JPH05177366A - Sheet metal working method - Google Patents
Sheet metal working methodInfo
- Publication number
- JPH05177366A JPH05177366A JP3357729A JP35772991A JPH05177366A JP H05177366 A JPH05177366 A JP H05177366A JP 3357729 A JP3357729 A JP 3357729A JP 35772991 A JP35772991 A JP 35772991A JP H05177366 A JPH05177366 A JP H05177366A
- Authority
- JP
- Japan
- Prior art keywords
- sheet metal
- bending
- laser
- shape
- laser beam
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 96
- 238000005555 metalworking Methods 0.000 title claims abstract description 56
- 239000002184 metal Substances 0.000 claims abstract description 155
- 238000005452 bending Methods 0.000 claims abstract description 57
- 238000010438 heat treatment Methods 0.000 claims abstract description 29
- 238000003466 welding Methods 0.000 claims abstract description 13
- 238000005520 cutting process Methods 0.000 claims abstract description 11
- 238000006243 chemical reaction Methods 0.000 claims description 19
- 238000003672 processing method Methods 0.000 claims description 17
- 238000003754 machining Methods 0.000 claims description 14
- 239000000463 material Substances 0.000 claims description 10
- 238000001816 cooling Methods 0.000 claims description 3
- 238000000227 grinding Methods 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims 1
- 230000001678 irradiating effect Effects 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 13
- 238000003860 storage Methods 0.000 description 7
- 239000007769 metal material Substances 0.000 description 6
- 238000009826 distribution Methods 0.000 description 4
- 229910000831 Steel Inorganic materials 0.000 description 2
- 238000003698 laser cutting Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 230000008094 contradictory effect Effects 0.000 description 1
- 239000000112 cooling gas Substances 0.000 description 1
- 239000000110 cooling liquid Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000004021 metal welding Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000010791 quenching Methods 0.000 description 1
- 230000000171 quenching effect Effects 0.000 description 1
- 238000002407 reforming Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Landscapes
- Bending Of Plates, Rods, And Pipes (AREA)
- Shaping Metal By Deep-Drawing, Or The Like (AREA)
- Laser Beam Processing (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、板金の切断、折曲げ、
絞り、溶接、改質等を行なう板金加工方法に関する。BACKGROUND OF THE INVENTION The present invention relates to cutting, bending, and
The present invention relates to a sheet metal working method for performing drawing, welding, reforming and the like.
【０００２】[0002]
【従来の技術】従来の板金加工において、単純な形状の
切断は直線状に切断する板金切断機で行ない、複雑な形
状の切断はターレットパンチプレスで行なうか、専用の
金型を製作して行なうか、工作機械による切削加工で行
なっている。板金の折曲げは各種の標準金型、或は専用
の金型を製作して板金折曲げ機で行なっている。板金の
絞りは専用の金型を使用して板金絞り機でプレスして行
なっている。板金の溶接は人間又はロボット等を使って
板金溶接機で行なっている。熱処理等の板金材質の改質
は特殊用途を除いてほとんど行なわれていない。2. Description of the Related Art In the conventional sheet metal processing, a simple shape is cut by a sheet metal cutting machine that cuts linearly, and a complicated shape is cut by a turret punch press or a dedicated die is manufactured. Or, it is done by cutting with a machine tool. Bending of sheet metal is performed by a sheet metal bending machine by making various standard dies or dedicated dies. The sheet metal is drawn by pressing with a sheet metal drawing machine using a dedicated mold. Welding of sheet metal is performed by a sheet metal welding machine using a human or a robot. Modification of sheet metal materials such as heat treatment is rarely performed except for special applications.
【０００３】[0003]
【発明が解決しようとする課題】従来の板金の複雑形状
の切断、折曲げ、絞りは専用の金型を使用して加工して
おり、加工形状の自由度が低いという欠点がある。本発
明は上述した事情から成されたものであり、本発明の目
的は、レーザの応用により専用の金型を使用せずに折曲
げ長さや角度、絞り等の形状の自由度の高い板金加工方
法を提供することにある。The conventional cutting, bending, and drawing of complicated shapes of sheet metal is processed by using a dedicated mold, and there is a drawback that the degree of freedom of the processed shape is low. The present invention has been made from the above-mentioned circumstances, and an object of the present invention is to apply a laser to a sheet metal working with a high degree of freedom in bending length, angle, shape of drawing, etc. without using a dedicated die. To provide a method.
【０００４】[0004]
【課題を解決するための手段】本発明は、板金の切断、
折曲げ、絞り、溶接、改質等を行なう板金加工方法に関
するものであり、本発明の上記目的は、板金の変形させ
る部分にレーザ光を高速でスキャニングしながら照射し
て前記変形させる部分を加熱し、前記変形させる部分に
力を加えて前記板金の加工を行なうことによって達成さ
れる。SUMMARY OF THE INVENTION The present invention is directed to cutting a sheet metal,
The present invention relates to a sheet metal working method for bending, drawing, welding, modifying, etc., and the above object of the present invention is to irradiate a portion to be deformed of a sheet metal with laser light while scanning at high speed to heat the portion to be deformed. Then, a force is applied to the deformed portion to process the sheet metal.
【０００５】[0005]
【作用】本発明は、鋼材を加熱するとその耐力が低下す
ることに着目し、部分加熱可能なレーザを利用して板金
を加工するようにしているので、金型は不要となり、低
コストの加工を実現することができる。The present invention focuses on the fact that when a steel material is heated, its yield strength decreases, and since the sheet metal is processed by using a laser capable of partially heating, a mold is not required and a low cost processing is possible. Can be realized.
【０００６】[0006]
【実施例】まず、レーザによる板金加工の原理について
説明する。鋼材の引張り強さＰ／Ｓと伸び率Δｌ／ｌと
の関係の一例を図２４に示す。原点からｘ１までの領域
は弾性領域で引張り荷重を零にすると元の形状にもど
る。ｘ１からｘ２、ｘ３の領域は塑性領域であり、引張
り荷重を零にしても完全に元の状態にはもどらない。ｘ
１の点を弾性限界といい、その時の引張り荷重Ｈは図２
５に示すような温度依存性を持っている。従って図２６
に示す板金ＡＢＤＦＥＣを線分ＣＤで折曲げる場合、線
分ＣＤ上にレーザ光を高速でスキャニング照射して線分
ＣＤの部分を例えば８００℃程度まで加熱し、面ＣＤＥ
Ｆを固定してＡＢ端に矢印の方向へ力を加えると、線分
ＣＤの部分の弾性限界が他の部分の１／１０以下なので
容易に線分ＣＤを中心に折曲げることができる。EXAMPLE First, the principle of sheet metal working by laser will be described. FIG. 24 shows an example of the relationship between the tensile strength P / S of steel and the elongation Δl / l. The region from the origin to x 1 is an elastic region and returns to its original shape when the tensile load is set to zero. The region from x 1 to x 2 and x 3 is a plastic region, and even if the tensile load is zero, it does not completely return to the original state. x
The point 1 is called the elastic limit, and the tensile load H at that time is shown in FIG.
It has temperature dependence as shown in FIG. Therefore, FIG.
When the sheet metal ABDFEC shown in FIG. 2 is bent by the line segment CD, the line CD is heated at high speed by scanning with laser light to heat the portion of the line segment CD to, for example, about 800 ° C.
When F is fixed and a force is applied to the end AB in the direction of the arrow, the elastic limit of the portion of the line segment CD is 1/10 or less of that of the other portions, so that the line segment CD can be easily bent.
【０００７】図２７は本発明の板金加工方法を実現する
ための板金加工機械の一例を示す斜視図であり、レーザ
発振器３からレーザ光Ｌ１が出力されて光変換手段４に
入力される。光変換手段４内のレーザ光伝導手段にてレ
ーザ光が適切な位置に集光され、光変換手段４内のスキ
ャニング手段にて集光されたレーザ光が直線状、円弧
状、矩形状等の任意形状でスキャニングされる。この例
では光変換手段４からのレーザ光Ｌ２が加工対象である
板金２のＣ点からＤ点の間に集光されて直線状にスキャ
ニングされている。板金２はＸ軸方向制御サーボモータ
６とＹ軸方向制御サーボモータ７によりＸ、Ｙ方向に移
動、位置決め可能なテーブル１上に載置され、板金２の
一端がテーブル１上に固定されているワーク固定装置１
１に把持され、他端が多関節ロボット９の先端のワーク
固定装置１０に把持されている。制御装置５にてレーザ
発振器３、光変換手段４、テーブル１及び多関節ロボッ
ト９の制御が行なわれ、また、温度検出器８からの加工
部の検出温度に従って種々の板金加工の制御が行なわれ
る。FIG. 27 is a perspective view showing an example of a sheet metal working machine for realizing the sheet metal working method of the present invention. Laser light L1 is outputted from the laser oscillator 3 and inputted to the light converting means 4. The laser light conducting means in the light converting means 4 condenses the laser light at an appropriate position, and the laser light condensed by the scanning means in the light converting means 4 has a linear shape, an arc shape, a rectangular shape, or the like. Scanned in any shape. In this example, the laser beam L2 from the light converting means 4 is focused between points C and D of the sheet metal 2 to be processed and linearly scanned. The sheet metal 2 is placed on a table 1 that can be moved and positioned in the X and Y directions by an X-axis direction control servomotor 6 and a Y-axis direction control servomotor 7, and one end of the sheet metal 2 is fixed on the table 1. Work fixing device 1
1 and the other end is gripped by the workpiece fixing device 10 at the tip of the articulated robot 9. The control device 5 controls the laser oscillator 3, the light converting means 4, the table 1 and the articulated robot 9, and also controls various sheet metal workings according to the temperature detected by the temperature detector 8 at the working portion. ..
