Laser welding tool and laser welding system including the same

Abstract

The invention relates to a laser welding tool and a laser welding system comprising a laser welding tool. The laser welding tool comprises a welding head; a welding tip mounted to the welding head; a guide pin disposed spaced apart from the welding tip; the supporting device is used for supporting the welding head and the guide pin; and a floating device connected to the support device and configured to allow the welding head on the support device and the guide pin to move in the up-down direction and the left-right direction relative to the floating device in a floating state when the guide pin is in a state in which the guide pin is in contact with the welding target site during welding.

Description

Technical Field

[0001] This disclosure relates to a laser welding system equipped with contact guide pins for weld seam tracking. Background Technology

[0002] Typically, panel components with gently curved shapes, such as engine hood panels or door panels of vehicles, consist of an outer panel on the surface side and an inner panel on the rear side for reinforcing the outer panel.

[0003] In this type of panel component, two panels are connected by an edge binding process, in which a flange formed along the edge of the outer panel is bent to cover the edge of the inner panel.

[0004] The outer and inner panels are connected by an edge-sealing process. An edge-sealing sealant is applied along the edges of the two panels, and the panels are placed on an edge-sealing mold in a temporary assembled state before the edge-sealing process is performed. In this process, an edge-sealing device is used to bend and fold the flange of the outer panel onto the edge of the inner panel, thereby connecting the two panels together.

[0005] In the body assembly process used to manufacture body-in-white (BIW), the edge-binding treatment of connecting panels by folding, as described above, is widely used as a method for connecting panels.

[0006] Figure 1 This is a cross-sectional view showing the edge banding of the outer and inner panels when they are connected. In conventional processing, a pre-cured edge banding sealant is required. The example shown could be a cross-section of the edge banding of an engine hood panel, where the edges of the outer and inner panels are connected by edge banding.

[0007] As shown in the figure, before the edge banding process, the edge banding sealant 3 is applied between the edge of the outer panel 1 and the edge of the inner panel 2. In the painting process after the body assembly is completed, the painting sealant 5 is applied to the flange 1a and edge 1b of the outer panel 1 and the inner surface of the inner panel 2.

[0008] Edge sealant 3 and coating sealant 5 are applied along the edges of outer panel 1 and inner panel 2. To prevent the two connected panels from shifting after the liquid edge sealant 3 is applied between them, a pre-curing process is performed, whereby the edge sealant 3 is cured only to a certain extent, rather than fully cured.

[0009] Here, in the pre-curing of the edge sealant 3, a method such as induction heating is used. In this method, two plates 1 and 2, which are coated with edge sealant and connected to each other, are loaded onto a fixture, and the edge sealant 3 is pre-cured using an induction heating unit (not shown) provided along the edges of the two plates 1 and 2.

[0010] The pre-cured edge sealant 3 is then electrophoretically coated during the coating process and is fully cured together with the coated sealant 5 while passing through an oven. In a conventional pre-curing process, a fixture (not shown) holding two plates 1 and 2 and multiple induction heating units are arranged at multiple locations along the edges of the two plates 1 and 2.

[0011] In related technologies, the process of pre-curing edge sealant requires the use of multiple induction heating units, which leads to problems such as increased costs and time due to the implementation of the pre-curing process and the use of fixtures.

[0012] The information disclosed in this background section is only intended to enhance the understanding of the background of this disclosure, and therefore may contain information that does not constitute prior art known to those skilled in the art in this country. Summary of the Invention

[0013] In one aspect of this disclosure, a laser welding tool includes: a welding head; a welding tip mounted to the welding head; a guide pin spaced apart from the welding tip; a support device supporting the welding head and the guide pin; and a floating device configured to, during welding, cause the support device to float in a floating state while the guide pin is moving in contact with the target welding area, wherein the support device is movable in the vertical and horizontal directions.

[0014] Here, with the support device floating and the guide pin moving, the welding tip can follow behind the guide pin along the welding target area.

[0015] In some embodiments of this disclosure, the welding target portion may include the edge portion of the end of the first plate and the surface portion of the second plate, the first plate and the second plate are welded together, and the front end of the guide pin can be guided along the edge portion without disengaging from the edge portion by applying an engaging force to the edge portion while maintaining contact with and pressing the edge portion of the first plate.

[0016] In some embodiments of this disclosure, the floating device may include: a first floating unit configured to float the support device during welding so that the support device can move up and down while providing a force that compresses the welding target area with a guide pin; and a second floating unit configured to float the support device during welding so that the support device can move left and right to apply a counterforce to the welding target area.

[0017] In some embodiments of this disclosure, the first floating unit may include: a first support frame connected to the second floating unit; and an elastic member disposed between the first support frame and the support device to elastically support the support device in the vertical direction.

[0018] In some embodiments of this disclosure, the first floating unit may further include a linear guide rail disposed between the first support frame and the support device for guiding the support device, which is elastically moved by the elastic member, to move in the vertical direction.

[0019] In some embodiments of this disclosure, the second floating unit may include: a second support frame; and a rotating device disposed between the second support frame and the first floating unit for rotating the first floating unit relative to the second support frame in a left-right direction during welding, such that the guide pin is in close contact with the welding target area and provides resistance to the welding target area.

[0020] In some embodiments of this disclosure, the rotating device may include a rotary actuator coupled to a second support frame, the rotary actuator having a rotation axis coupled to a first floating unit to allow the first floating unit to oscillate and rotate in a left-right direction.

[0021] In some embodiments of this disclosure, the rotary actuator may be a pneumatic rotary cylinder or a hydraulic rotary cylinder.

[0022] Another aspect of this disclosure provides a laser welding system comprising: a laser welding tool, the laser welding tool including: a welding head; a welding tip mounted to the welding head; a guide pin spaced apart from the welding tip; a support device supporting the welding head and the guide pin; and a floating device configured to, during welding, cause the support device to float in a floating state when the guide pin moves in a state of contact with the welding target area, the support device being movable in a vertical and horizontal direction; a drive device configured to move the laser welding tool coupled to the drive device; and a controller configured to control the operation of the drive device and the laser welding tool; wherein, during welding, when the laser welding tool is moved by the drive device, the guide pin, supported by the floating device in the floating state together with the welding head, is guided along the welding target area in the state of contact with the welding target area, such that the laser welding tool tracks the welding target area.

[0023] Here, the position and orientation of the laser welding tool can be controlled by the drive device controlled by the controller and the operation of the laser welding tool, so that while the guide pin moves along the welding target area, the welding tip moves behind the guide pin along the welding target area.

[0024] In some embodiments of this disclosure, the floating device may include: a first floating unit configured to, during welding, provide the force required for the guide pin to press against the welding target area while simultaneously putting the support device into a floating state in which the support device is movable in the vertical direction; and a second floating unit configured to, during welding, put the support device into a floating state in which the support device is movable in the horizontal direction to apply a counterforce to the welding target area.

[0025] In some embodiments of this disclosure, the first floating unit may include: a first support frame connected to the second floating unit; and an elastic member disposed between the first support frame and the support device to elastically support the support device in the vertical direction.

[0026] In some embodiments of this disclosure, the first floating unit may further include a linear guide rail disposed between the first support frame and the support device for guiding the support device, which is elastically moved by the elastic member, in the vertical direction.

[0027] In some embodiments of this disclosure, the first support frame may be provided with an upper limit bar, the support device may be provided with a stop member, and the upper limit bar may limit the upward movement of the support device by contacting the stop member based on the upward movement of the support device to a limit height.

[0028] In some embodiments of this disclosure, the support device may be provided with an upper block, the first support frame may be provided with a lower block having a through hole, and the upper block may be provided with a guide rod extending downward and inserted into the through hole of the lower block. When the support device moves vertically relative to the first support frame, the guide rod can move axially while inserted into the through hole, and an elastic member can be installed on the guide rod between the upper and lower blocks.

[0029] In some embodiments of this disclosure, the first floating unit may further include a displacement sensor disposed between the first support frame and the support device to detect the relative displacement of the support device with respect to the first support frame. Based on the displacement value detected by the displacement sensor exceeding a predetermined range, the controller may determine that the guide pin has disengaged from the welding target location and execute control to stop the operation of the drive device and the laser welding tool.

