JPH0199791A - Laser beam welding method - Google Patents
Laser beam welding methodInfo
- Publication number
- JPH0199791A JPH0199791A JP62256296A JP25629687A JPH0199791A JP H0199791 A JPH0199791 A JP H0199791A JP 62256296 A JP62256296 A JP 62256296A JP 25629687 A JP25629687 A JP 25629687A JP H0199791 A JPH0199791 A JP H0199791A
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- Prior art keywords
- welded
- processing device
- laser
- camera
- welding
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Links
- 238000003466 welding Methods 0.000 title claims abstract description 48
- 238000000034 method Methods 0.000 title claims description 14
- 238000012937 correction Methods 0.000 claims abstract description 27
- 238000003384 imaging method Methods 0.000 claims description 9
- 239000000463 material Substances 0.000 abstract description 12
- 238000003754 machining Methods 0.000 abstract description 3
- 238000007796 conventional method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000004575 stone Substances 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
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- Laser Beam Processing (AREA)
Abstract
Description
【発明の詳細な説明】
［発明の目的］
（産業上の利用分野）
本発明は被溶接材にレーザ加工装置でレーザ溶接を施ず
レーザ溶接方法に関する。DETAILED DESCRIPTION OF THE INVENTION [Object of the Invention] (Industrial Application Field) The present invention relates to a laser welding method in which a workpiece to be welded is not subjected to laser welding using a laser processing device.
（従来の技術）
従来、被溶接材にレーザ光を用いて溶接を施すレーザ溶
接方法は、熱歪の少ない溶接方法として知られ、徐々に
市場へ受は入れられつつある。(Prior Art) Conventionally, laser welding methods in which materials to be welded are welded using laser light are known as welding methods with little thermal distortion, and are gradually gaining acceptance in the market.
このレーザ溶接では微小スポットに集光されたレーザビ
ームを正確に溶接部まで導く必要があり、その位置ずれ
が問題になっていた。現状ではＨｅ−Ｎｅ等のレーザビ
ームをスキャンし、溶接位置を捜す方法が紹介されて行
なわれている。In this laser welding, it is necessary to accurately guide a laser beam focused on a minute spot to the welding part, and misalignment has been a problem. Currently, a method has been introduced and practiced in which a laser beam such as He-Ne is scanned to search for a welding position.
（発明が解決しようとする問題点）
ところが、従来の前述した溶接位置を捜す方法では、依
然としてレーザビームと溶接位置との間には位置ずれが
生じて正確なレーザ溶接ができないという問題を抱えて
いる。(Problems to be Solved by the Invention) However, the conventional method of searching for the welding position described above still has the problem that accurate laser welding cannot be performed due to positional deviation between the laser beam and the welding position. There is.
本発明は上記問題点を改善するため、レーザ加工装置に
備えた撮像手段で被溶接材における溶接部を陽像し画像
処理装置でその画像デ゛−夕を処理して位置補正量を求
め、その位置補正量をレーザ加工装置のＮＧ装置へフィ
ードバックすることによって正確なレーザ溶接を施すよ
うにしたレーザ溶接方法を提供することにある。In order to improve the above-mentioned problems, the present invention uses an imaging means provided in a laser processing device to take a positive image of a welded part on a workpiece, and an image processing device processes the image data to obtain a position correction amount. It is an object of the present invention to provide a laser welding method that performs accurate laser welding by feeding back the position correction amount to an NG device of a laser processing device.
［発明の構成］
（問題点を解決するための手段）
本発明は上記目的を達成するために、レーザ加工装置の
所定位置に偏えられた加工ヘッドで被溶接材にレーザ溶
接を施すに際し、予め被溶接材における溶接部を前記加
工ヘッドと所定関係位置においてレーザ加工装置に備え
た撮像手段によってｂ１像してその画像データをもとに
撮像手段に接続された画像処理装置で加工ヘッドとの位
置ずれ石を検出し、その伯をもとに位置補正量を篩出し
、その位置補正量をＮＣ装置へフィードバックして修正
した後、溶接部のレーザ溶接を施すレーザ溶接方法であ
る。[Structure of the Invention] (Means for Solving the Problems) In order to achieve the above object, the present invention provides the following steps when performing laser welding on a material to be welded with a processing head biased to a predetermined position of a laser processing device. The welded part of the material to be welded is imaged in advance by an imaging means provided in the laser processing device at a predetermined relative position with the processing head, and based on the image data, an image processing device connected to the imaging means is used to perform the image processing with the processing head. This is a laser welding method in which a misaligned stone is detected, a position correction amount is screened out based on the number, the position correction amount is fed back to the NC device for correction, and then the welded portion is laser welded.