【０００８】図２８は図２７に示す板金加工機械の光変
換手段４の詳細例を示す斜視図であり、レーザ光Ｌ１は
加工線分ＣＤの集光を調整する焦点合わせレンズ２０を
介してα、βの２軸自由度を持つスキャニング装置２３
を通り、集光レンズ２１を介して板金２の加工線分ＣＤ
へ照射される。焦点合わせレンズ２０は焦点調整用サー
ボモータ２２によりＦ方向へ位置制御され焦点調整され
る。なお加工点でのレーザ光の集光具合を調整する手段
として、集光レンズ２１を光軸方向に移動させる手段を
備えても良く、またレンズ２０、２１を兼用するように
しても良い。図２９は本発明の板金加工方法を実現する
ための板金加工機械の別の一例を示す斜視図であり、テ
ーブル１が固定され、代わりに光変換手段４がフレキシ
ブルコード１２及び多関節ロボット１３によって加工空
間を自由に位置制御されるようになっており、レーザ光
の方向が制御可能なため板金加工自由度を大幅に向上さ
せることができる。FIG. 28 is a perspective view showing a detailed example of the light converting means 4 of the sheet metal working machine shown in FIG. 27. The laser beam L1 is passed through the focusing lens 20 for adjusting the condensing of the processing line segment CD, and is α. , A scanning device 23 with two degrees of freedom of β
Through the condenser lens 21 and the processed line segment CD of the sheet metal 2
Is irradiated. The focus adjustment lens 20 is position-controlled in the F direction by a focus adjustment servomotor 22 to adjust the focus. As a means for adjusting the degree of focusing of the laser light at the processing point, a means for moving the focusing lens 21 in the optical axis direction may be provided, or the lenses 20, 21 may be used in common. FIG. 29 is a perspective view showing another example of the sheet metal working machine for realizing the sheet metal working method of the present invention, in which the table 1 is fixed and the light converting means 4 is replaced by the flexible cord 12 and the articulated robot 13. Since the position of the processing space can be freely controlled and the direction of the laser beam can be controlled, the degree of freedom in processing the sheet metal can be greatly improved.
【０００９】以上に述べた板金加工機械を用いて行なう
種々の板金加工方法について説明する。最初に、本発明
のレーザを応用した板金の折曲げ加工による板金加工方
法を図１に示すフローチャートを用いて説明する。今、
加工条件として図２に示す板金ＡＢＦＥを図２７に示す
板金加工機を用いて６回の折曲げ加工により図３に示す
半径Ｒωの９０°円弧形状に加工すると仮定する。ま
ず、ワーク固定装置１１により加工対象板金ＡＢＦＥの
板金端ＥＦを把持し固定する（ステップＳ１）。次に加
工工程番号ｎ＝１とし第１工程を開始する（ステップＳ
２）。線分ＣｎＤｎの折曲げを行なうため、線分ＣｎＤ
ｎの位置を板金材料の形状情報、板金の仕上り形状情報
を基に演算して求める（ステップＳ３）。線分ＣｎＤｎ
にレーザ光が照射できる位置へテーブル１を移動し、光
変換手段４によりレーザ光を線分ＣｎＤｎへスキャニン
グ照射し、温度検出器８により線分ＣｎＤｎの温度を計
測しながら線分ＣｎＤｎが所定の温度になるようにレー
ザ光Ｌ１のパワーをレーザ発振器３によって制御する
（ステップＳ４）。次に制御装置５によって線分ＣｎＤ
ｎの温度が所定の温度に上昇したか否かを判定し（ステ
ップＳ５）、所定の温度でない場合はステップＳ４に戻
り、所定の温度になるまで照射する。Various sheet metal working methods performed by using the sheet metal working machine described above will be described. First, a sheet metal working method by bending a sheet metal to which the laser of the present invention is applied will be described with reference to the flowchart shown in FIG. now,
As a processing condition, it is assumed that the sheet metal ABFE shown in FIG. 2 is processed into a 90 ° arc shape having a radius Rω shown in FIG. 3 by bending the sheet metal ABFE shown in FIG. 27 six times. First, the work fixing device 11 grips and fixes the sheet metal end EF of the sheet metal ABFE to be processed (step S1). Next, the machining step number n = 1 is set and the first step is started (step S
2). Since the line segment CnDn is bent, the line segment CnDn
The position n is calculated based on the shape information of the sheet metal material and the finished shape information of the sheet metal (step S3). Line segment CnDn
The table 1 is moved to a position where laser light can be irradiated onto the line CnDn, and the laser light is scanned and irradiated onto the line segment CnDn by the light conversion means 4. The power of the laser beam L1 is controlled by the laser oscillator 3 so as to reach the temperature (step S4). Next, by the control device 5, the line segment CnD
It is determined whether or not the temperature of n has risen to a predetermined temperature (step S5), and if it is not the predetermined temperature, the process returns to step S4 and irradiation is performed until the temperature reaches the predetermined temperature.
【００１０】ステップＳ５において所定の温度になった
場合、多関節ロボット９の位置制御可能なワーク固定装
置１０により板金端ＡＢを把持し、現在の板金端ＡＢの
位置から線分ＣｎＤｎが１５°折曲った時の板金端ＡＢ
の位置までの軌跡を演算して求め、その軌跡に従って板
金端ＡＢを矢印Ｐ方向に作動させることにより線分Ｃｎ
Ｄｎを１５°折曲げる（ステップＳ６）。次に加工工程
番号ｎを１増加し（ステップＳ７）、全工程が終了した
（ｎ＝７）か否かを判定し（ステップＳ８）、終了して
いない場合は次の第ｎ加工工程（ステップＳ３〜ステッ
プＳ７）を同様に行なう。線分Ｃ６Ｄ６の第６加工工程
が終了すると、ステップＳ７においてｎ＝７となり板金
加工を終了し、図３に示す形状の曲面加工が完了する。
なお、図４は上記の折曲げ加工を更に微細な線分間隔で
繰返して行なった場合の例であり、ほぼ連続的で滑らか
な曲面の加工ができる。When a predetermined temperature is reached in step S5, the sheet fixing end 10 is gripped by the work fixing device 10 of the articulated robot 9, and the line segment CnDn is bent by 15 ° from the current position of the sheet forming end AB. Sheet metal edge AB when bent
Is calculated and obtained, and the sheet metal end AB is actuated in the direction of arrow P in accordance with the locus to obtain the line segment Cn.
Bend Dn by 15 ° (step S6). Next, the processing step number n is incremented by 1 (step S7), and it is determined whether or not all steps have been completed (n = 7) (step S8). If not completed, the next nth processing step (step) Similarly, steps S3 to S7) are performed. When the sixth processing step of the line segment C 6 D 6 is completed, n = 7 in step S7, the sheet metal processing is completed, and the curved surface processing of the shape shown in FIG. 3 is completed.
Note that FIG. 4 shows an example in which the above-described bending process is repeated at finer line segment intervals, and a substantially continuous and smooth curved surface can be processed.
【００１１】また、図５に示すように板金ＡＢＦＥの線
分ＣＤに照射するレーザ光照射径を適切な径Ｒｌに調整
し、線分ＣＤ上の加熱部にレーザ光を斜線部で示す幅で
スキャニング照射して折曲げ加工を行なうことにより、
図５の円Ｑで囲まれた部分の拡大図である図６に示すよ
うに、折曲げ部形状ＲＳがほぼ円弧形状の加工ができ
る。更に、上記加工方法を線分ＣＤとの間隔がレーザ光
照射径より広い間隔の線分に対して繰返し行なうことに
より、図７に示すように円弧部ＲＳ，直線部ＳＴ，円弧
部ＴＵという円弧と直線が繰返す形状の加工ができる。
また、レーザ光照射径と同一間隔若しくは狭い間隔で行
なうと、図８に示すように円弧が連続する形状の加工が
できる。以上のような曲面加工を行なう場合は加工形状
の精度及び加工面の滑らかさと加工時間とは相反する関
係にあるため、実用的には、要求される精度と滑らかさ
に応じてレーザ光の太さと変形加工を行なう間隔を選択
しなければならない。Further, as shown in FIG. 5, the laser beam irradiation diameter for irradiating the line segment CD of the sheet metal ABFE is adjusted to an appropriate diameter Rl, and the laser beam is applied to the heating portion on the line segment CD with the width shown by the hatched portion. By irradiating with scanning and bending,
As shown in FIG. 6, which is an enlarged view of the portion surrounded by the circle Q in FIG. 5, the bent portion shape RS can be machined into a substantially arc shape. Further, by repeating the above-described processing method for the line segment having a distance larger than the laser beam irradiation diameter with respect to the line segment CD, as shown in FIG. 7, a circular arc portion RS, a straight line portion ST, and an arc portion TU are formed. The shape of a straight line can be processed.
