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

Oscillation welding system and oscillation welding method Download PDF

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JP2022102586A
JP2022102586A JP2020217406A JP2020217406A JP2022102586A JP 2022102586 A JP2022102586 A JP 2022102586A JP 2020217406 A JP2020217406 A JP 2020217406A JP 2020217406 A JP2020217406 A JP 2020217406A JP 2022102586 A JP2022102586 A JP 2022102586A
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horn
anvil
objects
welded
side robot
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大介 松尾
Daisuke Matsuo
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Yutaka Electronics Ind Co Ltd
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Abstract

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

Description

本発明は、振動溶着システム及び振動溶着方法に関する。 The present invention relates to a vibration welding system and a vibration welding method.

被接合物同士を接合させるための方法の１つとして、振動溶着が知られている。一般に、振動溶着を行う場合、振動加熱による結合形成時と冷却による接合部位の硬化・安定化の間、型（以下、アンビルという）を用いて被接合物同士を固定して行われる（特許文献１）。 Vibration welding is known as one of the methods for joining objects to be joined to each other. Generally, when vibration welding is performed, the objects to be welded are fixed to each other using a mold (hereinafter referred to as anvil) during the formation of a bond by vibration heating and the hardening / stabilization of the joint portion by cooling (Patent Documents). 1).

特許第６４８８５８４号公報Japanese Patent No. 6488584

しかし、特許文献１に開示されているようなアンビル（特許文献１ではホルダー）は、被接合物の形状に合わせて、各被接合物専用のものを用意する必要があることから、多種多様の被接合物等に対応しようとすると、膨大な数のアンビルを用意する必要があり、製造コストの増大が課題となっていた。 However, there are a wide variety of anvils (holders in Patent Document 1) as disclosed in Patent Document 1 because it is necessary to prepare a dedicated one for each object to be joined according to the shape of the object to be joined. In order to deal with objects to be joined, it is necessary to prepare a huge number of anvils, and an increase in manufacturing cost has been an issue.

そこで、本発明の目的は、製造コストの削減ができ、様々な形状の被接合物を溶着接合可能な溶着接合システム及び溶着接合方法を提供することにある。 Therefore, an object of the present invention is to provide a welding joining system and a welding joining method capable of welding and joining objects to be joined in various shapes while reducing the manufacturing cost.

上記目的を達成するために、請求項１に記載の発明は、２つの被接合物を溶着接合するための振動溶着システムであって、２つの被接合物の溶着接合部を振動加熱するホーンユニットを備えるホーン側ロボットと、溶着接合部を保持するアンビルを備えるアンビル側ロボットと、を備え、ホーンユニットは、棒状のホーンを備え、アンビルは、溶着接合部を保持する保持面を備え、２つの被接合物を合わせた状態で、アンビル側ロボットが、溶着接合部を２つの被接合物の一方側から保持面で保持すると共に、ホーン側ロボットが、溶着接合部に２つの被接合物の他方側からホーンを当接させて、ホーンユニットによりホーンを振動させて溶着接合部を振動加熱する加熱処理を行い、ホーン側ロボットとアンビル側ロボットとが、ホーンとアンビルとを、２つの被接合物上を移動させながら加熱処理を行うことを特徴とする。
請求項２に記載の発明は、請求項１の構成において、ホーンは、先端部が半球を含む球形状となっていることを特徴とする。
請求項３に記載の発明は、請求項１又は２の構成において、ホーン側ロボット及びアンビル側ロボットは、加熱処理時において、ホーン及びアンビルを２つの被接合物に対して進退可能な１軸スライダを備えることを特徴とする。
請求項４に記載の発明は、請求項１乃至３の何れかの構成において、ホーン側ロボット及びアンビル側ロボットは、ホーン及びアンビルの２つの被接合物への圧力を測定する力センサを備えることを特徴とする。
請求項５に記載の発明は、請求項１乃至４の何れかの構成において、アンビルは、溶着接合部を保持可能な保持面の形状を変更可能であることを特徴とする。
請求項６に記載の発明は、２つの被接合物の溶着接合部を振動加熱するホーンユニットを備えるホーン側ロボットと、溶着接合部を保持するアンビルを備えるアンビル側ロボットと、を備える振動溶着システムを用いて、２つの被接合物を溶着接合する振動溶着方法であって、ホーンユニットは、棒状のホーンを備え、アンビルは、溶着接合部を保持する保持面を備え、２つの被接合物を合わせた状態で、アンビル側ロボットが、溶着接合部を２つの被接合物の一方側から保持面で保持すると共に、ホーン側ロボットが、溶着接合部に２つの被接合物の他方側からホーンを当接させて、ホーンユニットにより振動加熱する加熱処理を行い、ホーン側ロボットとアンビル側ロボットとが、ホーンとアンビルとを、２つの被接合物上を移動させながら加熱処理を行う振動溶着工程を実施することを特徴とする。
請求項７に記載の発明は、請求項６の構成において、アンビル側ロボットは、ホーン側ロボットによる振動加熱に伴う２つの被接合物の溶着接合が完了するまでの間、２つの被接合物を一方側から保持し、２つの被接合物の溶着接合が完了してからアンビルを移動させることを特徴とする。 In order to achieve the above object, the invention according to claim 1 is a vibration welding system for welding and joining two welded objects, and is a horn unit that vibrates and heats the welded joint portion of the two welded objects. The horn unit is provided with a rod-shaped horn, and the anvil is provided with a holding surface for holding the welded joint. With the objects to be welded together, the anvil-side robot holds the welded joint from one side of the two welded objects on the holding surface, and the horn-side robot holds the welded joint on the other side of the two welded objects. The horn is brought into contact with the horn from the side, and the horn is vibrated by the horn unit to perform heat treatment to vibrate and heat the welded joint. It is characterized by performing heat treatment while moving the top.
The invention according to claim 2 is characterized in that, in the configuration of claim 1, the tip of the horn has a spherical shape including a hemisphere.
According to the third aspect of the present invention, in the configuration of the first or second aspect, the horn-side robot and the anvil-side robot can advance and retreat the horn and the anvil with respect to the two objects to be joined during the heat treatment. It is characterized by having.
The invention according to claim 4 comprises, in any of the configurations of claims 1 to 3, the horn-side robot and the anvil-side robot include a force sensor for measuring the pressure on the two objects to be joined, the horn and the anvil. It is characterized by.
The invention according to claim 5 is characterized in that, in any of the configurations of claims 1 to 4, the anvil can change the shape of the holding surface capable of holding the welded joint.
The invention according to claim 6 is a vibration welding system including a horn-side robot including a horn unit that vibrates and heats a welded joint of two objects to be welded, and an anvil-side robot including an anvil that holds the welded joint. It is a vibration welding method in which two welded objects are welded together by using, the horn unit is provided with a rod-shaped horn, and the anvil is provided with a holding surface for holding the welded welded portion. In the combined state, the anvil-side robot holds the welded joint from one side of the two welds on the holding surface, and the horn-side robot holds the horn to the welded joint from the other side of the two welds. A vibration welding process in which the horn-side robot and the anvil-side robot perform heat treatment while moving the horn and the anvil on two objects to be welded. It is characterized by carrying out.
According to the invention of claim 7, in the configuration of claim 6, the anvil-side robot holds the two objects to be welded until the welding and bonding of the two objects to be welded by the vibration heating by the horn-side robot is completed. It is characterized in that it is held from one side and the anvil is moved after the welding and joining of the two objects to be joined is completed.

請求項１及び６に記載の発明によれば、ホーン側ロボット及びアンビル側ロボットの一対のロボットによってホーン及びアンビルを移動させながら連続的に振動溶着を実施することで、従来必要であったワーク毎に異なる専用のアンビルが不要となり、製造コストの削減が可能となる。
請求項２に記載の発明によれば、上記効果に加え、ホーンの先端部を被接合物の溶着接合面に対して斜め方向からも接触させることが可能となるため、２つの被接合物の溶着接合部が複雑な自由曲面である場合、狭小な場合等でも、効率的に溶着接合が可能となる。
請求項３及び４に記載の発明によれば、上記効果に加え、被接合物に対するホーン及びアンビルの圧が、所定の圧力を保持するように調整できる。また、ホーン側ロボット、アンビル側ロボット、ホーンユニット、ホーン及びアンビルに過剰な力が加わって破損することを防止できる。
請求項５に記載の発明によれば、上記効果に加え、加熱処理後の被接合物が硬化・安定化するために必要な時間によって保持面の面積を変化させることで、ホーン及びアンビルの移動速度、及び生産性に対し、柔軟な対応が可能となる。
請求項７に記載の発明によれば、上記効果に加え、連続的に振動溶着を実施しても、確実に２つの被接合物を溶着接合させることができる。 According to the inventions of claims 1 and 6, by continuously performing vibration welding while moving the horn and the anvil by a pair of robots of the horn side robot and the anvil side robot, each work required in the past is performed. It eliminates the need for different dedicated anvils and makes it possible to reduce manufacturing costs.
According to the second aspect of the present invention, in addition to the above effects, the tip of the horn can be brought into contact with the welded joint surface of the object to be joined from an oblique direction. Even if the welded joint has a complicated free curved surface or is narrow, welding can be efficiently performed.
According to the inventions of claims 3 and 4, in addition to the above effects, the pressure of the horn and the anvil with respect to the object to be joined can be adjusted so as to maintain a predetermined pressure. Further, it is possible to prevent the horn-side robot, the anvil-side robot, the horn unit, the horn, and the anvil from being damaged by applying an excessive force.
According to the fifth aspect of the present invention, in addition to the above effects, the area of the holding surface is changed depending on the time required for the object to be joined after the heat treatment to be cured and stabilized, thereby moving the horn and the anvil. It enables flexible response to speed and productivity.
According to the invention of claim 7, in addition to the above-mentioned effect, even if vibration welding is continuously performed, two objects to be welded can be reliably welded and joined.

本発明の振動溶着システムを示す説明図である。It is explanatory drawing which shows the vibration welding system of this invention. ホーン側ロボットの先端部周辺を示す斜視図である。It is a perspective view which shows the periphery of the tip of the horn side robot. ホーンの形状を概説する説明図であって、（ａ）は従来のホーンを示す説明図、（ｂ）は本発明のホーンを示す説明図である。It is explanatory drawing which outlines the shape of the horn, (a) is explanatory drawing which shows the conventional horn, (b) is explanatory drawing which shows the horn of this invention. 本発明のアンビルを示す説明図であって、（ａ）は保持面を広げた状態を示す側面図、（ｂ）は保持面を閉じた状態を示す側面図である。It is explanatory drawing which shows the anvil of this invention, (a) is the side view which shows the state which opened the holding surface, (b) is the side view which shows the state which the holding surface is closed. 本発明の振動溶着システムの作業中の状態を示す説明図であって、（ａ）はアンビルの保持面を閉じた状態を示す説明図、（ｂ）はアンビルの保持面を広げた状態を示す側面図である。It is explanatory drawing which shows the working state of the vibration welding system of this invention, (a) is explanatory drawing which shows the state which the holding surface of anvil is closed, (b) shows the state which the holding surface of anvil is expanded. It is a side view. 変形例１のアンビルを示す説明図であって、（ａ）は保持面を広げた状態を示す側面図、（ｂ）は保持面を閉じた状態を示す側面図である。It is explanatory drawing which shows the anvil of the modification 1, (a) is the side view which shows the state which opened the holding surface, (b) is the side view which shows the state which the holding surface is closed. 変形例２のアンビルを示す説明図であって、（ａ）は保持面を広げた状態を示す側面図、（ｂ）は保持面を閉じた状態を示す側面図である。It is explanatory drawing which shows the anvil of the modification 2, (a) is the side view which shows the state which opened the holding surface, (b) is the side view which shows the state which the holding surface is closed.