[0030] In some embodiments of this disclosure, the laser welding tool may include a second braking device controlled by a controller to lock the welding head at a predetermined position in the vertical direction and release the locked state of the welding head. The second braking device may include: a friction member configured to move forward to contact and press against a support device, thereby locking the support device so that it cannot move in the vertical direction, and configured to move backward to separate from the support device, thereby releasing the locked state of the support device; and a drive actuator mounted to a first support frame and configured to move the friction member forward and backward, thereby locking the support device and releasing the locked state of the support device.

[0031] In some embodiments of this disclosure, the second floating unit may include: a second support frame; and a rotating device disposed between the second support frame and the first floating unit, so that the first floating unit rotates in the left-right direction relative to the second support frame, so that the guide pin is in close contact with the welding target area and provides resistance to the welding target area.

[0032] In some embodiments of this disclosure, the rotating device may include a rotary actuator coupled to a second support frame, the rotary actuator's rotation axis being coupled to a first floating unit so that the first floating unit can be oscillatingly rotated in a left-right direction, and a controller may perform force control on the rotary actuator to control the rotation direction and position of the support device and the welded head mounted on the support device.

[0033] In some embodiments of this disclosure, the rotating device may further include a rotation sensor connected to the rotating shaft to which the first floating unit is coupled and configured to detect the rotational state of the rotating shaft. Based on the rotational position detected by the rotation sensor exceeding a predetermined range, the controller may determine that the guide pin has disengaged from the welding target and execute control to stop the operation of the drive device and the laser welding tool.

[0034] In some embodiments of this disclosure, the laser welding tool may include a normal position stop device controlled by a controller to lock the welding head in a normal reference position set in the left-right rotation direction and to release the locked state of the welding head. The normal position stop device may include: a stop configured to move forward and engage with a locking groove formed in a first floating unit to lock the first floating unit so that the first floating unit cannot rotate, and configured to move backward and disengage from the locking groove in the first floating unit to release the locked state of the first floating unit; and a drive actuator mounted to the rotating device to move the stop forward and backward to lock the first floating unit and release the locked state of the first floating unit.

[0035] In some embodiments of this disclosure, the laser welding tool may include a first braking device controlled by a controller to lock the welding head at a predetermined position in a left-right rotational direction and release the locked state of the welding head. The first braking device may include: a friction member configured to move forward to contact and press against a first floating unit, thereby locking the first floating unit so that the first floating unit cannot rotate, and configured to move backward and separate from the first floating unit, thereby releasing the locked state of the first floating unit; and a drive actuator mounted to the rotating device to move the friction member forward and backward, thereby locking the first floating unit and releasing the locked state of the first floating unit.

[0036] Other aspects and preferred embodiments of this disclosure are discussed below.

[0037] It should be understood that the terms “vehicle,” “of a vehicle,” or other similar terms as used herein generally include motor vehicles, such as passenger cars including sport utility vehicles (SUVs), buses, trucks, various commercial vehicles, watercraft including various small boats and ships, aircraft, etc., and include hybrid vehicles, electric vehicles, plug-in hybrid vehicles, hydrogen-powered vehicles, and other alternative fuel vehicles (e.g., fuels derived from resources other than petroleum). As referred to herein, a hybrid vehicle is a vehicle with two or more power sources, such as a vehicle powered by both gasoline and electricity.

[0038] The above and other features of this disclosure are discussed below. Attached Figure Description

[0039] The above and other features of this disclosure will now be described in detail with reference to certain exemplary embodiments of this disclosure illustrated in the accompanying drawings, which are given illustratively only and therefore do not limit this disclosure, and in the drawings:

[0040] Figure 1 This is a view showing an example of a cross-section of the edging portion when the outer and inner panels are connected to each other;

[0041] Figure 2 This is a view showing an example cross-section of a cladding portion welded using a laser welding system according to this disclosure;

[0042] Figure 3 This is a view showing an example of the edging portion of an engine hood panel welded using a laser welding system according to this disclosure;

[0043] Figure 4 This is a view showing an example of a weld bead formed by a laser welding system according to this disclosure;

[0044] Figure 5This is a perspective view showing an example of a laser welding system according to an embodiment of the present disclosure;

[0045] Figure 6 This is a block diagram illustrating examples of the main components of a laser welding system according to an embodiment of the present disclosure;

[0046] Figure 7 This is a perspective view showing an example of a laser welding tool for a laser welding system according to an embodiment of the present disclosure;

[0047] Figure 8 and Figure 9 These are side and perspective views showing an example of a laser welding tool of a laser welding system according to an embodiment of the present disclosure, with a cover installed.

[0048] Figure 10A and Figure 10B This is a view illustrating an example of a laser welding tool in a laser welding system according to the present disclosure being rotated by force control in the rX-axis direction;

[0049] Figure 11A and Figure 11B This is a view illustrating an example of a laser welding tool of the laser welding system according to the present disclosure moving in a floating state in the Z-axis direction;

[0050] Figure 12A and Figure 12B This is an exploded perspective view of an example of the construction of a laser welding tool for a laser welding system according to an embodiment of the present disclosure;

[0051] Figure 13 This is a view illustrating an example of weld seam tracking performed by guide pins of a laser welding system according to an embodiment of this disclosure; and

[0052] Figures 14 to 16 This is a view illustrating an example of the operation of a laser welding system according to an embodiment of the present disclosure in a welding process.

[0053] It should be understood that the accompanying drawings are not necessarily drawn to scale, but rather present a simplified representation of various preferred features illustrating the basic principles of this disclosure. Specific design features of this disclosure, including, for example, specific dimensions, orientations, positions, and shapes, will be determined in part by the specific intended application and environment of use.

[0054] In the accompanying drawings, reference numerals refer to the same or equivalent parts of this disclosure in several of the accompanying drawings. Detailed Implementation

[0055] Embodiments of this disclosure may provide a laser welding system that, by enabling two plates to be welded and fixed together, replaces the pre-curing of the edge sealant after applying the sealant to prevent movement of the plates, thereby reducing the need for a pre-curing process of the edge sealant.

[0056] Furthermore, embodiments of this disclosure can provide a laser welding system with a simplified weld seam tracking structure.

[0057] In the following, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The specific structural and functional descriptions of the embodiments of the present disclosure disclosed herein are for illustrative purposes only. The present disclosure may be implemented in many different forms without departing from the spirit and essential characteristics of the present disclosure. The present disclosure should not be construed as limited to the embodiments set forth in this specification, but should be construed as including various alternatives, modifications, and equivalents within the spirit and scope of the present disclosure as defined by the appended claims.

[0058] It should be understood that while the terms “first,” “second,” etc., may be used herein to describe various elements, these terms are only used to distinguish one element from another and should not be construed as limiting the corresponding element to these terms. For example, within the scope defined by the concepts of this disclosure, a first element may be referred to as a second element, and similarly, a second element may be referred to as a first element.

[0059] It should be understood that when an element is described as being "connected to" another element, there may be intermediate elements, or the element may be directly connected to the other element. Conversely, it should be understood that when an element is described as being "directly connected to" another element, there are no intermediate elements. Other expressions explaining the relationship between elements, such as "between," "directly between," "adjacent," and "directly adjacent," should be understood in the same way.

[0060] Wherever possible, the same reference numerals will be used throughout the drawings to refer to the same or similar parts. The terminology used in this specification is for describing particular embodiments only and is not intended to be limiting of this disclosure. As used in this disclosure and the appended claims, the singular forms are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that, when used in this specification, the terms "comprising" and / or "comprising of" specifically describe the presence of the stated parts, steps, operations, and / or elements, but do not exclude the presence of one or more other parts, steps, operations, and / or elements.

[0061] Figure 2This is a cross-sectional view showing the edging portion welded using the laser welding system according to this disclosure. In the figure, reference numeral "4" indicates the weld bead formed by laser welding.

[0062] In this disclosure, a weld bead 4 is formed along the joint between the two plates 1 and 2 because laser welding is performed along the joint. This joint is the portion where the two plates 1 and 2 are welded, that is, the edge of the outer plate and the portion of the inner surface of the inner plate welded to the edge.

