JP3555593B2 - Irradiation positioning method and irradiation positioning apparatus in laser welding - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an irradiation positioning method and an irradiation positioning device when laser welding two overlapped panel joints to each other, and particularly to a workpiece formed by protruding a panel on at least one side of a panel joint through a side wall. The present invention relates to an irradiation positioning method and irradiation positioning apparatus in suitable laser welding.
[0002]
[Prior art]
Conventionally, when laser welding between overlapped panel joints, if there is a large gap between the panel joints to be welded, blow holes may occur in the welded portion, which may reduce the strength. The panel joint is pressed from above with a gap straightening jig, and the gap is welded in a state where the gap is small.
[0003]
For example, as shown in FIG. 8, the gap correction jig has a base end 1B fixed to the processing head 2 and a front end 1A preceding the position where the laser beam 10 is focused by a condensing lens (not shown). The tip 1A is disposed so as to bring the panel joint W1 into contact with each other prior to the part to be laser welded by the approaching movement of the machining head 2 toward the workpiece W by the actuator 8, and laser welding is performed in the corrected state. doing.
[0004]
By the way, in the panel joining part W1 which comprises the outer surface part of a motor vehicle, as shown in FIG. 9, the joining method which does not expose the panel joining part W1 in the shape of a groove | channel from an outer surface part improves the external appearance. Has been adopted for.
[0005]
When the laser welding is performed on the panel joint W1 disposed at the bottom of the groove while the gap between the panel joints W1 is corrected by the gap correction jig 1, the gap correction jig is generally used. The dimension of the groove width is set so that 1 and the side wall S of the groove do not interfere with each other.
[0006]
[Problems to be solved by the invention]
However, in the above conventional example, since the groove width is set so as not to interfere with the gap correction jig, the width dimension of the gap correction jig absorbs the variation in dimensions due to the shape accuracy of the panel, and the gap. It is necessary to add and determine the dimensions to absorb the position variation due to the positioning accuracy of the robot that positions the correction jig, and the groove width cannot be reduced, and the appearance quality cannot be improved.
[0007]
As an example, referring to a cross-sectional view of the joint at the periphery of the vehicle body roof portion shown in FIG. 9, for example, the gap correction jig 1 has a width dimension of Amm, a vehicle body dimension variation and a robot positioning variation of ± Bmm in total. In this case, since the position of the gap correction jig 1 is shifted by B mm to the left and right within the groove as shown by the dotted line, the groove width needs to be (A + 2B) mm in order to prevent interference.
[0008]
In addition, since the groove width is the minimum dimension that does not interfere with the gap correction jig and the sidewall of the groove, the groove sidewall and the gap correction jig Therefore, it is necessary to perform it carefully so that the interference state does not occur.
[0009]
Therefore, the present invention has been made in view of the above problems, and an object thereof is to provide an irradiation positioning method and an irradiation positioning apparatus in laser welding in which the groove width can be reduced and teaching is easy.
[0010]
[Means for Solving the Problems]
A first invention relates to an irradiation positioning method in laser welding, wherein a part of a panel is overlapped as a panel joint, and at least one panel is raised from the panel joint via a side wall connected to the panel joint. A positioning method in laser welding to a panel joint, which is a processing head for irradiating the panel joint with laser light, and a gap provided between the processing head provided in the processing head and contacting the panel joint prior to the laser light The gap correction jig is configured to be adjusted by a positioning means and moved by a positioning means through a support means that can be rotated around an axis parallel to the machining progress direction and returned to the neutral direction for support. The positioning means causes the front end side of the gap correction jig brought into contact with the panel joint portion with a pressing force to contact the upper end edge of the side wall portion. Thus, the machining head and the gap correction jig are rotated around the axis via the support means, and the machining head and the gap correction jig are moved in the machining progress direction while irradiating laser light from the machining head in the above rotation state. It is made to move.