（作用）
本発明のレーザ溶接方法を採用することにより、レーザ
加工装置の所定位置に備えられ加工ヘッドで被溶接材に
レーザ溶接を施すに際し、予めレーザ加工装置に備えた
撮像手段で被溶接材における溶接部を撮像し、その画像
データを画像処理装置に送る。画像処理装置ではこの画
像データをもとにして位置ずれ量が算出され、ざらに位
置補正量を求める。求めた位置補正量をレーザ加工装置
のＮＣ装置へフィードバックして修正した後、溶接部の
レーザ溶接加工が施される。而して、オペレータが介在
せずに自動的でかつ正確にレーザ溶接が行なわれて品質
が従来より一層向上される。(Function) By employing the laser welding method of the present invention, when performing laser welding on the welded material with the processing head provided at a predetermined position of the laser processing device, the imaging means provided in the laser processing device An image of the welded part is captured and the image data is sent to an image processing device. The image processing device calculates the amount of positional deviation based on this image data, and roughly determines the amount of positional correction. After the determined positional correction amount is fed back to the NC device of the laser processing device and corrected, the welded portion is laser welded. Thus, laser welding is performed automatically and accurately without operator intervention, and the quality is further improved than in the past.
（実施例）
以下、本発明の実施例を図面に基づいて詳細に説明する
。(Example) Hereinafter, an example of the present invention will be described in detail based on the drawings.
第１図を参照するに、レーザ加工装置１におけるベース
３の一側部にはＸ軸方向へ延設されたＸ軸キャリッジ５
が設けられており、そのＸ軸キャリッジ５によってＸ軸
方向へ移動自在な門型形状のＹ軸キャリッジ７が設けら
れている。Referring to FIG. 1, an X-axis carriage 5 extending in the X-axis direction is provided on one side of the base 3 in the laser processing device 1.
A gate-shaped Y-axis carriage 7 that is movable in the X-axis direction by the X-axis carriage 5 is provided.
そのＹ軸キャリッジ７にはＹ軸方向へ移動自在なＺ軸コ
ラム９が上下方向へ延設されている。そのＺ軸コラム９
にはＺ軸方向へ移動自在な溶接加工ヘッド１１が設けら
れている。その溶接加工ヘッド１１の近傍付近には、加
工ヘッド１１の上下方向へ平行に撮像手段としてのＣＯ
Ｄカメラ、ＩＴＶカメラ等のカメラ１３が設けられてい
る。さらに溶接加工ヘッド１１の近傍付近には、カメラ
１３で被溶接材Ｗにおける溶接部の始点や終点を撮像す
るために必要な光源１５が設けられている。The Y-axis carriage 7 has a Z-axis column 9 extending vertically that is movable in the Y-axis direction. Its Z-axis column 9
is provided with a welding head 11 that is movable in the Z-axis direction. In the vicinity of the welding processing head 11, a CO2 as an imaging means is installed parallel to the vertical direction of the processing head 11.
A camera 13 such as a D camera or an ITV camera is provided. Further, in the vicinity of the welding head 11, a light source 15 is provided, which is necessary for the camera 13 to take an image of the starting point and ending point of the welding part on the workpiece W.
前記ベース３上には被溶接材Ｗを位置決めするワークテ
ーブル１７が設けられており、そのワークテーブル１７
上に溶接すべき被溶接材Ｗが載置される。A work table 17 for positioning the workpiece W to be welded is provided on the base 3, and the work table 17
The workpiece W to be welded is placed thereon.
前記ベース３の近傍付近にはＮＣ装置１９が配設されて
おり、そのＮＣ装置１９の近傍イ・１近には前記撮像手
段としてのカメラ１３に接続された画像処理装置２１が
配設されている。An NC device 19 is disposed near the base 3, and an image processing device 21 connected to the camera 13 as the imaging means is disposed near the NC device 19. There is.