[0063] As shown in the figure, an edge-sealing sealant 3 is applied between the edges of the outer panel 1 and the inner panel 2. The edges of the outer panel are then edge-sealed without pre-curing the sealant 3, and laser welding is performed along the joint between the two panels 1 and 2 to fix them together. In other words, welding is used to secure the edges of the panels 1 and 2, instead of pre-curing the sealant 3.

[0064] like Figure 2 As shown, the edge portion is welded along the boundary between the two plates 1 and 2, that is, the portion between the edge portion 1b of the outer plate 1 (which is the end of the flange 1a of the outer plate 1) and the inner surface of the inner plate 2. Subsequently, a sealant 5 is applied to cover the weld bead 4. Here, after the car body undergoes the electrophoretic coating process, the edge sealant 3 and the sealant 5 are cured while passing through an oven.

[0065] In some embodiments of this disclosure, welding can be performed on the edge banding to replace the pre-curing of the edge banding sealant. Since the two plates 1 and 2 are fixed to each other by welding the edge banding to prevent displacement of the two plates 1 and 2, the pre-curing of the edge banding sealant 3 can be omitted, and the fixtures and induction heating units used in conventional pre-curing processes are no longer required.

[0066] In some embodiments of this disclosure, such as Figure 2 As shown, the welding of the edge portion can be performed by fillet welding between the edge portion 1b of the outer plate and the surface of the inner plate 2.

[0067] Embodiments of this disclosure may provide a laser welding system capable of being used for welding edging portions, and configured to weld two plates 1 and 2 after applying edging sealant 3 to fix the two plates together.

[0068] Figure 3 This is a view showing the edging portion of an engine hood panel that can be welded using a laser welding system according to this disclosure, wherein the area within the circle in the figure represents the edging portion at any location. Figure 3 The edge portion 1b of the outer plate 1, which serves as the end of the flange 1a of the outer plate 1 after the edge binding process, is shown.

[0069] Figure 4 This is a view showing the weld bead of the edging portion formed after welding using the laser welding system according to the present disclosure. As shown, the welding of the edging portion includes welding along the boundary between the flange 1a of the outer plate 1 and the surface of the inner plate 2, so that the weld bead 4 is formed along the weld seam of the two plates 1 and 2.

[0070] The laser welding system according to this disclosure can be used for welding the edging portion of vehicle panel components. Specifically, in the edging portion, the laser welding system according to this disclosure can be used to weld along the edge of a flange that is one of two plates to join the two plates together. Here, the vehicle panel component can be an engine hood panel H in which an outer panel 1 and an inner panel 2 are integrally formed.

[0071] like Figure 2 As shown, after the edge banding process, the flange 1a of the outer plate 1 is bent to the inner surface of the inner plate 2, and the edge of the outer plate 1 and the inner surface of the inner plate 2 are welded by the laser welding system according to the present disclosure.

[0072] The structure of the laser welding system will be described in detail below. Figure 5 This is a perspective view showing a laser welding system according to the present disclosure. Figure 6 This is a block diagram showing the main components of a laser welding system according to the present disclosure.

[0073] Figure 7 This is a perspective view showing the laser welding tool of the laser welding system according to the present disclosure. Figure 8 and Figure 9 These are side and perspective views of the welding tool of the laser welding system according to this disclosure, with a cover installed.

[0074] Figure 10A and Figure 10B This is a view showing the laser welding tool of the laser welding system according to the present disclosure rotating under force control in the rX-axis direction. Figure 11A and Figure 11B This is a view showing the laser welding tool of the laser welding system according to the present disclosure moving in the Z-axis direction in a floating state.

[0075] Figure 12A and Figure 12B This is an exploded perspective view showing the structure of a laser welding tool in a laser welding system according to an embodiment of the present disclosure, wherein the laser welding tool is shown from different directions to clearly show the structure of the laser welding tool.

[0076] A laser welding system according to some embodiments of the present disclosure includes: a multi-joint robot 10; a laser welding tool 100, fastened and mounted to the front end of the arm 11 of the multi-joint robot 10 for welding along the weld seam of a substrate; and a controller 20 configured to control the operation of the entire system.

[0077] Here, the laser welding tool 100 includes: a welding head 101; a welding tip 102 mounted to the welding head 101; and a weld seam tracking guide pin 200 mounted to the laser welding tool 100 in a spaced-apart state from the welding tip 102. The guide pin 200 guides the welding head 101 along the weld seam of the substrate.

[0078] The articulated robot 10 is a drive device configured to move the laser welding tool 100. The articulated robot is merely one example of a drive device configured to move the laser welding tool. In some embodiments of this disclosure, as an alternative to the robot 10, any instrument or apparatus capable of moving the laser welding tool 100 while it is coupled to the drive device can be used. For example, a Cartesian robot or similar robot coupled to the laser welding tool 100 and capable of moving it can be employed or applied as the drive device.

[0079] In some embodiments of this disclosure, the laser welding tool 100 is moved by a multi-joint robot 10 which serves as a drive device, and the guide pin 200 is guided by the weld portion of the two plates 1 and 2 which are welding targets when in contact with the weld portion, so the laser welding tool 100 tracks the weld portion.

[0080] The laser welding tool 100 is configured to perform laser welding while the welding tip 102 moves along the weld portion during tracking of the guide pin 200.

[0081] The weld seam can be the target welding location, such as the welding line or weld section of the engine cover to be welded, and the base material can be two plates 1 and 2 with edge banding.

[0082] In some embodiments of this disclosure, the welding target area is the portion that defines the boundary between the two plates 1 and 2, namely, the edge portion 1b of the end of the flange 1a of the outer plate 1 and the welding target area on the inner surface of the inner plate 2.

[0083] The operation of the articulated robot 10 and the laser welding tool 100 is controlled by the controller 20. The controller 20 may include a controller configured to control the operation of the articulated robot 10 and a controller configured to control the operation of the laser welding tool 100.

[0084] Optionally, as described below, with the two edged plates (engine hood plates) as workpieces loaded into a fixture device (not shown), the edged portions of the two plates (engine hood plates) can be welded using the laser welding system according to this disclosure. In this case, the controller 20 may further include a controller (not shown) configured to control the operation of the fixture device.

[0085] Alternatively, an additional multi-joint robot 13 (see...) can be used. Figure 6 The additional multi-joint robot 13 is configured to control the position and angle of the two plates to a suitable position and angle by moving the two plates, which are workpieces, while holding the two plates.

[0086] In this case, the controller 20 may further include an additional controller (not shown) configured to control the operation of the additional articulated robot 13 and the operation of a gripper (not shown) fastened to and mounted to the front end of the arm (not shown) of the articulated robot 13.

[0087] Although the controller 20 may consist of multiple controllers that control the operating parts of the multi-joint robots 10 and 13, the laser welding tool 100, the clamping device, the gripper, etc., respectively, as an alternative to multiple controllers, the operation of the laser welding system according to this disclosure can be controlled by a single control unit capable of integrating multiple control functions.

[0088] In some embodiments of this disclosure, the plurality of controllers and the single integrated control unit may be collectively referred to as controller 20 (see [link to relevant documentation]). Figure 6 Furthermore, the control process of the laser welding system according to this disclosure, as described below, can be executed by the controller 20.

[0089] In the following description, the term "controller" refers to both multiple controllers and a single integrated control unit that controls the overall operation of the laser welding system according to this disclosure.

[0090] In some embodiments of this disclosure, the controller 20 controls the working position of the robot relative to the workpiece through teaching control of the robot 10. Here, since the movement of the robot is controlled by the controller 20, the laser welding tool 100 can move along the welding target area of ​​the workpiece, and the working position of the laser welding tool 100, as well as the rotation direction and rotation position (rotation angle) of the laser welding tool 100, can be controlled.

[0091] In some embodiments of this disclosure, the laser welding tool 100 capable of laser welding includes a laser output device 104 configured to supply laser light to the welding tip 102 (e.g., Figure 6(The laser oscillator in the middle).