[0011]
According to a second invention, in the first invention, the positioning means moves the gap correction jig whose tip is in contact with the panel joint portion with a pressing force in the lateral direction where the side wall portion is, By bringing the front end side surface into contact with the side wall part, and then moving the gap correction jig further by a predetermined distance in the same direction as the lateral direction to bring the side of the gap correction jig into contact with the upper edge of the side wall part, The machining head and the gap correction jig are rotated around the axis via the support means.
[0012]
According to a third invention, in the first or second invention, the positioning means is configured such that the movement locus is formed by connecting a tangent to the side wall or a line parallel to the tangent.
[0013]
A fourth invention relates to an irradiation positioning apparatus in laser welding, wherein a part of a panel is overlapped as a panel joint, and at least one panel is raised from the panel joint via a side wall connected to the panel joint. An irradiation positioning device in laser welding to a panel joint, wherein the processing head irradiates the panel joint with laser light, and is fixed to the tip of the processing head and precedes the laser light emitted from the processing head. A gap correction jig that adjusts the irradiation position of the processing head while correcting the gap of the panel joint by abutting the panel joint with a pressing force, and the processing head can be rotated about an axis parallel to the processing progress direction. In addition, the supporting means for returning and urging and supporting in the neutral direction and the position of the machining head and the gap correction jig are adjusted via the supporting means while moving in the advancing direction. Positioning means, and the positioning means makes the side of the tip of the gap correction jig abutted against the panel joint portion with a pressing force contact the upper edge of the side wall portion, and the supporting means It is characterized in that the gap correction jig is moved in the machining progress direction while being rotated around the axis.
[0014]
In a fifth aspect based on the fourth aspect, the positioning means moves the gap correction jig whose tip abuts against the panel joint portion with a pressing force in the lateral direction where the side wall portion is, By bringing the front end side surface into contact with the side wall part, and then moving the gap correction jig further by a predetermined distance in the same direction as the lateral direction to bring the side of the gap correction jig into contact with the upper edge of the side wall part, The machining head and the gap correction jig are rotated about the axis through the support means, and the machining head and the gap correction jig are moved in the machining progress direction while irradiating laser light from the machining head in the rotation state. Characterized by being taught.
[0015]
A sixth invention is characterized in that, in the fourth or fifth invention, the positioning means is configured by connecting the movement locus with a tangent to the side wall or a line parallel to the tangent.
[0016]
【The invention's effect】
Therefore, in the first and fourth inventions, the gap correction jig and the machining head can be rotated about an axis parallel to the machining progress direction and are processed via the supporting means that supports the back bias in the neutral direction. Positioning means for moving the head and the gap correction jig in the advancing direction while adjusting the position of the head and the gap correction jig, the tip of the gap correction jig abutted against the panel joint by pressing force by the positioning means The tip of the gap correction jig and the laser irradiation point are on the side wall because they are brought into contact with the upper edge and are moved in the machining progress direction with the support means rotating the machining head and the gap correction jig around the axis. Can be positioned within a certain distance range.
[0017]
For this reason, even if a shift occurs between the position of the side wall and the position of the gap correction jig due to the shape accuracy of the vehicle body or the positioning accuracy of the robot, the movement of the tip of the gap correction jig and the laser irradiation point caused by it is negligible. Even if the panel joint portion is a groove arranged at the bottom, it can be applied to a roof groove with a narrow width.
[0018]
In the second or fifth invention, in addition to the effects of the first or fourth invention, the gap correction jig integrated with the processing head whose tip is brought into contact with the panel joint by pressing force is provided on the side wall by the positioning means. The part is moved in a lateral direction, the side surface of the tip is brought into contact with the side wall part, and then further moved by a predetermined distance so that the side thereof is brought into contact with the upper end edge of the side wall part. Is rotated around the axis of the support means, so that irradiation positioning can be performed based on the workpiece shape.
[0019]
In the third or sixth invention, in addition to the effects of the first, second, fourth, and fifth inventions, the movement trajectory of the positioning means is configured by connecting a tangent to the side wall or a line parallel to the tangent. Teaching of the part becomes easy and the teaching man-hour is greatly reduced.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.