Further, if the intervals are the same as or narrower than the laser beam irradiation diameter, it is possible to process a shape in which arcs are continuous as shown in FIG. When performing curved surface machining as described above, the accuracy of the machined shape, the smoothness of the machined surface, and the machining time are in a contradictory relationship. Therefore, practically, the thickness of the laser beam should be adjusted according to the required accuracy and smoothness. And the interval at which the deformation process is performed must be selected.
【００１２】次に、折曲げ加工の他の方法の例を図９に
示すフローチャートを用いて説明する。今、加工条件と
して図１０に示す板金ＡＢＦＥを図２７に示す板金加工
機を用いて図１１に示す形状に加工すると仮定する。ま
ず、ワーク固定装置１１により図１０に示す加工対象板
金の板金端ＥＦを把持し固定する（ステップＳ２１）。
次に線分ＣＤにレーザ光が照射できる位置へテーブル１
を移動し、線分ＣＤに所望の溝ができる程度のレーザ光
のパワー（例えばレーザ光で切断しようとする時の１／
３のパワー）と速度でレーザ光を照射して、図１０に示
すような溝入れを前工程加工として行なう（ステップＳ
２２）。Next, another example of the bending method will be described with reference to the flowchart shown in FIG. Now, it is assumed that the sheet metal ABFE shown in FIG. 10 is processed into the shape shown in FIG. 11 using the sheet metal processing machine shown in FIG. 27 as the processing condition. First, the work fixing device 11 holds and fixes the sheet metal end EF of the sheet metal to be processed shown in FIG. 10 (step S21).
Next, move the table 1 to the position where the line CD can be irradiated with laser light.
By moving the laser beam so that a desired groove is formed on the line segment CD (for example, 1 /
(3 power) and speed to irradiate laser light to perform grooving as shown in FIG. 10 as a pre-process (step S).
22).
【００１３】次に、オペレータ又は多関節ロボット９に
よって加工対象板金の表裏を反転させ、再度板金端ＦＥ
をワーク固定装置１１により把持し固定する（ステップ
Ｓ２３）。線分ＣＤにレーザ光を高速でスキャニング照
射し、適切な温度に上昇させる（ステップＳ２４，Ｓ２
５）。所定の温度になったところで、多関節ロボット９
の位置制御可能なワーク固定装置１０により板金端ＡＢ
を把持し、現在の板金端ＡＢの位置から線分ＣＤが９０
°折曲った時の板金端ＡＢの位置までの軌跡を演算して
求め、その軌跡に従って板金端ＡＢを矢印方向に作動さ
せることにより線分ＣＤを９０°折曲げ（ステップＳ２
６）、図１１に示す形状の折曲げ加工が終了する。な
お、折曲げを容易にするための溝入れは、板金の表裏両
面あるいは片面のどちらでも良く、用途、角部の仕上り
精度の目的に応じて選択される。Next, the operator or the articulated robot 9 reverses the front and back of the sheet metal to be processed, and again the sheet metal end FE.
Is held and fixed by the work fixing device 11 (step S23). The line CD is irradiated with laser light at high speed by scanning to raise the temperature to an appropriate temperature (steps S24 and S2).
5). When it reaches a predetermined temperature, the articulated robot 9
The work sheet fixing device 10 capable of controlling the position of the sheet metal end AB
Gripping, and the line segment CD from the current position of the sheet metal end AB is 90
° The line segment CD is bent 90 ° by calculating the locus to the position of the sheet metal end AB when bent, and operating the sheet metal end AB in the direction of the arrow according to the locus (step S2
6), the bending process of the shape shown in FIG. 11 is completed. Grooving for facilitating bending may be performed on both front and back surfaces of the sheet metal or on one surface thereof, and is selected depending on the purpose of use and finish accuracy of corners.
【００１４】次に、本発明のレーザを応用した板金の絞
り加工による板金加工方法を図１２に示すフローチャー
トを用いて説明する。今、加工条件として図１３の
（Ａ）に示す板金ＡＢＦＥを図２７に示す板金加工機を
用いて、レーザ光の照射径Ｒｌで６回の絞り加工により
図１４に示す形状に加工すると仮定する。図２７の板金
加工機において、ワーク固定部が少し異なり、テーブル
１に固定されている図１６に示すワーク固定装置１１−
１，１１−２，１１−３，１１−４を用いて、図１３
（Ａ）に示す加工対象板金の板金端ＡＢＦＥを固定する
（ステップＳ１１）。次に加工工程番号ｎ＝１とし、第
１工程を開始する（ステップＳ１２）。Next, a sheet metal working method by drawing a sheet metal to which the laser of the present invention is applied will be described with reference to the flow chart shown in FIG. Now, it is assumed that the sheet metal ABFE shown in FIG. 13A is machined into the shape shown in FIG. 14 by using the sheet metal processing machine shown in FIG. .. In the sheet metal processing machine of FIG. 27, the work fixing part is slightly different, and the work fixing device 11- shown in FIG.
1, 11-2, 11-3, 11-4,
The sheet metal end ABFE of the sheet metal to be processed shown in (A) is fixed (step S11). Next, the processing step number n = 1 is set, and the first step is started (step S12).
【００１５】図１４に示す円形部Ｉｎの位置を板金材料
の形状情報、板金の仕上り形状を基に演算して求める
（ステップＳ１３）。円形部Ｉｎにレーザ光が照射でき
る位置へテーブル１を移動し、光変換手段４によりレー
ザ光の照射径をＲｌとして円形部Ｉｎへ図１３（Ａ）に
示すようにスキャニング照射し、温度検出器８により円
形部Ｉｎの温度を計測しながら円形部Ｉｎが所定の温度
になるように、レーザ発振器３によってレーザ光Ｌ１の
パワーを制御する（ステップＳ１４）。次に制御装置５
によって円形部Ｉｎの温度が所定の温度に上昇したか否
かを判定し（ステップＳ１５）、所定の温度でない場合
はステップＳ１４に戻り、所定の温度になるまで照射す
る。The position of the circular portion In shown in FIG. 14 is calculated and obtained based on the shape information of the sheet metal material and the finished shape of the sheet metal (step S13). The table 1 is moved to a position where the circular portion In can be irradiated with the laser light, and the irradiation portion of the laser light is set to Rl by the light conversion means 4 to irradiate the circular portion In with scanning as shown in FIG. The laser oscillator 3 controls the power of the laser beam L1 so that the circular portion In reaches a predetermined temperature while measuring the temperature of the circular portion In by step 8 (step S14). Next, the control device 5
It is determined whether or not the temperature of the circular portion In has risen to a predetermined temperature (step S15). If the temperature is not the predetermined temperature, the process returns to step S14 and irradiation is performed until the temperature reaches the predetermined temperature.
【００１６】ステップＳ１５において所定の温度になっ
た場合、多関節ロボット９により図１６に示す絞り加工
用治具ＭＰを把持し、現在の頂点Ｍの位置から第１加工
工程で変位する頂点Ｍまでの軌跡を演算して求め、その
軌跡に従って絞り加工用治具ＭＰを押動させることによ
り頂点Ｍに上方（矢印Ｐ方向）の力を加えて円形部Ｉｎ
の絞り加工を行なう（ステップＳ１６）。第１加工工程
が終了すると、円形部Ｉｎは図１３（Ｂ）に示す凸形状
となり、２点鎖線Ｖ−Ｗ間の断面形状は図１３（Ｃ）の
ようになる。When a predetermined temperature is reached in step S15, the articulated robot 9 holds the drawing jig MP shown in FIG. 16 and moves from the current position of the apex M to the apex M which is displaced in the first machining step. Is calculated, and the drawing jig MP is pushed in accordance with the trajectory to apply an upward force (in the direction of arrow P) to the apex M, so that the circular portion In
Is drawn (step S16). When the first processing step is completed, the circular portion In becomes the convex shape shown in FIG. 13 (B), and the cross-sectional shape between the two-dot chain line VW is as shown in FIG. 13 (C).
【００１７】次に加工工程番号ｎを１増加し（ステップ
Ｓ１７）、全工程が終了した（ｎ＝７）か否かを判定し
（ステップＳ１８）、終了していない場合は次の第ｎ加
工工程（ステップＳ１３〜ステップＳ１７）を同様に行
なう。円形部Ｉ６の第６加工工程が終了すると、ステッ
プＳ１８においてｎ＝７となり全加工を終了し、図１４
に示すような連続的な凸形状の絞り加工が完了する。図
１５は、上記の絞り加工をレーザ光の太さに近い間隔若
しくは狭い間隔、すなわち前行程のレーザ光照射部と後
工程のレーザ光照射部とがオーバラップする程度に木目
細かに行なった場合の例であり、ほぼ連続的で滑らかな
曲面の凸形状の加工ができる。図１４，図１５におい
て、半球状の絞り加工の例について説明したが、箱形
状、ピラミッド形状等他の形状についても同様手法で絞
り加工可能で、また、加工形状の連続性においても、レ
ーザ光をスキャニング照射する任意の線は閉じた線に限
定するものではなく、絞り加工形状が一部欠けた形状の
加工も可能である。Next, the machining process number n is incremented by 1 (step S17), and it is judged whether or not all the processes are completed (n = 7) (step S18). If not completed, the next n-th machining is carried out. The steps (steps S13 to S17) are similarly performed. When the sixth processing step of the circular portion I 6 is completed, n = 7 is set in step S18, and the entire processing is completed.