[0092] Additionally, the laser welding tool 100 includes: a support device 130 configured to integrally support the welding head 101 and the guide pin 200 mounted on the welding head 101; and a floating device configured to put the support device 130 into a floating state, in which the support device 130 can move in the vertical direction (Z-axis direction) and the horizontal direction (rX-axis direction) when the guide pin 200 moves along the weld portion as the welding target portion during the welding process.

[0093] Here, the floating device includes a first floating unit 110 and a second floating unit 150. The first floating unit 110 is configured to move the support device 130 during welding to provide the force required for the guide pin 200 to press against the welding target area. The second floating unit 150 is configured to move the support device 130 so that the guide pin 200 can provide a counterforce to the welding target area.

[0094] In some embodiments of this disclosure, the first floating unit 110 includes a first support frame 111 and an elastic member, such as a spring 122, and the second floating unit 150 includes a second support frame 105 and a rotating device 151. In this disclosure, the first floating unit 110 may further include a linear guide rail 113, which will be described later, for vertical movement of the support device 130. For illustrative purposes, the elastic member implemented as spring 122 is described herein; however, embodiments are not limited thereto, and other types of elastic members may generally be used.

[0095] The first floating unit 110 is disposed between the rotating device 151 of the second floating unit 150 and the support device 130, so as to support the welding head 101 and the guide pin 200 integrally mounted to the support device 130 in the floating state, in which the welding head 101 and the guide pin 200 can move in the vertical direction.

[0096] In some embodiments of this disclosure, a spring 122 is disposed between a first support frame 111 and a support device 130 to elastically support the support device 130 relative to the first support frame 111. Here, a linear guide rail 113 is used to guide the support device 130, which is elastically moved by the spring 122, to move in the vertical direction.

[0097] The second floating unit 150 can be a device configured to rotate the first floating unit 110 and the support device 130 together with the welding head 101 and the guide pin 200 relative to the second support frame 105 in a left-right direction. For this purpose, the rotating device 151 mounted on the second support frame 105 can be configured to rotate the first support frame 111 of the first floating unit 110 in a left-right direction (rX axis direction).

[0098] The second support frame 105 is connected to the front end of the arm 11 of the multi-joint robot 10. Specifically, the second support frame 105 includes a fastening plate 106, which is secured by means such as bolts (see...). Figure 5 The fastening element is fastened and integrally fixed to the fastening part 12 at the front end of the arm 11 of the multi-joint robot 10.

[0099] Although Figure 5 The detailed structure of the second support frame 105 is not shown, but the second support frame 105 may have a structure in which multiple plates, including the fastening plate 106, are integrally fixed and joined together. In addition, the device housing and the like (not shown) may be integrally fixed to the upper part of the second support frame 105.

[0100] The housing of this device may contain devices and components that form a pneumatic circuit for controlling pneumatic operating parts such as the rotary cylinder 152, the normal position stop device 160, the first braking device 170, and the second braking device 180. Examples include an air supply device, a valve configured to control airflow, and an air supply line. Furthermore, the housing may also contain devices and components related to laser welding.

[0101] In some embodiments of this disclosure, the welding head 101 and laser output device 104 of the laser welding tool 100 may be welding heads and laser oscillators well known to those skilled in the art. The front end of the welding head 101 is provided with a welding tip 102 extending from the welding head 101.

[0102] In some embodiments of this disclosure, the first support frame 111 of the first floating unit 110 is connected to the rotating device 151 of the second floating unit 150 and rotates in the left-right direction via the rotating device 151. The support device 130 is connected to the first support frame 111 via the spring 122 of the first floating unit 110, thereby being movable in the up-down direction.

[0103] The support device 130 is elastically supported by the spring 122 relative to the first support frame 111. Therefore, the support device 130 can be elastically moved relative to the first support frame 111 by the spring 122.

[0104] Furthermore, since the welding head 101 and the guide pin 200 are mounted on the support device 130, the welding head 101, the welding tip 102 and the guide pin 200 can move elastically in the vertical direction relative to the first support frame 111 together with the support device 130 via the spring 122.

[0105] In some embodiments of this disclosure, the welding head 101 is mounted to the support device 130. The support device 130 may have a structure in which multiple components, each having a plurality of plate-like or block-like shapes, are integrally connected and assembled with each other.

[0106] Furthermore, since the upper and lower ends (the front end where the welding tip is installed) of the welding head 101 are integrally fixed and connected to the support device 130, the welding head 101 can be installed on the support device 130 in a stable supported state.

[0107] The tracking head 135 is integrally fixed to the lower end of the support device 130 (the support block described below). The tracking head 135 extends downward from the lower end of the support device 130. A guide pin 200 is mounted to the tracking head 135.

[0108] The first support frame 111 is a component that is integrally connected to and mounted on the rotation shaft 155 of the rotating device 151, and rotates in the left-right direction by the rotation of the rotation shaft 155 of the rotating device 151. The rotation shaft 155 of the rotating device 151 is integrally mounted to the rotation center portion 111a located at the upper part of the first support frame 111.

[0109] Therefore, the first support frame 111 can rotate in the left-right direction about the rotation center 111a of the rotation axis 155 connected to the rotating device 151. In the following description, the direction of rotation of the first support frame 111 of the rotation axis 155 connected to the rotating device 151 about the rotation center 111a in the left-right direction is defined as the "rX axis direction" (see Figure 10B ).

[0110] The rotation center 111a can also be referred to as the swing axis of the first support frame 111 relative to the second support frame 105 and the rotating device 151. Furthermore, the rotation center 111a can be referred to as the swing axis, around which rotating components, such as the first floating unit 110 including the first support frame 111 and the welding head 101, which rotate in the rX-axis direction, swing and rotate.

[0111] The support device 130 is a component connected to the first support frame 111 of the first floating unit 110 so that it can slide in the vertical direction. The first support frame 111 and the support device 130 can be connected to each other by a linear guide 113, for example, a linear motion (LM) guide.

[0112] In some embodiments, the linear guide rail 113 disposed between the first support frame 111 and the support device 130 includes: a track 114 disposed on the front surface of the first support frame 111 for extending in the vertical direction; and a sliding member 118 mounted on the rear surface of the support device 130 opposite to the front surface of the first support frame 111, wherein a track groove 119 is formed in the sliding member 118.

[0113] The track groove 119 in the sliding member 118 is formed such that the track 114 can be received and engaged in the track groove 119. The sliding member 118 is provided on the rear surface of the support device 130 so as to extend in the vertical direction, and the track groove 119 is formed along the longitudinal direction of the sliding member 118. The track groove 119 is also formed to extend in the vertical direction so that the track 114 can be received and engaged in the track groove 119.

[0114] In some embodiments of this disclosure, the track 114 may be mounted on each of the left and right sides of the front surface of the first support frame 111, and the sliding member 118 may be mounted on each of the left and right sides of the rear surface of the support device 130. Here, the track 114 and the sliding member 118 may be provided on each of the left and right sides so as to extend in the vertical direction.

[0115] Therefore, with the track 114 of the first support frame 111 being accommodated and connected in the track groove 119 of the sliding member 118, the support device 130 can move linearly in the vertical direction relative to the first support frame 111 through the interconnected structure of the track 114 and the track groove 119.

[0116] In some embodiments of this disclosure, the upper block 120 is integrally mounted to the rear surface of the support device 130. Like the sliding member 118, the upper block 120 moves together with the support device 130 in the vertical direction.

[0117] The support device 130 can be elastically supported in the vertical direction relative to the first support frame 111. For this purpose, as described above, the spring 122 can be disposed between the first support frame 111 and the support device 130.

[0118] Spring 122 is a component that can elastically support welding head 101 and guide pin 200, allowing welding head 101 and guide pin 200 to move in the vertical direction. Therefore, the floating state of welding head 101 can be achieved by spring 122.

[0119] Spring 122 is installed between the lower block 115 of the first support frame 111 and the upper block 120 of the support device 130. Specifically, guide rod 121 is installed on the upper block 12 of the support device 130 to extend downward, and a through hole 115a is formed in the lower block 115 that protrudes forward from the lower end of the first support frame 111, through which guide rod 121 extends in the vertical direction.