[0021]
FIG. 1 shows an example of an irradiation positioning apparatus in laser welding to which the present invention can be applied. A gap correction jig 1, a machining head 2 that holds and fixes the gap correction jig 1 and irradiates a workpiece W with a laser, A first substrate 4 as a support means for holding the head 2 via a head moving shaft 3 that can be driven in the approaching and detaching direction with respect to the workpiece W, and the first substrate 4 around an axis 7 orthogonal to the head moving shaft 3 The second substrate 5 is elastically held and joined to the tip of the robot arm 6 as positioning means.
[0022]
The gap correction jig 1 has a front end 1A that presses the panel joint W1 of the workpiece W from the outside with a predetermined contact pressure by the head moving shaft 3, and the gap existing between the panel joints W1 is a panel. Reduce by bending.
[0023]
The position of the front end portion 1A of the gap correction jig 1 is in contact with the front panel joint W1 in the traveling direction of the laser beam 10 from the processing head 2 (in the direction of arrow 11 in FIG. 1), and the panel joint W1. The panel joint W1 is welded by the subsequent laser beam 10 in a state where the gap is corrected.
[0024]
The processing head 2 includes a base end portion 1B of the gap correction jig 1 that is integrally fixed, introduces a laser beam emitted from a laser oscillator (not shown) through an optical fiber 12, and a condenser lens (not shown). As shown by the dotted line, the panel joint W1 is irradiated with the laser beam 10 with the panel joint W1 of the workpiece W as a focal point, so that the panel joints W1 are fused.
[0025]
The irradiation position is set so as to follow and irradiate the panel joint portion W1 whose gap has been corrected by the preceding gap correction jig 1.
[0026]
The machining head 2 and the gap correction jig 1 are integrally moved by the head moving shaft 3 in the approaching / detaching direction to the workpiece W and positioned.
[0027]
As shown in FIGS. 2 and 3, first and second substrates 4 and 5 as support means that are elastically coupled around an axis 7 orthogonal to the head moving axis 3, as shown in FIGS. Round holes 5B are formed in the second substrate 5 and long holes 4B are formed in the first substrate 4 at positions where 5A face each other and face each other at the four corners.
[0028]
A bolt 17 fitted with a collar 16 is inserted into the round hole 5B and the elongated hole 4B, and a nut 18 is fastened to the tip of the bolt 17 so that the collar 16 has a head of the bolt 17 in the elongated hole 4B. Fastened with an axial force between the portion 17A and the opposing surface 5A of the second substrate 5.
[0029]
By the above fastening, the heads 17A of the bolts 17 are respectively positioned with respect to the second substrate 5 and engaged with the outer edges of the elongated holes 4B to prevent the first substrate 4 from being separated from the second substrate 5, As a result, the first substrate 4 is restricted with respect to the second substrate 5 so that the opposing surfaces 4A and 5A do not incline each other, and both are maintained in parallel.
[0030]
In addition, since the elongated holes 4B at the four corners of the first substrate 4 are engaged with the collar 16 with a gap in the left-right direction, the first substrate 4 is an axis perpendicular to the surface of the second substrate 5. Rotation around 7 is allowed.
[0031]
An elastic body 19 made of butyl rubber or the like is disposed between the first and second substrates 4 and 5, and a contact surface of the elastic body 19 with the first and second substrates 4 and 5 is bonded or not shown. The end plates bonded to both surfaces of the elastic body are fixed by mechanical means such as pins.
[0032]
The elastic body 19 acts against the rotational displacement of the first substrate 4 because the amount of elastic deformation increases with the rotational movement around the axis 7 in the direction perpendicular to the plane of the first and second substrates 4 and 5. Then, it functions to pull back the first substrate 4 in the neutral direction.
[0033]
The rotational displacement of the first substrate 4 causes the head moving shaft 3, the processing head 2, and the gap correction jig 1 mounted on the first substrate 4 to be rotationally displaced together.