以下、本発明の実施の形態を図面に基づいて説明する。
図１は、本発明の振動溶着システムを示す説明図である。
振動溶着システム１は、図１に示すように、多関節型ロボットであるホーン側ロボット２と、アンビル側ロボット３とを備え、２つの被接合物Ｗ１及びＷ２をホーン側ロボット２とアンビル側ロボット３とで挟持して、所定の溶着接合部Ｗｐの範囲内を移動しながら、２つの被接合物Ｗ１とＷ２とを溶着接合するために使用される。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an explanatory diagram showing a vibration welding system of the present invention.
As shown in FIG. 1, the vibration welding system 1 includes a horn-side robot 2 which is an articulated robot and an anvil-side robot 3, and two objects W1 and W2 are combined with the horn-side robot 2 and the anvil-side robot. It is used to weld and join two objects W1 and W2 while being sandwiched between 3 and moving within the range of a predetermined welded joint Wp.

図２は、ホーン側ロボットの先端部周辺を示す斜視図である。図３は、ホーンの形状を概説する説明図であって、図３（ａ）は従来のホーンを示す説明図、図３（ｂ）は本発明のホーンを示す説明図である。
ホーン側ロボット２は、図２に示すように、先端にホーンユニット４０を備え、ホーンユニット４０とアーム５との間に力センサ６を備える。
ホーンユニット４０は、ホーンユニット４０の先端に向けて突出するホーン４１と、ホーン４１に超音波振動運動を含む任意の振動運動を生じさせる振動溶着機４２と、ホーン４１及び振動溶着機４２をホーン４１の突出方向に移動可能とする１軸スライダ４３とを備える。
従来、振動溶着に用いられるホーンは、図３（ａ）に示すように、先端が平坦に形成されたものが使用され、被接合物の溶着接合面に対し、鉛直方向からホーンを接触させる必要があった。一方、本発明のホーン４１は、図３（ｂ）に示すように、先端部４１ａが半球を含む球形状に形成される。これにより、ホーン４１は、先端部４１ａを被接合物の溶着接合部Ｗｐに対して斜め方向からも接触させることが可能となるため、２つの被接合物Ｗ１及びＷ２の溶着接合部Ｗｐが複雑な自由曲面である場合、狭小な場合等でも、溶着接合が可能となる。 FIG. 2 is a perspective view showing the periphery of the tip of the horn-side robot. 3A and 3B are explanatory views illustrating the shape of the horn, FIG. 3A is an explanatory diagram showing a conventional horn, and FIG. 3B is an explanatory diagram showing the horn of the present invention.
As shown in FIG. 2, the horn-side robot 2 is provided with a horn unit 40 at the tip thereof, and a force sensor 6 is provided between the horn unit 40 and the arm 5.
The horn unit 40 includes a horn 41 projecting toward the tip of the horn unit 40, a vibration welding machine 42 that causes the horn 41 to generate an arbitrary vibration movement including ultrasonic vibration movement, and a horn 41 and a vibration welding machine 42. It is provided with a uniaxial slider 43 that can be moved in the protruding direction of 41.
Conventionally, as shown in FIG. 3A, a horn used for vibration welding has a flat tip, and it is necessary to bring the horn into contact with the welded joint surface of the object to be welded from the vertical direction. was there. On the other hand, in the horn 41 of the present invention, as shown in FIG. 3B, the tip portion 41a is formed in a spherical shape including a hemisphere. As a result, the tip 41a of the horn 41 can be brought into contact with the welded joint Wp of the object to be joined from an oblique direction, so that the welded joint Wp of the two objects W1 and W2 is complicated. If it is a free curved surface, it can be welded and joined even if it is narrow.

図４は、本発明のアンビルを示す説明図であって、図４（ａ）は保持面を広げた状態を示す側面図、図４（ｂ）は保持面を閉じた状態を示す側面図である。
アンビル側ロボット３は、図１に示すように、先端にアンビル７を備え、アンビル７の取付部にアンビル７の突出方向へ移動可能な１軸スライダ８と、力センサ９とを備える。
アンビル７は、図４（ａ）に示すように、保持面１０として、中央保持面１０ａと、中央保持面１０ａの周囲に４つの扇形保持面１０ｂとを備える。また、アンビル７は、軸１１を備え、軸１１には移動部１２が軸１１の軸方向に移動可能に設けられる。また、移動部１２と各扇形保持面１０ｂとは、アングル１３により連結されており、図４（ｂ）に示すように、扇形保持面１０ｂは、アングル１３を介して移動部１２の移動と連動し、回動可能となっている。このような扇形保持面１０ｂの回動により、アンビル７は、被接合物Ｗ１又はＷ２を保持するための保持面１０の形状を変更することができる。
また、アンビル７は、軸１１を介してアンビル側ロボット３に取り付けられるが、取り付けには、既存のＡＴＣ（Ａｕｔｏｍａｔｉｃ Ｔｏｏｌ Ｃｈａｎｇｅｒ，自動工具交換）装置等の取付機構を利用可能であり、自動又は手動で、容易に交換が可能である。 4A and 4B are explanatory views showing an anvil of the present invention, FIG. 4A is a side view showing a state in which the holding surface is opened, and FIG. 4B is a side view showing a state in which the holding surface is closed. be.
As shown in FIG. 1, the anvil-side robot 3 is provided with an anvil 7 at its tip, and is provided with a uniaxial slider 8 movable in the protruding direction of the anvil 7 and a force sensor 9 at a mounting portion of the anvil 7.
As shown in FIG. 4A, the anvil 7 includes a central holding surface 10a as a holding surface 10 and four fan-shaped holding surfaces 10b around the central holding surface 10a. Further, the anvil 7 includes a shaft 11, and a moving portion 12 is provided on the shaft 11 so as to be movable in the axial direction of the shaft 11. Further, the moving portion 12 and each fan-shaped holding surface 10b are connected by an angle 13, and as shown in FIG. 4B, the fan-shaped holding surface 10b is interlocked with the movement of the moving portion 12 via the angle 13. And it is rotatable. By such rotation of the fan-shaped holding surface 10b, the anvil 7 can change the shape of the holding surface 10 for holding the object to be joined W1 or W2.
Further, the anvil 7 is attached to the anvil side robot 3 via the shaft 11, but for attachment, an existing attachment mechanism such as an ATC (Automatic Tool Changer) device can be used, and automatic or manual operation is possible. It can be easily replaced.