[0120] The upper end of the guide rod 121 is integrally connected to the upper block 120 of the support device 130, and the lower end of the guide rod 121 is inserted into the through hole 115a formed in the lower block 115 of the first support frame 111.

[0121] Therefore, based on the sliding movement of the support device 130 relative to the first support frame 111 in the vertical direction, the guide rod 121 can move in the axial direction while being accommodated in the through hole 115a of the first support frame 111.

[0122] Spring 122 may be a helical spring and may be fitted onto the outer peripheral surface of guide rod 121. Here, the upper end of spring 122 is supported by upper block 120 and the lower end is supported by lower block 115 of first support frame 111.

[0123] In some embodiments of this disclosure, guide rods 121 may be mounted on each of the left and right sides of the upper block 120, and through holes 115a may be formed on each of the left and right sides of the lower block 115 of the first support frame 111. Springs 122 may be fitted onto each of the left and right guide rods 121.

[0124] Since the support device 130 is connected to the first support frame 111 via the track 114 and the track groove 119, it can slide in the vertical direction and is elastically supported by the spring 122, so that it can move in the vertical direction relative to the first support frame 111. Therefore, the force of the spring 122 fitted on the guide rod 121 is used as a force to elastically support the support device 130 relative to the first support frame 111.

[0125] In this way, the support device 130 is connected to and supported by the first support frame 111 in a floating state, where it is elastically supported by the spring 122 and can move in the vertical direction. The position and vertical movement of the support device 130 relative to the first support frame 111 in the floating state can vary according to the tension of the spring 122.

[0126] In some embodiments of this disclosure, the first support frame 111 may be provided with a forward-protruding lower limit rod 116. A shock absorber (not shown) may be further fixedly mounted on the upper side of the lower limit rod 116.

[0127] The lower limit rod 116 extends horizontally from the front surface of the first support frame 111. The lower limit rod 116 is positioned below the upper block 120 of the support device 130. A shock absorber mounted on the upper side of the lower limit rod 116 is positioned spaced apart from the upper block 120.

[0128] Based on the fact that the support device 130 and the welding head 101 mounted to the support device 130 have descended to a predetermined minimum height, i.e., the limit height, the lower limit rod 116 is used to limit the support device 130 and the welding head 101 from moving further downward.

[0129] In other words, the lower limit rod 116 is used to restrict the downward movement of the support device 130, so that the support device 130 cannot be lowered below the limit height.

[0130] As the support device 130 descends to its maximum height, the upper block 120 of the support device 130 contacts the shock absorber of the lower limit rod 116. Here, the lower limit rod 116 restricts the downward movement of the support device 130 through the shock absorber, preventing the support device 130 from descending further from its maximum height.

[0131] An upper limit rod 117, independent of the lower limit rod 116, may be further provided on the front surface of the upper end of the first support frame 111. The upper limit rod 117 may be located above the lower limit rod 116 and the linear guide rail 113.

[0132] In some embodiments of this disclosure, the upper limit bar 117 may be mounted on each of the left and right sides of the front surface of the upper end of the first support frame 111. In particular, the upper limit bar 117 may be mounted above each of the left and right sliding members 118.

[0133] The upper limit bar 117 can protrude forward from the front surface of the upper end of the first support frame 111. Based on the excessive upward movement of the support device 130 together with the weld head 101, the upper limit bar 117 can contact the stop mounted to the support device 130, that is, contact each of the left and right sliding members 118.

[0134] Therefore, based on the excessive upward movement of the support device 130 relative to the first support frame 111, the left and right sliding members 118, which act as stoppers, contact the upper limit rod 117 respectively, thereby restricting the upward movement of the support device 130.

[0135] The support device 130 includes: a support plate 131, a sliding member 118 and an upper block 120 integrally connected to the support plate 131; a bracket 132 installed on the upper end of the support plate 131; and a support block 133 installed on the lower end of the support plate 131.

[0136] The support block 133 is a component that forms the lower end of the support device 130 and is connected to the lower end of the welding head 101 to support the welding head 101. In addition, the support block 133 is an assembly that mounts a tracking head 135 with a guide pin 200, a welding tip 102, and a cross-flow jet 103.

[0137] In some embodiments of this disclosure, the lower end of the welding head 101, particularly the front end of the welding head 101 with the welding tip 102 mounted thereon, is integrally fixed to the support block 133 of the support device 130. Here, the front end of the welding head 101 can pass through the support block 133 and be connected to the support block 133.

[0138] The welding tip 102, mounted to the front end of the welding head 101, can be configured to extend downward from the support block 133. The tracking head 135 can be configured to extend downward from the support block 133.

[0139] The upper end of the welding head 101 is integrally fixed to the bracket 132, which is mounted to the upper end of the support plate 131 of the support device 130. Here, the upper end of the welding head 101 can be connected to and fixed to the bracket 132 while extending through it.

[0140] In some embodiments of this disclosure, the cover 134 may be mounted to the support device 130 to shield and cover the sides of the support device 130 (see [link to relevant documentation]). Figure 8 and Figure 9 The cover 134 is a component configured to shield the laser beam during welding of the edging portion, thereby preventing the laser beam from scattering to the side.

[0141] In some embodiments of this disclosure, the cover 134 can be disposed on the side of the welding tool 100 to block the scattering of the laser beam. Therefore, by providing the cover 134, the risks associated with the laser beam are mitigated.

[0142] In the laser welding system according to this disclosure, the guide pin 200 mounted on the welding head 101 is configured such that its front end is spaced apart from the front end of the welding tip 102 by a predetermined distance.

[0143] In some embodiments of this disclosure, the tracking head 135 may be mounted to the support block 133 of the support device 130 for downward extension, and the guide pin 200 may be mounted to the tracking head 135.

[0144] The guide pin 200 can also be mounted to the tracking head 135 to extend downwards. Therefore, both the tracking head 135 and the guide pin 200 can extend downwards from the support block 133. Here, both the tracking head 135 and the guide pin 200 can be configured to extend downwards linearly.

[0145] The tracking head 135 is a component configured to support the guide pin 200 via a support block 133 of the support device 130. The guide pin 200 can be inserted into the tracking head 135 at its rear end and installed in a connected state to the tracking head 135.

[0146] In some embodiments of this disclosure, the guide pin 200 can be detachably connected to the tracking head 135, so that the guide pin 200 can be replaced with a new one after a predetermined period of use. Here, as a structure for the guide pin 200 that can be applied to the tracking head 135, any structure can be applied to this disclosure without limitation, as long as the guide pin 200 can be detachably connected to the tracking head 135 and the connection method is that the rear end of the guide pin 200 is inserted into a pin insertion portion (not shown) formed in the tracking head 135.

[0147] For example, a threaded connection structure can be used, in which the rear end of the guide pin 200 is screwed into and connected to the pin insertion portion of the tracking head 135. Alternatively, a structure can be used in which the rear end of the guide pin 200 is pressed into the pin insertion portion of the tracking head 135, or a structure can be used in which the rear end of the guide pin 200 inserted into the pin insertion portion of the tracking head 135 is fastened with bolts.

[0148] Optionally, the tracking head 135 may also be equipped with tools, such as clamping tools configured to tighten or loosen the guide pin 200. Specifically, a clamping tool may be used such that, after the rear end of the guide pin 200 is inserted into the pin insertion portion of the tracking head 135, the clamping tool can tighten and press the rear end of the guide pin 200 to secure the rear end to the tracking head 135, or can loosen the tightened rear end to release the rear end.

[0149] In addition, as long as the rear end of the guide pin 200 inserted into the pin insertion part of the tracking head 135 can be selectively locked or unlocked, any connection structure or connection tool for replacing and detaching the guide pin 200 can be applied to the tracking head 135.

[0150] As described above, the front end of the guide pin 2100 is positioned at a predetermined distance from the front end of the welding tip 102. In the welding process direction, the guide pin 200 can be located in front of the welding tip 102 and can be tilted at a predetermined angle relative to the welding process direction.

[0151] More specifically, based on the welding head 101 moving along the weld seam between the two plates to perform edge welding, the front end of the guide pin 200 and the front end of the welding tip 102 move along the weld seam while maintaining a predetermined distance between the front end of the guide pin 200 and the front end of the welding tip 102.

[0152] When the guide pin 200 and the welding tip 102 move along the joint, the front end of the guide pin 200 first moves along a predetermined path in the direction of travel of the welding head 101, and the front end of the welding tip 102 follows the front end of the guide pin 200.

[0153] Here, the front end of the guide pin 200 moves along the edge 1b of the outer plate 1 that forms the weld joint, and the front end of the welding tip 102 follows the front end of the guide pin 200 along the trajectory it has traveled.

[0154] As described below, during the welding of the edging portion, the tip of the guide pin 200 is guided along the edge portion 1b of the outer plate 1 while in contact with and engaged on the edge portion 1b. When the welding tip 102 is mounted to the support block 133 of the support device 130 and spaced a predetermined distance from the guide pin 200, the welding tip 102 moves along the travel path of the guide pin 200 without contacting the edge portion 1b.

[0155] In some embodiments of this disclosure, the support block 133 of the support device 130 may be provided with a cross-flow jet 103 configured to inject high-pressure air. The cross-flow jet 103 is configured to inject high-pressure air supplied from an air supply device (not shown) and via a pipe (not shown) in a predetermined direction. In other words, the cross-flow jet 103 is configured to inject high-pressure air into the welding area, including the space surrounding the welding tip 102 and the guide pin 200.

[0156] The construction of the support device and the floating device has been described. In the following description, the direction in which the support device 130 slides relative to the first support frame 111 is defined as the "Z-axis direction" (see [link to description]). Figure 11B ).

[0157] In some embodiments of this disclosure, the support device 130 and the welding head 101 can move relative to the first support frame 111 in the Z-axis direction, which is the vertical direction, through the above-described floating device construction. In particular, in this disclosure, the welding head 101 of the welding tool 100 can move in the vertical direction in the Z-axis direction through the first floating unit 110 of the floating device, and can be elastically supported and moved by the spring 122 of the first floating unit 110.

[0158] In some embodiments of this disclosure, among the components of the laser welding tool 100, the components movable in the Z-axis direction, i.e., Z-axis movable components, include a support device 130 connected to the first support frame 111 so as to be slidably movable in the vertical direction, a welding head 101 integrally mounted to the support device 130, a welding tip 102 mounted to the welding head 101, a cross-flow jet 103, a guide pin 200, etc. Since the first support frame is not movable in the Z-axis direction, the first support frame 111 is a fixed component relative to the Z-axis direction.

[0159] As described above, the welding head 101 of the laser welding tool 100 is supported by the first floating unit 110, thereby allowing it to move in the Z-axis direction (vertical direction), and is elastically supported in the Z-axis direction (vertical direction) by the spring 122 of the first floating unit 110. Therefore, the welding head 101 can be supported in a floating state in the Z-axis direction by the floating device.

[0160] In some embodiments, the welding head 101 of the laser welding tool 100 can be in a floating state, in which the welding head 101 is lifted by the elastic force of the spring 122. In this state, the force exerted by the guide pin of the welding head 101 on the weld seam (the force applied to the edge portion 1b of the outer plate 1) can be controlled by the rotational position of the welding head 101 in the rX-axis direction, the distance between the welding head 101 and the substrate (engine hood plate), the weight of the movable parts in the Z-axis direction including the welding head 101, the tension of the spring 122, etc.

[0161] During the welding process, the spring 122 can expand and compress due to the weight of movable parts in the Z-axis direction, etc., to control (e.g., continuously control) the force exerted by the guide pin 200 on the welding target area.

[0162] The floating device may further include a displacement sensor 140 configured to measure in real time the displacement of the Z-axis movable component, including the welding head 101, in the Z-axis direction. The displacement sensor 140 may be disposed between a first support frame 111 of the first floating unit 110, which serves as a Z-axis fixed component, and a support device 130, which serves as a Z-axis movable component, and may be configured to detect the relative displacement of the support device 130 with respect to the first support frame 111 in the Z-axis direction.

[0163] As displacement sensor 140, a contact displacement sensor or a non-contact displacement sensor can be employed and used. For example, a linear variable differential transformer (LVDT) can be used as a type of contact displacement sensor.

[0164] Displacement sensor 140 is electrically connected to controller 20. Therefore, the electrical signal output from displacement sensor 140, i.e., the signal indicating displacement, can be input to controller 20. Thus, controller 20 can obtain information about the displacement in the Z-axis direction from the signal output by displacement sensor 140.

[0165] Based on the displacement of the welding head 101 in the Z-axis direction detected by the displacement sensor 140 exceeding a predetermined range, the controller 20 can determine that the guide pin 200 has disengaged from the weld seam tracking path and can execute control to stop the operation of the multi-joint robot 10 and the laser welding system such as the laser welding tool 100.

[0166] exist Figure 7 , Figure 8 , Figure 10A and Figure 10B In the accompanying drawings, reference numerals "141" and "142" represent a pointer and a scale, respectively. The scale allows the operator to visually inspect, for example, the height of a Z-axis movable component of the welding head 101. The pointer 141 can be fixedly mounted to the support device 130, and the scale 142 can be located at the first support frame 111, which serves as a Z-axis fixed component.

[0167] The rotating device 151, configured to oscillate the support device 130 about the rotation axis 155, may include a rotary actuator mounted to the second support frame 105 and configured to rotate the first floating unit 110, which includes the first support frame 111, in the rX-axis direction.

[0168] The rotary actuator can bring the guide pin 200 into close contact with the target welding area during the welding process, and can control (e.g., continuously control) the force applied by the guide pin 200 to the target welding area while the guide pin 200 is in close contact with the target welding area.

[0169] The rotary actuator can be a known rotary cylinder that is driven and rotated by pneumatic or hydraulic pressure. A rotary cylinder is a type of rotary actuator widely used in relevant industries, and its structure is well known to those skilled in the art.

[0170] Pneumatic rotary cylinders and hydraulic rotary cylinders are not particularly different in terms of construction and operating principle, except that their driving fluids are air and oil, respectively. In the following description, the construction of a rotary cylinder will be briefly described based on a pneumatic rotary cylinder that uses air as the driving fluid.

[0171] The rotary cylinder includes a cylinder body 153 integrally fixed to a second support frame 105, a pair of pistons (not shown), and a rotating shaft 155 connected to the pistons via a rack and pinion structure. The cylinder body 153 includes a pair of chambers (not shown) into which air, as an actuating fluid, is supplied and discharged. The pair of chambers in the cylinder body 153 are formed parallel to each other, and each of the chambers has a sealed internal space.

[0172] The pair of pistons are respectively installed in the pair of chambers, allowing them to move back and forth longitudinally within the chambers. Each of the chambers has a port 154 at each of its two opposite ends for introducing and discharging air. Each of the ports 154 is connected to a pipe (not shown).

[0173] Although not shown in the figure, these pipes are connected to valve devices configured to control the inlet and outlet of air, and air supply devices configured to supply air. Therefore, the direction and position of movement of the pair of pistons in the respective chambers can be controlled by controlling the supply of air to and from the chambers.

[0174] A rotating shaft 155 is rotatably mounted in a cylinder 153 between the pair of pistons. The rotating shaft 155 is connected to the two pistons via a gear and rack structure. For this purpose, small gear-shaped teeth are formed in the portion of the rotating shaft 155 located inside the cylinder 153, and rack-shaped teeth are formed on the pistons respectively.

[0175] Therefore, the rotating shaft 155 rotates as the piston moves back and forth with the teeth of the rotating shaft 155 meshing with the teeth of the piston in a gear-rack manner. Here, the pair of pistons are controlled to move in opposite directions, and the rotation direction and position of the rotating shaft 155 can be controlled by the movement direction and position of the two pistons in their respective chambers.

[0176] As described above, since the rotating shaft 155 is integrally and rotatably connected to the rotation center portion 111a, the first support frame 111 rotates around the rotation center portion 111a when the rotating shaft 155 of the rotating device 151 rotates.

[0177] Although the rotating shaft 155 can be directly connected to the rotation center 111a of the first support frame 111, the rotating shaft 155 can also be connected to the rotation center 111a of the first support frame 111 via an additional component, such as a rotary table (not shown).

[0178] In some embodiments of this disclosure, the operation of the rotary cylinder 152 is controlled by a controller 20. The controller 20 can perform force control on the rotary cylinder 152 to control the laser welding tool 100 in the rX-axis direction (left-right rotation direction), and in particular control the direction and position (rotation angle) of rotation of the floating device and the welding head 101 mounted on the floating device.

[0179] A proportional control valve can be used as a valve device (not shown) for variable control of the pneumatic or hydraulic pressure supplied to the chamber of the rotary cylinder 152. The controller 20 controls the force for weld seam tracking in the rX-axis direction (left-right rotation direction) by using the proportional control valve to actuate the force.

[0180] In some embodiments of this disclosure, the rotating device 151 may further include a rotation sensor configured to detect the rotation of the rotating cylinder 152. This rotation sensor is used to detect the rotation angle of the first floating unit 110.

[0181] The rotation sensor 156 can be an encoder connected to the rotating shaft 155 of the rotating cylinder 152. Specifically, the rotation sensor 156 can be a rotary encoder that can detect the rotation direction and rotation position (rotation angle) of the rotating shaft 155 as information about the rotation state of the rotating cylinder 152.

[0182] Rotation sensor 156 can be mounted on rotary cylinder 152 and electrically connected to controller 20, so that the electrical signal output from rotation sensor 156 is input to controller 20. Therefore, controller 20 can obtain information about the rotation state, such as the real-time rotation direction and rotation position of rotary cylinder 152, from the electrical signal output from rotation sensor 156.

[0183] Although the rotary sensor has been described above as an implementation of an encoder, this implementation is for illustrative purposes only, and the present disclosure is not limited thereto. In this disclosure, any component or device can be used as an alternative to an encoder, as long as it is capable of detecting the rotational direction and position of the rotating shaft 155 of the rotary cylinder 152. For example, a Hall sensor, a rotary transformer, or the like, capable of detecting rotational states such as the rotational direction and position of the rotating body, can be used.

[0184] Information regarding the rotational state of the rotary cylinder 152 indicates information regarding the rotational state of the following components: a first support frame 111 connected to the rotary cylinder 152 via a rotation shaft 155, a first floating unit 110 including the first support frame 111, a support device 130 supported by the first floating unit 110, and a weld head 101 mounted to the support device 130.

[0185] In other words, the rotation direction and position of the rotating shaft 155 are the same as the rotation direction and angle of the first floating unit 110, the support device 130, and the welding head 101. Therefore, the controller 20 can obtain information about the rotational state of the first floating unit 110, the support device 130, and the welding head 101 in the rX-axis direction through the encoder, which acts as the rotation sensor 156.

[0186] In some embodiments of this disclosure, when the rotational position of the rotary cylinder detected by the rotation sensor (encoder) 156 exceeds a predetermined reference range, the controller 20 can determine that the guide pin 200 has disengaged from the weld seam tracking path formed along the edge portion 1b, and can therefore execute control to stop the operation of the welding system including the multi-joint robot 10 and the laser welding tool 100.

[0187] In some embodiments of this disclosure, the displacement sensor (LVDT) 140 and the rotation sensor (encoder) 156 can be used to determine whether the guide pin 200 has disengaged from the weld seam tracking path. Assuming the state in which the guide pin 200 moves along the edge 1b of the outer plate 1 is referred to as the weld seam tracking state, then based on the guide pin 200 disengaging from the edge 1b and not maintaining the weld seam tracking state, the detection values ​​of the displacement sensor 140 and the rotation sensor 156 will exceed a predetermined range.

[0188] Therefore, if one of the detection values ​​of the displacement sensor 140 and the rotation sensor 156 exceeds the corresponding predetermined range, the controller 20 can determine that the guide pin 200 has disengaged from the weld seam tracking path and has not moved along the edge portion 1b, and can execute control to stop the entire laser welding system including the robot 10 and the laser welding tool 100.

[0189] Since rotary cylinders and encoders, which serve as rotation sensors, are widely used in industry and their construction is well known to those skilled in the art, further descriptions of rotary cylinders and encoders are omitted in this specification.

[0190] In some embodiments of this disclosure, the laser welding tool 100 may further include a normal position stop device 160 configured to lock the welding head 101 to prevent the welding head 101 from rotating from a predetermined normal reference position (origin position) in the rX axis direction (left-right rotation direction), or to release the locked state of the welding head 101.

[0191] The normal position stop device 160 can be configured to selectively lock and release the support device 130 supporting the welding head 101 and the first floating unit 110, so as to selectively lock the welding head 101 in the normal reference position in the rX-axis direction or release the locked state of the welding head 101. Here, locking the welding head 101, the support device 130 and the first floating unit 110 means that the welding head 101, the support device 130 and the first floating unit 110 are locked and cannot rotate in the rX-axis direction.

[0192] The normal reference position can be the origin (zero) position, in which the welding head 101, support device 130, and first floating unit 110 do not rotate in either the left or right direction in the rX axis direction. The state in which the welding head 101, support device 130, and first floating unit 110 are set and locked at the origin position, which is the normal reference position, is represented by the following state, in which the welding head 101, support device 130, and first floating unit 110 are arranged vertically and locked in the up-down direction.

[0193] The normal position stop device 160 includes: a stop 161 configured to lock and constrain the first floating unit 110 to prevent the first floating unit 110 from rotating relative to the rotating device 151 of the first floating unit 110; and a drive actuator 162 configured to move the stop 161 forward and backward to lock the first floating unit 110 and release the locked state.

[0194] In some embodiments of this disclosure, the normal position stop device 160 may be configured to allow the stop 161 to selectively lock the first support frame 111 in the components of the first floating unit 110, or to release the locked state.

[0195] For this purpose, a locking groove 112 for inserting a stopper 161 is formed at the upper end of the first support frame 111, and the stopper 161 and the drive actuator 162 are disposed above the first support frame 111.

[0196] The locking groove 112 in the first support frame 111 is formed at a position on the first support frame 111 such that, based on the first support frame 111 being located at the origin position in the rX axis direction, i.e., the normal reference position, the stop 161 can be lowered and inserted into the locking groove 112.

[0197] The drive actuator 162 can be mounted to the fixed part of the rotating device 151 via the bracket 163, particularly the cylinder body 153 of the rotating cylinder 152.

[0198] The drive actuator 162 can be a pneumatic cylinder or a hydraulic cylinder. Alternatively, any component capable of linearly moving the stop 161 in the forward and backward direction can be used as the drive actuator.

[0199] The operation of the drive actuator 162 is controlled by the controller 20. Based on the fact that the welding head 101, the support device 130 and the first floating unit 110 are in the normal reference position, the controller 20 can perform control to activate the drive actuator 162 to move the stop 161 forward.

[0200] Here, based on the insertion of the stopper 161 into the locking groove 112 of the first support frame 111, the normal position stop device 160 locks the entire first floating unit 110 including the first support frame 111 130 and the support device and weld head 101 mounted to the first floating unit 110 to prevent them from rotating in the rX axis direction.

[0201] In some embodiments of this disclosure, in addition to the normal position stop device 160, the laser welding tool 100 may further include a first braking device 170, which is configured to lock the welding head 101 at a predetermined rotational position and angle in the rX-axis direction (left-right direction), or release the locked state.

[0202] In order to perform locking and releasing of the welding head 101, the first braking device 170 can be configured to selectively lock the first support frame 111 of the first floating unit 110 relative to the fixed part of the rotating device 151 at a predetermined position in the rX-axis direction, and release the locked state.

[0203] Therefore, the first braking device 170 can be installed between the cylinder body 153 of the rotary cylinder 152 and the first support frame 111. The cylinder body 153 is a fixed component of the rotating device 151 of the second floating unit 150 and is fixed to the second support frame 105. The first support frame 111 is a rotatable component of the first floating unit 110 in the rX axis direction.