[0034]
Therefore, when the processing head 2 is positioned at the panel joint W1 of the workpiece W by the robot arm 6 as positioning means, and the gap correction jig 1 is brought into contact with the panel joint W1 by the head moving shaft 3 with a predetermined pressing force. Since the load is a load for moving each collar 16 in the minor axis direction within the long hole 4B, the head moving shaft 3, the processing head 2, and the gap correction jig 1 are not inclined.
[0035]
However, when receiving a load in the rotational direction from the gap correcting jig 1, the collar 16 is a load that moves in the major axis direction within the elongated hole 4B. Therefore, the elastic body 19 is deformed, and the head moving shaft 3 is deformed. The machining head 2 and the gap correction jig 1 are rotationally displaced, that is, inclined while generating a restoring reaction force corresponding to the load.
[0036]
It should be noted that the load in the rotational direction is such that the collar 16 extends in the major axis direction of the elongated hole 4B even when the tip 1A side surface of the gap correction jig 1 is fixed and the second substrate 5 is moved laterally by the robot arm 6. Under the load, the elastic body 16 is deformed according to the amount of movement of the arm 6, and the head moving shaft 3, the machining head 2, and the gap correction jig 1 are rotated while generating a restoring reaction force according to the displacement. Displacement, that is, tilting.
[0037]
FIG. 4 shows an example of a panel configuration constituting the panel welded portion W1 to be laser welded, and the illustrated panel configuration is a joint portion between the body side assembly BS and the roof panel RP.
[0038]
In FIG. 4, the body side assembly BS is configured by forming a roof side skeleton by flange connection between the roof rail side inner panel RI and the reinforcement roof rail side panel RS, and connecting the body side outer panel BO to this skeleton. Yes.
[0039]
In the upper part of the body side outer panel BO in the figure, a horizontal part P1 and a side wall part S1 connected to the horizontal part P1 are formed, and an end part is formed on the horizontal part P1 at the side wall part S2 and the horizontal part P2. The horizontal portion P2 of the RP is placed, and the horizontal portions P1 and P2 are parts to be laser-welded as a panel joint portion.
[0040]
Next, the positioning operation of the irradiation positioning device in the laser welding with the above configuration will be described with reference to FIG.
[0041]
FIG. 5 is a sectional view of the roof groove formed by the roof panel RP and the side wall portions S1 and S2 of the body side outer panel BO and the horizontal portions P1 and P2, respectively. The horizontal portions P1 and P2 are the panels. A junction W1 is formed.
[0042]
First, as shown in FIG. 5A, the robot 6 is positioned and pushed by the head moving shaft 3 in the direction of the arrow 20 to insert the tip 1A of the gap correction jig 1 into the roof groove. The tip 1A is inserted into the roof groove. As shown in FIG. 5B, the bottom horizontal portions P1 and P2 are brought into contact with the panel joint portion W1.
[0043]
The position of the tip 1A of the gap correction jig 1 in this insertion operation does not need to be inserted into the center of the groove within the roof groove, and if it can be inserted, it may be displaced laterally.
[0044]
Next, as shown in FIG. 5B, a predetermined pressing force is applied in the direction of the arrow 21. By this pressing, the gap between the panel joint portions W1 formed between the horizontal portions P1 and P2 is corrected. The magnitude of the pressing force can be detected from the drive current value of the drive motor of the head moving shaft 3 that drives the machining head 2 toward the workpiece W.
[0045]
Next, the shaft 7 is moved by the robot hand 6 in a direction crossing the roof groove (see arrow 22). During this movement, as shown in FIG. 5C, the side surface of the gap correction jig 1 is brought into contact with the side wall portion S2 of the roof panel RP which is one side wall portion. This contact can be detected at the rise of the drive current that rises due to the drive resistance of the drive motor provided in the robot hand 6.
[0046]
Subsequently, as shown in FIG. 5C, the shaft 7 is moved by a predetermined amount X in the direction of the arrow 23 so as to further increase the contact, and the state shown in FIG. Since the tip 1A of the gap correction jig 1 is in contact with the side wall portion S2 of the roof panel RP, the movement acts to rotate the first substrate 4 around the axis 7 in the direction perpendicular to the plane of the second substrate 5. Then, the elastic body 19 disposed between the substrates 4 and 5 is rotated while being elastically deformed.
[0047]
This rotation causes the gap adjusting jig 1 and the machining head 2 to be inclined, and as shown in FIG. 5D, the upper edge S3 of the side wall S2 of the roof panel RP is brought into contact with the panel joint W1 as a rolling part. The leading end portion 1A moves to the right side in the figure, and the first and second substrates 4, 5 move to the left side in the figure including the processing head 2.
[0048]
That is, the laser beam 10 irradiated from the machining head 2 is also tilted in the same manner, but the amount of deviation of the focal point of the laser beam 10 due to the tilt is the side wall with respect to the height of the upper edge S3 of the side wall portion S2 of the roof groove. Since the distance between the upper end edge S3 of the part S2 and the first substrate 4 is extremely large (for example, 50 to 100 times), the distance can be reduced to a negligible level.
[0049]
For example, if the height of the upper edge S3 of the side wall portion S2 is 7 to 10 mm, the distance between the first substrate 4 and the laser irradiation point is set to a length 50 to 100 times the height of the side wall portion S2. Even when the first substrate 4 is moved in the lateral direction of 4 mm to 10 mm, the moving distance of the laser irradiation point is a very small deviation of less than 0.1 mm to about 0.2 mm.
[0050]
In this state, the robot 6 moves the gap correction jig 1 and the processing head 2 along the roof groove to perform laser welding of the horizontal portions P1 and P2 at the bottom of the roof groove.
[0051]
Therefore, even if there is a variation in the shape of the roof groove and the positioning accuracy of the robot 6 varies, the gap correction jig 1 and the machining head 2 tilt slightly following the variation. Laser welding can be performed without shifting the horizontal portions P1 and P2 at the bottom of the groove.
[0052]
Moreover, since the gap correction jig 1 always contacts and follows the side wall portion of the roof groove and the upper edge 2 of the roof groove 3, the gap width of the roof groove is allowed to be slightly inclined. It is possible to narrow down to the width to be.
[0053]
Further, when the roof groove is arranged in a curve as viewed from the horizontal direction, as shown in FIG. 6, the shaft 7 of the first substrate 4 is set at a set distance from one side wall portion S2 of the roof groove. A plurality of teaching points T1 to T4 of the robot 6 may be set so as not to be separated by more than 10 mm (for example, 10 mm), and teaching may be performed as indicated by a solid line between the teaching points so as to form a movement locus connecting the teaching points with a straight line.
[0054]
In this case, the gap correction jig 1 is zero-touched (in a state where it is simply in contact with each other without generating contact pressure) at one teaching point at one side wall portion S2 of the roof groove, and the movement locus and one side wall portion of the roof groove. In the point which has deviated from S2, it contacts the upper end edge S3 of one side wall S2 of a roof groove with a slight inclination according to the amount of deviation.
[0055]
In addition, for the curve in which the side wall S2 is convex as described above, it is only necessary to connect the lines parallel to the tangent line of the curve to form the movement locus of the robot 6, but although not shown, the side wall is concave. In the case of having a curve, the tangents of the curved curve on the side wall are connected to form a movement trajectory of the robot.
[0056]
FIG. 7 shows a modified example of the fastening structure of the first and second substrates 4 and 5 as supporting means. In the examples of FIGS. 2 and 3, elongated holes 4B and collars 16 are arranged at the four corners and bolts 17 are used. Although it was the structure to fasten, in this modification, it fastens with the fastening part of 3 points | pieces.
[0057]
That is, the upper point 25 of the three fastening sites has a tight structure that does not move in the horizontal and vertical directions, and the lower two points 26 are elongated holes 27 arranged in the circumferential direction around the former point 25. And the collar 28 are fastened.