第１図に示したレーザ加工装置１の構成ブロック図が第
２図に示されている。第２図において、レーザ加工装置
１とＮＣ装置１９とでは、位置決め信号とマシンυ制御
用の各種信号とのやりとりが行なわれる。ＮＣ装置１９
と画像処理装置２１とでは、補正値要求信号、補正値デ
ータおよびティーチング／実行モード信号とのやりとり
が行なわれ、画像処理装置２１とカメラ１３とではビデ
オ信号、カメラ駆動用同期信号のやりとりが行なわれる
。A block diagram of the configuration of the laser processing apparatus 1 shown in FIG. 1 is shown in FIG. In FIG. 2, the laser processing device 1 and the NC device 19 exchange positioning signals and various signals for machine υ control. NC device 19
A correction value request signal, correction value data, and teaching/execution mode signal are exchanged between the image processing device 21 and the image processing device 21, and a video signal and a synchronization signal for driving the camera are exchanged between the image processing device 21 and the camera 13. It will be done.
上記構成により、ワークテーブル１７上に被溶接材Ｗを
クランプし、Ｙ＠キャリッジ７をＸ ｆａ１１方向へ、
／軸コラム９をＹ軸方向へ移動せしめて被溶接材Ｗにお
ける溶接部の始点と終点の位置にカメラ１３の中心が来
るように位置決めする。With the above configuration, the workpiece W to be welded is clamped on the work table 17, and the Y@carriage 7 is moved in the Xfa11 direction.
/ Move the axis column 9 in the Y-axis direction and position the camera 13 so that the center of the camera 13 is at the starting and ending points of the welding part on the workpiece W.
その被溶接材Ｗにおける溶接部の始点と終点の位置をカ
メラ１３で撮像して、そのＲ像された画像データを画像
処理装置２１内で処理して始点、終点の位置とカメラ１
３の中心との位置ずれＭを検出する。さらに画像処理装
置２１内で位置ずれ量から位置補正ｍを求めて、その位
置補正量をＮＣ装置１９ヘフイードバツクし、その位置
補正％−ｊをもとにしてＮＧテープを修正した後、被溶
接材Ｗにおける溶接部の始点から終点までのレーザ溶接
が行なわれることになる。The positions of the start point and end point of the welding part on the welded material W are imaged by the camera 13, and the R-imaged image data is processed in the image processing device 21, and the positions of the start point and end point are captured by the camera 13.
The positional deviation M from the center of 3 is detected. Furthermore, the position correction m is calculated from the positional deviation amount in the image processing device 21, the position correction amount is fed back to the NC device 19, and the NG tape is corrected based on the position correction %-j. Laser welding will be performed from the start point to the end point of the welding part at W.
第３図および第４図には溶接すべき一例の被溶接材Ｗが
示されている。第３図および第４図において、被溶接材
Ｗはそれぞれ相対称的な被溶接片Ｗ＋ 、Ｗ３ ：
Ｗ２ 、Ｗ４からなり、被溶接片Ｗ１とＷ２ 、Ｗ２
とＷ３ 、Ｗ３ とＷ４ 、Ｗ４ とＷｌの溶接部を溶
接するものとする。すなわら、第４図に示されているよ
うに各溶接部の始点Ａ、Ｃ，Ｅ。3 and 4 show an example of a workpiece W to be welded. In FIGS. 3 and 4, the welded materials W are mutually symmetrical welded pieces W+, W3:
Consisting of W2 and W4, the pieces to be welded W1 and W2, W2
and W3, W3 and W4, and W4 and Wl are to be welded. That is, starting points A, C, and E of each weld as shown in FIG.
Ｇから終点Ｂ、ｒ）、Ｆ、Ｈまで溶接するものである。Welding is performed from G to end points B, r), F, and H.
この場合における溶接ステップを具体的に第８図、第９
図に示したｊイーチングモード、実行モードの処理フロ
ーをもとにして説明する。The welding steps in this case are specifically shown in Figures 8 and 9.
The explanation will be based on the processing flow of the j-eaching mode and the execution mode shown in the figure.
■、レーザ溶接方法ではティーチングモードと実行モー
ドの２種類の動作をｉｊ ＆ｉｊ、ている。すなわら、
ティーチングモードで位置ずれ量を検出し、実行モード
でそのずれ量をもとにした位置補正値で連続位置決めし
て溶接を実施していくものである。(2) The laser welding method has two types of operation: teaching mode and execution mode. In other words,
In the teaching mode, the amount of positional deviation is detected, and in the execution mode, continuous positioning is performed using a position correction value based on the amount of deviation, and welding is performed.