図５は本発明の振動溶着システムの作業中の状態を示す説明図であって、図５（ａ）はアンビルの保持面を閉じた状態を示す説明図、図５（ｂ）はアンビルの保持面を広げた状態を示す側面図である。
続いて、本発明の振動溶着システム１を用いた被接合物Ｗ１及びＷ２の溶着接合について説明する。
まず、任意の固定手段によって、被接合物Ｗ１及びＷ２を、被接合物Ｗ１及びＷ２それぞれの所望の溶着接合部Ｗｐを重ね合わせた状態で固定する。 5A and 5B are explanatory views showing a working state of the vibration welding system of the present invention, FIG. 5A is an explanatory view showing a state in which the holding surface of the anvil is closed, and FIG. 5B is an explanatory view showing the holding of the anvil. It is a side view which shows the state which the surface is spread out.
Subsequently, the welding and joining of the objects to be welded W1 and W2 using the vibration welding system 1 of the present invention will be described.
First, the objects to be joined W1 and W2 are fixed by any fixing means in a state where the desired welded joints Wp of the objects to be joined W1 and W2 are overlapped with each other.

次に、アンビル側ロボット３が、図５（ａ）に示すように、被接合物Ｗ１の溶着接合部Ｗｐに、被接合物Ｗ２と接していない側から閉じた状態のアンビル７の扇形保持面１０ｂを接触させて被接合物Ｗ１及びＷ２を保持する。被接合物Ｗ１及びＷ２の保持には、溶着接合部Ｗｐの形状、位置等によって中央保持面１０ａを用いても良い。このとき、被接合物Ｗ１へのアンビル７の接触圧は、アンビル側ロボット３に設けられた力センサ９によって計測され、１軸スライダ８及びアンビル側ロボット３の少なくとも何れかによってアンビル７を被接合物Ｗ１に対して進退させることで、所定の圧力を維持するように調整される。また、図５（ｂ）に示すように、アンビル７の保持面１０の形状を変化させることで、被接合物Ｗ１及びＷ２の形状、アンビル側ロボット３の姿勢等に合わせて、被接合物Ｗ１及びＷ２の保持を柔軟に行うことができる。
そして、被接合物Ｗ２の溶着接合部Ｗｐであってアンビル７に保持された部位に、被接合物Ｗ２の被接合物Ｗ１と接していない側から、ホーン側ロボット２が、ホーン４１の先端部４１ａを当接させる。このとき、被接合物Ｗ２へのホーン４１の当接圧は、ホーン側ロボット２に設けられた力センサ６によって計測され、１軸スライダ４３及びホーン側ロボット２の少なくとも何れかによってホーン４１を被接合物Ｗ２に対して進退させることで、所定の圧力を維持するように調整される。
また、アンビル側ロボット３の力センサ９及びホーン側ロボット２の力センサ６によって、アンビル７の被接合物Ｗ１への接触圧及びホーン４１の被接合物Ｗ２への当接圧を計測し、各１軸スライダ８，４３によって各圧力を調整することで、アンビル側ロボット３、ホーン側ロボット２、振動溶着機４２、ホーン４１及びアンビル７に過剰な力が加わって破損することを防止できる。
そして、ホーン側ロボット２は、ホーンユニット４０の振動溶着機４２によりホーン４１に超音波振動を生じさせ、これにより、溶着接合部Ｗｐ内の被接合物Ｗ１及びＷ２のホーン４１が当接している部位近傍を振動加熱する加熱処理を行う。 Next, as shown in FIG. 5A, the anvil-side robot 3 has a fan-shaped holding surface of the anvil 7 in a state of being closed to the welded joint Wp of the object to be joined W1 from the side not in contact with the object W2. The objects W1 and W2 to be joined are held in contact with 10b. For holding the objects to be joined W1 and W2, the central holding surface 10a may be used depending on the shape, position and the like of the welded joint Wp. At this time, the contact pressure of the anvil 7 to the object to be joined W1 is measured by a force sensor 9 provided on the anvil side robot 3, and the anvil 7 is joined by at least one of the 1-axis slider 8 and the anvil side robot 3. By advancing and retreating with respect to the object W1, it is adjusted to maintain a predetermined pressure. Further, as shown in FIG. 5B, by changing the shape of the holding surface 10 of the anvil 7, the object to be joined W1 is matched with the shapes of the objects to be joined W1 and W2, the posture of the robot 3 on the anvil side, and the like. And W2 can be flexibly held.
Then, from the side of the welded object W2 that is not in contact with the welded object W1 of the object to be joined W2, the horn-side robot 2 is at the tip of the horn 41 at the portion held by the anvil 7 in the welded joint portion Wp of the object to be joined W2. The 41a is brought into contact with it. At this time, the contact pressure of the horn 41 with the object to be joined W2 is measured by a force sensor 6 provided on the horn-side robot 2, and the horn 41 is covered by at least one of the uniaxial slider 43 and the horn-side robot 2. By advancing and retreating with respect to the joint W2, it is adjusted to maintain a predetermined pressure.
Further, the contact pressure of the anvil 7 with respect to the object W1 and the contact pressure of the horn 41 with the object W2 are measured by the force sensor 9 of the anvil-side robot 3 and the force sensor 6 of the horn-side robot 2, respectively. By adjusting each pressure with the uniaxial sliders 8 and 43, it is possible to prevent the anvil-side robot 3, the horn-side robot 2, the vibration welding machine 42, the horn 41, and the anvil 7 from being damaged by applying an excessive force.
Then, the horn-side robot 2 causes ultrasonic vibration in the horn 41 by the vibration welding machine 42 of the horn unit 40, whereby the horns 41 of the objects to be welded W1 and W2 in the welded joint Wp are in contact with each other. A heat treatment is performed to vibrate and heat the vicinity of the site.

振動溶着システム１による被接合物Ｗ１及びＷ２の溶着接合は、溶着接合部Ｗｐの範囲内をホーン４１とアンビル７とを所定の軌道で移動させながら連続的に上記の加熱処理を行うことで実施される。
以下、加熱処理を、ホーン４１とアンビル７とを図５（ａ）に矢印で示す方向へ移動させて行う場合について詳説する。 The welding of the objects W1 and W2 to be welded by the vibration welding system 1 is carried out by continuously performing the above heat treatment while moving the horn 41 and the anvil 7 in a predetermined orbit within the range of the welding junction Wp. Will be done.
Hereinafter, the case where the heat treatment is performed by moving the horn 41 and the anvil 7 in the direction indicated by the arrow in FIG. 5A will be described in detail.

ホーン側ロボット２は、被接合物Ｗ２にホーン４１を一定圧力で当接させたまま、図５に矢印で示す方向へホーン４１を移動させる。
一方、アンビル側ロボット３は、被接合物Ｗ１にアンビル７を一定圧力で接触させ、被接合物Ｗ１及びＷ２を保持したまま、図５に矢印で示す方向へアンビル７を移動させる。溶着接合は、振動加熱による被接合物同士の接触表面の軟化に伴って被接合物間での融合結合が生じ、一定の冷却期間を経て、融合結合した被接合物同士が硬化・安定化することで実現する。そのため、アンビル７は、被接合物Ｗ１及びＷ２への加熱処理が行われてホーン４１が移動した後も、被接合物Ｗ１及びＷ２が硬化・安定化するまで、それらの保持を継続する必要がある。従って、アンビル７は、ホーン４１の移動に追従すると共に、ホーン４１による振動加熱に伴う被接合物Ｗ１及びＷ２の溶着接合が完了するまでの間、ホーン４１の移動に合わせて揺動しながら被接合物Ｗ１及びＷ２の保持を継続し、被接合物Ｗ１及びＷ２の溶着接合が完了後、ホーン４１に追従してアンビル７が移動する。この時、被接合物Ｗ１及びＷ２の材質、形状等によって、ホーン４１及びアンビル７の移動速度の調整が必要となる。また、アンビル７は、図５（ｂ）に示すように、保持面１０の形状が可変であるため、ホーン４１及びアンビル７の移動速度、及び生産性を鑑み、加熱処理後の被接合物Ｗ１及びＷ２が硬化・安定化するために必要な時間によって保持面１０の形状を変化させることで、柔軟な対応が可能となる。
このように、被接合物Ｗ１及びＷ２の溶着接合部Ｗｐの範囲内をホーン４１とアンビル７とを所定の軌道で移動させながら連続的に加熱処理を行う振動溶着工程によって、振動溶着システム１による被接合物Ｗ１及びＷ２の溶着接合は実施される。 The horn-side robot 2 moves the horn 41 in the direction indicated by the arrow in FIG. 5 while keeping the horn 41 in contact with the object W2 at a constant pressure.
On the other hand, the anvil-side robot 3 brings the anvil 7 into contact with the object W1 at a constant pressure, and moves the anvil 7 in the direction indicated by the arrow in FIG. 5 while holding the objects W1 and W2. In welding bonding, fusion bonding occurs between the objects to be welded as the contact surface between the objects to be welded softens due to vibration heating, and after a certain cooling period, the fused and bonded objects are cured and stabilized. It will be realized by that. Therefore, it is necessary for the anvil 7 to continue holding the objects W1 and W2 until the objects W1 and W2 are hardened and stabilized even after the horn 41 is moved after the heat treatment is applied to the objects W1 and W2. be. Therefore, the anvil 7 follows the movement of the horn 41 and is covered while swinging in accordance with the movement of the horn 41 until the welding and joining of the objects W1 and W2 to be welded due to the vibration heating by the horn 41 is completed. The holding of the joints W1 and W2 is continued, and after the welding of the joints W1 and W2 is completed, the anvil 7 moves following the horn 41. At this time, it is necessary to adjust the moving speeds of the horn 41 and the anvil 7 depending on the material, shape, and the like of the objects to be joined W1 and W2. Further, as shown in FIG. 5B, since the shape of the holding surface 10 of the anvil 7 is variable, the object to be joined W1 after the heat treatment is considered in consideration of the moving speed and the productivity of the horn 41 and the anvil 7. And by changing the shape of the holding surface 10 depending on the time required for the W2 to cure and stabilize, flexible response becomes possible.
As described above, the vibration welding system 1 is used by a vibration welding step in which the horn 41 and the anvil 7 are continuously heat-treated while being moved in a predetermined orbit within the range of the welding joint Wp of the objects to be welded W1 and W2. Welding of W1 and W2 to be welded is carried out.

上記形態の振動溶着システム１は、２つの被接合物Ｗ１及びＷ２を溶着接合するものであって、２つの被接合物Ｗ１及びＷ２の溶着接合部Ｗｐを振動加熱するホーンユニット４０を備えるホーン側ロボット２と、溶着接合部Ｗｐを保持するアンビル７を備えるアンビル側ロボット３と、を備え、ホーンユニット４０は、棒状のホーン４１を備え、アンビル７は、溶着接合部Ｗｐを保持する保持面１０を備え、２つの被接合物Ｗ１及びＷ２を合わせた状態で、アンビル側ロボット３が、溶着接合部Ｗｐを２つの被接合物Ｗ１及びＷ２の被接合物Ｗ１側から保持面１０で保持すると共に、ホーン側ロボット２が、溶着接合部Ｗｐに２つの被接合物Ｗ１及びＷ２の被接合物Ｗ２側からホーン４１を当接させて、ホーンユニット４０によりホーン４１を振動させて溶着接合部Ｗｐを振動加熱する加熱処理を行い、ホーン側ロボット２とアンビル側ロボット３とが、ホーン４１とアンビル７とを、２つの被接合物Ｗ１及びＷ２上を移動させながら加熱処理を行う。
このようにして構成される振動溶着システム１によれば、ホーン側ロボット２及びアンビル側ロボット３の一対のロボットによってホーン４１及びアンビル７を移動させながら連続的に振動溶着を実施することで、従来必要であったワーク毎に異なる専用のアンビルが不要となり、製造コストの削減が可能となる。 The vibration welding system 1 of the above embodiment is for welding and joining two welded objects W1 and W2, and is a horn side provided with a horn unit 40 that vibrates and heats the welded junction Wp of the two welded objects W1 and W2. A robot 2 and an anvil-side robot 3 having an anvil 7 for holding the welded joint Wp are provided, the horn unit 40 is provided with a rod-shaped horn 41, and the anvil 7 is a holding surface 10 for holding the welded joint Wp. The anvil-side robot 3 holds the welded joint Wp from the side of the two welds W1 and W2 on the holding surface 10 in a state where the two welds W1 and W2 are combined. The horn-side robot 2 abuts the horn 41 on the welded joint Wp from the side of the two welded objects W1 and W2, and vibrates the horn 41 by the horn unit 40 to generate the welded joint Wp. The heat treatment is performed by vibration heating, and the horn side robot 2 and the anvil side robot 3 perform the heat treatment while moving the horn 41 and the anvil 7 on the two welded objects W1 and W2.
According to the vibration welding system 1 configured in this way, a pair of robots of the horn side robot 2 and the anvil side robot 3 continuously perform vibration welding while moving the horn 41 and the anvil 7. It is possible to reduce the manufacturing cost by eliminating the need for a dedicated anvil that differs for each required work.

また、ホーン４１は、先端部４１ａが半球を含む球形状となっている。
よって、ホーン４１の先端部４１ａを被接合物Ｗ２の溶着接合部Ｗｐに対して斜め方向からも接触させることが可能となるため、２つの被接合物Ｗ１及びＷ２の溶着接合部Ｗｐが複雑な自由曲面である場合、狭小な場合等でも、効率的に溶着接合が可能となる。 Further, the horn 41 has a spherical shape in which the tip portion 41a includes a hemisphere.
Therefore, since the tip portion 41a of the horn 41 can be brought into contact with the welded joint Wp of the object W2 from an oblique direction, the welded joint Wp of the two objects W1 and W2 is complicated. If it is a free curved surface, even if it is narrow, welding and joining can be performed efficiently.

また、ホーン側ロボット２及びアンビル側ロボット３は、加熱処理時において、ホーン４１及びアンビル７を２つの被接合物Ｗ１及びＷ２に対して進退可能な１軸スライダ４３及び８を備える。
よって、被接合物Ｗ１及びＷ２に対するホーン４１及びアンビル７の当接圧及び接触圧が、所定の圧力を保持するように調整できる。また、ホーン側ロボット２、アンビル側ロボット３に過剰な力が加わって破損することを防止できる。 Further, the horn-side robot 2 and the anvil-side robot 3 are provided with uniaxial sliders 43 and 8 capable of advancing and retreating the horn 41 and the anvil 7 with respect to the two objects to be joined W1 and W2 during the heat treatment.
Therefore, the contact pressure and contact pressure of the horn 41 and the anvil 7 with respect to the objects to be joined W1 and W2 can be adjusted so as to maintain a predetermined pressure. Further, it is possible to prevent the horn-side robot 2 and the anvil-side robot 3 from being damaged by applying an excessive force.

また、ホーン側ロボット２及びアンビル側ロボット３は、ホーン４１及びアンビル７の２つの被接合物Ｗ１及びＷ２への圧力を測定する力センサ６，９を備える。
よって、被接合物Ｗ１及びＷ２に対するホーン４１及びアンビル７の当接圧及び接触圧が、所定の圧力を維持するように調整できる。また、アンビル側ロボット３、ホーン側ロボット２、振動溶着機４２、ホーン４１及びアンビル７に過剰な力が加わって破損することを防止できる。 Further, the horn-side robot 2 and the anvil-side robot 3 are provided with force sensors 6 and 9 for measuring the pressures of the horn 41 and the anvil 7 on the two objects W1 and W2.
Therefore, the contact pressure and contact pressure of the horn 41 and the anvil 7 with respect to the objects to be joined W1 and W2 can be adjusted so as to maintain a predetermined pressure. Further, it is possible to prevent the anvil side robot 3, the horn side robot 2, the vibration welder 42, the horn 41 and the anvil 7 from being damaged by applying an excessive force.

また、アンビル７は、溶着接合部Ｗｐを保持可能な保持面１０の形状を変更可能である。
よって、加熱処理後の被接合物Ｗ１及びＷ２が硬化・安定化するために必要な時間によって保持面１０の形状を変更することで、ホーン４１及びアンビル７の移動速度、及び生産性に対し、柔軟な対応が可能となる。 Further, the anvil 7 can change the shape of the holding surface 10 capable of holding the welded joint Wp.
Therefore, by changing the shape of the holding surface 10 according to the time required for the objects to be joined W1 and W2 to be cured and stabilized after the heat treatment, the moving speed and productivity of the horn 41 and the anvil 7 can be improved. Flexible response is possible.

また、アンビル側ロボット３は、ホーン側ロボット２による振動加熱に伴う２つの被接合物Ｗ１及びＷ２の溶着接合が完了するまでの間、２つの被接合物Ｗ１及びＷ２を被接合物Ｗ１側から保持し、２つの被接合物Ｗ１及びＷ２の溶着接合が完了してからアンビル７を移動させる。
よって、連続的に振動溶着を実施しても、確実に２つの被接合物Ｗ１及びＷ２を溶着接合させることができる。 Further, the anvil-side robot 3 performs the two welded objects W1 and W2 from the bonded object W1 side until the welding and joining of the two welded objects W1 and W2 due to the vibration heating by the horn-side robot 2 are completed. The anvil 7 is moved after the welding of the two objects W1 and W2 to be welded is completed.
Therefore, even if vibration welding is continuously performed, the two objects W1 and W2 to be welded can be reliably welded and welded.

図６は、変形例１のアンビルを示す説明図であって、図６（ａ）は保持面を広げた状態を示す側面図、図６（ｂ）は保持面を閉じた状態を示す側面図である。
変形例１のアンビル７ａは、図６（ａ）に示すように、保持面１０として、第１保持面１０ｃと、第１保持面１０ｃの周囲に４つの第２保持面１０ｄと、４つの第３保持面１０ｅとを備える。また、アンビル７ａは、軸１１を備え、軸１１には移動部１２が軸１１の軸方向に移動可能に設けられる。また、移動部１２と第３保持面１０ｅとは、アングル１３により連結されており、第３保持面１０ｅは、アングル１３を介して移動部１２の移動と連動し、さらに第２保持面１０ｄと第３保持面１０ｅとが連動する。これにより、図６（ｂ）に示すように、移動部１２が移動することで、第２保持面１０ｄ及び第３保持面１０ｅは、第１保持面１０ｃの下方で出し入れ可能となっている。第２保持面１０ｄ及び第３保持面１０ｅを出し入れすることで、アンビル７ａは、被接合物Ｗ１又はＷ２を保持するための保持面１０の形状を変更することができる。 6A and 6B are explanatory views showing the anvil of the modified example 1, FIG. 6A is a side view showing a state in which the holding surface is opened, and FIG. 6B is a side view showing a state in which the holding surface is closed. Is.
As shown in FIG. 6A, the anvil 7a of the modified example 1 has a first holding surface 10c, four second holding surfaces 10d around the first holding surface 10c, and four first holding surfaces 10 as holding surfaces. 3 It is provided with a holding surface 10e. Further, the anvil 7a includes a shaft 11, and a moving portion 12 is provided on the shaft 11 so as to be movable in the axial direction of the shaft 11. Further, the moving portion 12 and the third holding surface 10e are connected by an angle 13, and the third holding surface 10e is interlocked with the movement of the moving portion 12 via the angle 13, and is further connected to the second holding surface 10d. Interlocks with the third holding surface 10e. As a result, as shown in FIG. 6B, the moving portion 12 moves so that the second holding surface 10d and the third holding surface 10e can be taken in and out below the first holding surface 10c. By moving the second holding surface 10d and the third holding surface 10e in and out, the anvil 7a can change the shape of the holding surface 10 for holding the object to be joined W1 or W2.

図７は、変形例２のアンビルを示す説明図であって、図７（ａ）は保持面を広げた状態を示す側面図、図７（ｂ）は保持面を閉じた状態を示す側面図である。
変形例１のアンビル７ｂは、図７（ａ）に示すように、保持面１０として、第１保持面１０ｆと、第１保持面１０ｆの下方に設けられる第２保持面１０ｇと、第２保持面１０ｇの下方に設けられる第３保持面１０ｈとを備える。また、アンビル７ｂは、軸１１ａを備え、軸１１ａと、第１保持面１０ｆ、第２保持面１０ｇ及び第３保持面１０ｈとは、アングル１３ａにより連結され、軸１１ａを中心に回転可能となっている。これにより、図７（ｂ）に示すように、第２保持面１０ｇ及び第３保持面１０ｈを回動することで、アンビル７ｂは、被接合物Ｗ１又はＷ２を保持するための保持面１０の形状を変更することができる。 7A and 7B are explanatory views showing the anvil of the modified example 2, FIG. 7A is a side view showing a state in which the holding surface is opened, and FIG. 7B is a side view showing a state in which the holding surface is closed. Is.
As shown in FIG. 7A, the anvil 7b of the modified example 1 has a first holding surface 10f, a second holding surface 10g provided below the first holding surface 10f, and a second holding surface 10 as a holding surface 10. It is provided with a third holding surface 10h provided below the surface 10g. Further, the anvil 7b includes a shaft 11a, and the shaft 11a is connected to the first holding surface 10f, the second holding surface 10g, and the third holding surface 10h by an angle 13a, and can rotate around the shaft 11a. ing. As a result, as shown in FIG. 7B, by rotating the second holding surface 10g and the third holding surface 10h, the anvil 7b is formed on the holding surface 10 for holding the object to be joined W1 or W2. The shape can be changed.

以上は、本発明を図示例に基づいて説明したものであり、その技術範囲はこれに限定されるものではない。
例えば、ホーン側ロボット及びアンビル側ロボットは、被接合物の溶着接合が可能であれば、多関節ロボット以外にも、他の既存のロボットを利用可能である。
また、ホーンの形状は、先端部が半球を含む球形状となっていれば良く、剛性等を考慮してホーンの径を増大させる等、任意の形状に変更可能である。
また、振動溶着機がホーンに生じさせる振動は、任意の周波数の振動であって良い。
また、力センサは、１軸スライダに設けられても良い。この場合、ホーン側ロボット及びアンビル側ロボットが力センサを備えていなくても良い。
また、ホーン及びアンビルの移動速度は、任意に調整可能である。
また、アンビルの形状変化のための機構は、限定されない。なお、アンビルは、形状変化しないものであっても良い。
また、被接合物の素材は、限定されず、金属でも樹脂でも良いし、それらの組み合わせであっても良い。 The above is a description of the present invention based on the illustrated examples, and the technical scope thereof is not limited thereto.
For example, the horn-side robot and the anvil-side robot can use other existing robots in addition to the articulated robot as long as the object to be welded can be welded and joined.
Further, the shape of the horn may be a spherical shape including a hemisphere at the tip portion, and can be changed to any shape such as increasing the diameter of the horn in consideration of rigidity and the like.
Further, the vibration generated by the vibration welder in the horn may be vibration of an arbitrary frequency.
Further, the force sensor may be provided on the uniaxial slider. In this case, the horn-side robot and the anvil-side robot do not have to be equipped with a force sensor.
Further, the moving speeds of the horn and the anvil can be adjusted arbitrarily.
Further, the mechanism for changing the shape of the anvil is not limited. The anvil may not change in shape.
Further, the material of the object to be joined is not limited, and may be a metal, a resin, or a combination thereof.

１・・振動溶着システム、２・・ホーン側ロボット、３・・アンビル側ロボット、４０・・ホーンユニット、４１・・ホーン、４１ａ・・先端部、４３・・１軸スライダ、６・・力センサ、７・・アンビル、８・・１軸スライダ、９・・力センサ、１０・・保持面、Ｗ１，Ｗ２・・被接合物。 1 ... Vibration welding system, 2 ... Horn side robot, 3 ... Anvil side robot, 40 ... Horn unit, 41 ... Horn, 41a ... Tip, 43 ... 1-axis slider, 6 ... Force sensor , 7 ... anvil, 8 ... 1-axis slider, 9 ... force sensor, 10 ... holding surface, W1, W2 ... to be welded.

Claims (7)

２つの被接合物を溶着接合するための振動溶着システムであって、
前記２つの被接合物の溶着接合部を振動加熱するホーンユニットを備えるホーン側ロボットと、
前記溶着接合部を保持するアンビルを備えるアンビル側ロボットと、を備え、
前記ホーンユニットは、棒状のホーンを備え、
前記アンビルは、前記溶着接合部を保持する保持面を備え、
前記２つの被接合物を合わせた状態で、前記アンビル側ロボットが、前記溶着接合部を前記２つの被接合物の一方側から前記保持面で保持すると共に、前記ホーン側ロボットが、前記溶着接合部に前記２つの被接合物の他方側から前記ホーンを当接させて、前記ホーンユニットにより前記ホーンを振動させて前記溶着接合部を振動加熱する加熱処理を行い、
前記ホーン側ロボットと前記アンビル側ロボットとが、前記ホーンと前記アンビルとを、前記２つの被接合物上を移動させながら前記加熱処理を行うことを特徴とする振動溶着システム。 A vibration welding system for welding and joining two objects to be welded.
A horn-side robot provided with a horn unit that vibrates and heats the welded joints of the two objects to be welded.
Anvil-side robot having an anvil that holds the welded joint,
The horn unit includes a rod-shaped horn and has a rod-shaped horn.
The anvil comprises a holding surface for holding the welded joint.
With the two objects to be joined together, the anvil-side robot holds the welded joint from one side of the two objects on the holding surface, and the horn-side robot holds the welded joint on the holding surface. The horn is brought into contact with the portion from the other side of the two objects to be joined, and the horn is vibrated by the horn unit to perform a heat treatment for vibrating and heating the welded joint.
A vibration welding system characterized in that the horn-side robot and the anvil-side robot perform the heat treatment while moving the horn and the anvil on the two objects to be joined. 前記ホーンは、先端が半球を含む球形状となっていることを特徴とする請求項１に記載の振動溶着システム。 The vibration welding system according to claim 1, wherein the horn has a spherical shape including a hemisphere at the tip. 前記ホーン側ロボット及び前記アンビル側ロボットは、前記加熱処理時において、前記ホーン及び前記アンビルを前記２つの被接合物に対して進退可能な１軸スライダを備えることを特徴とする請求項１又は２に記載の振動溶着システム。 The horn-side robot and the anvil-side robot are provided with a uniaxial slider capable of advancing and retreating the horn and the anvil with respect to the two objects to be welded during the heat treatment. Vibration welding system described in. 前記ホーン側ロボット及び前記アンビル側ロボットは、前記ホーン及び前記アンビルの前記２つの被接合物への圧力を測定する力センサを備えることを特徴とする請求項１乃至３の何れかに記載の振動溶着システム。 The vibration according to any one of claims 1 to 3, wherein the horn-side robot and the anvil-side robot include a force sensor for measuring the pressure of the horn and the anvil on the two objects to be joined. Welding system. 前記アンビルは、前記溶着接合部を保持可能な前記保持面の形状を変更可能であることを特徴とする請求項１乃至４の何れかに記載の振動溶着システム。 The vibration welding system according to any one of claims 1 to 4, wherein the anvil can change the shape of the holding surface capable of holding the welding joint. ２つの被接合物の溶着接合部を振動加熱するホーンユニットを備えるホーン側ロボットと、前記溶着接合部を保持するアンビルを備えるアンビル側ロボットと、を備える振動溶着システムを用いて、前記２つの被接合物を溶着接合する振動溶着方法であって、
前記ホーンユニットは、棒状のホーンを備え、
前記アンビルは、前記溶着接合部を保持する保持面を備え、
前記２つの被接合物を合わせた状態で、前記アンビル側ロボットが、前記溶着接合部を前記２つの被接合物の一方側から前記保持面で保持すると共に、前記ホーン側ロボットが、前記溶着接合部に前記２つの被接合物の他方側から前記ホーンを当接させて、前記ホーンユニットにより振動加熱する加熱処理を行い、
前記ホーン側ロボットと前記アンビル側ロボットとが、前記ホーンと前記アンビルとを、前記２つの被接合物上を移動させながら前記加熱処理を行う振動溶着工程を実施することを特徴とする振動溶着方法。 Using a vibration welding system including a horn-side robot provided with a horn unit that vibrates and heats the welded joints of two objects to be welded, and an anvil-side robot provided with an anvil that holds the welded joints, the two welds are welded. This is a vibration welding method for welding and joining joints.
The horn unit includes a rod-shaped horn and has a rod-shaped horn.
The anvil comprises a holding surface for holding the welded joint.
With the two objects to be joined together, the anvil-side robot holds the welded joint from one side of the two objects on the holding surface, and the horn-side robot holds the welded joint on the holding surface. The horn is brought into contact with the portion from the other side of the two objects to be welded, and heat treatment is performed by vibrating and heating the horn unit.
A vibration welding method characterized in that the horn-side robot and the anvil-side robot carry out a vibration welding step of performing the heat treatment while moving the horn and the anvil on the two objects to be joined. .. 前記アンビル側ロボットは、前記ホーン側ロボットによる振動加熱に伴う前記２つの被接合物の溶着接合が完了するまでの間、前記２つの被接合物を一方側から保持し、前記２つの被接合物の溶着接合が完了してから前記アンビルを移動させることを特徴とする請求項６に記載の振動溶着方法。 The anvil-side robot holds the two objects to be joined from one side until the welding and joining of the two objects to be welded due to vibration heating by the horn-side robot is completed, and the two objects to be joined are held. The vibration welding method according to claim 6, wherein the anvil is moved after the welding and joining of the above is completed.
JP2020217406A 2020-12-25 2020-12-25 Oscillation welding system and oscillation welding method Pending JP2022102586A (en)

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