[0058]
Reference numeral 29 denotes a spacer disposed between the first and second substrates 4 and 5, and 30 denotes an elastic body having both ends fixed to the first and second substrates 4 and 5.
[0059]
In this example, the first substrate 4 is rotatable around a tight fastening portion, so that the rotation range can be set to be finer.
[0060]
The structure that allows the machining head 2 to rotate including the gap correction jig 1 and the head moving shaft 3 is not limited to the above-described structure, and although not shown, the base of the head moving shaft is used as the robot hand portion. It may be pivotally supported, a stopper is disposed at both rotational positions of the base, and an elastic material that restricts the rotation of the base is disposed between the stopper and the base.
[0061]
In the embodiment described above, the following effects can be obtained.
[0062]
That is, the first, second, and fourth substrates 4 and 5 as support means that can rotate the gap correction jig 1 and the processing head 2 around an axis 7 parallel to the processing progressing direction and return and bias them in the neutral direction. The robot 6 is provided as a positioning means for moving the processing head 2 and the gap correction jig 1 in the advancing direction while adjusting the positions of the machining head 2 and the gap correction jig 1. Is brought into contact with the panel joint W1 with a pressing force, the side of the gap correction jig 1 is brought into contact with the upper edge S3 of the side wall S2 by the robot 6, and the processing head 2 is driven by the first and second substrates 4, 5. Since the machining head 2 and the gap correction jig 1 are moved in the machining progress direction by the robot 6 in a state where the gap correction jig 1 is rotated around the axis 7, the tip 1A of the gap correction jig 1 is used. and Chromatography The irradiation point can to be located within a certain distance range sidewall S2 as a reference.
[0063]
For this reason, even if a deviation occurs between the position of the side wall S2 and the position of the gap correction jig 1 due to the shape accuracy of the vehicle body or the positioning accuracy of the robot, the movement of the tip 1A of the gap correction jig 1 and the laser irradiation point caused by the deviation occurs. Can be negligibly small, and even if the panel joint W1 is a groove disposed at the bottom, it can be applied to a groove having a narrow width.
[0064]
Further, the gap correction jig 1 integrated with the machining head 2 has its tip 1A brought into contact with the panel joint W1 with a pressing force, and then moved laterally with the side wall S2, and the side surface of the tip 1A is the side wall. Then, the processing head 2 and the gap correction jig 1 are moved to the first, second, and fourth substrates 4 and 5 by contacting the portion S2 and then moving further by a predetermined distance so that the side surface thereof contacts the upper edge S3 of the side wall portion S2. Therefore, irradiation positioning can be performed based on the workpiece shape.
[0065]
In addition, since the movement path of the positioning means is configured by connecting a tangent line to the curve drawn by the side wall portion S2 or a line parallel to the tangent line, teaching is easy even for the curved portion, and the teaching man-hour can be greatly reduced.
[0066]
In the above embodiment, the irradiation positioning method and apparatus in laser welding for the groove-shaped workpiece W in which the side walls S1 and S2 are formed on both sides of the panel joint portion W1 have been described. Irradiation positioning can be performed in the same manner for the panel joint portion on which is formed.
[Brief description of the drawings]
FIG. 1 is a schematic side view of an irradiation positioning apparatus in laser welding showing an embodiment of the present invention.
2 is an exploded perspective view showing the mounting structure of the first and second substrates, FIG. 2A is a perspective view on the first substrate side, and FIG. 2B is a perspective view on the second substrate side.
FIG. 3 is a front view (A) and a side view (B) showing the mounting state of the first and second substrates, similarly.
FIG. 4 is a cross-sectional view showing an example of a panel structure constituting a panel joint to be laser welded.
FIG. 5 is an operation diagram illustrating the positioning operation of the irradiation positioning device in order from (A) to (D).
FIG. 6 is an explanatory diagram showing an example of teaching of a robot.
FIG. 7 is a front view showing a modification of the fastening structure of the first and second substrates.