The continuous convex drawing as shown in FIG. FIG. 15 shows a case in which the above-mentioned drawing process is performed with a fine interval such that the interval is close to or narrower than the thickness of the laser beam, that is, the laser beam irradiation part in the previous process and the laser beam irradiation part in the subsequent process overlap. In this example, the convex shape of a substantially continuous and smooth curved surface can be processed. Although an example of hemispherical drawing processing has been described with reference to FIGS. 14 and 15, it is possible to perform drawing processing for other shapes such as a box shape and a pyramid shape by the same method. The arbitrary line for irradiating with scanning is not limited to a closed line, and it is also possible to process a shape in which the drawing shape is partially missing.
【００１８】次に、本発明のレーザを応用した板金加工
における熱処理の方法の一例を図１７に示すフローチャ
ートを用いて説明する。まず、図２７に示す板金加工機
を用いてオペレータが板金の剛性を上げる部分の情報
（熱処理する板金部分の位置情報）を制御装置５へ入力
する（ステップＳ３１）。次に、多関節ロボット９のワ
ーク固定装置１０により熱処理対象の板金を把持し（ス
テップＳ３２）、ステップＳ３１で入力した位置情報に
従い、熱処理して剛性を上げる部分にレーザ光が照射で
きる位置へテーブル１を移動し、レーザ光をスキャニン
グ照射して熱処理を行なう（ステップＳ３３，Ｓ３
４）。次に、熱処理の全工程が完了したか否か制御装置
５によって判定し（ステップＳ３５）、完了していない
場合は残りの工程についてステップＳ３３とステップＳ
３４を同様に行ない、熱処理工程を終了する。Next, an example of a heat treatment method in sheet metal working to which the laser of the present invention is applied will be described with reference to the flowchart shown in FIG. First, the operator uses the sheet metal processing machine shown in FIG. 27 to input to the control device 5 information on the portion where the rigidity of the sheet metal is to be increased (positional information on the portion of the sheet metal to be heat treated) (step S31). Next, the work fixing device 10 of the articulated robot 9 holds the sheet metal to be heat-treated (step S32), and according to the position information input in step S31, the table is moved to a position where the portion to be heat-treated to increase the rigidity can be irradiated with laser light. 1 is moved, and a laser beam is irradiated by scanning to perform heat treatment (steps S33, S3).
4). Next, the control device 5 determines whether or not all the steps of the heat treatment have been completed (step S35). If not completed, steps S33 and S for the remaining steps.
34 is similarly performed, and the heat treatment process is completed.
【００１９】板金部品の強度という点では箱形形状の場
合、板金部品の角部近傍を熱処理し剛性を上げることは
非常に効果的である。板金の剛性が上ることによって板
金材料の厚みが１ランク薄いものを使用できるようにな
り、コストの低減、加工品の軽量化が実現できる。な
お、レーザによる熱処理の具体的方法としては、例え
ば、所定のレーザ光径で照射部温度が約８００℃になる
速度で板金の熱処理したい部分を順次加熱して行く方
法、或はスキャニングしたレーザ光を使用して同様の加
熱を行なう方法がある。また、このときの加熱は金属が
解けない程度に行なう必要があること、冷却は熱処理し
ない周囲金属への熱伝導又は強制冷却気体若しくは強制
冷却液体等による急冷を行なう必要があることが、熱処
理の基本要件としてある。In terms of strength of the sheet metal part, in the case of a box shape, it is very effective to heat the vicinity of the corners of the sheet metal part to increase the rigidity. By increasing the rigidity of the sheet metal, it is possible to use a sheet metal material having a thickness that is one rank thinner, and it is possible to reduce the cost and reduce the weight of the processed product. Specific examples of the heat treatment using a laser include, for example, a method of sequentially heating the portion of the sheet metal to be heat-treated at a speed at which the temperature of the irradiated portion reaches about 800 ° C. with a predetermined laser beam diameter, or scanning laser light. There is a method of performing similar heating using. In addition, heating at this time must be performed to such an extent that the metal cannot be melted, cooling is not conducted by heat conduction to surrounding metal, or quenching by forced cooling gas or forced cooling liquid is required. It is a basic requirement.
【００２０】更に、板金の曲面加工及び絞り加工におい
て所望の形状を正確に得るためには変形部位の温度分布
が期待通りの温度分布である必要がある。ある工程を行
なうとき、前工程の熱が残っている為に、加工しようと
する変形部位が期待通りの温度分布にならないことがあ
る。この対策として、連続して行なう変形加工において
工程間で熱干渉を回避する方法としては、複数ある変形
加工個所のうち少し離れた部分を選択しながら行なう方
法、或はレーザ切断用のアシストガス又は冷却用エア等
を使って前工程の熱を熱干渉しない程度に冷却してから
次工程に着手する方法が有効となる場合がある。Further, in order to obtain a desired shape accurately in the curved surface processing and the drawing processing of the sheet metal, it is necessary that the temperature distribution of the deformed portion is the expected temperature distribution. When performing a certain process, the deformed portion to be processed may not have the expected temperature distribution because the heat of the previous process remains. As measures against this, as a method of avoiding thermal interference between the steps in the deformation processing performed continuously, a method of selecting a portion slightly apart from a plurality of deformation processing points or performing an assist gas for laser cutting or In some cases, it is effective to use cooling air or the like to cool the heat of the previous step to such an extent that thermal interference does not occur before starting the next step.
【００２１】次に、以上に説明した板金加工方法で用い
るレーザ光のスキャニング照射方法について、図１８に
示す具体例を用いて説明する。今、図１８（Ａ）に示す
幅ｄ、長さｌの形状の板金部分を加熱する場合、図１８
（Ｂ）のようにレーザ光の直径をｄになるように調整
し、レーザ光を単純に左右にスキャニング照射する方
法、図１８（Ｃ）のようにレーザ光の直径をｄ／２にな
るように調整し、１往復で幅ｄ、長さｌの形状にレーザ
光をスキャニング照射する方法、図１８（Ｄ）のように
レーザ光の直径をｄ／４になるように調整し、２往復で
幅ｄ、長さｌの形状にレーザ光をスキャニング照射する
方法等が考えられる。また、均一な温度分布を得る為に
周囲の熱伝導率も考慮に入れて加熱領域の周囲をスキャ
ニングする率を上げて照射する方法、又はスキャニング
中にレーザ光の強さ（レーザパワー）を変えて照射する
方法等が考えられる。Next, a laser irradiation method for scanning the sheet metal used in the above-described sheet metal working method will be described with reference to a specific example shown in FIG. Now, when heating a sheet metal part having a width d and a length l shown in FIG.
As shown in (B), the diameter of the laser beam is adjusted to be d, and the laser beam is simply scanned and irradiated to the left and right, and the diameter of the laser beam is set to d / 2 as shown in FIG. 18 (C). And irradiating with a laser beam in a shape of width d and length l in one reciprocation, the diameter of the laser beam is adjusted to d / 4 as shown in FIG. A method of scanning and irradiating a laser beam in a shape having a width d and a length l can be considered. Also, in order to obtain a uniform temperature distribution, the thermal conductivity of the surroundings is also taken into consideration, and the irradiation rate is increased by increasing the scanning rate around the heating area, or the intensity of laser light (laser power) is changed during scanning. A method of irradiating with light can be considered.
【００２２】図１９はレーザパワー制御の第１の例を示
すブロック図であり、レーザ照射部の温度検出によるレ
ーザパワーの制御方法について説明する。減算器ＤＩＡ
は、オペレータによって予め設定された加工部の設定温
度ＴＥＭＣと温度検出器８で計測した加工対象板金２の
レーザ照射部の計測温度ＴＥＭＳとの差を演算し、比例
−積分増幅器ＰＩで増幅したレーザパワー指令ＬＣをレ
ーザ発振器３に送出する。レーザ発振器３はレーザパワ
ー指令ＬＣに基づいてレーザ光Ｌ１の強さを調整し、光
変換手段４を介して板金２の変形部ＣＤへレーザ光Ｌ２
をスキャニング照射する。板金２の照射部の温度ＴＥＭ
Ｓは常に温度検出器８で計測され、予め設定された温度
ＴＥＭＣに保たれるように上記の方法によってレーザパ
ワーが制御される。FIG. 19 is a block diagram showing a first example of laser power control, and a method of controlling laser power by detecting the temperature of the laser irradiation section will be described. Subtractor DIA
Is a laser amplified by a proportional-integral amplifier PI by calculating a difference between a preset temperature TEMC of the processing part preset by the operator and a measured temperature TEMS of the laser irradiation part of the sheet metal 2 to be processed measured by the temperature detector 8. The power command LC is sent to the laser oscillator 3. The laser oscillator 3 adjusts the intensity of the laser light L1 based on the laser power command LC, and the laser light L2 is directed to the deformed portion CD of the sheet metal 2 via the light conversion means 4.