■、第４図において、まずＮＣ装置１９からレーザ加工
装置１に対してカメラ１３の中心部がＡ点に来るよう指
令を行なう。すなわち、
溶接位置決め位置＋（溶接加工ヘッド１１の中心とカメ
ラ１３の中心とのオフセットＧ）の指令が行なわれる（
ステップ２３〉。(2) In FIG. 4, first, the NC device 19 instructs the laser processing device 1 to bring the center of the camera 13 to point A. That is, a command for the welding positioning position + (offset G between the center of the welding head 11 and the center of the camera 13) is issued (
Step 23>.
■、位置決め完了時点でカメラ１３により被溶接部材Ｗ
のＡ部を撮像する。撮像データはケーブルを経由して画
像処理装置２１内に取り込まれる（ステップ２５）。■When the positioning is completed, the camera 13 detects the workpiece W to be welded.
Take an image of part A. The imaging data is taken into the image processing device 21 via the cable (step 25).
■、画像処理装置２１内では、この画像データの２ Ｉ
ｊ化およびノイズ除去を行ない（ステップ２７゜２９）
、画像のコーナを検出する（ステップ３１〉。被溶接材
Ｗが指定位置通りにセットされていれば、第５図に示し
た画像中心Ｐと被溶接材ＷにおけるニコーナＡの位置が
一致するはずであるが、現実的には第５図に示す如くΔ
Ｘ、Δｙの誤差が発生するのである。画像処理装置２１
では、この位置ずれ呈Δ×、Δｙを検出し、内部メモリ
に格納する（ステップ３３．３５＞。その後、検出終了
である旨をＮＣ装置１９へ通知する（ステップ３７）。■In the image processing device 21, 2 I of this image data
J conversion and noise removal (steps 27 and 29)
, detect the corner of the image (step 31). If the workpiece W is set at the specified position, the image center P shown in FIG. 5 should match the position of the Nikona A on the workpiece W. However, in reality, Δ
Errors in X and Δy occur. Image processing device 21
Then, the positional deviations Δx and Δy are detected and stored in the internal memory (steps 33 and 35). Thereafter, the NC device 19 is notified that the detection has ended (step 37).
■、ＮＣ装置１９ではこの通知を受けて第６図に示され
ているように、Ｂ点にカメラ１３の中心がくるよう位置
決め指令を行なう。上記■と同様の処理を行なって、Ｂ
点における位置ずれ量Δ× 。(2) Upon receiving this notification, the NC device 19 issues a positioning command so that the center of the camera 13 is located at point B, as shown in FIG. Perform the same process as above ■, and
Positional deviation amount Δ× at the point.
Δｙ′を検出し画像処理装置２１の内部メモリに格納す
る。Δy' is detected and stored in the internal memory of the image processing device 21.
上記のステップで溶接部の始点Ａと終点Ｂの溶接線に石
のティーチングが終了する。With the above steps, the teaching of the stone on the weld line between the start point A and the end point B of the weld zone is completed.
■、上記■〜■の要領で溶接線ＣＤ、ＥＦ、ＧＨに対し
てもティーチングを実施する。(2) Teaching is also carried out for welding lines CD, EF, and GH in the same manner as in (1) to (2) above.
■、全点のティーチング終了後、溶接開始が行なわれる
ことになるが、ＮＣ装置１９と画像処理装置２１間のデ
ータの受は渡しは第７図に丞す如く行なわれる。すなわ
ら、ＮＣ装置１９から画像処理装置２１へ補正値要求指
令が出されて画像処理装置２１では内部メモリからＡ点
、Ｂ点の補正値をサーチする（ステップ３９’、４１）
。その補正値ΔＸＡ、ΔＹＡ、ΔＸ［３，ΔＹＢを画像
処理装置２１からＮＣ装置１９へ送出する（ステップ４
３．４５）。次いで第１０図に示された内部メモリでポ
インタの更新が行なわれる（ステップ４７）、ＮＣ装置
１９では、Δ点位置状め（補正後）およびＢ点へ直線補
間を行なって、始点へから終点Ｂまでのレーザ溶接が実
施される。(2) After the teaching of all points is completed, welding is started, and data is exchanged between the NC device 19 and the image processing device 21 as shown in FIG. That is, a correction value request command is issued from the NC device 19 to the image processing device 21, and the image processing device 21 searches the internal memory for correction values for points A and B (steps 39' and 41).
