be welded and another object to be welded are welded, the post-treatment driving means is operated to perform post-treatment. 3. Welding device according to claim 1 or 2, adapted for processing.
The welding device according to claim 8, wherein a cutter means is used as the post-processing means, and after one object to be welded and another object to be welded are welded, the cutter driving means is operated to perform post-processing.
The welding device according to claim 9, wherein a cutter means is used as the post-processing means, and after one object to be welded and another object to be welded are welded, the cutter driving means is operated to perform post-processing.
By using a welding unit in which the pretreatment means for welding is arranged near the welding means, the means for moving the welding means is shared as a drive source for the pretreatment means for welding, and the welding means and the pretreatment means for welding are performed in conjunction with each other. By
A predetermined amount of tension is applied to the surface material inside the wall of the box-shaped base material, and an ultrasonically vibrating tool horn is pressed from above the wound and covered surface material to create a concave portion. a surplus of the skin material is welded to the surface of the recess of the base material so that the surplus of the skin material is absorbed by the surface of the recess of the base material and welded to the base material; Welding method to involve and weld.
By using a welding unit in which the pretreatment means for welding is arranged near the welding means, the means for moving the welding means is shared as a drive source for the pretreatment means for welding, and the welding means and the pretreatment means for welding are performed in conjunction with each other. By
A predetermined amount of tension is applied to the skin material inside the wall of the box-shaped base material, and an ultrasonically vibrating tool horn is pressed from above the wrapped skin material to cover the vicinity of the corners. The surplus skin material is formed in the vicinity of the corner portion with the thickness of the wall thinner than that of the wall of the straight portion, and the surplus skin material is welded to the surface of the recess of the base material. is absorbed by the surface of the concave portion of the base material and welded.
dividing the welding unit into a welding split unit and a gripping split unit,
A divided unit relative position changing means capable of changing the relative position between the welding divided unit and the gripping divided unit is provided,
A welding device for welding one synthetic resin material and another synthetic resin material,
(1) gripping the other synthetic resin material with gripping means provided in the split gripping unit;
(2) moving the welding unit holding the other synthetic resin material to a welding position by the welding unit moving means;
(3) bringing the other synthetic resin material into close contact with the one synthetic resin material in a state where the gripping means pulls the other synthetic resin material;
(4) moving the split unit for welding so as to be next to the split unit for gripping by the split unit relative position changing means;
(5) pressing the other synthetic resin material and the one synthetic resin material with the welding means provided in the split unit for welding;
(6) A welding apparatus characterized by controlling (1) to (6) for welding by ultrasonically vibrating the welding means.
dividing the welding unit into a welding split unit and a gripping split unit,
Using a welding device provided with a division unit relative position changing means capable of changing the relative positions of the welding division unit and the gripping division unit,
A welding method for welding one synthetic resin material and another synthetic resin material,
(1) gripping the other synthetic resin material with gripping means provided in the split gripping unit;
(2) moving the welding unit holding the other synthetic resin material to a welding position by the welding unit moving means;
(3) in close contact with the first synthetic resin material while pulling the other synthetic resin material;
(4) moving the split unit for welding so as to be aligned side by side with the split unit for gripping by the split unit relative position changing means;
(5) pressing the other synthetic resin material and the one synthetic resin material with the welding means provided in the split unit for welding;
(6) welding by ultrasonically vibrating the welding means;
A welding method performed in the order of (1) to (6).