Scanning irradiation. Temperature TEM of irradiation part of sheet metal 2
S is always measured by the temperature detector 8 and the laser power is controlled by the above method so as to be maintained at the preset temperature TEMC.
【００２３】図２０はレーザパワー制御の第２の例を示
すブロック図であり、板金の曲げ反力の計測によるレー
ザパワーの制御方法について説明する。ワーク固定装置
１１に結合された応力検出器ＰＳによってレーザ光を照
射する前の加工対象板金２の初期曲げ反力ＰＳＳＭを計
測し、記憶装置ＭＹに記憶しておく。レーザ出力設定手
段ＣＯＮはオペレータが設定する加工条件ＳＣによって
動作を変えられるが、板金の変形加工動作時は記憶装置
ＭＹから初期曲げ反力ＰＳＳＭを読出し、例えば初期曲
げ反力ＰＳＳＭの１／３を曲げ反力設定値ＰＣとして減
算器ＤＩＡに送出する。減算器ＤＩＡは、曲げ反力設定
値ＰＣと応力検出器ＰＳによって計測された加工対象板
金２の曲げ反力ＰＳＳとの差を演算し、比例−積分増幅
器ＰＩで増幅したレーザパワー指令ＬＣをレーザ発振器
３に送出する。FIG. 20 is a block diagram showing a second example of the laser power control, and a laser power control method by measuring the bending reaction force of the sheet metal will be described. An initial bending reaction force PSSM of the sheet metal 2 to be processed before laser light irradiation is measured by the stress detector PS coupled to the work fixing device 11 and stored in the storage device MY. The operation of the laser output setting means CON can be changed according to the processing conditions SC set by the operator, but during the deformation processing operation of the sheet metal, the initial bending reaction force PSSM is read from the storage device MY, and for example, 1/3 of the initial bending reaction force PSSM is read. It is sent to the subtractor DIA as the bending reaction force set value PC. The subtracter DIA calculates the difference between the bending reaction force set value PC and the bending reaction force PSS of the processing target sheet metal 2 measured by the stress detector PS, and lasers the laser power command LC amplified by the proportional-integral amplifier PI. It is sent to the oscillator 3.
【００２４】レーザ発振器３はレーザパワー指令ＬＣに
基づいてレーザ光Ｌ１の強さを調整し、光変換手段４を
介して板金２の変形部ＣＤへレーザ光Ｌ２をスキャニン
グ照射する。板金２の曲げ反力ＰＳＳは常に応力検出器
ＰＳによって計測され、この例では、加工対象板金の曲
げ反力が加熱前の初期反力の１／３となるように上記の
方法によってレーザパワーが制御される。また、板金の
形状情報、材質情報により加熱時に推定される反力を演
算して求めておき、その値と実測した反力とを比較して
レーザパワーを制御する方法もある。The laser oscillator 3 adjusts the intensity of the laser light L1 on the basis of the laser power command LC, and irradiates the deformed portion CD of the sheet metal 2 with the laser light L2 by scanning through the light converting means 4. The bending reaction force PSS of the sheet metal 2 is always measured by the stress detector PS, and in this example, the laser power is changed by the above method so that the bending reaction force of the sheet metal to be processed becomes 1/3 of the initial reaction force before heating. Controlled. There is also a method in which the reaction force estimated at the time of heating is calculated and obtained from the shape information and material information of the sheet metal, and the value is compared with the actually measured reaction force to control the laser power.
【００２５】次に、本発明のレーザを応用した板金加工
における変形加工プログラムによる板金加工システムに
ついて説明する。レーザを応用した板金の変形加工を行
なうには、板金の材質，厚み，変形部の長さ，形状及び
レーザ光の強さ，照射時間等の多くの情報が必要であ
る。これらの相関関係をレーザ加工用制御装置若しくは
変形加工プログラムの作成装置に記憶しておき、それら
の情報を使用して装置内部で自動的に又はオペレータが
介在して変形加工プログラムを作成し、変形加工プログ
ラムにより板金加工を行なうことが加工の効率上有効で
ある。図２１は本発明の変形加工プログラムによる板金
加工システムの一例を示すブロック図であり、折曲げ加
工の場合について説明する。Next, a sheet metal working system using a deformation working program in sheet metal working to which the laser of the present invention is applied will be described. In order to perform deformation processing of a sheet metal using a laser, a lot of information such as the material and thickness of the sheet metal, the length and shape of the deformed portion, the intensity of laser light, the irradiation time, and the like is necessary. These correlations are stored in the laser processing control device or the deformation processing program creation device, and the information is used to create the deformation processing program automatically inside the device or by the operator, and the deformation is performed. It is effective in terms of processing efficiency to perform sheet metal processing by a processing program. FIG. 21 is a block diagram showing an example of a sheet metal processing system according to the deformation processing program of the present invention, and a case of bending will be described.
【００２６】オペレータが入力した板金の材質，厚み，
加工形状等の加工情報ＷＩは、加工情報入力部３０を介
して加工情報記憶手段３１に材質と厚みＷＩ１が記憶さ
れ、板金加工制御部３２に加工形状ＷＩ２が記憶され
る。半導体メモリ等から成る加工情報記憶手段３１に
は、予め板金の材質，厚み，変形部の長さとレーザ光の
強さ，照射時間との相対関係が記憶されており、板金加
工制御部３２によって加工対象板金にスキャニング照射
するレーザ光の強さＬＰ，レーザ光の照射時間ＬＴ及び
加工形状ＷＩ２が読出され、それらのデータに基づいて
レーザ発振器３３へのレーザ出力指令ＬＣ，スキャニン
グ装置３４へのスキャニング指令ＳＣ及び折曲げ機構を
含む板金加工機本体３５への加工指令ＷＲＣが作成され
て、それぞれの指令のもとに板金加工が行なわれる。The sheet metal material, thickness, and
Regarding the processing information WI such as the processing shape, the material and the thickness WI1 are stored in the processing information storage unit 31 via the processing information input unit 30, and the processing shape WI2 is stored in the sheet metal processing control unit 32. The processing information storage means 31 including a semiconductor memory or the like stores in advance the relative relationship between the material and thickness of the sheet metal, the length of the deformed portion, the intensity of the laser beam, and the irradiation time. The intensity LP of the laser light for scanning and irradiating the target sheet metal, the irradiation time LT of the laser light, and the processing shape WI2 are read out, and based on these data, a laser output command LC to the laser oscillator 33 and a scanning command to the scanning device 34. A machining command WRC to the sheet metal working machine body 35 including the SC and the bending mechanism is created, and the sheet metal working is performed based on each command.
【００２７】このような構成のシステムでは、オペレー
タは板金の材質，厚み，加工形状を入力するだけで、レ
ーザ光の強さ，照射時間等を意識せず板金の加工を実現
できる。なお、図２１の例では折曲げ加工の場合につい
てのみ説明したが、切断，溶接，熱処理についても同様
に加工ノウハウを加工情報記憶手段３１に入れておくこ
とによって変形加工プログラムによる板金加工が容易に
実現する。In the system having such a configuration, the operator can realize the sheet metal processing by only inputting the material, the thickness and the processing shape of the sheet metal without considering the intensity of the laser beam, the irradiation time and the like. In addition, in the example of FIG. 21, only the case of bending work has been described, but similarly for cutting, welding, and heat treatment, by putting processing know-how in the processing information storage means 31, sheet metal working by a deformation processing program is facilitated. To be realized.
【００２８】以上に記述したレーザを使った板金の変形
加工はそれ自体でも非常に有効な加工方法であるが、こ
の技術の確立により、レーザを応用した板金の溶接，熱
処理，研削等による板金加工方法を組合せ、板金の一連
の加工を同一板金加工機上で実現することが可能とな
る。今、図２７の板金加工機を用いて図２２（Ｂ）に示
す箱の形状に加工するものとする。まず板金の材料から
レーザによる板金の切断加工により図２２（Ａ）に示す
ような形状の板金を切出し、次に線分Ｈ３Ｈ４にレーザ
光を高速にスキャニング照射し、レーザ照射部の温度が
上昇して耐力が小さくなった時、多関節ロボット９によ
りレーザ照射部に折曲がる力を加えて９０°になるまで
折曲げる。同様に線分Ｈ３Ｈ５、Ｈ５Ｈ６、Ｈ４Ｈ６に
ついても９０°に折曲げ、図２２（Ｂ）に示すような形
状にする。The above-described deformation processing of sheet metal using a laser is a very effective processing method by itself, but with the establishment of this technique, sheet metal processing such as welding, heat treatment, and grinding of sheet metal using laser is performed. By combining the methods, it becomes possible to realize a series of sheet metal processing on the same sheet metal processing machine. Now, it is assumed that the sheet metal working machine shown in FIG. 27 is used to form the shape of the box shown in FIG. First, a sheet metal having a shape as shown in FIG. 22 (A) is cut out from the material of the sheet metal by laser cutting, and then the line H3H4 is irradiated with a laser beam at a high speed to increase the temperature of the laser irradiation part. When the proof stress becomes small, the articulated robot 9 applies a bending force to the laser irradiation part to bend the laser irradiation part until it reaches 90 °. Similarly, line segments H3H5, H5H6, and H4H6 are also bent at 90 ° to have a shape as shown in FIG.
【００２９】そして、重ね合された線分Ｈ１Ｈ３とＨ９
Ｈ３にレーザ光を照射して溶接する。同様に線分Ｈ２Ｈ
４とＨ１１Ｈ４、Ｈ１２Ｈ６とＨ８Ｈ６、Ｈ７Ｈ５とＨ
１０Ｈ５についても溶接し、図２２（Ｂ）に示すような
最終形状である箱の形状を完成させる。さらに、溶接部
の凹凸を多関節ロボット９が把持するグラインダーによ
り研削仕上し、この箱の強度向上のためレーザによる焼
入れを上記加工工程中の適切な加工工程で行なうことに
より、１台の板金加工機械で板金の切断、折曲げ、溶
接、溶接部の仕上研削及び焼き入れ等の種々の板金加工
が実現する。Then, the line segments H1H3 and H9 which are superposed on each other.
H3 is irradiated with laser light and welded. Similarly, line segment H2H
4 and H11H4, H12H6 and H8H6, H7H5 and H
10H5 is also welded to complete the final shape of the box as shown in FIG. Further, the unevenness of the welded portion is ground and finished by a grinder that the articulated robot 9 holds, and laser hardening is performed in an appropriate processing step in the above processing steps to improve the strength of this box, thereby processing one sheet metal. Various kinds of sheet metal processing such as cutting, bending, welding, finish grinding of the welded portion and hardening are realized by a machine.
【００３０】次に、切断，折曲げ，溶接及び熱処理を１
台の板金加工機械で行なう場合の加工手順の一例を、図
２３に示すフローチャートを用いて説明する。まず、板
金の加工形状，材質，板厚に基づいて概略の加工手順で
ある加工プログラムを作成する（ステップＳ４１）。次
に板金材料をレーザにより切断加工し、折曲げ前の形状
を切出す（ステップＳ４２）。板金の全ての折曲げ部の
うち、ステップＳ４１で決定した折曲げ順番の一番早い
折曲げ加工の折曲げ部について、レーザ光のスキャニン
グ形状，レーザ光の強さ，レーザ光の照射時間等のレー
ザ照射条件を決定する（ステップＳ４３）。折曲げ部に
レーザ光をスキャニング照射し、折曲げに適切な温度に
保ち（ステップＳ４４）、折曲げ部に折曲げ力を加えて
所望の角度に折曲げ加工する（ステップＳ４５）。Next, cutting, bending, welding and heat treatment
An example of the processing procedure when it is carried out by the metal plate processing machine of the table will be described with reference to the flowchart shown in FIG. First, a machining program, which is a rough machining procedure, is created based on the machining shape, material, and thickness of the sheet metal (step S41). Next, the sheet metal material is cut by a laser to cut out the shape before bending (step S42). Of all the bent portions of the sheet metal, regarding the bent portion of the bending process having the earliest bending order determined in step S41, the scanning shape of the laser light, the intensity of the laser light, the irradiation time of the laser light, etc. Laser irradiation conditions are determined (step S43). The bent portion is subjected to scanning irradiation with laser light to maintain a temperature suitable for bending (step S44), and a bending force is applied to the bent portion to bend it to a desired angle (step S45).
【００３１】次にステップＳ４１で決定した加工手順に
従い、折曲げ部近傍で溶接が必要な場合は溶接加工を行
ない（ステップＳ４６，Ｓ４７）、熱処理が必要な場合
は、熱処理加工を行なう（ステップＳ４８，Ｓ４９）。
全加工が終了したか否か判定し（ステップＳ５０）、未
加工の部分が残っていればステップＳ４３に戻り、全加
工が終了していれば処理を終了する。なお、溶接加工及
び熱処理加工は、折曲げ加工を全て終了した後にまとめ
て行なっても良い。Next, according to the processing procedure determined in step S41, if welding is required near the bent portion, welding is performed (steps S46 and S47), and if heat treatment is required, heat treatment is performed (step S48). , S49).
It is determined whether or not all the processing has been completed (step S50). If there is an unprocessed portion left, the process returns to step S43, and if all the processing is completed, the processing ends. The welding process and the heat treatment process may be collectively performed after the bending process is completed.
【００３２】[0032]
【発明の効果】以上のように本発明の板金加工方法によ
れば、従来多くの種類の専用金型を使用しなければなら
なかった板金の折曲げや絞り加工を簡単な原理の板金加
工方法に置換えることができるため、自由度の高い板金
加工を容易に実現することができ、また切断、溶接、熱
処理、折曲げ等の板金加工が１台の板金加工機械で実現
できることになるため、板金加工機械のトータルなコス
トダウンや小型化及び板金加工費のコストダウンを図る
ことができる。As described above, according to the sheet metal working method of the present invention, the sheet metal working method is based on the simple principle of bending and drawing the sheet metal, which has conventionally required the use of many kinds of dedicated dies. Since it can be replaced with, sheet metal working with a high degree of freedom can be easily realized, and sheet metal processing such as cutting, welding, heat treatment and bending can be realized by one sheet metal processing machine, It is possible to reduce the total cost of the sheet metal working machine, downsize it, and reduce the sheet metal working cost.
【図１】本発明の板金加工加工方法による折曲げ加工手
順の第１の例を示すフローチャートである。FIG. 1 is a flowchart showing a first example of a bending procedure according to a sheet metal working method of the present invention.
【図２】本発明の板金加工方法による折曲げ加工の第１
の例を示す図である。FIG. 2 is a first bending process according to the sheet metal processing method of the present invention.
It is a figure which shows the example of.
【図３】本発明の板金加工方法による折曲げ加工の第２
の例を示す図である。FIG. 3 is a second bending process according to the sheet metal processing method of the present invention.
It is a figure which shows the example of.
【図４】本発明の板金加工方法による折曲げ加工の第３
の例を示す図である。FIG. 4 is a third bending process according to the sheet metal working method of the invention.
It is a figure which shows the example of.
【図５】本発明の板金加工方法による折曲げ加工の第４
の例を示す図である。FIG. 5 is a fourth bending process according to the sheet metal processing method of the invention.
It is a figure which shows the example of.
【図６】図５の円Ｑで囲まれた部分の拡大図である。6 is an enlarged view of a portion surrounded by a circle Q in FIG.
【図７】本発明の板金加工方法による折曲げ加工の第５
の例を示す図である。FIG. 7: Fifth bending process according to the sheet metal processing method of the present invention
It is a figure which shows the example of.
【図８】本発明の板金加工方法による折曲げ加工の第６
の例を示す図である。FIG. 8 is a sixth bending process according to the sheet metal processing method of the invention.
It is a figure which shows the example of.
【図９】本発明の板金加工加工方法による折曲げ加工手
順の第２の例を示すフローチャートである。FIG. 9 is a flowchart showing a second example of a bending procedure according to the sheet metal working method of the present invention.
【図１０】図１１の折曲げ加工の前工程加工の一例を示
す図である。FIG. 10 is a diagram showing an example of a pre-process of the bending process of FIG.
【図１１】本発明の板金加工方法による折曲げ加工の第
７の例を示す図である。FIG. 11 is a diagram showing a seventh example of bending work by the sheet metal working method of the present invention.
【図１２】本発明の板金加工方法による絞り加工手順の
一例を示すフローチャートである。FIG. 12 is a flowchart showing an example of a drawing procedure according to the sheet metal working method of the present invention.
【図１３】本発明の板金加工方法による絞り加工の第１
の例を示す図である。FIG. 13 is a first drawing process according to the sheet metal processing method of the present invention.
It is a figure which shows the example of.
【図１４】本発明の板金加工方法による絞り加工の第２
の例を示す図である。FIG. 14 is a second drawing process according to the sheet metal processing method of the present invention.
It is a figure which shows the example of.
【図１５】本発明の板金加工方法による絞り加工の第３
の例を示す図である。FIG. 15 is a third drawing process according to the sheet metal processing method of the present invention.
It is a figure which shows the example of.
【図１６】図２８の板金加工機のワーク固定部の別の一
例を示す斜視図である。16 is a perspective view showing another example of the work fixing part of the sheet metal working machine of FIG. 28. FIG.
【図１７】本発明の板金加工方法による熱処理加工手順
の一例を示すフローチャートである。FIG. 17 is a flowchart showing an example of a heat treatment processing procedure according to the sheet metal processing method of the present invention.
【図１８】本発明の板金加工方法によるレーザ光のスキ
ャニング照射方法の一例を示す図である。FIG. 18 is a diagram showing an example of a laser beam scanning irradiation method according to the sheet metal processing method of the present invention.
【図１９】本発明の板金加工方法におけるレーザパワー
制御の第１の例を示すブロック図である。FIG. 19 is a block diagram showing a first example of laser power control in the sheet metal working method of the invention.
【図２０】本発明の板金加工方法におけるレーザパワー
制御の第２の例を示すブロック図である。FIG. 20 is a block diagram showing a second example of laser power control in the sheet metal processing method of the present invention.
【図２１】本発明の変形加工プログラムによる板金加工
システムの一例を示すブロック図である。FIG. 21 is a block diagram showing an example of a sheet metal processing system according to a deformation processing program of the present invention.
【図２２】本発明の種々の板金加工方法を用いた加工の
一例を示す図である。FIG. 22 is a diagram showing an example of processing using various sheet metal processing methods of the present invention.
【図２３】本発明の種々の板金加工方法を用いた加工に
おける加工手順の一例を示すフローチャートである。FIG. 23 is a flowchart showing an example of a processing procedure in processing using various sheet metal processing methods of the present invention.
【図２４】本発明の板金加工方法の原理を説明するため
の第１の図である。FIG. 24 is a first diagram for explaining the principle of the sheet metal processing method of the present invention.
【図２５】本発明の板金加工方法の原理を説明するため
の第２の図である。FIG. 25 is a second diagram for explaining the principle of the sheet metal working method of the present invention.
【図２６】本発明の板金加工方法の原理を説明するため
の第３の図である。FIG. 26 is a third diagram for explaining the principle of the sheet metal working method of the present invention.
【図２７】本発明の板金加工方法を実現するための板金
加工機械の一例を示す斜視図である。FIG. 27 is a perspective view showing an example of a sheet metal working machine for realizing the sheet metal working method of the present invention.
【図２８】本発明の板金加工方法を実現するための板金
加工機械の主要部の一例を示す斜視図である。FIG. 28 is a perspective view showing an example of a main part of a sheet metal working machine for realizing the sheet metal working method of the present invention.
【図２９】本発明の板金加工方法を実現するための板金
加工機械の別の一例を示す斜視図である。FIG. 29 is a perspective view showing another example of the sheet metal working machine for realizing the sheet metal working method of the present invention.
１ テーブル ２ 板金 ３、３３ レーザ発振器 ４ 光変換手段 ５ 制御装置 ６、７ サーボモータ ８ 温度検出器 ９ 多関節ロボット １０、１１、１１−１、１１−２、１１−３、１１−４
ワーク固定装置 ３０ 加工情報入力部 ３１ 加工情報記憶手段 ３２ 板金加工制御部 ３４ スキャニング装置 ３５ 板金加工機本体 ＤＩＡ 減算器 ＰＩ 比例−積分増幅器 ＰＳ 応力検出器 ＣＯＮ レーザ設定手段 ＭＹ 記憶装置DESCRIPTION OF SYMBOLS 1 table 2 sheet metal 3, 33 laser oscillator 4 optical conversion means 5 control device 6, 7 servo motor 8 temperature detector 9 articulated robot 10, 11, 11-1, 11-2, 11-3, 11-4
Workpiece fixing device 30 Machining information input unit 31 Machining information storage unit 32 Sheet metal machining control unit 34 Scanning device 35 Sheet metal machine body DIA subtractor PI proportional-integral amplifier PS stress detector CON laser setting unit MY storage device
Claims (8)
高速でスキャニング照射して前記任意の直線上を加熱
し、前記任意の直線上が所定の温度に上昇したところで
前記任意の直線上に折曲げ力を加えて前記板金の折曲げ
を行なう折曲げ加工を、前記板金の折曲げたい部分にお
ける所定の間隔のほぼ平行な直線上で順次行なうことに
より、前記板金の断面形状をほぼ連続的で滑らかな曲面
に折曲げるようにしたことを特徴とする板金加工方法。1. A laser beam is scanning-irradiated onto an arbitrary straight line on a flat surface of a sheet metal at a high speed to heat the arbitrary straight line, and when the arbitrary straight line rises to a predetermined temperature, the arbitrary straight line is heated. A bending process for bending the sheet metal by applying a bending force to the sheet metal is sequentially performed on substantially parallel straight lines with a predetermined interval in the portion to be bent of the sheet metal, so that the sectional shape of the sheet metal is substantially continuous. A sheet metal working method characterized by being bent into a smooth curved surface.
くは表裏両面にレーザ光により直線上の溝を作り、その
後前記直線上の溝に折曲げ力を加えて前記板金を折曲げ
るようにしたことを特徴とする板金加工方法。2. A linear groove is formed by laser light on one surface or both front and back surfaces of a portion to be bent on a flat surface of a sheet metal, and then bending force is applied to the linear groove to bend the sheet metal. A sheet metal processing method characterized by the above.
閉じた線上にレーザ光を高速でスキャニング照射して前
記任意の閉じた線上を加熱し、前記任意の閉じた線上が
所定の温度に上昇したところで前記任意の閉じた線で囲
まれた板金部に対して変形させたい方向に力を加えて前
記板金の形状を凸形状に絞り加工するようにしたことを
特徴とする板金加工方法。3. An arbitrary closed line such as a circle or polygon on a plane of a sheet metal is irradiated with a laser beam at high speed to heat the arbitrary closed line, and the arbitrary closed line has a predetermined temperature. A sheet metal working method, characterized in that the sheet metal portion surrounded by the arbitrary closed line is subjected to a force in a direction desired to be deformed when it is raised to draw the shape of the sheet metal into a convex shape. ..
閉じた線上にレーザ光を高速でスキャニング照射して前
記任意の閉じた線上を加熱し、前記任意の閉じた線上が
所定の温度に上昇したところで前記任意の閉じた線で囲
まれた板金部に対して変形させたい方向に力を加えて前
記板金の形状を凸形状に絞り加工する板金加工方法を、
前記板金平面上の凸形状にしたい部分における所定の間
隔の複数の前記任意の閉じた線上で、中央の閉じた線上
から外側の閉じた線上に向かって順次行なうことによ
り、前記板金の形状をほぼ連続的で滑らかな曲面の凸形
状に絞り加工するようにしたことを特徴とする板金加工
方法。4. An arbitrary closed line such as a circle or polygon on a plane of a sheet metal is irradiated with a laser beam at a high speed to heat the arbitrary closed line so that the arbitrary closed line has a predetermined temperature. A sheet metal working method of drawing a shape of the sheet metal into a convex shape by applying a force in a direction to be deformed with respect to the sheet metal portion surrounded by the closed line at the time of rising,
On a plurality of the arbitrary closed lines with a predetermined interval in the portion to be convex on the sheet metal plane, by sequentially performing from the closed line at the center to the closed line on the outer side, the shape of the sheet metal is almost A sheet metal working method, characterized in that a continuous and smooth curved convex shape is drawn.
に、前金板金の照射部の温度が所定の温度になる速度で
所定のレーザ光径のレーザ光を照射して前記板金の熱処
理対象の部分を順次加熱して行く方法、或は前記板金の
照射部の温度が所定の温度になるまでレーザ光をスキャ
ニング照射して前記板金の熱処理対象部分を加熱する方
法、或は複数の工程からなる前記板金の加工工程におい
て工程間で熱干渉することがないように変形加工箇所の
うち少し離れた部分の工程を選択しながら行なうか若し
くは前記工程の熱を熱干渉しない程度に冷却してから次
工程を行なう方法を用いて熱処理するようにしたことを
特徴とする板金加工方法。5. The heat treatment of a sheet metal by using a laser beam to irradiate a laser beam having a predetermined laser beam diameter at a speed at which a temperature of an irradiation portion of the front metal plate sheet reaches a predetermined temperature. A method of sequentially heating the target portion, or a method of heating the target portion of the sheet metal by scanning irradiation with laser light until the temperature of the irradiation portion of the sheet metal reaches a predetermined temperature, or a plurality of steps In order to prevent thermal interference between the steps in the sheet metal working step, the step is performed while selecting a step at a portion slightly away from the deformation working point, or by cooling the heat of the step to such an extent that thermal interference does not occur. The sheet metal working method is characterized in that the heat treatment is performed using a method of performing the following steps.
所定の率で減少した設定値、若しくは板金の形状及び材
質から推定される板金の変形が可能となる加熱時の前記
板金の反力の設定値と、レーザ光照射時に計測した前記
板金の反力の計測値とを比較し、比較結果に基づいてレ
ーザ光の強さを適正な強さに制御し、前記比較結果に基
づいて前記板金の変形が可能な状態かどうかを検知して
前記板金の変形加工を行なうようにしたことを特徴とす
る板金加工方法。6. A set value obtained by reducing a measured value of an initial bending reaction force of a sheet metal before heating at a predetermined rate, or a deformation of the sheet metal estimated from a shape and a material of the sheet metal. The set value of the reaction force and the measured value of the reaction force of the sheet metal measured at the time of laser light irradiation are compared, the intensity of the laser light is controlled to an appropriate intensity based on the comparison result, and based on the comparison result. The sheet metal working method is characterized in that the sheet metal deformation processing is performed by detecting whether or not the sheet metal can be deformed.