. The correction values ΔXA, ΔYA, ΔX[3, ΔYB are sent from the image processing device 21 to the NC device 19 (step 4
3.45). Next, the pointer is updated in the internal memory shown in FIG. 10 (step 47), and the NC device 19 performs linear interpolation to determine the Δ point position (after correction) and point B, and move from the starting point to the ending point. Laser welding up to B is performed.
次いで、ＮＣ装置１９から画像処理装置２１へ補正値要
求指令か出されて、上述した要領により溶接線τＤ、Ｅ
Ｆ、ＧＨに対して同様の処理が実施される。Next, a correction value request command is issued from the NC device 19 to the image processing device 21, and the welding lines τD, E are determined according to the above-mentioned procedure.
Similar processing is performed for F and GH.
而して、オペレータが介在せずに自動的でかつ正確にレ
ーザ溶接が行なわれて品質が従来より−麗向上される。As a result, laser welding is automatically and accurately performed without operator intervention, and the quality is improved compared to the conventional method.
なお、本発明は前述した実施例に限定されることなく、
適宜の変更を行なうことにより、その他の態様で実施し
得るものである。Note that the present invention is not limited to the above-mentioned embodiments,
By making appropriate changes, other embodiments can be implemented.
［発明の効果］
以上のごとき実施例の説明より理解されるように、本発
明によれば、レーザ加工装置の所定位置に備えられた加
工ヘッドで被溶接材にレーザ溶接を施すに際し、予めレ
ーザ加工装置に備えた振合手段で被溶接材における溶接
部を撮像し、その画像データを画像処理装置に送る。画
像処理装置ではこの画像データをもとにして位置ずれ量
が算出され、さらに位置補正はを求める。求めた位置補
正量をレーザ加工装置のＮＣ装置へフィードバックして
修正した後、溶接部のレーザ溶接加工が施される。而し
て、オペレータが介在せずに自動的でかつ正確にレーザ
溶接を行なうことができ、従来よりも品質が一廣向上す
る。[Effects of the Invention] As can be understood from the above description of the embodiments, according to the present invention, when performing laser welding on a workpiece with a processing head provided at a predetermined position of a laser processing device, the laser welding process is performed in advance. An image of the welded part of the welded material is captured by an alignment means provided in the processing device, and the image data is sent to an image processing device. The image processing device calculates the amount of positional deviation based on this image data, and further calculates the positional correction. After the determined positional correction amount is fed back to the NC device of the laser processing device and corrected, the welded portion is laser welded. Therefore, laser welding can be performed automatically and accurately without operator intervention, and the quality is significantly improved compared to the conventional method.
第１図は本発明を実施した一実施例のレーザ＋ＪＯ工装
置の概略斜視図、第２図は第１図のレーザ加工装置によ
る構成ブロック図である。
第３図は第１図のレーザ加工装置でレーザ溶接を施す一
例の被溶接材の斜視図、第４図は第３図の平面図である
。
第５図、第６図は被溶接材の始点、終点の位置を計測す
るための説明図である。
第７図はＮＣ装置と画像処理装置との間で信号やデータ
のやりとりが行なわれる説明図である。
第８図、第９図は画像処理装置で行なわれるティーチイ
ングモード、実行モードの処理フローである。
第１０図は画像処理装置内に記憶される一例の内部テー
ブルである。
１・・・レーザ加工装置 １１・・・溶接加工ヘッド
１３・・・カメラ １９・・・ＮＣ装置２５
・・・画像処理装置
代理人 弁理士 三 好 保 男第 １ 図
蔦２図
第３図 第４図
第５図 第６図
第８図
第９図
内部テーブル
第１０図FIG. 1 is a schematic perspective view of a laser + JO machining apparatus according to an embodiment of the present invention, and FIG. 2 is a block diagram of the configuration of the laser machining apparatus of FIG. 1. 3 is a perspective view of an example of a workpiece to be welded by laser welding with the laser processing apparatus shown in FIG. 1, and FIG. 4 is a plan view of FIG. 3. FIGS. 5 and 6 are explanatory views for measuring the positions of the starting point and ending point of the welded material. FIG. 7 is an explanatory diagram showing how signals and data are exchanged between the NC device and the image processing device. FIGS. 8 and 9 are processing flows of teaching mode and execution mode performed by the image processing device. FIG. 10 is an example of an internal table stored in the image processing device. 1... Laser processing device 11... Welding processing head 13... Camera 19... NC device 25
... Image processing device agent Patent attorney Yasuo Miyoshi Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 8 Figure 9 Internal table Figure 10
Claims (1)
溶接材にレーザ溶接を施すに際し、予め被溶接材におけ
る溶接部を前記加工ヘッドと所定関係位置においてレー
ザ加工装置に備えた撮像手段によって撮像してその画像
データをもとに撮像手段に接続された画像処理装置で加
工ヘッドとの位置ずれ量を検出し、その値をもとに位置
