WO2019138574A1 - Brazing device and brazing method - Google Patents

Brazing device and brazing method Download PDF

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Publication number
WO2019138574A1
WO2019138574A1 PCT/JP2018/000842 JP2018000842W WO2019138574A1 WO 2019138574 A1 WO2019138574 A1 WO 2019138574A1 JP 2018000842 W JP2018000842 W JP 2018000842W WO 2019138574 A1 WO2019138574 A1 WO 2019138574A1
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WO
WIPO (PCT)
Prior art keywords
blaze
laser beam
wire
removal
head
Prior art date
Application number
PCT/JP2018/000842
Other languages
French (fr)
Japanese (ja)
Inventor
哲史 小山
啓 小堀
和秀 松尾
純 北川
宮坂　慎一
Original Assignee
本田技研工業株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to PCT/JP2018/000842 priority Critical patent/WO2019138574A1/en
Priority to JP2019564265A priority patent/JP6921244B2/en
Priority to CN201880085392.2A priority patent/CN111565876B/en
Publication of WO2019138574A1 publication Critical patent/WO2019138574A1/en

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K1/00—Soldering, e.g. brazing, or unsoldering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K1/00—Soldering, e.g. brazing, or unsoldering
    • B23K1/005—Soldering by means of radiant energy

Definitions

  • the present invention relates to a blaze apparatus and method for joining workpieces by brazing.
  • Brazing of a vehicle body or the like for example, in the case of brazing a plurality of vehicle body plates (workpieces) is performed by a blazer.
  • a plurality of vehicle body plates are brazed and joined by melting and melting the brazing material and bonding (for example, Patent Document 1).
  • Patent Document 1 a plurality of vehicle body plates are preheated before joining with a brazing material, thereby reducing the burden on a beam irradiation apparatus that emits a beam for melting the brazing material.
  • Patent Document 1 when bonding, foreign matter such as soot adheres to the bead formed in the bonding portion and the periphery thereof, and a process of removing the foreign matter is required separately from the bonding process, and the number of steps increases. , To increase the cost.
  • the present invention has been made in view of such circumstances, and an object thereof is to provide a blaze apparatus and method capable of removing foreign matter without increasing the number of steps.
  • the blaze apparatus is a blaze apparatus that melts a wire made of brazing material and joins a work while moving in the direction of movement, and includes a wire feeding unit for feeding the wire to a predetermined position, and feeding by the wire feeding unit.
  • a blaze laser beam irradiation unit for irradiating the wire with a blaze laser beam for melting the wire at the predetermined position, and bonding the workpiece by melting the wire by the blaze laser beam
  • a removal laser beam irradiation unit for directing a removal laser beam for removing the foreign matter attached to or generated on the work surface toward the foreign matter.
  • the foreign matter on the surface of the work can be removed while joining the work, the foreign matter can be removed without increasing the number of steps.
  • the removal laser light irradiation unit irradiates the foreign matter at a position behind the irradiation position of the laser light for blaze in the traveling direction.
  • the removal laser beam irradiation unit irradiates the laser beam at a position forward of the irradiation position of the laser beam for blaze, it is difficult to remove the foreign matter adhering to the rear of the irradiation direction of the laser beam for blaze.
  • the foreign matter adhering to the rear in the traveling direction from the irradiation position of the blaze laser light can be easily removed, so the removal laser light irradiation unit is in the traveling direction from the irradiation position of the blaze laser light.
  • the removal accuracy can be improved as compared to the irradiation at the front position.
  • the ventilation part which ventilates toward the irradiation position of the said laser beam for blaze
  • the foreign matter is blown off and attached to the predetermined area by the air blowing from the air blowing unit, so that the area to remove the foreign matter can be defined by the removal laser light irradiation unit.
  • the blower blows air from one to the other centering on the irradiation position of the laser beam for blaze in the left-right direction when the advancing direction is a forward direction.
  • the area for removing the foreign matter can be defined by the removal laser light irradiation unit on the other side in the left-right direction, whereby the foreign substance itself can be suppressed in one side in the left-right direction.
  • the irradiation position of the removal laser light be located on the downstream side of the air blowing by the air blowing unit than the irradiation position of the blaze laser light.
  • the said removal laser beam irradiation unit is arrange
  • the removal laser beam irradiation unit is disposed on the other side in the case where air is blown from one side to the other side in the left-right direction, it is for blaze compared to one disposed on one side. It is easy to irradiate the removal laser light to the downstream side of the air blowing by the air blowing unit than the irradiation position of the laser light.
  • the removal laser head includes the removal laser beam irradiation unit
  • the blaze head includes the wire feeding portion
  • the blazed head and the removal laser head are movably supported in the traveling direction by a moving robot having an arm supported by the arm, and the blaze head is the blade in a lateral direction than the removal laser head by the arm. It is preferable to hold
  • the blazed head which is heavier than the removal laser head, is held on the side closer to the root of the arm in the left-right direction than the removal laser head.
  • the moment of force applied to the arm can be suppressed as compared with that held on the side far from the root. Thereby, the durability of the arm can be improved.
  • the apparatus further comprises a suction unit for suctioning the removed foreign matter when the foreign matter adhering to the surface of the workpiece is removed by the removal laser light emitted from the removal laser light irradiation unit.
  • the foreign matter removed by the removal laser beam irradiated from the removal laser beam irradiation unit does not adhere to the work surface again.
  • the blaze method according to the present invention is a blaze method in which a wire made of brazing material is melted to move a work while moving in a traveling direction, and the wire is fed in a wire feeding step of feeding the wire to a predetermined position;
  • the blaze laser beam irradiation process of irradiating the wire with a blaze laser beam for melting the wire at the predetermined position, and the laser beam irradiation process of the blaze laser beam is performed while the blaze laser beam irradiation process is performed.
  • the foreign matter on the surface of the work can be removed while joining the work, the foreign matter can be removed without increasing the number of steps.
  • FIG. 2 is a block diagram showing an electrical configuration of a blaze device. Schematic which shows the blowing direction of argon gas, a foreign material adhesion area, and the scanning range of removal laser beam.
  • the blaze device 10 includes a blaze device body 11, a blaze head 12, and a removal laser head 13, and joins the side panel 14 and the roof panel 15 (work) used in the vehicle. Do.
  • the blazer body 11 is attached to an arm 17 a of the robot 17.
  • the robot 17 is, for example, a multi-axis articulated robot, and is provided with first to fourth arms 17a to 17d in this order from the tip.
  • the robot 17 is provided with a plurality of motors (not shown) for driving the arms 17a to 17d, and the drive is controlled by the robot control device 18.
  • the blazer body 11 is attached to a first arm 17 a at the tip. That is, the arms 17a to 17d of the robot 17 hold the blazer body 11 in a cantilever state with the fourth arm 17d as a root portion.
  • the root portion is supported by the ground or a pedestal (not shown) or the like fixed to the ground.
  • the robot control device 18 drives the plurality of motors of the robot 17 to drive the arms 17a to 17d to control the position and the orientation of the blaze device 10 attached to the arm 17a. It is moved in the traveling direction D1 which is the extending direction of the joint of the side panel 14 and the roof panel 15 as a work.
  • the blazer body 11 includes a device attachment portion 21 attached to the arm 17 a of the robot 17 and device attachment plates 22 attached to the left and right of the device attachment portion 21.
  • the traveling direction D1 of the blazed device 10 is the forward direction
  • the left and right directions when the traveling direction D1 is the front direction are the left direction D2 and the right direction D3.
  • the blaze head 12 includes a blaze head body 31, a blaze unit 32, a blaze unit rotation part 33, a wire guide part 34, and a wire guide moving part 35.
  • the blazed head main body 31 includes a box-like head main body case 41 attached to the lower portion of the apparatus mounting plate 22 of the blazed apparatus main body 11 by, for example, a bolt and a wire feeding device 42 provided on the upper side And
  • the blazed head main body 31 is provided on the upper side of the head main body case 41, and includes a blazed laser light irradiation unit 43 that emits a blazed laser light 43a, and a blaze control device 44.
  • the driving of the wire feeding device 42 and the blaze laser light irradiation unit 43 is controlled by the blaze control device 44.
  • the blaze laser light 43a which is emitted downward from the blaze laser light irradiator 43 and enters the inside of the head body case 41, is reflected toward the blaze unit 32 disposed in the forward direction.
  • a head main body mirror 46 is provided inside the head body case 41.
  • the wire feeding device 42 feeds the wire 48 made of brazing material toward the predetermined position P1.
  • the wire feeding device 42 includes a pair of rollers (not shown) for gripping the wire 48, and the wire is rotated by rotating the rollers. Send out 48.
  • the blazed unit 32 includes a box-shaped unit case 50 and a blazed unit mirror 51 disposed inside the unit case 50 and reflecting the incident blaze laser beam 43a toward the irradiation position P2 positioned downward. .
  • a wire guide portion 34 for guiding the wire 48 is attached to the front surface of the unit case 50 through a wire guide moving plate 57 of a wire guide moving portion 35 described later in detail.
  • the wire guide portion 34 is provided with a blower tube 53 and a blower 54 (see FIG. 4) for blowing argon gas to the blower tube 53, for example.
  • the driving of the blower 54 is controlled by the blaze controller 44.
  • the wire guide moving unit 35 supports the wire guide unit 34 so as to be movable in a direction parallel to the irradiation direction of the blaze laser beam 43a.
  • the blaze laser light irradiation unit for irradiating the blaze laser light 43a for bonding the side panel 14 and the roof panel 15 to the wire 48 includes the blaze laser light irradiation unit 43 and the head main body mirror. 46 and a blazed unit mirror 51.
  • the wire guide portion 34 guides the wire 48 toward the predetermined position P1.
  • the wire feeding unit for feeding the wire 48 to the predetermined position P1 is configured to include the wire feeding device 42 and the wire guide unit 34.
  • the predetermined position P1 is the same position as the irradiation position P2 of the blaze laser beam 43a reflected by the blaze unit mirror 51 and emitted downward from the blaze unit 32.