とレーザ光の強さ，照射時間との相対関係をレーザ加工
用制御装置若しくは変形加工プログラムの作成装置へ記
憶し、それらの記憶した情報から変形加工プログラムを
作成し、前記変形加工プログラムにより板金加工を行な
うようにしたことを特徴とする板金加工方法。7. The relative relationship between the material and thickness of the sheet metal, the length and shape of the deformed portion, the intensity of the laser beam, and the irradiation time is stored in a laser machining control device or a deformation machining program creating device. A sheet metal working method, wherein a deformation machining program is created from the stored information, and the sheet metal machining is performed by the deformation machining program.
接、板金の熱処理、板金の研削、板金の折曲げの加工の
うち、前記板金の折曲げを含む２つ以上の前記加工を同
一の板金加工機上で行なうようにしたことを特徴とする
板金加工方法。8. Among the processes of cutting a sheet metal using a laser, welding the sheet metal, heat treating the sheet metal, grinding the sheet metal, and bending the sheet metal, two or more of the processes including the bending of the sheet metal are the same. A sheet metal working method characterized by being performed on a sheet metal working machine.
Priority Applications (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3357729A JPH05177366A (en) | 1991-12-26 | 1991-12-26 | Sheet metal working method |
| DE4228528A DE4228528A1 (en) | 1991-08-29 | 1992-08-27 | METHOD AND DEVICE FOR METAL SHEET PROCESSING |
| US07/936,834 US5359872A (en) | 1991-08-29 | 1992-08-28 | Method and apparatus for sheet-metal processing |
| GB9218294A GB2259877B (en) | 1991-08-29 | 1992-08-28 | Method and apparatus for sheet-metal processing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3357729A JPH05177366A (en) | 1991-12-26 | 1991-12-26 | Sheet metal working method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH05177366A true JPH05177366A (en) | 1993-07-20 |
Family
ID=18455626
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3357729A Pending JPH05177366A (en) | 1991-08-29 | 1991-12-26 | Sheet metal working method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH05177366A (en) |
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5795437A (en) * | 1995-12-01 | 1998-08-18 | Branson Ultraschall Niederlassung Der Emerson Technology Gmbh & Co. | Friction welding device |
| JP2003523285A (en) * | 2000-02-22 | 2003-08-05 | アヴェスタポラリット アクティエボラーク | Blank guide molding method |
| JP2005526617A (en) * | 2001-08-08 | 2005-09-08 | ユニヴァーシティ オブ ザ ウエスト オブ イングランド ブリストル | Molding method of workpiece |
| US7231798B2 (en) | 2004-09-29 | 2007-06-19 | General Electric Company | System and method for tube bending |
| US7254459B2 (en) | 2005-09-16 | 2007-08-07 | Fujitsu Limited | Bending process estimation apparatus, bending process estimation program, and bending process estimation method |
| JP2007260726A (en) * | 2006-03-28 | 2007-10-11 | Matsushita Electric Works Ltd | Method for manufacturing metallic siding |
| KR100769533B1 (en) * | 2005-02-16 | 2007-10-23 | 젯트에프 프리드리히스하펜 아게 | Method for adjusting the throttling action of a valve |
| US7667157B2 (en) | 2004-09-29 | 2010-02-23 | General Electric Company | Portable plenum laser forming |
| WO2011058775A1 (en) * | 2009-11-13 | 2011-05-19 | 株式会社 アマダ | Laser processing method and laser processing apparatus |
| WO2012118223A1 (en) * | 2011-03-03 | 2012-09-07 | 新日本製鐵株式会社 | Method for bending sheet metal and product of sheet metal |
| WO2012120989A1 (en) * | 2011-03-09 | 2012-09-13 | 三菱重工業株式会社 | Method for forming sheet material, sheet material forming apparatus, method for determining forming conditions for sheet material forming apparatus, and device for determining forming conditions for sheet material forming apparatus |
| JP2013202645A (en) * | 2012-03-28 | 2013-10-07 | Japan Transport Engineering Co | Method of working metallic material |
| AT513467A1 (en) * | 2012-09-26 | 2014-04-15 | Trumpf Maschinen Austria Gmbh | Method for bending a workpiece |
| CN114260655A (en) * | 2021-12-28 | 2022-04-01 | 浙江工业大学 | A four-axis linkage laser acute angle bending forming device and method |
| CN115740733A (en) * | 2022-11-22 | 2023-03-07 | 洛阳科品实业有限公司 | Laser bending forming process for titanium alloy skin |
| CN116099906A (en) * | 2023-04-07 | 2023-05-12 | 山东锦大工程有限公司 | Automatic processing control system and control method for sheet metal parts of building material equipment |
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-
1991
- 1991-12-26 JP JP3357729A patent/JPH05177366A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5795437A (en) * | 1995-12-01 | 1998-08-18 | Branson Ultraschall Niederlassung Der Emerson Technology Gmbh & Co. | Friction welding device |
| JP2003523285A (en) * | 2000-02-22 | 2003-08-05 | アヴェスタポラリット アクティエボラーク | Blank guide molding method |
| JP2005526617A (en) * | 2001-08-08 | 2005-09-08 | ユニヴァーシティ オブ ザ ウエスト オブ イングランド ブリストル | Molding method of workpiece |
| US7667157B2 (en) | 2004-09-29 | 2010-02-23 | General Electric Company | Portable plenum laser forming |
| US7231798B2 (en) | 2004-09-29 | 2007-06-19 | General Electric Company | System and method for tube bending |
| US8495816B2 (en) | 2005-02-16 | 2013-07-30 | Zf Friedrichshafen Ag | Method for adjusting the throttling action of a valve |
| KR100769533B1 (en) * | 2005-02-16 | 2007-10-23 | 젯트에프 프리드리히스하펜 아게 | Method for adjusting the throttling action of a valve |
| US7254459B2 (en) | 2005-09-16 | 2007-08-07 | Fujitsu Limited | Bending process estimation apparatus, bending process estimation program, and bending process estimation method |
| JP2007260726A (en) * | 2006-03-28 | 2007-10-11 | Matsushita Electric Works Ltd | Method for manufacturing metallic siding |
| WO2011058775A1 (en) * | 2009-11-13 | 2011-05-19 | 株式会社 アマダ | Laser processing method and laser processing apparatus |
| US9539630B2 (en) | 2011-03-03 | 2017-01-10 | Nippon Steel & Sumitomo Metal Corporation | Method for bending sheet metal and product of sheet metal |
| WO2012118223A1 (en) * | 2011-03-03 | 2012-09-07 | 新日本製鐵株式会社 | Method for bending sheet metal and product of sheet metal |
| EP2682199A4 (en) * | 2011-03-03 | 2014-11-19 | Nippon Steel & Sumitomo Metal Corp | METHOD FOR FOLDING SHEET AND SHEET PRODUCT |
| JP5682701B2 (en) * | 2011-03-03 | 2015-03-11 | 新日鐵住金株式会社 | Sheet metal bending method and product |
| WO2012120989A1 (en) * | 2011-03-09 | 2012-09-13 | 三菱重工業株式会社 | Method for forming sheet material, sheet material forming apparatus, method for determining forming conditions for sheet material forming apparatus, and device for determining forming conditions for sheet material forming apparatus |
| JP2012187600A (en) * | 2011-03-09 | 2012-10-04 | Mitsubishi Heavy Ind Ltd | Method for forming sheet material, sheet material-forming apparatus, method for determining forming condition for sheet material-forming apparatus, and device for determining forming condition for sheet material-forming apparatus |
| JP2013202645A (en) * | 2012-03-28 | 2013-10-07 | Japan Transport Engineering Co | Method of working metallic material |
| AT513467A1 (en) * | 2012-09-26 | 2014-04-15 | Trumpf Maschinen Austria Gmbh | Method for bending a workpiece |
| US9707608B2 (en) | 2012-09-26 | 2017-07-18 | Trumpf Maschinen Austria Gmbh & Co. Kg. | Method for bending a workpiece |
| CN114260655A (en) * | 2021-12-28 | 2022-04-01 | 浙江工业大学 | A four-axis linkage laser acute angle bending forming device and method |
| CN115740733A (en) * | 2022-11-22 | 2023-03-07 | 洛阳科品实业有限公司 | Laser bending forming process for titanium alloy skin |
| CN116099906A (en) * | 2023-04-07 | 2023-05-12 | 山东锦大工程有限公司 | Automatic processing control system and control method for sheet metal parts of building material equipment |
| CN116099906B (en) * | 2023-04-07 | 2023-06-30 | 山东锦大工程有限公司 | Automatic processing control system and control method for sheet metal parts of building material equipment |
| CN117123961A (en) * | 2023-10-24 | 2023-11-28 | 广州双快智能制造有限公司 | High-precision sheet metal part machining method used on AGV |
| CN117123961B (en) * | 2023-10-24 | 2023-12-26 | 广州双快智能制造有限公司 | High-precision sheet metal part machining method used on AGV |
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