補正量を算出し、その位置補正量をＮＣ装置へフィード
バックして修正した後、溶接部のレーザ溶接を施すこと
を特徴とするレーザ溶接方法。When performing laser welding on a workpiece with a processing head provided at a predetermined position of a laser processing device, an image of a welded portion of the workpiece is imaged in advance by an imaging means provided in the laser processing device at a predetermined relationship position with the processing head. Based on the image data, an image processing device connected to the imaging means detects the amount of positional deviation from the processing head, calculates a positional correction amount based on that value, and sends the positional correction amount to the NC device. A laser welding method characterized by performing laser welding of the welded part after receiving feedback and making corrections.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62256296A JP2596564B2 (en) | 1987-10-13 | 1987-10-13 | Laser welding equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62256296A JP2596564B2 (en) | 1987-10-13 | 1987-10-13 | Laser welding equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0199791A true JPH0199791A (en) | 1989-04-18 |
| JP2596564B2 JP2596564B2 (en) | 1997-04-02 |
Family
ID=17290687
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62256296A Expired - Fee Related JP2596564B2 (en) | 1987-10-13 | 1987-10-13 | Laser welding equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2596564B2 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5818595A (en) * | 1994-10-11 | 1998-10-06 | Komatsu Ltd. | Work piece butt position detecting method for butt welding |
| WO2006005553A1 (en) * | 2004-07-13 | 2006-01-19 | Gutsch & Exner Software Gmbh | Method and machine for connecting a main support to at least one add-on part by welding using a sensor for measuring the main support and the add-on part before welding |
| JP2010149153A (en) * | 2008-12-25 | 2010-07-08 | Honda Motor Co Ltd | Method for managing accuracy |
| CN102837130A (en) * | 2011-06-24 | 2012-12-26 | 太航常青汽车安全设备(苏州)有限公司 | Weakened laser machining equipment |
| CN106735956A (en) * | 2016-12-13 | 2017-05-31 | 江苏盘古机器人科技有限公司 | The control device and control method of two-way laser weldering system |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57149078A (en) * | 1981-03-12 | 1982-09-14 | Nec Corp | Follow-up device for weld line |
| JPS62130786A (en) * | 1985-11-29 | 1987-06-13 | Amada Co Ltd | Laser beam machine |
| JPS62148089A (en) * | 1985-12-23 | 1987-07-02 | Kawasaki Steel Corp | Method and device for detecting weld line |
-
1987
- 1987-10-13 JP JP62256296A patent/JP2596564B2/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS57149078A (en) * | 1981-03-12 | 1982-09-14 | Nec Corp | Follow-up device for weld line |
| JPS62130786A (en) * | 1985-11-29 | 1987-06-13 | Amada Co Ltd | Laser beam machine |
| JPS62148089A (en) * | 1985-12-23 | 1987-07-02 | Kawasaki Steel Corp | Method and device for detecting weld line |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5818595A (en) * | 1994-10-11 | 1998-10-06 | Komatsu Ltd. | Work piece butt position detecting method for butt welding |
| WO2006005553A1 (en) * | 2004-07-13 | 2006-01-19 | Gutsch & Exner Software Gmbh | Method and machine for connecting a main support to at least one add-on part by welding using a sensor for measuring the main support and the add-on part before welding |
| JP2010149153A (en) * | 2008-12-25 | 2010-07-08 | Honda Motor Co Ltd | Method for managing accuracy |
| CN102837130A (en) * | 2011-06-24 | 2012-12-26 | 太航常青汽车安全设备(苏州)有限公司 | Weakened laser machining equipment |
| CN106735956A (en) * | 2016-12-13 | 2017-05-31 | 江苏盘古机器人科技有限公司 | The control device and control method of two-way laser weldering system |
| CN106735956B (en) * | 2016-12-13 | 2018-08-17 | 江苏盘古机器人科技有限公司 | Two-way laser welds the control device and control method of system |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2596564B2 (en) | 1997-04-02 |
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| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |