JPH04127984A - Method and device for laser welding - Google Patents
Method and device for laser weldingInfo
- Publication number
- JPH04127984A JPH04127984A JP2246983A JP24698390A JPH04127984A JP H04127984 A JPH04127984 A JP H04127984A JP 2246983 A JP2246983 A JP 2246983A JP 24698390 A JP24698390 A JP 24698390A JP H04127984 A JPH04127984 A JP H04127984A
- Authority
- JP
- Japan
- Prior art keywords
- welding
- welded
- bead width
- measuring
- itv camera
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000003466 welding Methods 0.000 title claims abstract description 100
- 238000000034 method Methods 0.000 title claims description 14
- 239000011324 bead Substances 0.000 claims abstract description 65
- 239000000463 material Substances 0.000 claims abstract description 48
- 238000012545 processing Methods 0.000 claims abstract description 20
- 238000005259 measurement Methods 0.000 claims description 36
- 238000007689 inspection Methods 0.000 claims description 13
- 230000003287 optical effect Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims 2
- 238000012937 correction Methods 0.000 abstract description 12
- 238000003754 machining Methods 0.000 abstract 1
- 230000008018 melting Effects 0.000 abstract 1
- 238000002844 melting Methods 0.000 abstract 1
- 230000035515 penetration Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000003321 amplification Effects 0.000 description 6
- 238000003199 nucleic acid amplification method Methods 0.000 description 6
- 239000007789 gas Substances 0.000 description 5
- XKRFYHLGVUSROY-UHFFFAOYSA-N Argon Chemical compound [Ar] XKRFYHLGVUSROY-UHFFFAOYSA-N 0.000 description 4
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000012360 testing method Methods 0.000 description 4
- 230000004927 fusion Effects 0.000 description 3
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 description 2
- 229910052786 argon Inorganic materials 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000005530 etching Methods 0.000 description 2
- 229910002092 carbon dioxide Inorganic materials 0.000 description 1
- 239000001569 carbon dioxide Substances 0.000 description 1
- 230000001427 coherent effect Effects 0.000 description 1
- 238000007796 conventional method Methods 0.000 description 1
- 230000002950 deficient Effects 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000005498 polishing Methods 0.000 description 1
- 238000006748 scratching Methods 0.000 description 1
- 230000002393 scratching effect Effects 0.000 description 1
- 239000002904 solvent Substances 0.000 description 1
Landscapes
- Laser Beam Processing (AREA)
Abstract
Description
【発明の詳細な説明】
［産業上の利用分野］
本発明は、レーザによる突合せ溶接に係り、被溶接材の
受入検査方法及び自動焦点合わせとその補正方法により
最適な溶接を行ない、溶接ビード幅と溶接ビード余盛高
を計測し、溶接品の合否判定を行なうレーザ溶接装置に
関する。[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to butt welding using a laser, and performs optimal welding using an acceptance inspection method for materials to be welded and an automatic focusing and correction method, and improves the weld bead width. The present invention relates to a laser welding device that measures the weld bead excess height and determines the acceptability of welded products.
従来の集光レンズの焦点合わせは、第９図に示すように
移動可能なＺステージに集光レンズと接触式測長センサ
が取付いており、接触式測長センサで集光レンズと２つ
の被溶接材のうち、一方の溶接位置までの距離を計測し
、その計測結果に基づき手動にて予め設定した焦点にな
るようにＺステージを移動し焦点を合わせる。これらの
接触式測長センサは被溶接材にキズを付ける問題があり
、ダミー品により焦点位置合せを行なう。また、この方
法では被溶接材の加工バラツキに対応できないため、溶
接品の品質にバラツキが生じやすかった。また、突合せ
ギャップの計測は、外段取で手動にて計測しているが、
レーザ溶接装置に被溶接材をセットした時に形成するギ
ャップとは異なり正確なギャップ計測ができなかった。In conventional focusing of a condenser lens, a condenser lens and a contact-type length measurement sensor are attached to a movable Z stage, as shown in Figure 9. The distance to one welding position of the welding material is measured, and based on the measurement result, the Z stage is manually moved and focused to a preset focus. These contact type length measurement sensors have the problem of scratching the material to be welded, so focus alignment is performed using a dummy product. In addition, this method cannot deal with variations in the processing of the materials to be welded, so the quality of the welded products tends to vary. In addition, the butt gap is measured manually using external setup.
Unlike the gap that is formed when the material to be welded is set in a laser welding device, it was not possible to accurately measure the gap.
さらに、溶接品の品質の評価は、溶接部のガスもれ検査
であるリークテストだけに依存していた。このリークテ
ストはライン外の作業であり工程を乱す要因であり、そ
の寸法測定は、その溶接条件でのダミー品を切断、エツ
チングし、ビード幅を測定していたため、リアルタイム
に品質をつかむことができなく、また個々の被溶接品の
品質を実質的につかむことは不可能であった。Furthermore, evaluation of the quality of welded products has relied solely on leak tests, which are gas leak tests at welded parts. This leak test is an off-line work that disrupts the process, and the dimensions were measured by cutting and etching a dummy product under the welding conditions and measuring the bead width, making it impossible to grasp the quality in real time. Furthermore, it has been impossible to substantially grasp the quality of each individual welded item.
〔発明が解決しようとする課題］
上記従来技術はレーザビーム加工用レンズである集光レ
ンズの焦点距離の管理及び被溶接材の加工寸法バラツキ
について配慮が不十分であり、溶接品の品質にバラツキ
が発俊する問題があった。[Problems to be Solved by the Invention] The above-mentioned conventional technology does not give sufficient consideration to the management of the focal length of the condensing lens, which is a lens for laser beam processing, and the variation in processing dimensions of the materials to be welded, resulting in variations in the quality of welded products. There was a problem that occurred.
本発明の目的は溶接品の品質のバラツキを防止するため
に被溶接材の寸法変化に対応する方法として、突合わせ
する２つの被溶接材に対し、レーザビーム加工用集光レ
ンズとの距離を検出すること及び突合わせギャップを計
測し、自動焦点と溶接速度の補正を行ない溶接し、さら
に溶接時のビード幅を計測し、ビード幅の大小に応じて
、自動焦点の補正と溶接速度の補正を行うことにより、
高品質で高精度なレーザ溶接を行ない、さらに溶接ビー
ド余盛り高を精度よく計測し、溶接品の合否判定を行な
うことにある。The purpose of the present invention is to prevent variations in the quality of welded products by adjusting the distance between two welded materials to a condensing lens for laser beam processing, as a method to deal with dimensional changes in welded materials. Detecting and measuring the butt gap, correcting the automatic focus and welding speed, welding, measuring the bead width during welding, and correcting the automatic focus and welding speed according to the size of the bead width. By doing
The objective is to perform high-quality and highly accurate laser welding, and also to accurately measure the weld bead excess height to determine pass/fail of welded products.
上記目的は、集光レンズを有すＺステージを設けそのＺ
ステージに非接触式測長センサを取付は突合せ溶接する
２つの被溶接材に対し、レーザビーム用集光レンズとの
距離を計測し、そのセンサの２つのデータをＣＰＵて演
算し、被溶接材の受入検査をすること、また、２つの被
溶接材によって形成するギャップを計測するためには、
突合せ部の可視光を平行光線にする集光レンズと、その
可視光を偏光させるハーフミラ−と画像を撮像するＩＴ
Ｖカメラと、このＩＴＶカメラからの映像信号に基づい
て、前記画像を表示するモニタテレビとその画像を計測
する画像処理とによって構成され、この突合せギャップ
の計測により被溶接材の受入検査を行なう。また、溶接
溶融部のビード幅計測は、上述のＩＴＶカメラの前方に
干渉フィルタをロータリソレノイド等により切り換え挿
入するようにしたものである。さらに、突合せギャップ
の大小に応じて、自動焦点の補正または、溶接速度の補
正を行なうようにしたものである。またビード余盛高を
非接触式測長センサにより計測し、先のビード幅計測結
果とのタイアップにより溶接品の合否判定をすることに
より被溶接品の受入検査から溶接完成検査まで行なうこ
とで達成される。The above purpose is to provide a Z stage with a condensing lens and to
A non-contact length measuring sensor is installed on the stage.The distance between the two workpieces to be butt welded is measured, and the distance from the laser beam condensing lens is calculated by the CPU. In order to carry out an acceptance inspection and measure the gap formed by two materials to be welded,
A condensing lens that converts visible light into parallel light at the abutting part, a half mirror that polarizes the visible light, and IT that captures images.
It consists of a V-camera, a monitor television that displays the image based on the video signal from the ITV camera, and image processing that measures the image.Acceptance inspection of the welded materials is performed by measuring the butt gap. Furthermore, the bead width of the weld fusion zone is measured by inserting an interference filter in front of the above-mentioned ITV camera by switching it with a rotary solenoid or the like. Further, the automatic focus or the welding speed is corrected depending on the size of the butt gap. In addition, the bead excess height is measured using a non-contact length measurement sensor, and the results of the bead width measurement are combined with the results of the previous bead width measurement to determine whether the welded product is acceptable or not. This enables us to conduct everything from the acceptance inspection of the welded product to the final welding inspection. achieved.
［作用］
２ステージにはレンズホルダ、測長センサ、パルスモー
タが設けてあり、レンズホルダには集光レンズとハーフ
ミラ−が付いている。２つの被溶接材によって形成する
ギャップを計測する手段は突合せ部の可視光を平行光線
にする集光レンズとハーフミラ−を通過後ＩＴＶカメラ
で撮影しテレビカメラモニタ上に映像を写しだすととも
に画像処理部によってその映像信号の輝度信号のみを２
値化して突合せギャップを自動的に計測し、画像処理部
のデジタル信号データをグラフ状にして、デイスプレィ
モニタ上に表示する。また突合せギャップのデジタル信
号データをパソコンの演算回路部に送る。一方測長セン
サは、レーザビームの光軸と同軸方向で１８０度違いに
取り付けてありセンサと２つの被溶接材までを測長する
。測長を開始するのは、溶接開始の１８０度手前で行な
いそのセンサ信号は、信号増幅部、比較回路部等で構成
するコントローラに送られ信号が増幅され、設定した値
と２つの測長値の比較が行なわれ、それぞれの設定した
値の差分がアナログデジタル変換器によりアナログから
デジタルに変換されパソコンの演算回路部に送られる。[Function] The second stage is provided with a lens holder, a length measurement sensor, and a pulse motor, and the lens holder is equipped with a condensing lens and a half mirror. The means to measure the gap formed by two materials to be welded is to pass through a condenser lens and a half mirror that convert visible light from the abutting part into parallel light, then take a picture with an ITV camera, display the image on a TV camera monitor, and process the image. Depending on the part, only the luminance signal of the video signal is
The butt gap is automatically measured by converting it into a value, and the digital signal data from the image processing section is converted into a graph and displayed on a display monitor. It also sends the digital signal data of the matching gap to the arithmetic circuit section of the personal computer. On the other hand, the length measurement sensor is installed 180 degrees apart in the same direction as the optical axis of the laser beam, and measures the length of the sensor and two materials to be welded. Length measurement is started 180 degrees before the start of welding, and the sensor signal is sent to a controller consisting of a signal amplification section, a comparison circuit section, etc., where the signal is amplified and the set value and the two measured length values are combined. are compared, and the difference between the respective set values is converted from analog to digital by an analog-to-digital converter and sent to the arithmetic circuit section of the personal computer.
演算回路部では、デジタルに変換された測長を基にした
２つの信号と先に送られている被溶接材のギャップ計測
を基にした信号を演算し、被溶接材の受入検査を行ない
、溶接可能時は、自動焦点のアップダウンのパルス信号
がパルスモータドライバ制御に送られる。The calculation circuit section calculates two signals based on the digitally converted length measurement and a signal based on the gap measurement of the welded material sent earlier, and performs an acceptance inspection of the welded material. When welding is possible, automatic focus up/down pulse signals are sent to the pulse motor driver control.
パルスモータドライバ制御による駆動信号に基づいてＺ
ステージのパルスモータを移動する。Ｚステージと集光
レンズ及び測長センサとの関係は前もってデータ化され
ているため、Ｚステージを移動することで自動焦点に合
わすことができる。このようにして被溶接材の受入検査
をすること及び自動焦点をすることができる。また、溶
接速度の計測は、ロータリエンコーダにより行ない溶接
速度センサ信号は、信号増幅部、比較回路部等で構成す
るコントローラに送られ信号が増幅され、設定した値と
の比較が行なわれ、設定した値との差分がアナログデジ
タル変換器によりアナログからデジタルに変換されパソ
コンの演算回路部に送られる。また、溶接溶触部のビー
ド幅計測は、上述した突合せギャップ計測とは計測部の
輝度による作用の違いがあるだけであり、これは上述の
ＩＴＶカメラの前方に干渉フィルタをロータリソレノイ
ド等により切り換え挿入することで計測かできる。Z based on the drive signal by pulse motor driver control
Move the stage's pulse motor. Since the relationship between the Z stage, the condensing lens, and the length measurement sensor has been converted into data in advance, automatic focusing can be achieved by moving the Z stage. In this way, acceptance inspection of the workpiece to be welded and automatic focusing can be performed. The welding speed is measured using a rotary encoder, and the welding speed sensor signal is sent to a controller consisting of a signal amplification section, a comparison circuit section, etc., where the signal is amplified and compared with a set value. The difference between the two values is converted from analog to digital by an analog-to-digital converter and sent to the arithmetic circuit section of the personal computer. In addition, the bead width measurement at the weld contact point differs from the above-mentioned butt gap measurement only in the effect depending on the brightness of the measuring part, and this is done by switching and inserting an interference filter in front of the above-mentioned ITV camera using a rotary solenoid, etc. You can measure it by doing this.
つまり、被溶接材をレーザ光で溶融すると同時に、その
時の溶接プールから出る可視光を集光レンズ及びハーフ
ミラ−さらに、干渉フィルタを通過後ＩＴＶカメラで撮
影しテレビカメラモニタ上に映像を写しだすとともに画
像処理部によってその映像信号の輝度信号のみを２値化
してビード幅を自動的に計測し、デイスプレィモニタ上
に表示する。In other words, at the same time as the material to be welded is melted by a laser beam, the visible light emitted from the welding pool is captured by an ITV camera after passing through a condenser lens, a half mirror, and an interference filter, and the image is displayed on a TV camera monitor. The image processing section binarizes only the luminance signal of the video signal, automatically measures the bead width, and displays it on a display monitor.
またビード幅の計測結果をパソコンの演算回路部に送り
、ビード幅の大小に応じて先に設定した自動焦点、また
は、溶接速度の補正を行なう。このように被溶接材の受
入検査及び突合せギャップ計測ならびに自動焦点をして
、レーザ溶接を行なうが、他の要因で溶接ビード幅が変
化した時には、設定した自動焦点及び溶接速度の補正を
行なうことで溶接ビード幅が安定するため高品質で高精
度なレーザ溶接加工ができる。また、前述した測長セン
サによりビード余盛り高を計測することと溶接ビード幅
を計測し、それらをタイアップすることで溶接加工品の
合否判定を行なう。In addition, the measurement result of the bead width is sent to the arithmetic circuit section of the personal computer, and the previously set automatic focus or welding speed is corrected depending on the size of the bead width. In this way, laser welding is performed by inspecting the material to be welded, measuring the butt gap, and performing automatic focusing, but if the weld bead width changes due to other factors, the set automatic focusing and welding speed must be corrected. This stabilizes the weld bead width, allowing high-quality, high-precision laser welding. Furthermore, the above-mentioned length measurement sensor measures the bead excess height and the weld bead width, and by tying these together, the acceptability of the welded product is judged.
［実施例］
第１図に炭酸ガスレーザを用いた溶接加工における一実
施例を示す。先ずレーザビーム３を集光する集光レンズ
９とその集光レンズ９の焦点合わせ時の移動を行うＺス
テージ６があり、Ｚステージ６には、レンズホルダ７、
測長センサ１１．パルスモータ１０が設けてあり、レン
ズホルダ７にはハーフミラ−８と集光レンズ９が付いて
いる。[Example] Fig. 1 shows an example of welding using a carbon dioxide laser. First, there is a condensing lens 9 that condenses the laser beam 3 and a Z stage 6 that moves the condensing lens 9 during focusing.The Z stage 6 includes a lens holder 7,
Length measurement sensor 11. A pulse motor 10 is provided, and a half mirror 8 and a condensing lens 9 are attached to the lens holder 7.
２つの被溶接材ＡＩ、Ｂ２によって形成する突合せギャ
ップを計測する手段は突合わせ部から出る可視光をレン
ズホルダ７内に設けた集光レンズ９及びレーザ光３と同
軸上でレーザ光３と入射角４５度にセットされたハーフ
ミラ−８により偏向し、ＩＴＶカメラ１５で撮影し、テ
レビカメラモニタ１６上に映像を写しだすとともに、画
像処理部１７では映像信号ｅの輝度信号のみを２値化し
て突合せギャップを自動的に計測し、画像処理部１７の
デジタル信号データをグラフ状にしてデイスプレィモニ
タ上に表示する。また突合せギャップのデジタル信号デ
ータをパソコンの演算回路部１８に送る。また、この突
合せギャップの計測により被溶接材の受入検査を行なう
。一方、測長センサ１１はレーザビーム３の光軸と同軸
方向で１８０度違いに取り付けてあり、測長センサ１１
と２つの被溶接材Ａｌ、Ｂ２の溶接位置までを測長する
。その測長データは測長センサ信号ａとなりコントロー
ラに送られる。コントローラには、信号増幅部１２及び
比較回路部１３がある。測長センサ信号ａは、信号増＃
Ｓ部１２により信号が増幅されデータ増幅信号すとなり
、比較回路部Ｉ３で設定値との比較を行ない、その差分
が偏差信号Ｃとなり、アナログデジタル変換器１４によ
りアナログからデジタルに変換されデジタル変換信号ｄ
となりパソコンに送れらる。パソコンの演算回路部］８
では測長を基にした２つのデジタル変換信号ｄにより被
溶接材の受入検査を行なう。また、デジタル変換信号ｄ
と先に演算回路部１８に送られている２つの被溶接材の
突合せギャップ計測を基にした幅信号ｆを演算し演算信
号ｇとなり、制御回路部１９により制御されアップダウ
ンパルス信号にとなりパルスモータドライバ制御２０に
送れら駆動信号１となりこの駆動信号ｌに基づいてＺス
テージ６のパルスモータ１０を移動する。Ｚステージ６
と集光レンズ９及び測長センサ１１との関係は前もって
データ化しているため、２ステージ６を移動することで
集光レンズ９の焦点位置を自動的に合わすことができる
。このようにして突合せギャップの大小に応じて予め設
定した自動焦点の補正を行うことができる。また、溶接
速度の計測は、ロータリエンコーダ２６により行ない、
溶接速度センサ信号には信号増幅部１２．比較回路部１
３で構成するコントローラに送られ信号が増幅され、設
定した値との比較が行なわれ設定した値との差分がアナ
ログデジタル変換器１４によりアナログからデジタルに
変換され、パソコンの演算回路部１８に送られる。この
溶接速度を基にした信号と先に演算回路部１８に送られ
ている２つの被溶接材の突合せギャップ計測を基にした
信号を演算回路部１８により演算し、演算信号ｇとなり
制御回路１９により制御され、溶接速度信号Ｑとなり溶
接回転用モータ２７の制御を行なう。The means for measuring the butt gap formed by the two materials to be welded AI and B2 is to input visible light emitted from the butt part to a condensing lens 9 provided in the lens holder 7 and coaxially with the laser beam 3. It is deflected by a half mirror 8 set at an angle of 45 degrees, photographed by an ITV camera 15, and projected on a television camera monitor 16, while an image processing section 17 binarizes only the luminance signal of the video signal e. The butt gap is automatically measured, and the digital signal data from the image processing section 17 is graphed and displayed on the display monitor. Further, the digital signal data of the matching gap is sent to the arithmetic circuit section 18 of the personal computer. In addition, the acceptance inspection of the welded material is performed by measuring this butt gap. On the other hand, the length measurement sensor 11 is installed 180 degrees apart in the same axis direction as the optical axis of the laser beam 3.
and the length of the two materials to be welded, Al and B2, up to the welding position. The length measurement data becomes a length measurement sensor signal a and is sent to the controller. The controller includes a signal amplification section 12 and a comparison circuit section 13. The length measurement sensor signal a is signal increase #
The signal is amplified by the S section 12 to become a data amplified signal, which is compared with a set value in the comparator circuit section I3, and the difference becomes a deviation signal C, which is converted from analog to digital by the analog-to-digital converter 14 and becomes a digital conversion signal. d
It will then be sent to your computer. Computer arithmetic circuit section] 8
Then, the acceptance inspection of the welded material is performed using two digital conversion signals d based on the length measurement. Also, the digital conversion signal d
The width signal f based on the butt gap measurement of the two welded materials, which is sent to the calculation circuit section 18 first, is calculated and becomes the calculation signal g, which is controlled by the control circuit section 19 and becomes an up-down pulse signal. The drive signal 1 is sent to the motor driver control 20, and the pulse motor 10 of the Z stage 6 is moved based on this drive signal 1. Z stage 6
Since the relationship between the condenser lens 9 and the length measurement sensor 11 has been converted into data in advance, the focal position of the condenser lens 9 can be automatically adjusted by moving the two stages 6. In this way, it is possible to perform a preset automatic focus correction depending on the size of the butt gap. Further, the welding speed is measured by a rotary encoder 26,
A signal amplification section 12 is provided for the welding speed sensor signal. Comparison circuit section 1
3, the signal is amplified, compared with the set value, and the difference between the set value and the set value is converted from analog to digital by the analog-to-digital converter 14, and sent to the arithmetic circuit section 18 of the personal computer. It will be done. The signal based on this welding speed and the signal based on the butt gap measurement of the two materials to be welded previously sent to the calculation circuit section 18 are calculated by the calculation circuit section 18, and a calculation signal g is generated by the control circuit 19. The welding speed signal Q becomes the welding speed signal Q and controls the welding rotation motor 27.
このようにして突合せギャップの大小に応じて予め設定
した溶接速度の補正を行うことができ、これらの補正を
自動で行なった後にレーザ溶接加工を行なう。溶接時に
は溶接溶融部のビード幅Ｗを計測する。溶接溶融部のビ
ード幅計測は、上述した被溶接材ＡＩ、Ｂ２で形成する
突合せギャップ計測方法のうち、ＩＴＶカメラ１５の前
方にロータリソレノイド２４により干渉フィルタ２５を
挿入することで計測部の輝度の違いに対応でき計測が行
なえる。つまり、被溶接材ＡＩ、Ｂ２をレーザ光３で溶
融すると同時に、その時の溶融プールから出る可視光を
集光レンズ９及びハーフミラ−８、絞り、そして可視光
を単色光にする干渉フィルタ２５を通過後、ＩＴＶカメ
ラ１５で撮影し、テレビカメラモニタ１６上に映像を写
しだすとともに画像処理部１７にその映像信号ｅを送る
。画像処理部１７では、映像信号ｅの輝度信号のみを２
値化してビード幅を自動的に計測する。第７図に輝度信
号と２値化信号の関係を示す。つぎに、画像処理部１７
のデジタル信号データをグラフ状にして、デイスプレィ
モニタ上に表示する。また、ビードの幅信号ｆをパソコ
ンの演算回路部１８に送り、先に設定した自動焦点に対
し、ビード幅の大小に応じて補正を行なう。第８図に自
動焦点の補正の一例を示す。また、先に設定した溶接速
度に対し、ビード幅の大小に応じて溶接速度の補正を行
なう。このように設定したビード幅が設定した範囲を越
えた時には、自動焦点の補正または、溶接速度の補正を
行ない溶接ビード幅を設定内にするようにすることで高
品質で高精度なレーザ溶接加工ができる。しかし、万−
第８図に示す溶接ビード幅合格範囲を越えた溶接品は不
良位置がデイスプレィモニタ上に表示される。さらに詳
細に説明するために第２図にレーザ溶接の概要を示す。In this way, the preset welding speed can be corrected depending on the size of the butt gap, and after these corrections are automatically made, laser welding is performed. During welding, the bead width W of the weld fusion zone is measured. The bead width of the weld fusion zone can be measured by inserting an interference filter 25 using a rotary solenoid 24 in front of the ITV camera 15, using the above-mentioned butt gap measurement method formed by the welded materials AI and B2. It can accommodate differences and perform measurements. In other words, while the materials to be welded AI and B2 are melted by the laser beam 3, the visible light emitted from the molten pool at that time passes through the condenser lens 9, the half mirror 8, the aperture, and the interference filter 25 that converts the visible light into monochromatic light. Thereafter, the ITV camera 15 takes a picture, projects the picture on the TV camera monitor 16, and sends the picture signal e to the image processing section 17. The image processing unit 17 converts only the luminance signal of the video signal e into 2
Convert it into a value and automatically measure the bead width. FIG. 7 shows the relationship between the luminance signal and the binarized signal. Next, the image processing section 17
The digital signal data is graphed and displayed on the display monitor. Further, the bead width signal f is sent to the arithmetic circuit section 18 of the personal computer, and the previously set autofocus is corrected depending on the size of the bead width. FIG. 8 shows an example of automatic focus correction. Furthermore, the previously set welding speed is corrected depending on the size of the bead width. When the set bead width exceeds the set range, the automatic focus or welding speed is corrected to keep the weld bead width within the set range, resulting in high-quality, high-precision laser welding. I can do it. However, 10,000-
For welded products whose weld bead width exceeds the acceptable weld bead width range shown in FIG. 8, the defective position is displayed on the display monitor. For more detailed explanation, an outline of laser welding is shown in FIG. 2.
レーザビーム３は、コーヒレンツの高いビームであるの
で、回折界に近い小さなスポットにまで集光することが
でき、高いエネルギ密度が得られる。Since the laser beam 3 is a highly coherent beam, it can be focused to a small spot close to the diffraction field, and a high energy density can be obtained.
この高密度エネルギによって、被溶接材Ａｌ。This high-density energy causes the material to be welded, Al.
Ｂ２を溶融し、溶融プール５を形成する。この時、レー
ザビーム３または、被溶接材Ａｌ、Ｂ２を溶接速度Ｖで
移動して溶接を進行させる。溶接部の特性を左右する要
因には、レーザビーム出力、溶接速度Ｖ、光学系の焦点
距離、焦点面と被溶接面との位置関係などがあげられる
。第３図はレーザ溶接条件と溶込み特性の一事例である
。集光レンズ３の焦点位置と溶込み深さＨ２焦点位置と
ビード幅Ｗとの関係を示し、この時の溶接条件は、レー
ザビーム呂カニ４５０ワット
集光レンズ： Ｚｎ５ｅ、Ｆ＝１２７ｍｍシールドガス
：アルゴンガス
被溶接部：５ＵＳ３０４．板厚６Ｍ
である。溶込み深さＨは焦点距離がマイナス０．５胴の
時、すなわち、母材表面より０．５ｍｍ入ったところに
集光レンズ３の焦点を合せた時に溶込み深さＨは最大と
なる。またビード幅Ｗについても母材表面より０．５ｍ
ｍ入ったところに集光レンズ３の焦点を合わせた時にビ
ード幅Ｗが最大となる。B2 is melted to form a melt pool 5. At this time, the laser beam 3 or the materials to be welded Al, B2 are moved at a welding speed V to advance welding. Factors that influence the characteristics of the welded part include laser beam output, welding speed V, focal length of the optical system, and positional relationship between the focal plane and the surface to be welded. Figure 3 shows an example of laser welding conditions and penetration characteristics. The relationship between the focal position and penetration depth H2 of the condensing lens 3 and the focal position and bead width W is shown, and the welding conditions at this time are: Laser beam Rokani 450 Watt condensing lens: Zn5e, F = 127 mm Shielding gas: Argon gas welded part: 5US304. The plate thickness is 6M. The penetration depth H is maximum when the focal length is -0.5 mm, that is, when the condenser lens 3 is focused at a point 0.5 mm below the base material surface. Also, the bead width W is 0.5m from the base material surface.
The bead width W becomes maximum when the condensing lens 3 is focused at a point where the bead width W is in the center.
これらのことから、通常は測長がしやすく管理が容易で
ある被溶接材の表面上に集光レンズ３の焦点を設定して
おき、被溶接材の加工バラツキ及び突合せギャップの大
小により自動焦点の補正をする。焦点の自動補正の方法
は、たとえばビード幅Ｗを大にしたい時は、焦点位置を
マイナス０．５晒にする。すなわち、母材表面より０．
５ｍｍ入ったところに集光レンズ３の焦点を合わせる。For these reasons, the focus of the condenser lens 3 is usually set on the surface of the material to be welded, which is easy to measure and manage, and automatic focusing is performed depending on the processing variation of the material to be welded and the size of the butt gap. Make corrections. For example, when it is desired to increase the bead width W, the focus is automatically corrected by adjusting the focus position by -0.5. That is, 0.0 mm from the base material surface.
Focus the condenser lens 3 at a point 5 mm in.
逆に、ビード幅Ｗを小にしたい時は、焦点位置をプラス
０．５ ｍｍにする。このように自動焦点または、溶接
速度Ｖの補正をした後に溶接を行なう。溶接時には、溶
融プール５のビード幅Ｗを計測し、先に設定した自動焦
点または、溶接速度Ｖをビード幅Ｗの大小に応じて補正
を行なう。第４図は、被溶接材Ａｌ、Ｂ２をレーザビー
ム３で突合せ溶接した時の溶接部の断面図である。この
とき、突合せ溶接における突合せギャップと溶込み特性
の関係は第５図のようにあることが実験により判明した
。Conversely, if you want to make the bead width W smaller, set the focal point position to +0.5 mm. Welding is performed after automatic focusing or correction of the welding speed V in this manner. During welding, the bead width W of the molten pool 5 is measured, and the previously set automatic focus or welding speed V is corrected depending on the size of the bead width W. FIG. 4 is a sectional view of a welded part when the materials to be welded Al and B2 are butt-welded using the laser beam 3. At this time, it was found through experiments that the relationship between the butt gap and penetration characteristics in butt welding is as shown in FIG.
つまり、突合せギャップが大きくなるにつれ、ビード幅
Ｗ、溶込み深さＨ，ビード余盛り高Ｐが小さくなる。こ
の時の溶接条件は、
レーザビーム出カニ ３１０ワット
集光レンズ：Ｚｎ５ｅ、ｆ＝１２７ｒＭｌシールドガス
：アルゴンガス
被溶接材： ５ＵＳ３１６
焦点位置：被溶接材表面、溶接速度： ６００ｎｕｎ／
ｍｉｎ
である。また第６図に溶接速度とビード幅との関係を示
す。溶接速度Ｖを上げるとビード幅Ｗは小さくなり、こ
れらを突合せ溶接に適用する。突合せギャップが大きい
被溶接品においては予め設定した溶接速度を遅らせる補
正をし制御を行なう。That is, as the butt gap becomes larger, the bead width W, the penetration depth H, and the bead excess height P become smaller. The welding conditions at this time are: Laser beam output 310W Condensing lens: Zn5e, f=127rMl Shielding gas: Argon gas Material to be welded: 5US316 Focus position: Surface of material to be welded, Welding speed: 600nun/
It is min. Further, FIG. 6 shows the relationship between welding speed and bead width. When the welding speed V is increased, the bead width W becomes smaller, and these are applied to butt welding. For items to be welded with a large butt gap, control is performed by making corrections to slow down the welding speed set in advance.
このようにレーザによる突合せ溶接では、突合せギャッ
プ、ビード幅Ｗ、ビード余盛り高Ｐを計測することが最
も大切である。通常溶造み深さＨの測定は、ある溶接条
件でのモデル品の断面を研摩し、エツチング液によりビ
ードを腐食させ、腐食部を計測する方法がとられている
。しかしながら、これらを全品に採用することは不可能
である。溶融部のビード計測を行なう本方法はリアルタ
イムに溶接品の合否判定ができ、また合わせて非接触の
測長センサによりビード余盛り高Ｐの計測を行うことで
溶接品の評価を行うことができる。また、被溶接品で形
成する段差及び突合せギャップの計測さらに突合せギャ
ップの大小に対応した自動焦点の補正、または、溶接速
度の補正による溶接加工そして、溶接時の溶融部のビー
ド幅計測と計測に基づいた自動焦点の補正または、溶接
速度の補正を行なうことにより、ビード幅Ｗと溶込み深
さＨ及びビード余盛り高Ｐを安定にすることができるた
め高品質で高精度なレーザ溶接加工ができる。In this way, in laser butt welding, it is most important to measure the butt gap, bead width W, and bead excess height P. Normally, the welding depth H is measured by polishing the cross section of a model product under certain welding conditions, corroding the bead with an etching solution, and measuring the corroded area. However, it is impossible to apply these to all products. This method of measuring the bead of the molten part can judge the pass/fail of the welded product in real time, and also evaluate the welded product by measuring the bead excess height P using a non-contact length measurement sensor. . In addition, it can be used to measure the step and butt gap formed in the workpiece, correct the automatic focus according to the size of the butt gap, correct the welding speed for welding processing, and measure and measure the bead width of the molten part during welding. By correcting the automatic focus or welding speed based on the above, it is possible to stabilize the bead width W, penetration depth H, and bead excess height P, resulting in high quality and high precision laser welding. can.
本発明によれば、レーザビーム加工の良否を大きく左右
する集光レンズの焦点を測長センサによリ測長し被溶接
材の受入検査が行なえる。また２つの被溶接材で形成す
る突合せギャップを計測し受入検査を行ない、その突合
せギャップの大小により予め設定した自動焦点の補正及
び溶接速度Ｃ補正をすることができる。また溶接中に溶
接溶剤部ビード幅を計測し、そのビード幅が設定範囲を
外れた時には、先に設定した集光レンズの自動焦点を補
正する。あるいは溶接速度を補正することにより溶接ビ
ード幅を安定にできる。こられを使用してレーザ溶接加
工を行なうと高品質で高精度なレーザ溶接ができる。こ
れらは被溶接品の加工バラツキ等に対し簡単にしかも瞬
時にレーザ溶接加工の微調整ができるため今後の高精度
で高品質のニーズにマツチングする方法である。さらに
溶接部ビード幅を有効に測定することができるとともに
溶接ビード余盛り高さ計測とタイアップすることにより
溶接品の合否判定をすることができるまた、従来の溶接
品品質評価法のようなライン外の作業であるリークテス
トを省くことができるため工程を短縮できる。さらに、
レーザ光と同軸上に可視光を偏光するハーフミラ−がセ
ットされているために、視差による誤差補正のためのソ
フト修正、及びヘッド部回りを簡素化できる効果がある
。本発明によれば、被溶接材の受入検査さらに最良な溶
接そして溶接品の完成検査まで行うことができる。According to the present invention, the length of the focal point of the condensing lens, which greatly influences the quality of laser beam processing, can be measured using a length measuring sensor, and acceptance inspection of the welded material can be performed. In addition, the butt gap formed between two welded materials is measured and inspected, and preset automatic focus and welding speed C can be corrected based on the size of the butt gap. In addition, the welding solvent bead width is measured during welding, and if the bead width is out of the set range, the previously set automatic focus of the condenser lens is corrected. Alternatively, the weld bead width can be stabilized by correcting the welding speed. When laser welding is performed using these materials, high quality and highly accurate laser welding can be achieved. These methods can easily and instantaneously make fine adjustments to the laser welding process in response to processing variations in the workpieces to be welded, so they are a method that will meet future needs for high precision and high quality. Furthermore, it is possible to effectively measure the weld bead width, and by combining it with the measurement of the weld bead excess height, it is possible to judge the acceptability of the welded product. The process can be shortened because leak testing, which is an external work, can be omitted. moreover,
Since a half mirror that polarizes visible light is set on the same axis as the laser beam, it is possible to perform software correction for correcting errors due to parallax and to simplify the surroundings of the head. According to the present invention, it is possible to perform acceptance inspection of materials to be welded, optimal welding, and final inspection of welded products.
４、図面の簡単説明
第１図は本発明に係るレーザ溶接装置におけるオートフ
ォーカス機構の〜実施例を示す回路図、第２図はレーザ
溶接の概要図、第３図はレーザ溶接条件と溶込み特性を
示し、焦光レンズの焦点位置と溶込み深さ及びビート幅
の関係を示す図、第４図は２つの被溶接材を突合せ溶接
した時の溶接部の断面図、第５図は突合せギャップと溶
込み特性を示し、突合せギャップに対しビード幅、溶込
み深さ、ビード余盛り高との関係を示す図、第６図は溶
接速度とビード幅の関係を示す図、第７図は輝度信号と
２値化信号の関係を示す図、第８図は自動焦点の補正の
一例を示す図、第９図は従来の集光レンズ焦点距離の管
理方法を示す図である。4. Brief explanation of the drawings Figure 1 is a circuit diagram showing an embodiment of the autofocus mechanism in a laser welding device according to the present invention, Figure 2 is a schematic diagram of laser welding, and Figure 3 is a diagram showing laser welding conditions and penetration. A diagram showing the relationship between the focal position of the focusing lens, penetration depth, and beat width. Figure 4 is a cross-sectional view of the welded part when two materials to be welded are butt welded, and Figure 5 is the butt weld. Figure 6 shows the relationship between welding speed and bead width. FIG. 8 is a diagram showing the relationship between a luminance signal and a binarized signal, FIG. 8 is a diagram showing an example of automatic focus correction, and FIG. 9 is a diagram showing a conventional method for managing the focal length of a condenser lens.
■・・・被溶接材Ａ、２・・・被溶接材Ｂ、３・・・レ
ーザビーム、４・・・溶接ビード、５・・・溶融プール
、６・・２ステージ、７・・・レンズホルダ、８・・・
ハーフミラ−９・・・集光レンズ、１０・・・パルスモ
ータ、１１・・・測長センサ、１２・・・信号増幅部、
１３・・・比較回路部、１４・・・アナログデジタル変
換器、１５・・・ＩＴＶカメラ、１６・・・テレビカメ
ラモニタ・・・ １７・・画像処理部、１訃・・演算回
路部、１９・・・制御回路部、２０・・・パルスモータ
ドライバ制御、２１・・ダミー被溶接材Ａ、２２・・・
ダミー被溶接部Ｂ、２３・・・接触式測長センサ、２４
・・・ロータリソレノイド、２５・・・干渉フィルタ、
２６・・・ロータリエンコーダ、２７・・・溶接回転用
モータ、Ｈ・・・溶込み深さ、Ｐ・・・ビード余盛高、
■・・・溶接速度、Ｗ・・・ビード幅、ａ・・・測長セ
ンサ信号、ｂ・・・データ増幅信号、Ｃ・・・偏差信号
、ｄ・・・デジタル変換信号、ｅ・・・映像信号、ｆ・
・・幅信号、ｇ・・・演算信号、ｈ・・・アップダウン
信号、ｌ・・・駆動信号、ｊ・・・フィルタ挿出入信号
、ｋ第２図
藻
濱
哀
ヒ′−ド輻Ｗ（π口λ）
豪■... Material to be welded A, 2... Material to be welded B, 3... Laser beam, 4... Weld bead, 5... Molten pool, 6... 2nd stage, 7... Lens Holder, 8...
Half mirror 9...Condenser lens, 10...Pulse motor, 11...Length measurement sensor, 12...Signal amplification section,
13... Comparison circuit unit, 14... Analog-digital converter, 15... ITV camera, 16... Television camera monitor... 17... Image processing unit, 1... Arithmetic circuit unit, 19 ...Control circuit section, 20...Pulse motor driver control, 21...Dummy welded material A, 22...
Dummy welded part B, 23... Contact type length measurement sensor, 24
... rotary solenoid, 25 ... interference filter,
26... Rotary encoder, 27... Welding rotation motor, H... Penetration depth, P... Bead extra height,
■... Welding speed, W... Bead width, a... Length measurement sensor signal, b... Data amplification signal, C... Deviation signal, d... Digital conversion signal, e... Video signal, f.
...Width signal, g...Calculation signal, h...Up-down signal, l...Drive signal, j...Filter insertion/extraction signal, kFig. π口λ) Australia
Claims (1)
工用集光レンズとの距離を非接触の測長センサにより検
出すること及びＩＴＶカメラで突合せギャップを計測し
ギャップの大小により予め設定した自動焦点と溶接速度
を補正し、溶接時は、前述のＩＴＶカメラの前方に干渉
フィルタを挿入し、ＩＴＶカメラで溶融部の画像をとら
え、輝度信号を２値化処理しビード幅を計測し、ビード
幅の大小に応じて、自動焦点の補正または、溶接速度の
補正を行ない、最適なレーザ溶接を行なうことを特徴と
するレーザ溶接方法。 ２、請求項第１項記載において、上記自動焦点合せの検
出は、溶接方向に対し前方の溶接線上の突合せ溶接する
２つの被溶接材のそれぞれの高さ位置の計測であり、２
つの計測値の違いで段差を検査し、溶接する位置を１８
０度手前で非接触で検出し、該距離を予め定められた距
離になるように自動焦点を行うことを特徴とするレーザ
溶接装置。 ３、請求項第１項記載において、２つの被溶接材によっ
て形成するギャップを計測する手段は、突合せ部の可視
光を平行光線にする集光レンズと、その可視光を偏光さ
せるハーフミラーと画像を撮像するＩＴＶカメラと、こ
のＩＴＶカメラからの映像信号に基づいて、前記画像を
表示するモニタテレビとその画像を計測する面像処理と
によって構成され、また溶接溶融部のビード幅計測は、
上述のＩＴＶカメラの前方に干渉フィルタをロータリソ
レノイド等により切り換え挿入することにより行うこと
を特徴とするレーザ溶接装置。 ４、請求項第２記載において、２つの被溶接材のそれぞ
れの高さ位置の検出の手段は超音波ビームセンサ等の超
音波を利用した素子または、レーザビーム測長の光学素
子あるいは磁気センサ測長等の誘導を利用した素子によ
つて行い、またこれらにより２つの被溶接材の段差を検
査し、突合せギャップの計測と合わせて、被溶接材の受
入検査を行うことを特徴とするオートフォーカス機構付
レーザ溶接装置。 ５、請求項第１項記載において、溶接品の評価を行なう
手段は、非接触の測長センサ等により溶接ビードの余盛
り高さを計測すること及び請求項第３項記載のビード幅
の計測を行うことで溶接品の合否判定を行うことを特徴
とするレーザ溶接装置。[Claims] 1. Detecting the distance between two materials to be welded to be butted together with a condensing lens for laser beam processing using a non-contact length measurement sensor, and measuring the butt gap with an ITV camera to reduce the gap. The preset automatic focus and welding speed are corrected depending on the size, and during welding, an interference filter is inserted in front of the ITV camera mentioned above, and the ITV camera captures an image of the molten part, and the brightness signal is binarized and the bead is A laser welding method characterized by measuring the bead width and correcting automatic focus or welding speed depending on the size of the bead width to perform optimal laser welding. 2. In claim 1, the automatic focusing detection is a measurement of the height position of each of two welded materials to be butt welded on a welding line in front of the welding direction,
Inspect the level difference based on the difference in the two measurement values, and determine the welding position by 18
A laser welding device characterized by non-contact detection before 0 degrees and automatic focusing so that the distance becomes a predetermined distance. 3. In claim 1, the means for measuring the gap formed by two materials to be welded includes a condenser lens that converts visible light from the abutting portion into parallel light, a half mirror that polarizes the visible light, and an image. The method is composed of an ITV camera that images the image, a monitor television that displays the image based on the video signal from the ITV camera, and a surface image processing that measures the image.
A laser welding device characterized in that the laser welding is performed by selectively inserting an interference filter in front of the above-mentioned ITV camera using a rotary solenoid or the like. 4. In claim 2, the means for detecting the respective height positions of the two materials to be welded is an element using ultrasonic waves such as an ultrasonic beam sensor, an optical element for laser beam length measurement, or a magnetic sensor measurement device. An autofocus system that uses an element that utilizes guidance such as length, etc., and uses these to inspect the difference in level between two workpieces, and also performs an acceptance inspection of the workpieces in conjunction with measuring the butt gap. Laser welding device with mechanism. 5. In claim 1, the means for evaluating the welded product includes measuring the excess height of the weld bead using a non-contact length measuring sensor or the like, and measuring the bead width as described in claim 3. A laser welding device characterized by determining pass/fail of a welded product by performing the following steps.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2246983A JPH04127984A (en) | 1990-09-19 | 1990-09-19 | Method and device for laser welding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2246983A JPH04127984A (en) | 1990-09-19 | 1990-09-19 | Method and device for laser welding |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04127984A true JPH04127984A (en) | 1992-04-28 |
Family
ID=17156626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2246983A Pending JPH04127984A (en) | 1990-09-19 | 1990-09-19 | Method and device for laser welding |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04127984A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0671470A (en) * | 1992-04-14 | 1994-03-15 | Mitsubishi Electric Corp | Laser beam machine |
| JP2000117467A (en) * | 1997-04-18 | 2000-04-25 | Daimler Benz Ag | Device for controlling welding parameter in laser beam welding |
| WO2002064304A1 (en) * | 2001-02-14 | 2002-08-22 | Honda Giken Kogyo Kabushiki Kaisha | Welding state monitoring device |
| JP2003516860A (en) * | 1999-11-27 | 2003-05-20 | ティッセンクルップ シュタール アクチェンゲゼルシャフト | Method and apparatus for quality control of laser butt welded sheet metal or band seams |
| WO2008026299A1 (en) * | 2006-08-29 | 2008-03-06 | Tokyu Car Corporation | Laser-welding evaluating method, and laser-welded portion forming method |
| WO2014129639A1 (en) * | 2013-02-22 | 2014-08-28 | 古河電気工業株式会社 | Laser welding apparatus |
| DE102013215362A1 (en) | 2013-08-05 | 2015-02-05 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Method and device for determining a welding depth during laser welding |
| US11260471B2 (en) * | 2016-02-12 | 2022-03-01 | Precitec Gmbh & Co. Kg | Method and device for monitoring a joining seam during joining by means of a laser beam |
| WO2023276745A1 (en) * | 2021-06-29 | 2023-01-05 | パナソニックＩｐマネジメント株式会社 | Laser processing device and automatic correction method for focal point position of laser light |
-
1990
- 1990-09-19 JP JP2246983A patent/JPH04127984A/en active Pending
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0671470A (en) * | 1992-04-14 | 1994-03-15 | Mitsubishi Electric Corp | Laser beam machine |
| JP2000117467A (en) * | 1997-04-18 | 2000-04-25 | Daimler Benz Ag | Device for controlling welding parameter in laser beam welding |
| US6311099B1 (en) | 1997-04-18 | 2001-10-30 | Daimlerchrysler Ag | Apparatus for regulating welding parameters during laser beam welding |
| JP2003516860A (en) * | 1999-11-27 | 2003-05-20 | ティッセンクルップ シュタール アクチェンゲゼルシャフト | Method and apparatus for quality control of laser butt welded sheet metal or band seams |
| JP4501101B2 (en) * | 2001-02-14 | 2010-07-14 | 本田技研工業株式会社 | Welding status monitoring device |
| WO2002064304A1 (en) * | 2001-02-14 | 2002-08-22 | Honda Giken Kogyo Kabushiki Kaisha | Welding state monitoring device |
| JPWO2002064304A1 (en) * | 2001-02-14 | 2004-06-10 | 本田技研工業株式会社 | Welding condition monitoring device |
| WO2008026299A1 (en) * | 2006-08-29 | 2008-03-06 | Tokyu Car Corporation | Laser-welding evaluating method, and laser-welded portion forming method |
| JP2008055442A (en) * | 2006-08-29 | 2008-03-13 | Tokyu Car Corp | Method of evaluating laser beam welding |
| WO2014129639A1 (en) * | 2013-02-22 | 2014-08-28 | 古河電気工業株式会社 | Laser welding apparatus |
| JP5657181B1 (en) * | 2013-02-22 | 2015-01-21 | 古河電気工業株式会社 | Laser welding equipment |
| DE102013215362A1 (en) | 2013-08-05 | 2015-02-05 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Method and device for determining a welding depth during laser welding |
| DE102013215362B4 (en) * | 2013-08-05 | 2015-09-03 | Trumpf Werkzeugmaschinen Gmbh + Co. Kg | Method, computer program product and device for determining a welding depth in laser welding |
| US11260471B2 (en) * | 2016-02-12 | 2022-03-01 | Precitec Gmbh & Co. Kg | Method and device for monitoring a joining seam during joining by means of a laser beam |
| WO2023276745A1 (en) * | 2021-06-29 | 2023-01-05 | パナソニックＩｐマネジメント株式会社 | Laser processing device and automatic correction method for focal point position of laser light |
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