FIG. 8 is a side view showing a conventional example.
FIG. 9 is an explanatory diagram for explaining the relationship between a gap correction jig and a workpiece in the prior art.
[Explanation of symbols]
W Work W1 Panel joint part P1, P2 Horizontal part S1, S2 Side wall part S3 Upper edge 1 Gap correction jig 2 Processing head 3 Head moving shaft 4 First substrate (support means)
4B, 27 slot 5 second substrate (supporting means)
6 Robot (Positioning means)
7 axis 10 laser beam 15 spacer 16, 28 collar 17 bolt 18 nut 19 elastic body

Claims (6)

A part of the panel is overlapped as a panel joint, and at least one panel is an irradiation positioning method in laser welding to a panel joint raised from the panel joint through a side wall connected to the panel joint. And
A processing head that irradiates the panel joint with laser light, and a gap correction jig that is provided on the processing head and that abuts the panel joint before the laser light and corrects the gap between them, around an axis parallel to the processing progress direction. Is configured to be adjusted and moved by the positioning means via the supporting means that is supported by being biased back and supported in the neutral direction,
By the positioning means, the tip side of the gap correction jig brought into contact with the panel joint portion with a pressing force is brought into contact with the upper edge of the side wall portion, so that the processing head and the gap correction jig are provided via the support means. Rotate around the axis,
An irradiation positioning method in laser welding, wherein the machining head and the gap correction jig are moved in the machining progress direction while irradiating the laser beam from the machining head in the rotating state. The positioning means moves the gap correction jig whose tip abuts against the panel joint portion with a pressing force in the lateral direction with the side wall part, and causes the tip side surface of the gap correction jig to abut on the side wall part,
Next, the gap correction jig is further moved by a predetermined distance in the same direction as the lateral direction, and the side of the gap correction jig is brought into contact with the upper edge of the side wall portion, so that the machining head and the gap correction are provided via the support means. The irradiation positioning method in laser welding according to claim 1, wherein the jig is rotated about an axis. The irradiation positioning method in laser welding according to claim 1 or 2, wherein the positioning means is configured by connecting the movement locus with a tangent to the side wall or a line parallel to the tangent. A part of the panel is overlapped as a panel joint, and at least one panel is an irradiation positioning device in laser welding to a panel joint raised from the panel joint through a side wall connected to the panel joint. And
A processing head for irradiating the panel joint with laser light;
A gap correction treatment that is fixed to the tip of the processing head and adjusts the irradiation position of the processing head while correcting the clearance of the panel joint by pressing the panel joint with a pressing force prior to the laser beam emitted from the processing head. Ingredients,
A support means for rotating the processing head around an axis parallel to the processing progress direction and supporting the processing head by returning to the neutral direction;
A positioning means for moving in the advancing direction while adjusting the position of the machining head and the gap correction jig via the support means;
The positioning means brings the side of the front end of the gap correction jig abutted against the panel joint portion with a pressing force into contact with the upper edge of the side wall part, and the supporting means causes the machining head and the gap correction jig to rotate around the axis. An irradiation positioning device in laser welding, wherein the irradiation positioning device is moved in the processing progress direction in a rotated state. The positioning means moves the gap correction jig whose tip abuts against the panel joint portion with a pressing force in the lateral direction with the side wall part, and causes the tip side surface of the gap correction jig to abut on the side wall part,
Next, the gap correction jig is further moved by a predetermined distance in the same direction as the lateral direction, and the side of the gap correction jig is brought into contact with the upper edge of the side wall portion, whereby the machining head and the gap correction are provided via the support means. Rotate the jig around the axis,
5. The irradiation positioning apparatus in laser welding according to claim 4, wherein the processing head and the gap correction jig are taught to move in the processing progress direction while irradiating laser light from the processing head in the rotating state. . 6. The irradiation positioning apparatus in laser welding according to claim 4, wherein the positioning means is configured by connecting the movement trajectory to a tangent to the side wall or a line parallel to the tangent.

Images