  • the blower tube 53 is provided so as to blow air in a blowing direction D4 directed from the traveling direction D1 side to the opposite side to the traveling direction D1 with the irradiation position P2 as a center (see FIG. 1). Further, the blower tube 53 is provided so as to blow air in a blowing direction D4 directed from the right direction D3 side to the left direction D2 side of the blaze apparatus 10 with the irradiation position P2 as a center (see FIG. 2).
  • the blower for blowing air from above to the irradiation position P2 of the blaze laser beam 43a includes the blower tube 53 and the blower 54.
  • the blazed unit rotating portion 33 includes a rotating plate 55 rotatably mounted on the front surface of the head main body case 41, and a motor 56 (see FIG. 4) for rotating the rotating plate 55.
  • the driving of the motor 56 is controlled by the blaze controller 44.
  • the rotary plate 55 is formed with a hole (not shown) for passing the blaze laser beam 43 a reflected forward by the head main body mirror 46.
  • the wire guide moving unit 35 includes a wire guide moving plate 57 mounted on the front surface of the unit case 50 of the blaze unit 32 so as to be movable in a direction parallel to the irradiation direction of the blaze laser beam 43a.
  • a wire guide portion 34 is attached to the front surface of the wire guide moving plate 57.
  • the wire guide moving unit 35 has a moving mechanism 58 (see FIG. 4) configured of a motor, a gear, etc. for moving the wire guide moving plate 57 in a direction parallel to the irradiation direction of the blaze laser beam 43a.
  • a moving mechanism 58 (see FIG. 4) configured of a motor, a gear, etc. for moving the wire guide moving plate 57 in a direction parallel to the irradiation direction of the blaze laser beam 43a.
  • the drive for the wire guide moving mechanism 58 is controlled by the blaze controller 44.
  • the wire guide moving unit 35 moves the wire guide moving plate 57 by the wire guide moving mechanism 58 to move the wire guide unit 34 attached to the wire guide moving plate 57 in the irradiation direction of the blaze laser beam 43 a. Move in parallel with
  • the blaze head 12 is configured to be heavier than the removal laser head 13. Furthermore, the first to fourth arms 17a to 17d of the robot 17 are configured in a cantilever state in which the fourth arm 17d is on the root side, and a moment of force is applied to the root portion of the fourth arm 17d. There is.
  • the first arm 17 a holds the blaze head 12 on the side closer to the root in the left-right direction than the removal laser head 13 (see FIG. 2).
  • the moment of force applied to each of the arms 17a to 17d can be made smaller than that in the case where the blazed head 12 is held on the side farther from the root in the left-right direction than the removal laser head 13.
  • the durability of 17 d can be improved.
  • the removal laser head 13 includes a removal laser head body 61 and a removal laser unit 62.
  • the removal laser head 13 is disposed on the left direction D2 side of the blaze head 12. That is, the blaze head 12 and the removal laser head 13 are disposed at offset positions in the left-right direction.
  • the removal laser head main body 61 is a main body plate 65 attached to the rear side portion of the apparatus mounting plate 22 by, for example, a bolt, and is vertically movably attached to the main body plate 65, and the removal laser moving plate 66 extends forward.
  • a removal laser moving mechanism 67 (see FIG. 4) configured of a motor, a gear, and the like for moving the removal laser moving plate 66 in the vertical direction, and a removal control device 68 (see FIG. 4).
  • Driving of the removal laser moving mechanism 67 is controlled by the removal control device 68.
  • the removal laser unit 62 includes a box-shaped removal laser case 71 attached to the removal laser moving plate 66.
  • a removal laser beam irradiation unit 72 for emitting the removal laser beam 72a downward, a first mirror 73, and a galvano mirror 74 are disposed inside the case for removal laser 71.
  • the removal control device 68 controls the drive of the removal laser beam irradiation unit 72 and the galvano mirror 74.
  • the first mirror 73 reflects the removal laser beam 72 a emitted downward from the removal laser beam irradiation unit 72 toward the galvano mirror 74 disposed in the forward direction.
  • the galvano mirror 74 is well known, and although the detailed description is simplified, it is provided so as to be pivotable at least in the left direction D2 and the right direction D3.
  • the galvano mirror 74 reflects downward the removal laser beam 72a reflected forward by the first mirror 73 by its swing, and scans it in the left direction D2 and the right direction D3.
  • a removal laser beam irradiation unit for irradiating the surface of the roof panel 15 with the removal laser beam 72a for removing foreign matter attached to the surface of the roof panel 15 is a removal laser beam irradiation unit 72; A first mirror 73 and a galvano mirror 74 are provided.
  • the removal laser beam irradiation unit is arranged to irradiate the removal laser beam 72a toward the surface of the roof panel 15 at a position on the side opposite to the traveling direction D1 from the irradiation position P2 of the blaze laser beam 43a. .
  • a bar-like position sensor 76 and a suction unit 77 are provided on the bottom surface of the removal laser case 71.
  • the position sensor 76 is a touch sensing type sensor and is connected to the removal control device 68.
  • the position sensor 76 outputs a contact signal to the removal control device 68, for example, when contacting the roof panel 15.
  • the removal control device 68 drives the removal laser moving mechanism 67 of the removal laser head main body 61 based on the presence or absence of the input of the contact signal.
  • the position sensor 76 is not limited to the touch detection type, and a non-contact type such as an optical sensor may be used.
  • the suction unit 77 suctions the foreign matter removed by the removal laser beam 72 a, and the drive is controlled by the removal control device 68.
  • the blaze control device 44 drives the motor 56 to set the unit case 50 of the blaze unit 32.
  • the mounted rotating plate 55 is rotated.
  • the wire 48 is also rotated. Then, the wire guide moving portion 35 adjusts the vertical direction of the wire guide portion 34 as needed, and when the wire 48 abuts on the joint portion, the load applied to the motor 56 increases.
  • the blaze control device 44 detects an increase in load on the motor 56 to detect that the wire 48 abuts on the joint, stops driving the motor 56, and performs welding at this position.
  • the distance from the removal laser head 13 having the removal laser beam irradiation unit 72 to the surface of the roof panel 15 is a preset set distance.
  • the removal laser beam irradiator 72, a second removal laser beam 72a is focused on the surface of the roof panel 15.
  • the 1 mirror 73 and the galvano mirror 74 are set.
  • the removal control device 68 drives the removal laser moving mechanism 67 of the removal laser head main body 61 so that the position sensor 76 contacts the roof panel 15 and a contact signal is input.
  • the removal laser moving plate 66 provided with the sensor 76 is moved. This control is repeatedly performed in the process of joining the side panel 14 and the roof panel 15 while moving the blaze device 10. Thereby, it is possible to always focus the removed laser beam 72a on the surface of the roof panel 15.
  • the blaze control device 44 controls the blaze head 12 having the blaze laser light irradiation unit 43 so that the focal point of the blaze laser light 43 a emitted from the blaze laser light irradiation unit 43 matches the irradiation position P2. Position the position of the direction.
  • the robot control device 18 drives the robot 17 to move the blaze device 10 in the traveling direction D1 along a preset path for joining the side panel 14 and the roof panel 15.
  • the blaze control device 44 of the blaze device 10 drives the wire feeding device 42 to feed the wire 48 in accordance with the movement of the blaze device 10 (wire feeding step), and the laser light irradiator 43 for blaze and the blower 54. Drive.
  • the removal control device 68 of the blaze apparatus 10 drives the removal laser beam irradiation unit 72, the galvano mirror 74, and the suction unit 77.
  • the blaze laser beam irradiation unit 43 irradiates the blaze laser beam 43 a downward toward the head main body mirror 46.
  • the blaze laser light 43 a emitted from the blaze laser light irradiator 43 enters the inside of the head main body case 41 and is reflected forward by the head main mirror 46 toward the blaze unit mirror 51.
  • the blaze laser beam 43a reflected forward by the head body mirror 46 enters the inside of the unit case 50 of the blaze unit 32, is reflected downward by the blaze unit mirror 51, and is irradiated to the irradiation position P2.
  • the irradiation of the laser beam 43a for blaze melts the wire 48 located at the predetermined position P1 of the bonding portion.
  • the melted portion of the wire 48 solidifies to form a bead BD, which is a bonding portion.
  • the side panel 14 and the roof panel 15 are joined (see FIG. 5).
  • illustration of the wire 48 is abbreviate
  • the blower 54 blows argon gas to the blower tube 53.
  • the argon gas that has passed through the blower tube 53 is blown toward the irradiation position P2 of the blaze laser beam 43a.
  • the foreign material for example, soot and the like generated in the process of melting the wire 48 and forming the bead BD by this air blowing is blown to the air blowing direction D4 (see FIG. 5) and shown by a two-dot chain line in FIG. It adheres to the foreign matter adhesion area A1.
  • the gas blown by the blower 54 is preferably argon gas, but any gas may be used as long as foreign matter such as soot can be blown away.
  • the removal laser beam irradiation unit 72 irradiates the removal laser beam 72 a downward toward the first mirror 73.
  • the removal laser beam 72 a emitted from the removal laser beam irradiation unit 72 is reflected forward by the first mirror 73 toward the galvano mirror 74.
  • the galvano mirror 74 reflects the incident removal laser beam 72a downward and scans it in the left direction D2 and the right direction D3.
  • braze apparatus 10 moves to the advancing direction D1, and the galvano mirror 74 also moves to the advancing direction D1. Therefore, since the galvano mirror 74 scans the removal laser beam 72a in the left direction D2 and the right direction D3 while moving in the traveling direction D1, the scanning path R1 of the removal laser beam 72a becomes a scanning path as shown in FIG. , And uniformly irradiate the inside of the scan area SA (see FIG. 5).
  • the removal laser beam 72a When the removal laser beam 72a is irradiated to the foreign matter adhering to the foreign matter adhering area A1 of the roof panel 15 in the scanning area SA, the energy of the removal laser beam 72a is absorbed in the foreign matter and changed to thermal energy . Thereby, the foreign matter is turned into plasma, and only the foreign matter can be removed by ablation (fusion).
  • the galvano mirror 74 scans the removal laser beam 72a so that the scan area SA is larger than the foreign matter adhesion area A1. As a result, the removal laser beam 72a can be reliably irradiated to the foreign matter, and the foreign matter can be reliably removed.
  • the removal laser beam 72a may be scanned also on the bead BD. In this case, for example, the oxide film formed on the bead BD may be removed by the removal laser beam 72a.
  • the suction unit 77 sucks the foreign matter removed from the roof panel 15 by the removal laser beam 72a. Thereby, the removed foreign matter can be prevented from adhering to the roof panel 15 again.
  • foreign matter generated in the bonding step of bonding the side panel 14 and the roof panel 15 by the blazer 10 can be removed during the bonding step by the removal laser head 13 provided in the blazer 10.
  • the number of steps can be reduced and the cost can be reduced.
  • the removal laser beam irradiation unit is configured to emit the removal laser beam 72a from a position on the side opposite to the traveling direction D1 with respect to the irradiation position P2 of the blaze laser beam 43a.
  • the removal laser beam 72a may be irradiated from a position on the traveling direction D1 side of the irradiation position P2 of the laser beam 43a or a position immediately above the irradiation position P2.
  • the air pipe 53 and the air fan 54 are provided, and argon gas is blown in the air blowing direction D4 from the left side to the right side of the irradiation position P2 of the blaze laser light 43a. It suffices to blow air toward the irradiation position P2 of (1), and the blowing direction can be changed as appropriate.
  • the position at which the removal laser head 13 is provided can be changed as appropriate.
  • the air duct 53, the air blower 54, and the suction unit 77 may not be provided.

Abstract

A brazing device 10 is provided with a brazing device main body 11, a brazing head 12, and a removing laser head 13, and joins a side panel 14 and a roof panel 15 to each other. The brazing device main body 11 is attached to an arm 17a of a robot 17. The brazing device 10 moves in a traveling direction D1 when the robot 17 is driven. Brazing laser light 43a outputted from the brazing laser light irradiation unit 43 is reflected by means of a head main body mirror 46 and a brazing unit mirror 51, and applied to a wire 48. Removing laser light 72a outputted from a removing laser light irradiation unit 72 is reflected by means of a first mirror 73 and a galvanometer mirror 74, and applied to a roof panel 15 portion to which a foreign material is adhered.

Description

ブレーズ装置及び方法Blaze apparatus and method
　本発明は、ろう付けによりワークを接合するブレーズ装置及び方法に関する。 The present invention relates to a blaze apparatus and method for joining workpieces by brazing.
　車体等のろう付け、例えば複数の車体板（ワーク）をろう付けする場合は、ブレーズ装置により行われる。ブレーズ装置は、ろう材を溶かした後に凝固することで複数の車体板をろう付して接合する（例えば、特許文献１）。 Brazing of a vehicle body or the like, for example, in the case of brazing a plurality of vehicle body plates (workpieces) is performed by a blazer. In the blaze apparatus, a plurality of vehicle body plates are brazed and joined by melting and melting the brazing material and bonding (for example, Patent Document 1).
　特許文献１では、ろう材により接合する前に、複数の車体板を予熱することで、ろう材を溶かすためのビームを照射するビーム照射装置の負担を軽減している。 In Patent Document 1, a plurality of vehicle body plates are preheated before joining with a brazing material, thereby reducing the burden on a beam irradiation apparatus that emits a beam for melting the brazing material.
国際公開ＷＯ２０１６／０５２６０２号公報International Publication WO2016 / 052602
　特許文献１では、接合するときに、接合部に形成されるビードやその周辺に、スス等の異物が付着してしまい、接合工程とは別に異物を除去する工程が必要となり、工数が増加し、コストアップする。 In Patent Document 1, when bonding, foreign matter such as soot adheres to the bead formed in the bonding portion and the periphery thereof, and a process of removing the foreign matter is required separately from the bonding process, and the number of steps increases. , To increase the cost.
　本発明は、このような事情に鑑みてなされたものであり、工数を増加することなく、異物を除去することができるブレーズ装置及び方法を提供することを目的とする。 The present invention has been made in view of such circumstances, and an object thereof is to provide a blaze apparatus and method capable of removing foreign matter without increasing the number of steps.
　本発明のブレーズ装置は、進行方向に移動しながら、ろう材からなるワイヤを溶かしてワークを接合するブレーズ装置であって、前記ワイヤを所定位置に送るワイヤ送り部と、前記ワイヤ送り部により送られた前記ワイヤを前記所定位置で溶かすためのブレーズ用レーザ光を前記ワイヤに向けて照射するブレーズ用レーザ光照射ユニットと、前記ブレーズ用レーザ光により前記ワイヤを溶かして前記ワークを接合するときに前記ワーク表面に付着もしくは生成された異物を除去するための除去レーザ光を、前記異物に向けて照射する除去レーザ光照射ユニットと、を備えることを特徴とする。 The blaze apparatus according to the present invention is a blaze apparatus that melts a wire made of brazing material and joins a work while moving in the direction of movement, and includes a wire feeding unit for feeding the wire to a predetermined position, and feeding by the wire feeding unit. A blaze laser beam irradiation unit for irradiating the wire with a blaze laser beam for melting the wire at the predetermined position, and bonding the workpiece by melting the wire by the blaze laser beam And a removal laser beam irradiation unit for directing a removal laser beam for removing the foreign matter attached to or generated on the work surface toward the foreign matter.
　本発明のブレーズ装置によれば、ワークの接合を行いながら、ワーク表面の異物の除去を行うことができるので、工数を増加することなく、異物を除去することができる。 According to the blaze apparatus of the present invention, since the foreign matter on the surface of the work can be removed while joining the work, the foreign matter can be removed without increasing the number of steps.
　また、前記除去レーザ光照射ユニットは、前記ブレーズ用レーザ光の照射位置より前記進行方向にて後方の位置で前記異物に向けて照射することが好ましい。 Further, it is preferable that the removal laser light irradiation unit irradiates the foreign matter at a position behind the irradiation position of the laser light for blaze in the traveling direction.
　除去レーザ光照射ユニットが、ブレーズ用レーザ光の照射位置より進行方向の前方の位置で照射する場合、ブレーズ用レーザ光の照射位置より進行方向の後方に付着した異物を除去しにくい。これに対し、上記構成によれば、ブレーズ用レーザ光の照射位置より進行方向の後方に付着した異物を除去しやすいので、除去レーザ光照射ユニットが、ブレーズ用レーザ光の照射位置より進行方向の前方の位置で照射するものに比べて、除去精度を向上することができる。 When the removal laser beam irradiation unit irradiates the laser beam at a position forward of the irradiation position of the laser beam for blaze, it is difficult to remove the foreign matter adhering to the rear of the irradiation direction of the laser beam for blaze. On the other hand, according to the above configuration, the foreign matter adhering to the rear in the traveling direction from the irradiation position of the blaze laser light can be easily removed, so the removal laser light irradiation unit is in the traveling direction from the irradiation position of the blaze laser light. The removal accuracy can be improved as compared to the irradiation at the front position.
　さらに、前記ブレーズ用レーザ光の照射位置に向けて送風する送風部を備えることが好ましい。 Furthermore, it is preferable to provide the ventilation part which ventilates toward the irradiation position of the said laser beam for blaze | braze.
　この構成によれば、送風部の送風により、異物を飛ばして所定のエリアに付着させるので、除去レーザ光照射ユニットにより異物を除去するエリアを規定することができる。 According to this configuration, the foreign matter is blown off and attached to the predetermined area by the air blowing from the air blowing unit, so that the area to remove the foreign matter can be defined by the removal laser light irradiation unit.
　また、前記送風部は、前記進行方向を前方向としたときの左右方向における前記ブレーズ用レーザ光の照射位置を中心とした一方から他方に向けて送風することが好ましい。 Further, it is preferable that the blower blows air from one to the other centering on the irradiation position of the laser beam for blaze in the left-right direction when the advancing direction is a forward direction.
　この構成によれば、除去レーザ光照射ユニットにより異物を除去するエリアを左右方向の他方に規定することができ、これにより、左右方向の一方では、異物の付着自体を抑制することができる。 According to this configuration, the area for removing the foreign matter can be defined by the removal laser light irradiation unit on the other side in the left-right direction, whereby the foreign substance itself can be suppressed in one side in the left-right direction.
　さらに、前記除去レーザ光の照射位置は、前記ブレーズ用レーザ光の照射位置よりも前記送風部による送風の下流側に位置することが好ましい。 Furthermore, it is preferable that the irradiation position of the removal laser light be located on the downstream side of the air blowing by the air blowing unit than the irradiation position of the blaze laser light.
　この構成によれば、異物が飛ばされる規定エリアに、除去レーザ光の照射位置を配置するので、効率的に異物を除去することができる。 According to this configuration, since the irradiation position of the removal laser beam is disposed in the specified area where the foreign matter is blown, the foreign matter can be efficiently removed.
　また、前記除去レーザ光照射ユニットは、前記ブレーズ用レーザ光の照射位置を中心として前記左右方向の前記他方側に配置されていることが好ましい。 Moreover, it is preferable that the said removal laser beam irradiation unit is arrange | positioned on the said other side of the said left-right direction centering on the irradiation position of the said laser beam for blaze | brazes.
　この構成によれば、除去レーザ光照射ユニットは、左右方向の一方から他方に向けて送風される場合の他方側に配置されているので、一方側に配置されているものに比べて、ブレーズ用レーザ光の照射位置よりも送風部による送風の下流側に除去レーザ光を照射しやすい。 According to this configuration, since the removal laser beam irradiation unit is disposed on the other side in the case where air is blown from one side to the other side in the left-right direction, it is for blaze compared to one disposed on one side. It is easy to irradiate the removal laser light to the downstream side of the air blowing by the air blowing unit than the irradiation position of the laser light.
　さらに、除去レーザヘッドと、前記除去レーザヘッドより重いブレーズヘッドとを備え、前記除去レーザヘッドは、前記除去レーザ光照射ユニットを有し、前記ブレーズヘッドは、前記ワイヤ送り部、及び前記ブレーズ用レーザ光照射ユニットを有し、前記除去レーザヘッドと前記ブレーズヘッドとは、前記進行方向を前方向としたときに左右方向にオフセットして配置され、前記ブレーズ装置は、前記左右方向に延びて根元部が支持されたアームを有する移動用ロボットにより前記進行方向に移動可能に支持され、前記ブレーズヘッド及び前記除去レーザヘッドは、前記アームにより、前記ブレーズヘッドが前記除去レーザヘッドよりも前記左右方向において前記根元部に近い側に配置された状態で保持されていることが好ましい。 Furthermore, a removal laser head and a blaze head heavier than the removal laser head are provided, the removal laser head includes the removal laser beam irradiation unit, the blaze head includes the wire feeding portion, and the laser for blaze. It has a light irradiation unit, and the removal laser head and the blaze head are arranged to be offset in the left and right direction when the forward direction is the advancing direction, and the blaze device extends in the left and right direction to form a root portion The blazed head and the removal laser head are movably supported in the traveling direction by a moving robot having an arm supported by the arm, and the blaze head is the blade in a lateral direction than the removal laser head by the arm. It is preferable to hold | maintain in the state arrange | positioned at the near side to the root part.
　この構成によれば、除去レーザヘッドより重いブレーズヘッドは、除去レーザヘッドよりも左右方向においてアームの根元部に近い側で保持されるので、ブレーズヘッドが、除去レーザヘッドよりも左右方向においてアームの根元部から遠い側で保持されるものに比べて、アームにかかる力のモーメントを抑えることができる。これにより、アームの耐久性を向上することができる。 According to this configuration, the blazed head, which is heavier than the removal laser head, is held on the side closer to the root of the arm in the left-right direction than the removal laser head. The moment of force applied to the arm can be suppressed as compared with that held on the side far from the root. Thereby, the durability of the arm can be improved.
　また、前記除去レーザ光照射ユニットから照射された前記除去レーザ光により、前記ワーク表面に付着した異物を除去したときに、除去した異物を吸引する吸引部を備えることが好ましい。 Preferably, the apparatus further comprises a suction unit for suctioning the removed foreign matter when the foreign matter adhering to the surface of the workpiece is removed by the removal laser light emitted from the removal laser light irradiation unit.
　この構成によれば、除去レーザ光照射ユニットから照射された除去レーザ光により除去した異物が、再びワーク表面に付着することがない。 According to this configuration, the foreign matter removed by the removal laser beam irradiated from the removal laser beam irradiation unit does not adhere to the work surface again.
　本発明のブレーズ方法は、進行方向に移動しながら、ろう材からなるワイヤを溶かしてワークを接合するブレーズ方法であって、前記ワイヤを所定位置に送るワイヤ送り工程と、前記ワイヤ送り工程で送られた前記ワイヤを前記所定位置で溶かすためのブレーズ用レーザ光を前記ワイヤに向けて照射するブレーズ用レーザ光照射工程と、前記ブレーズ用レーザ光照射工程が行われている間に行われ、前記ブレーズ用レーザ光照射工程で前記ワイヤを溶かして前記ワークを接合するときに前記ワーク表面に付着もしくは生成された異物を除去するための除去レーザ光を、前記ワーク表面に向けて照射する除去レーザ光照射工程と、を備えることを特徴とする。 The blaze method according to the present invention is a blaze method in which a wire made of brazing material is melted to move a work while moving in a traveling direction, and the wire is fed in a wire feeding step of feeding the wire to a predetermined position; The blaze laser beam irradiation process of irradiating the wire with a blaze laser beam for melting the wire at the predetermined position, and the laser beam irradiation process of the blaze laser beam is performed while the blaze laser beam irradiation process is performed. Removal laser beam for irradiating the workpiece surface with removal laser light for removing foreign matter attached or generated on the surface of the workpiece when the wire is melted and the workpiece is joined in the laser beam irradiation step for blaze And an irradiation step.
　本発明のブレーズ方法によれば、ワークの接合を行いながら、ワーク表面の異物の除去を行うことができるので、工数を増加することなく、異物を除去することができる。 According to the blaze method of the present invention, since the foreign matter on the surface of the work can be removed while joining the work, the foreign matter can be removed without increasing the number of steps.
本発明のブレーズ装置を示す側面図。The side view which shows the blaze | braze apparatus of this invention. ブレーズ装置とロボットとを示す正面図であり、進行方向前方から見た図。It is a front view which shows a blaze | braze apparatus and a robot, and the figure seen from the advancing direction front. ブレーズユニットを回転した状態のブレーズ装置を示す正面図。The front view which shows the blaze | braze apparatus of the state which rotated the blaze | blade unit. ブレーズ装置の電気的構成を示すブロック図。FIG. 2 is a block diagram showing an electrical configuration of a blaze device. アルゴンガスの送風方向と、異物付着エリアと、除去レーザ光の走査範囲とを示す概略図。Schematic which shows the blowing direction of argon gas, a foreign material adhesion area, and the scanning range of removal laser beam.
　以下、本発明の実施形態について、図面を参照しながら説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
　図１及び図２に示すように、ブレーズ装置１０は、ブレーズ装置本体１１と、ブレーズヘッド１２と、除去レーザヘッド１３とを備え、車両に用いられるサイドパネル１４及びルーフパネル１５（ワーク）を接合する。ブレーズ装置本体１１は、ロボット１７のアーム１７ａに取り付けられている。 As shown in FIGS. 1 and 2, the blaze device 10 includes a blaze device body 11, a blaze head 12, and a removal laser head 13, and joins the side panel 14 and the roof panel 15 (work) used in the vehicle. Do. The blazer body 11 is attached to an arm 17 a of the robot 17.
　ロボット１７は、例えば、多軸多関節型のロボットであり、先端から順に第１～第４アーム１７ａ～１７ｄが設けられている。ロボット１７は、各アーム１７ａ～１７ｄを駆動する複数のモータ（図示せず）が設けられ、ロボット制御装置１８により駆動が制御される。ロボット１７は、先端部の第１アーム１７ａにブレーズ装置本体１１が取り付けられている。すなわち、ロボット１７の各アーム１７ａ～１７ｄは、第４アーム１７ｄを根元部として片持ち梁状態でブレーズ装置本体１１を保持している。なお、根元部は、地面もしくは、地面に固定された台座（図示せず）等に支持される。 The robot 17 is, for example, a multi-axis articulated robot, and is provided with first to fourth arms 17a to 17d in this order from the tip. The robot 17 is provided with a plurality of motors (not shown) for driving the arms 17a to 17d, and the drive is controlled by the robot control device 18. In the robot 17, the blazer body 11 is attached to a first arm 17 a at the tip. That is, the arms 17a to 17d of the robot 17 hold the blazer body 11 in a cantilever state with the fourth arm 17d as a root portion. The root portion is supported by the ground or a pedestal (not shown) or the like fixed to the ground.
　ロボット制御装置１８は、ロボット１７の複数のモータを駆動することで、各アーム１７ａ～１７ｄを駆動して、アーム１７ａに取り付けられたブレーズ装置１０の位置及び向きを制御し、ブレーズ装置１０を、ワークとしてのサイドパネル１４及びルーフパネル１５の接合部の延びる方向である進行方向Ｄ１に移動させる。 The robot control device 18 drives the plurality of motors of the robot 17 to drive the arms 17a to 17d to control the position and the orientation of the blaze device 10 attached to the arm 17a. It is moved in the traveling direction D1 which is the extending direction of the joint of the side panel 14 and the roof panel 15 as a work.
　［ブレーズ装置本体］
　図１及び図２に示すように、ブレーズ装置本体１１は、ロボット１７のアーム１７ａに取り付けられる装置取付部２１と、装置取付部２１の左右それぞれに取り付けられた装置取付板２２とを備える。 [Blaze device body]
As shown in FIGS. 1 and 2, the blazer body 11 includes a device attachment portion 21 attached to the arm 17 a of the robot 17 and device attachment plates 22 attached to the left and right of the device attachment portion 21.
　２個の装置取付板２２はそれぞれ、上部が装置取付部２１に例えばボルトにより取り付けられている。なお、本実施形態では、ブレーズ装置１０の進行方向Ｄ１を前方向とし、前方向である進行方向Ｄ１を向いたときの左右方向を左方向Ｄ２及び右方向Ｄ３としている。 The upper portions of the two device mounting plates 22 are attached to the device mounting portion 21 by, for example, bolts. In the present embodiment, the traveling direction D1 of the blazed device 10 is the forward direction, and the left and right directions when the traveling direction D1 is the front direction are the left direction D2 and the right direction D3.
　［ブレーズヘッド］
　ブレーズヘッド１２は、ブレーズヘッド本体部３１と、ブレーズユニット３２と、ブレーズユニット回転部３３と、ワイヤガイド部３４と、ワイヤガイド移動部３５とを備える。 [Blaze head]
The blaze head 12 includes a blaze head body 31, a blaze unit 32, a blaze unit rotation part 33, a wire guide part 34, and a wire guide moving part 35.
　ブレーズヘッド本体部３１は、ブレーズ装置本体１１の装置取付板２２の前側下部に、例えばボルトにより取り付けられた箱状のヘッド本体ケース４１と、ヘッド本体ケース４１の上側に設けられたワイヤ送り装置４２とを備える。また、ブレーズヘッド本体部３１は、ヘッド本体ケース４１の上側に設けられ、ブレーズ用レーザ光４３ａを照射するブレーズ用レーザ光照射部４３と、ブレーズ制御装置４４とを備える。 The blazed head main body 31 includes a box-like head main body case 41 attached to the lower portion of the apparatus mounting plate 22 of the blazed apparatus main body 11 by, for example, a bolt and a wire feeding device 42 provided on the upper side And The blazed head main body 31 is provided on the upper side of the head main body case 41, and includes a blazed laser light irradiation unit 43 that emits a blazed laser light 43a, and a blaze control device 44.
　ワイヤ送り装置４２及びブレーズ用レーザ光照射部４３は、ブレーズ制御装置４４により駆動が制御される。 The driving of the wire feeding device 42 and the blaze laser light irradiation unit 43 is controlled by the blaze control device 44.
　ヘッド本体ケース４１の内部には、ブレーズ用レーザ光照射部４３から下方に照射され、ヘッド本体ケース４１の内部に入ったブレーズ用レーザ光４３ａを前方向に配置されるブレーズユニット３２に向けて反射するヘッド本体ミラー４６が設けられている。 Inside the head body case 41, the blaze laser light 43a, which is emitted downward from the blaze laser light irradiator 43 and enters the inside of the head body case 41, is reflected toward the blaze unit 32 disposed in the forward direction. A head main body mirror 46 is provided.
　ワイヤ送り装置４２は、ろう材からなるワイヤ４８を所定位置Ｐ１に向けて送り出すものであり、例えば、ワイヤ４８を把持する一対のローラ（図示せず）を備え、ローラを回転することで、ワイヤ４８を送り出す。 The wire feeding device 42 feeds the wire 48 made of brazing material toward the predetermined position P1. For example, the wire feeding device 42 includes a pair of rollers (not shown) for gripping the wire 48, and the wire is rotated by rotating the rollers. Send out 48.
　ブレーズユニット３２には、ヘッド本体ミラー４６で前方向に反射され、ブレーズユニット回転部３３を通過したブレーズ用レーザ光４３ａが入る。 The blazed laser beam 43a reflected in the front direction by the head main body mirror 46 and passed through the blazed unit rotating portion 33 enters the blazed unit 32.
　ブレーズユニット３２は、箱状のユニットケース５０と、ユニットケース５０の内部に配され、入射したブレーズ用レーザ光４３ａを下方向に位置する照射位置Ｐ２に向けて反射するブレーズユニットミラー５１とを備える。 The blazed unit 32 includes a box-shaped unit case 50 and a blazed unit mirror 51 disposed inside the unit case 50 and reflecting the incident blaze laser beam 43a toward the irradiation position P2 positioned downward. .
　ユニットケース５０の前面には、ワイヤ４８をガイドするワイヤガイド部３４が、詳しくは後述するワイヤガイド移動部３５のワイヤガイド用移動板５７を介して取り付けられている。 A wire guide portion 34 for guiding the wire 48 is attached to the front surface of the unit case 50 through a wire guide moving plate 57 of a wire guide moving portion 35 described later in detail.
　ワイヤガイド部３４には、送風管５３と、送風管５３に例えばアルゴンガスを送風する送風機５４（図４参照）とが取り付けられている。送風機５４は、ブレーズ制御装置４４により駆動が制御される。詳しくは後述するように、ワイヤガイド移動部３５は、ワイヤガイド部３４を、ブレーズ用レーザ光４３ａの照射方向と平行方向に移動可能に支持している。 The wire guide portion 34 is provided with a blower tube 53 and a blower 54 (see FIG. 4) for blowing argon gas to the blower tube 53, for example. The driving of the blower 54 is controlled by the blaze controller 44. As described in detail later, the wire guide moving unit 35 supports the wire guide unit 34 so as to be movable in a direction parallel to the irradiation direction of the blaze laser beam 43a.
　本実施形態では、サイドパネル１４及びルーフパネル１５を接合すためのブレーズ用レーザ光４３ａをワイヤ４８に向けて照射するブレーズ用レーザ光照射ユニットは、ブレーズ用レーザ光照射部４３と、ヘッド本体ミラー４６と、ブレーズユニットミラー５１とを備えて構成されている。 In the present embodiment, the blaze laser light irradiation unit for irradiating the blaze laser light 43a for bonding the side panel 14 and the roof panel 15 to the wire 48 includes the blaze laser light irradiation unit 43 and the head main body mirror. 46 and a blazed unit mirror 51.
　ワイヤガイド部３４は、所定位置Ｐ１に向けて、ワイヤ４８をガイドする。本実施形態では、ワイヤ４８を所定位置Ｐ１に送り出すワイヤ送り部は、ワイヤ送り装置４２と、ワイヤガイド部３４とを備えて構成されている。 The wire guide portion 34 guides the wire 48 toward the predetermined position P1. In the present embodiment, the wire feeding unit for feeding the wire 48 to the predetermined position P1 is configured to include the wire feeding device 42 and the wire guide unit 34.
　また、本実施形態では、所定位置Ｐ１は、ブレーズユニットミラー５１により反射されてブレーズユニット３２から下方向に出射されるブレーズ用レーザ光４３ａの照射位置Ｐ２と同じ位置である。 Further, in the present embodiment, the predetermined position P1 is the same position as the irradiation position P2 of the blaze laser beam 43a reflected by the blaze unit mirror 51 and emitted downward from the blaze unit 32.
　送風管５３は、照射位置Ｐ２を中心として、進行方向Ｄ１側から進行方向Ｄ１とは逆側に指向する送風方向Ｄ４に送風するように設けられている（図１参照）。また、送風管５３は、照射位置Ｐ２を中心として、ブレーズ装置１０の右方向Ｄ３側から左方向Ｄ２側に指向する送風方向Ｄ４に送風するように設けられている（図２参照）。本実施形態では、ブレーズ用レーザ光４３ａの照射位置Ｐ２に向けて上方から送風する送風部は、送風管５３と、送風機５４とを備えて構成されている。 The blower tube 53 is provided so as to blow air in a blowing direction D4 directed from the traveling direction D1 side to the opposite side to the traveling direction D1 with the irradiation position P2 as a center (see FIG. 1). Further, the blower tube 53 is provided so as to blow air in a blowing direction D4 directed from the right direction D3 side to the left direction D2 side of the blaze apparatus 10 with the irradiation position P2 as a center (see FIG. 2). In the present embodiment, the blower for blowing air from above to the irradiation position P2 of the blaze laser beam 43a includes the blower tube 53 and the blower 54.
　サイドパネル１４とルーフパネル１５とを接合したときに、サイドパネル１４の表面及びルーフパネル１５の表面に付着した、例えばすす等の異物が、送風管５３からの送風により、除去レーザヘッド１３の方、つまり進行方向後方で、且つ照射位置Ｐ２よりも左方向Ｄ２側に飛ばされる。 When the side panel 14 and the roof panel 15 are joined, foreign matter such as soot attached to the surface of the side panel 14 and the surface of the roof panel 15 is blown to the removal laser head 13 by the air blowing from the blower tube 53. That is, it is skipped to the left direction D2 side behind the direction of travel and to the irradiation position P2.
　ブレーズユニット回転部３３は、ヘッド本体ケース４１の前面に回転可能に取り付けられた回転板５５と、回転板５５を回転させるモータ５６（図４参照）とを備える。モータ５６は、ブレーズ制御装置４４により駆動が制御される。 The blazed unit rotating portion 33 includes a rotating plate 55 rotatably mounted on the front surface of the head main body case 41, and a motor 56 (see FIG. 4) for rotating the rotating plate 55. The driving of the motor 56 is controlled by the blaze controller 44.
　回転板５５は、ヘッド本体ミラー４６で前方向に反射されたブレーズ用レーザ光４３ａを通過するための孔（図示せず）が形成されている。 The rotary plate 55 is formed with a hole (not shown) for passing the blaze laser beam 43 a reflected forward by the head main body mirror 46.
　ワイヤガイド移動部３５は、ブレーズユニット３２のユニットケース５０の前面にブレーズ用レーザ光４３ａの照射方向と平行方向に移動可能に取り付けられたワイヤガイド用移動板５７を備える。ワイヤガイド用移動板５７の前面には、ワイヤガイド部３４が取り付けられている。 The wire guide moving unit 35 includes a wire guide moving plate 57 mounted on the front surface of the unit case 50 of the blaze unit 32 so as to be movable in a direction parallel to the irradiation direction of the blaze laser beam 43a. A wire guide portion 34 is attached to the front surface of the wire guide moving plate 57.
　また、ワイヤガイド移動部３５は、ワイヤガイド用移動板５７をブレーズ用レーザ光４３ａの照射方向と平行方向に移動させるモータやギヤ等から構成されるワイヤガイド用移動機構５８（図４参照）を備える。ワイヤガイド用移動機構５８は、ブレーズ制御装置４４により駆動が制御される。 In addition, the wire guide moving unit 35 has a moving mechanism 58 (see FIG. 4) configured of a motor, a gear, etc. for moving the wire guide moving plate 57 in a direction parallel to the irradiation direction of the blaze laser beam 43a. Prepare. The drive for the wire guide moving mechanism 58 is controlled by the blaze controller 44.
　ワイヤガイド移動部３５は、ワイヤガイド用移動機構５８によりワイヤガイド用移動板５７を移動することで、ワイヤガイド用移動板５７に取り付けられたワイヤガイド部３４を、ブレーズ用レーザ光４３ａの照射方向と平行方向に移動する。 The wire guide moving unit 35 moves the wire guide moving plate 57 by the wire guide moving mechanism 58 to move the wire guide unit 34 attached to the wire guide moving plate 57 in the irradiation direction of the blaze laser beam 43 a. Move in parallel with
　本実施形態では、ブレーズヘッド１２は、除去レーザヘッド１３に比べて重くなるように構成されている。さらに、ロボット１７の第１～第４アーム１７ａ～１７ｄは、第４アーム１７ｄを根元側とした片持ち梁状態で構成され、第４アーム１７ｄの根元部に力のモーメントがかかる構成となっている。 In the present embodiment, the blaze head 12 is configured to be heavier than the removal laser head 13. Furthermore, the first to fourth arms 17a to 17d of the robot 17 are configured in a cantilever state in which the fourth arm 17d is on the root side, and a moment of force is applied to the root portion of the fourth arm 17d. There is.
　本実施形態では、第１アーム１７ａは、除去レーザヘッド１３よりも左右方向において根元部に近い側でブレーズヘッド１２を保持するようにしている（図２参照）。これにより、除去レーザヘッド１３よりも左右方向において根元部から遠い側でブレーズヘッド１２を保持するものに比べて、各アーム１７ａ～１７ｄにかかる力のモーメントを小さくすることができ、各アーム１７ａ～１７ｄの耐久性を向上することができる。 In the present embodiment, the first arm 17 a holds the blaze head 12 on the side closer to the root in the left-right direction than the removal laser head 13 (see FIG. 2). As a result, the moment of force applied to each of the arms 17a to 17d can be made smaller than that in the case where the blazed head 12 is held on the side farther from the root in the left-right direction than the removal laser head 13. The durability of 17 d can be improved.
　［除去レーザヘッド］
　除去レーザヘッド１３は、除去レーザヘッド本体６１と、除去レーザユニット６２とを備える。除去レーザヘッド１３は、ブレーズヘッド１２よりも左方向Ｄ２側に配置されている。すなわち、ブレーズヘッド１２と除去レーザヘッド１３とは、左右方向においてオフセットした位置に配置されている。 [Removal laser head]
The removal laser head 13 includes a removal laser head body 61 and a removal laser unit 62. The removal laser head 13 is disposed on the left direction D2 side of the blaze head 12. That is, the blaze head 12 and the removal laser head 13 are disposed at offset positions in the left-right direction.
　除去レーザヘッド本体６１は、装置取付板２２の後側部に例えばボルトにより取り付けられた本体板６５と、本体板６５に上下方向に移動可能に取り付けられ、前方向に延びる除去レーザ用移動板６６と、除去レーザ用移動板６６を上下方向に移動させるモータやギヤ等から構成される除去レーザ用移動機構６７（図４参照）と、除去制御装置６８（図４参照）とを備える。除去レーザ用移動機構６７は、除去制御装置６８により駆動が制御される。 The removal laser head main body 61 is a main body plate 65 attached to the rear side portion of the apparatus mounting plate 22 by, for example, a bolt, and is vertically movably attached to the main body plate 65, and the removal laser moving plate 66 extends forward. And a removal laser moving mechanism 67 (see FIG. 4) configured of a motor, a gear, and the like for moving the removal laser moving plate 66 in the vertical direction, and a removal control device 68 (see FIG. 4). Driving of the removal laser moving mechanism 67 is controlled by the removal control device 68.
　除去レーザユニット６２は、除去レーザ用移動板６６に取り付けられた箱状の除去レーザ用ケース７１を備える。 The removal laser unit 62 includes a box-shaped removal laser case 71 attached to the removal laser moving plate 66.
　除去レーザ用ケース７１の内部には、除去レーザ光７２ａを下方に向けて照射する除去レーザ光照射部７２と、第１ミラー７３と、ガルバノミラー７４とが配されている。除去レーザ光照射部７２及びガルバノミラー７４は、除去制御装置６８により駆動が制御される。 Inside the case for removal laser 71, a removal laser beam irradiation unit 72 for emitting the removal laser beam 72a downward, a first mirror 73, and a galvano mirror 74 are disposed. The removal control device 68 controls the drive of the removal laser beam irradiation unit 72 and the galvano mirror 74.
　第１ミラー７３は、除去レーザ光照射部７２から下方に照射された除去レーザ光７２ａを前方向に配置されるガルバノミラー７４に向けて反射する。 The first mirror 73 reflects the removal laser beam 72 a emitted downward from the removal laser beam irradiation unit 72 toward the galvano mirror 74 disposed in the forward direction.
　ガルバノミラー７４は、周知のものであり、その詳細な説明は簡略化するが、少なくとも左方向Ｄ２及び右方向Ｄ３に揺動可能に設けられている。ガルバノミラー７４は、その揺動により、第１ミラー７３により前方に反射された除去レーザ光７２ａを、下方に反射し、且つ左方向Ｄ２及び右方向Ｄ３に走査する。 The galvano mirror 74 is well known, and although the detailed description is simplified, it is provided so as to be pivotable at least in the left direction D2 and the right direction D3. The galvano mirror 74 reflects downward the removal laser beam 72a reflected forward by the first mirror 73 by its swing, and scans it in the left direction D2 and the right direction D3.
　ガルバノミラー７４により走査された除去レーザ光７２ａがルーフパネル１５に照射されると、ルーフパネル１５に付着した異物が除去される。 When the roof panel 15 is irradiated with the removal laser beam 72a scanned by the galvano mirror 74, the foreign matter attached to the roof panel 15 is removed.
　本実施形態では、ルーフパネル１５の表面に付着した異物を除去するための除去レーザ光７２ａを、ルーフパネル１５の表面に向けて照射する除去レーザ光照射ユニットは、除去レーザ光照射部７２と、第１ミラー７３と、ガルバノミラー７４とを備えて構成されている。この除去レーザ光照射ユニットは、ブレーズ用レーザ光４３ａの照射位置Ｐ２より進行方向Ｄ１とは逆方向側の位置でルーフパネル１５の表面に向けて除去レーザ光７２ａを照射するように配置されている。 In the present embodiment, a removal laser beam irradiation unit for irradiating the surface of the roof panel 15 with the removal laser beam 72a for removing foreign matter attached to the surface of the roof panel 15 is a removal laser beam irradiation unit 72; A first mirror 73 and a galvano mirror 74 are provided. The removal laser beam irradiation unit is arranged to irradiate the removal laser beam 72a toward the surface of the roof panel 15 at a position on the side opposite to the traveling direction D1 from the irradiation position P2 of the blaze laser beam 43a. .
　除去レーザ用ケース７１の底面には、棒状の位置センサ７６と吸引部７７とが設けられている。位置センサ７６は、接触感知タイプのセンサであり、除去制御装置６８に接続されている。 A bar-like position sensor 76 and a suction unit 77 are provided on the bottom surface of the removal laser case 71. The position sensor 76 is a touch sensing type sensor and is connected to the removal control device 68.
　位置センサ７６は、例えば、ルーフパネル１５に接触した場合に、除去制御装置６８に接触信号を出力する。除去制御装置６８は、接触信号の入力の有無に基いて、除去レーザヘッド本体６１の除去レーザ用移動機構６７を駆動する。なお、位置センサ７６としては、接触感知タイプに限らず、光センサ等の非接触タイプのものを用いるようにしてもよい。 The position sensor 76 outputs a contact signal to the removal control device 68, for example, when contacting the roof panel 15. The removal control device 68 drives the removal laser moving mechanism 67 of the removal laser head main body 61 based on the presence or absence of the input of the contact signal. The position sensor 76 is not limited to the touch detection type, and a non-contact type such as an optical sensor may be used.
　吸引部７７は、除去レーザ光７２ａにより除去された異物を吸引するものであり、除去制御装置６８により駆動が制御される。 The suction unit 77 suctions the foreign matter removed by the removal laser beam 72 a, and the drive is controlled by the removal control device 68.
　図３に示すように、サイドパネル１４がルーフパネル１５より上方に突出している部分を接合する場合等には、ブレーズ制御装置４４は、モータ５６を駆動して、ブレーズユニット３２のユニットケース５０が取り付けられた回転板５５を回転させる。 As shown in FIG. 3, when joining the portion where the side panel 14 projects upward from the roof panel 15, the blaze control device 44 drives the motor 56 to set the unit case 50 of the blaze unit 32. The mounted rotating plate 55 is rotated.
　回転板５５の回転により、ブレーズユニット３２が回転すると、ワイヤ４８も回転する。そして、必要に応じてワイヤガイド移動部３５によりワイヤガイド部３４の上下方向を調整し、ワイヤ４８が接合部に当接すると、モータ５６にかかる負荷が増加する。ブレーズ制御装置４４は、モータ５６への負荷の増加を検出して、ワイヤ４８が接合部に当接したことを検出し、モータ５６の駆動を停止し、この位置で接合を行うようにする。 When the blazed unit 32 is rotated by the rotation of the rotary plate 55, the wire 48 is also rotated. Then, the wire guide moving portion 35 adjusts the vertical direction of the wire guide portion 34 as needed, and when the wire 48 abuts on the joint portion, the load applied to the motor 56 increases. The blaze control device 44 detects an increase in load on the motor 56 to detect that the wire 48 abuts on the joint, stops driving the motor 56, and performs welding at this position.
　［パネル接合］
　ブレーズ装置１０により、サイドパネル１４とルーフパネル１５とを接合する場合、先ず、ロボット制御装置１８は、ロボット１７を駆動して、ブレーズ装置１０を所望の接合位置及び向きにセットする。 [Panel connection]
When the side panel 14 and the roof panel 15 are joined by the blaze device 10, the robot control device 18 first drives the robot 17 to set the blaze device 10 in a desired joining position and direction.
　ブレーズ装置１０が接合位置にセットされると、位置センサ７６がルーフパネル１５に接触している場合、位置センサ７６から除去制御装置６８に接触信号が入力される。 When the blaze device 10 is set to the joining position, when the position sensor 76 is in contact with the roof panel 15, a contact signal is input from the position sensor 76 to the removal control device 68.
　位置センサ７６がルーフパネル１５に接触している場合、除去レーザ光照射部７２を有する除去レーザヘッド１３から、ルーフパネル１５の表面までの距離は予め設定された設定距離となる。本実施形態では、除去レーザヘッド１３からルーフパネル１５の表面までの距離が設定距離のときに、除去レーザ光７２ａの焦点がルーフパネル１５の表面で合うように、除去レーザ光照射部７２、第１ミラー７３、ガルバノミラー７４がセットされている。 When the position sensor 76 is in contact with the roof panel 15, the distance from the removal laser head 13 having the removal laser beam irradiation unit 72 to the surface of the roof panel 15 is a preset set distance. In the present embodiment, when the distance from the removal laser head 13 to the surface of the roof panel 15 is a set distance, the removal laser beam irradiator 72, a second removal laser beam 72a is focused on the surface of the roof panel 15. The 1 mirror 73 and the galvano mirror 74 are set.
　位置センサ７６がルーフパネル１５に接触していない場合、除去制御装置６８に接触信号は入力されず、さらに、除去レーザヘッド１３からルーフパネル１５の表面までの距離は設定距離とならない。この場合、除去レーザ光７２ａの焦点がルーフパネル１５の表面で合わないため、ルーフパネル１５の表面に付着した異物を適切に除去することができないことがある。 When the position sensor 76 does not contact the roof panel 15, no contact signal is input to the removal control device 68, and the distance from the removal laser head 13 to the surface of the roof panel 15 does not become the set distance. In this case, since the removal laser beam 72a is not focused on the surface of the roof panel 15, the foreign matter adhering to the surface of the roof panel 15 may not be properly removed.
　本実施形態では、除去制御装置６８は、位置センサ７６がルーフパネル１５に接触して、接触信号が入力されるように、除去レーザヘッド本体６１の除去レーザ用移動機構６７を駆動して、位置センサ７６が設けられた除去レーザ用移動板６６を移動する。この制御は、ブレーズ装置１０を移動させながらサイドパネル１４とルーフパネル１５とを接合する工程において繰り返し行われる。これにより、除去レーザ光７２ａの焦点を、常にルーフパネル１５の表面で合わせることができる。 In the present embodiment, the removal control device 68 drives the removal laser moving mechanism 67 of the removal laser head main body 61 so that the position sensor 76 contacts the roof panel 15 and a contact signal is input. The removal laser moving plate 66 provided with the sensor 76 is moved. This control is repeatedly performed in the process of joining the side panel 14 and the roof panel 15 while moving the blaze device 10. Thereby, it is possible to always focus the removed laser beam 72a on the surface of the roof panel 15.
　また、ブレーズ制御装置４４は、ブレーズ用レーザ光照射部４３から照射されたブレーズ用レーザ光４３ａの焦点が、照射位置Ｐ２で合うように、ブレーズ用レーザ光照射部４３を有するブレーズヘッド１２の上下方向の位置を位置決めする。 In addition, the blaze control device 44 controls the blaze head 12 having the blaze laser light irradiation unit 43 so that the focal point of the blaze laser light 43 a emitted from the blaze laser light irradiation unit 43 matches the irradiation position P2. Position the position of the direction.
　次に、ロボット制御装置１８は、サイドパネル１４とルーフパネル１５とを接合するための予め設定された経路に沿って進行方向Ｄ１にブレーズ装置１０を移動させるようにロボット１７を駆動する。 Next, the robot control device 18 drives the robot 17 to move the blaze device 10 in the traveling direction D1 along a preset path for joining the side panel 14 and the roof panel 15.
　ブレーズ装置１０のブレーズ制御装置４４は、ブレーズ装置１０の移動に合わせて、ワイヤ送り装置４２を駆動してワイヤ４８を送り（ワイヤ送り工程）、且つ、ブレーズ用レーザ光照射部４３、及び送風機５４を駆動する。 The blaze control device 44 of the blaze device 10 drives the wire feeding device 42 to feed the wire 48 in accordance with the movement of the blaze device 10 (wire feeding step), and the laser light irradiator 43 for blaze and the blower 54. Drive.
　また、ブレーズ装置１０の除去制御装置６８は、除去レーザ光照射部７２、ガルバノミラー７４、及び吸引部７７を駆動する。 Further, the removal control device 68 of the blaze apparatus 10 drives the removal laser beam irradiation unit 72, the galvano mirror 74, and the suction unit 77.
　［ブレーズ用レーザ光照射工程］
　ブレーズ用レーザ光照射部４３は、ブレーズ用レーザ光４３ａをヘッド本体ミラー４６に向けて下方に照射する。ブレーズ用レーザ光照射部４３から照射されたブレーズ用レーザ光４３ａは、ヘッド本体ケース４１の内部に入り、ヘッド本体ミラー４６によりブレーズユニットミラー５１に向けて前方に反射される。 [Laser beam irradiation process for blaze]
The blaze laser beam irradiation unit 43 irradiates the blaze laser beam 43 a downward toward the head main body mirror 46. The blaze laser light 43 a emitted from the blaze laser light irradiator 43 enters the inside of the head main body case 41 and is reflected forward by the head main mirror 46 toward the blaze unit mirror 51.
　ヘッド本体ミラー４６により前方に反射されたブレーズ用レーザ光４３ａは、ブレーズユニット３２のユニットケース５０の内部に入り、ブレーズユニットミラー５１により下方に反射されて、照射位置Ｐ２に照射される。 The blaze laser beam 43a reflected forward by the head body mirror 46 enters the inside of the unit case 50 of the blaze unit 32, is reflected downward by the blaze unit mirror 51, and is irradiated to the irradiation position P2.
　ブレーズ用レーザ光４３ａの照射により、接合部の所定位置Ｐ１に位置するワイヤ４８は溶ける。そして、ブレーズ装置１０が移動して、ワイヤ４８の溶けた部分に、ブレーズ用レーザ光４３ａが照射されなくなると、ワイヤ４８の溶けた部分は凝固してビードＢＤが成形されて、接合部であるサイドパネル１４とルーフパネル１５とが接合される（図５参照）。なお、図５では、ワイヤ４８の図示を省略している。 The irradiation of the laser beam 43a for blaze melts the wire 48 located at the predetermined position P1 of the bonding portion. When the blaze device 10 moves and the melted portion of the wire 48 is not irradiated with the laser beam 43a for blazed, the melted portion of the wire 48 solidifies to form a bead BD, which is a bonding portion. The side panel 14 and the roof panel 15 are joined (see FIG. 5). In addition, illustration of the wire 48 is abbreviate | omitted in FIG.
　送風機５４は、送風管５３にアルゴンガスを送風する。送風管５３を通ったアルゴンガスは、ブレーズ用レーザ光４３ａの照射位置Ｐ２に向けて送風される。この送風により、ワイヤ４８が溶けてビードＢＤが成形される工程で発生する異物（例えば、すす等）を送風方向Ｄ４（図５参照）に飛ばし、ルーフパネル１５の図５に２点鎖線で示す異物付着エリアＡ１に付着させる。なお、本実施例は、送風機５４により送風する気体はアルゴンガスが好ましいが、すす等の異物を飛ばせるものであればどのような気体でもよい。 The blower 54 blows argon gas to the blower tube 53. The argon gas that has passed through the blower tube 53 is blown toward the irradiation position P2 of the blaze laser beam 43a. The foreign material (for example, soot and the like) generated in the process of melting the wire 48 and forming the bead BD by this air blowing is blown to the air blowing direction D4 (see FIG. 5) and shown by a two-dot chain line in FIG. It adheres to the foreign matter adhesion area A1. In the present embodiment, the gas blown by the blower 54 is preferably argon gas, but any gas may be used as long as foreign matter such as soot can be blown away.
　［除去レーザ光照射工程］
　除去レーザ光照射部７２は、除去レーザ光７２ａを第１ミラー７３に向けて下方に照射する。除去レーザ光照射部７２から照射された除去レーザ光７２ａは、第１ミラー７３によりガルバノミラー７４に向けて前方に反射される。 [Removal laser light irradiation process]
The removal laser beam irradiation unit 72 irradiates the removal laser beam 72 a downward toward the first mirror 73. The removal laser beam 72 a emitted from the removal laser beam irradiation unit 72 is reflected forward by the first mirror 73 toward the galvano mirror 74.
　ガルバノミラー７４は、入射した除去レーザ光７２ａを、下方に反射し、且つ左方向Ｄ２及び右方向Ｄ３に走査する。ブレーズ装置１０は進行方向Ｄ１に移動し、ガルバノミラー７４も進行方向Ｄ１に移動する。従って、ガルバノミラー７４は、進行方向Ｄ１に移動しながら除去レーザ光７２ａを左方向Ｄ２及び右方向Ｄ３に走査するので、除去レーザ光７２ａの走査経路Ｒ１は、図５に示すような走査経路となり、走査領域ＳＡ内をまんべんなく照射する（図５参照）。 The galvano mirror 74 reflects the incident removal laser beam 72a downward and scans it in the left direction D2 and the right direction D3. The blaze | braze apparatus 10 moves to the advancing direction D1, and the galvano mirror 74 also moves to the advancing direction D1. Therefore, since the galvano mirror 74 scans the removal laser beam 72a in the left direction D2 and the right direction D3 while moving in the traveling direction D1, the scanning path R1 of the removal laser beam 72a becomes a scanning path as shown in FIG. , And uniformly irradiate the inside of the scan area SA (see FIG. 5).
　除去レーザ光７２ａが、走査領域ＳＡ内にてルーフパネル１５の異物付着エリアＡ１に付着した異物に照射されると、除去レーザ光７２ａのエネルギーは、異物内で吸収され、熱エネルギーに変化される。これにより、異物がプラズマ化され、異物のみをアブレーション（溶撥）により除去することができる。 When the removal laser beam 72a is irradiated to the foreign matter adhering to the foreign matter adhering area A1 of the roof panel 15 in the scanning area SA, the energy of the removal laser beam 72a is absorbed in the foreign matter and changed to thermal energy . Thereby, the foreign matter is turned into plasma, and only the foreign matter can be removed by ablation (fusion).
　ガルバノミラー７４は、走査領域ＳＡが、異物付着エリアＡ１より大きくなるように除去レーザ光７２ａを走査する。これにより、除去レーザ光７２ａを確実に異物に照射することができ、異物を確実に除去することができる。なお、除去レーザ光７２ａをビードＢＤの上も走査するようにしてもよく、この場合、例えば、ビードＢＤ上に形成された酸化被膜を除去レーザ光７２ａにより除去するようにしてもよい。 The galvano mirror 74 scans the removal laser beam 72a so that the scan area SA is larger than the foreign matter adhesion area A1. As a result, the removal laser beam 72a can be reliably irradiated to the foreign matter, and the foreign matter can be reliably removed. The removal laser beam 72a may be scanned also on the bead BD. In this case, for example, the oxide film formed on the bead BD may be removed by the removal laser beam 72a.
　吸引部７７は、除去レーザ光７２ａによりルーフパネル１５から除去された異物を吸引する。これにより、除去した異物が再びルーフパネル１５に付着するのを防止することができる。 The suction unit 77 sucks the foreign matter removed from the roof panel 15 by the removal laser beam 72a. Thereby, the removed foreign matter can be prevented from adhering to the roof panel 15 again.
　本実施形態では、ブレーズ装置１０によりサイドパネル１４とルーフパネル１５とを接合する接合工程で発生する異物を、ブレーズ装置１０に設けられた除去レーザヘッド１３により接合工程中に除去することができるので、接合工程とは別に異物除去工程を設けるものに比べて、工数を削減し、コストダウンを図ることができる。 In this embodiment, foreign matter generated in the bonding step of bonding the side panel 14 and the roof panel 15 by the blazer 10 can be removed during the bonding step by the removal laser head 13 provided in the blazer 10. As compared with the case of providing the foreign matter removing step separately from the bonding step, the number of steps can be reduced and the cost can be reduced.
　なお、上記実施形態では、除去レーザ光照射ユニットを、ブレーズ用レーザ光４３ａの照射位置Ｐ２より進行方向Ｄ１とは逆方向側の位置から除去レーザ光７２ａを照射するようにしているが、ブレーズ用レーザ光４３ａの照射位置Ｐ２より進行方向Ｄ１側の位置や、照射位置Ｐ２の直上の位置から除去レーザ光７２ａを照射するように配置してもよい。 In the above embodiment, the removal laser beam irradiation unit is configured to emit the removal laser beam 72a from a position on the side opposite to the traveling direction D1 with respect to the irradiation position P2 of the blaze laser beam 43a. The removal laser beam 72a may be irradiated from a position on the traveling direction D1 side of the irradiation position P2 of the laser beam 43a or a position immediately above the irradiation position P2.
　また、上記実施形態では、送風管５３及び送風機５４を設け、ブレーズ用レーザ光４３ａの照射位置Ｐ２の左側から右側に向けて送風方向Ｄ４でアルゴンガスを送風しているが、ブレーズ用レーザ光４３ａの照射位置Ｐ２に向けて送風すればよく、送風方向は適宜変更可能である。 In the above embodiment, the air pipe 53 and the air fan 54 are provided, and argon gas is blown in the air blowing direction D4 from the left side to the right side of the irradiation position P2 of the blaze laser light 43a. It suffices to blow air toward the irradiation position P2 of (1), and the blowing direction can be changed as appropriate.
　さらに、除去レーザヘッド１３を設ける位置も適宜変更可能である。 Furthermore, the position at which the removal laser head 13 is provided can be changed as appropriate.
　また、送風管５３、送風機５４、及び吸引部７７を設けないようにしてもよい。 In addition, the air duct 53, the air blower 54, and the suction unit 77 may not be provided.
　１０…ブレーズ装置、１１…ブレーズ装置本体、１２…ブレーズヘッド、１３…除去レーザヘッド、１４…サイドパネル、１５…ルーフパネル、１７…ロボット、１８…ロボット制御装置、４２…ワイヤ送り装置、４３…ブレーズ用レーザ光照射部、４３ａ…ブレーズ用レーザ光、４４…ブレーズ制御装置、４６…ヘッド本体ミラー、４８…ワイヤ、５０…ユニットケース、５１…ブレーズユニットミラー、５２…ガイド部、５３…送風管、５４…送風機、６８…除去制御装置、７２…除去レーザ光照射部、７２ａ…除去レーザ光７２ａ、７３…第１ミラー、７４…ガルバノミラー、７７…吸引部、Ｄ１…進行方向、Ｄ２…左方向、Ｄ３…右方向、Ｄ４…送風方向、Ｐ１…所定位置、Ｐ２照射位置 DESCRIPTION OF SYMBOLS 10 blaze | braze apparatus 11 blaze | braze apparatus main body 12 blaze head 13 removal laser head 14 side panel 15 roof panel 17 robot 18 robot control apparatus 42 wire feeding apparatus 43 Laser light irradiator for blaze 43a: laser light for blaze 44: blaze control device 46: head body mirror 48: wire 50: unit case 51: blaze unit mirror 52: guide portion 53: air duct , 54: blower, 68: removal control device, 72: removal laser light irradiator, 72a: removal laser beam 72a, 73: first mirror, 74: galvano mirror, 77: suction portion, D1: traveling direction, D2: left Direction, D3 ... right direction, D4 ... air flow direction, P1 ... predetermined position, P2 irradiation position

Claims (9)

  1. 　進行方向に移動しながら、ろう材からなるワイヤを溶かしてワークを接合するブレーズ装置であって、
    　前記ワイヤを所定位置に送るワイヤ送り部と、
    　前記ワイヤ送り部により送られた前記ワイヤを前記所定位置で溶かすためのブレーズ用レーザ光を前記ワイヤに向けて照射するブレーズ用レーザ光照射ユニットと、
    　前記ブレーズ用レーザ光により前記ワイヤを溶かして前記ワークを接合するときに前記ワーク表面に付着もしくは生成された異物を除去するための除去レーザ光を、前記異物に向けて照射する除去レーザ光照射ユニットと、
    　を備えることを特徴とするブレーズ装置。     A blaze apparatus that melts a wire made of a brazing material and moves a work while moving in a traveling direction,
    A wire feeder for feeding the wire to a predetermined position;
    A blaze laser light irradiation unit for irradiating a blaze laser beam for melting the wire fed by the wire feeding unit at the predetermined position toward the wire;
    A removal laser beam irradiation unit that irradiates the foreign material with a removal laser beam for removing foreign matter attached or generated on the surface of the workpiece when the wire is melted by the laser beam for blaze and the workpiece is joined. When,
    The blaze | braze apparatus characterized by having.
  2. 　請求項１に記載のブレーズ装置において、
    　前記除去レーザ光照射ユニットは、前記ブレーズ用レーザ光の照射位置より前記進行方向にて後方の位置で前記異物に向けて照射することを特徴とするブレーズ装置。     In the blaze apparatus according to claim 1,
    The blaze apparatus, wherein the removal laser light irradiation unit irradiates the foreign matter at a position behind the irradiation position of the laser light for blaze in the traveling direction.
  3. 　請求項１に記載のブレーズ装置において、
    　前記ブレーズ用レーザ光の照射位置に向けて送風する送風部を備えることを特徴とするブレーズ装置。     In the blaze apparatus according to claim 1,
    A blaze apparatus comprising: an air blower for blowing air toward the irradiation position of the laser light for blaze.
  4. 　請求項３に記載のブレーズ装置において、
    　前記送風部は、前記進行方向を前方向としたときの左右方向における前記ブレーズ用レーザ光の照射位置を中心とした一方から他方に向けて送風することを特徴とするブレーズ装置。     In the blaze apparatus according to claim 3,
    The blaze apparatus characterized in that the air blower blows air from one to the other centering on the irradiation position of the laser light for blaze in the left-right direction when the advancing direction is a forward direction.
  5. 　請求項４に記載のブレーズ装置において、
    　前記除去レーザ光の照射位置は、前記ブレーズ用レーザ光の照射位置よりも前記送風部による送風の下流側に位置することを特徴とするブレーズ装置。     In the blaze apparatus according to claim 4,
    The blaze apparatus, wherein the irradiation position of the removal laser light is located on the downstream side of the air blowing by the air blowing unit with respect to the irradiation position of the laser light for blaze.
  6. 　請求項５に記載のブレーズ装置において、
    　前記除去レーザ光照射ユニットは、前記ブレーズ用レーザ光の照射位置を中心として前記左右方向の前記他方側に配置されていることを特徴とするブレーズ装置。     In the blaze apparatus according to claim 5,
    The blaze apparatus, wherein the removal laser light irradiation unit is disposed on the other side in the left-right direction with the irradiation position of the laser light for blaze as a center.
  7. 　請求項１に記載のブレーズ装置において、
    　除去レーザヘッドと、前記除去レーザヘッドより重いブレーズヘッドとを備え、
    　前記除去レーザヘッドは、前記除去レーザ光照射ユニットを有し、
    　前記ブレーズヘッドは、前記ワイヤ送り部、及び前記ブレーズ用レーザ光照射ユニットを有し、
    　前記除去レーザヘッドと前記ブレーズヘッドとは、前記進行方向を前方向としたときに左右方向にオフセットして配置され、
    　前記ブレーズ装置は、前記左右方向に延びて根元部が支持されたアームを有する移動用ロボットにより前記進行方向に移動可能に支持され、
    　前記ブレーズヘッド及び前記除去レーザヘッドは、前記アームにより、前記ブレーズヘッドが前記除去レーザヘッドよりも前記左右方向において前記根元部に近い側に配置された状態で保持されていることを特徴とするブレーズ装置。     In the blaze apparatus according to claim 1,
    A removal laser head and a blazed head which is heavier than the removal laser head;
    The removal laser head includes the removal laser beam irradiation unit,
    The blaze head includes the wire feeding unit and a laser beam irradiation unit for blaze,
    The removal laser head and the blaze head are disposed to be offset in the left-right direction when the advancing direction is a forward direction,
    The blaze device is supported movably in the traveling direction by a mobile robot having an arm extending in the left-right direction and having a root supported.
    The blaze head and the removal laser head are held by the arm such that the blaze head is disposed closer to the root in the lateral direction than the removal laser head. apparatus.
  8. 　請求項１に記載のブレーズ装置において、
    　前記除去レーザ光照射ユニットから照射された前記除去レーザ光により、前記ワーク表面に付着した異物を除去したときに、除去した異物を吸引する吸引部を備えることを特徴とするブレーズ装置。     In the blaze apparatus according to claim 1,
    A blaze apparatus comprising: a suction unit for suctioning the removed foreign matter when the foreign matter adhering to the work surface is removed by the removal laser light emitted from the removal laser light irradiation unit.
  9. 　進行方向に移動しながら、ろう材からなるワイヤを溶かしてワークを接合するブレーズ方法であって、
    　前記ワイヤを所定位置に送るワイヤ送り工程と、
    　前記ワイヤ送り工程で送られた前記ワイヤを前記所定位置で溶かすためのブレーズ用レーザ光を前記ワイヤに向けて照射するブレーズ用レーザ光照射工程と、
    　前記ブレーズ用レーザ光照射工程が行われている間に行われ、前記ブレーズ用レーザ光照射工程で前記ワイヤを溶かして前記ワークを接合するときに前記ワーク表面に付着もしくは生成された異物を除去するための除去レーザ光を、前記ワーク表面に向けて照射する除去レーザ光照射工程と、
    　を備えることを特徴とするブレーズ方法。     A blaze method of melting a wire made of a brazing material and moving a work while moving in a traveling direction,
    A wire feeding step of feeding the wire to a predetermined position;
    A blaze laser beam irradiating step of irradiating the wire toward the wire with a blaze laser beam for melting the wire sent in the wire feeding step at the predetermined position;
    It is performed while the laser beam irradiation process for blaze is performed, and removes the foreign matter adhering to or generated on the surface of the workpiece when the wire is melted to bond the workpiece in the laser beam irradiation process for blaze. A removal laser beam irradiating step of directing a removal laser beam toward the surface of the work;
    A blaze method comprising providing.
PCT/JP2018/000842 2018-01-15 2018-01-15 Brazing device and brazing method WO2019138574A1 (en)

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