[0204] Here, the first braking device 170 is configured to lock the first support frame 111 relative to the cylinder body 153 of the rotary cylinder 152, such that the first support frame 111 connected to the rotation shaft 155 of the rotary cylinder 152 cannot rotate relative to the cylinder body 153 of the rotary cylinder, and to release the locked state.

[0205] The first braking device 170 may be a friction braking type braking device configured to lock the entire first floating unit 110, including the first support frame 111, to prevent rotation of the first floating unit 110 by friction with the first support frame 111, the friction being generated based on the first braking device 170 contacting and pressing the first support frame 111 of the first floating unit 110.

[0206] The friction braking type first braking device 170 can be configured to contact and press the outer circumferential surface of the disk 111b integrally connected to the first support frame 111, and is configured to separate from the outer circumferential surface of the disk 111b to release the pressing state on the disk 111b.

[0207] For this purpose, the first braking device 170 may include a drive actuator 172 and a friction member 171 configured to move back and forth with the drive actuator 172. As the friction member 171 is driven forward by the drive actuator 172, the friction member 171 contacts and presses against the disk 111b of the first support frame 111 of the first floating unit 110.

[0208] On the other hand, as the friction member 171 is driven to move backward by the actuator 172, the friction member 171 separates from the disk 111b of the first support frame 111, thereby releasing the squeezing state on the disk 111b of the first support frame 111.

[0209] As the friction member 171 moves forward to contact and press the disk 111b of the first support frame 111, the frictional force between the friction member 171 and the disk 111b can constrain the first floating unit 110 of the first support frame 111 and the weld head 101 mounted to the first floating unit 110 to prevent rotation in the rX-axis direction.

[0210] The drive actuator 172 of the first braking device 170 can be fixed and mounted to the cylinder body 153 of the rotary cylinder 152 via the bracket 173, and can be configured to move the friction member 171 forward and backward with a predetermined stroke. As described above, the rotation center portion 111a of the first support frame 111 is the portion connected to the rotation shaft 155 of the rotary cylinder 152.

[0211] As the friction member 171 moves forward toward the disk 111b of the first support frame 111 via the drive actuator 172 of the first braking device 170, the friction member 171 contacts and presses against the outer circumferential surface of the disk 111b. At this time, through the frictional force between the friction member 171 and the disk 111b, the entire first floating unit 110, including the first support frame 111, can be locked and constrained, preventing it from rotating in the rX-axis direction.

[0212] In some embodiments of this disclosure, the laser welding tool 100 may further include a second braking device 180 configured to lock the welding head 101 in a predetermined vertical position in the Z-axis direction and release the locked state.

[0213] In order to lock the welding head 101 in a predetermined vertical position in the Z-axis direction and release the locked state, the second braking device 180 can be configured to lock the support device 130 relative to the first support frame 111 in a predetermined position and release the locked state, wherein the welding head 101 is mounted to the support device 130 and the support device 130 is a movable part in the Z-axis direction, and the first support frame 111 is a fixed part of the first floating unit 110 in the Z-axis direction.

[0214] In other words, the second braking device 180 is disposed between the first support frame 111, which is a fixed component of the first floating unit 110 in the Z-axis direction, and the support device 130, which is a movable component in the Z-axis direction. Therefore, the second braking device 180 is configured to lock the support device 130 relative to the first support frame 111, preventing the support device 130 from sliding relative to the first support frame 111 of the first floating unit 110 in the vertical direction, and is configured to release the locked state.

[0215] The second braking device 180 can be a friction braking type braking device, which is configured to lock the support device 130 and the welding head 101 by means of friction with the support device 130, while preventing the support device 130 and the welding head 101 from rotating. The friction is generated by contacting and pressing the support device 130.

[0216] The second braking device 180 may include a drive actuator 182 and a friction member 181, the friction member 181 being configured to move forward and backward by being driven by the drive actuator 182. As the friction member 181 moves forward by the drive actuator 182, the friction member 181 contacts and presses against the support device 130, and as the friction member 181 moves backward by the drive actuator 182, the friction member 181 separates from the support device 130 to release the pressing state on the support device 130.

[0217] As the friction member 181 moves forward to contact and press against the support device 130, the support device 130 and the welding head 101 can be constrained and prevented from rotating in the vertical direction by the friction force between the friction member 181 and the support device 130.

[0218] Here, the drive actuator 182 is fixedly mounted to the first support frame 111 via a bracket 183 so that the friction member 181 moves forward and backward only with a predetermined stroke.

[0219] Driven by actuator 182, friction member 181 moves forward toward support device 130, contacting and pressing support device 130. Here, through the frictional force between friction member 181 and support device 130, support device 130 and welding head 101 can be locked and constrained, preventing rotation in the X-axis direction.

[0220] The construction of the laser welding system according to this disclosure has been described in detail. The operation of the laser welding system according to this disclosure will be described below.

[0221] Figure 13 This is a view showing weld seam tracking performed by the guide pins of the laser welding system according to this disclosure. Figures 14 to 16 This is a view showing the operation of the laser welding system according to this disclosure during the welding process.

[0222] As described above, in order to ensure improved welding quality, the laser welding system according to this disclosure is configured to mechanically track the edge portion 1b of the outer plate 1, which is the weld portion, via guide pins 200 during the welding of the edging portion.

[0223] Assuming the direction in which the laser welding tool 100 of the laser welding system moves along the edge 1b of the outer plate 1 in the weld portion of the edging section is defined as the X-axis direction, then the X-axis direction is a direction perpendicular to the Z-axis direction. Here, the direction perpendicular to both the X-axis and Z-axis directions is defined as the Y-axis direction (see...). Figure 7 ).

[0224] During welding, the guide pin 200 and welding tip 102 of the welding head 101, which are mounted to the laser welding tool 100, move along the edge 1b of the outer plate 1. Here, the direction of travel of the guide pin 200 and welding tip 102 can be the X-axis direction.

[0225] During welding, during weld seam tracking of the guide pin 200, the guide pin 200 moves along the edge portion 1b in the X-axis direction while remaining locked on the edge portion 1b of the outer plate 1.

[0226] Here, the guide pin 200 moves first along the edge portion 1b, and the welding tip 102 follows the guide pin 200. Therefore, since the welding tip 102 follows the path of the guide pin 200, it also moves along the edge portion 1b in the X-axis direction.

[0227] During weld tracking as the guide pin 200 moves along the edge 1b, a force in the Z-axis direction is applied to the plate by the front end of the guide pin 200 (this force in... Figure 14 and Figure 15 (represented by "F_Z") and the force in the rX-axis direction of the front end of the guide pin 200 contacting and pressing the edge portion 1b (this force is in) Figure 14 and Figure 15 (represented by "F_rX"), the guide pin 200 can move while remaining locked on the edge 1b.

[0228] like Figure 14 As shown in the left figure, during the preparation operation before the welding process, the first support frame 111 of the laser welding tool 100 is constrained by the normal position stop device 160 and cannot rotate. The entire first floating unit 110, support device 130 and welding head 101, including the first support frame 111, are set in the normal reference position (the origin position with no rotation in the rX axis direction).

[0229] In this state, the welding tool 100 moves toward the target welding area of ​​the engine hood plate H, which is the workpiece, and the welding head 101 moves into the welding section. Then, the guide pin 200 first contacts the inner surface of the inner plate 2 of the engine hood plate H (see...). Figure 14 (The middle image).

[0230] Here, the first braking device 170 and the second braking device 180 are controlled to release the locked state, and the guide pin 200 contacts the inner surface of the inner plate 2, so that the welding head 101 and the support device 130 reach a floating state. In this floating state, the welding head 101 and the support device 130 are elastically moved and supported in the Z-axis direction by the first floating unit 110.

[0231] Subsequently, the locking state of the normal position stop device 160 is released, and the force in the rX axis direction is controlled by the rotating device 151. Therefore, the front end of the guide pin 200, which is mounted to the welding head 101 in a floating state in the Z axis direction, contacts the edge portion 1b of the outer plate 1 and is engaged with the edge portion 1b in the rX axis direction (see...). Figure 14 (The image on the right).

[0232] In this state, the arm 11 of the operating robot 10 moves the laser welding tool 100 along the edge welding section of the engine hood plate H. Then, while keeping the guide pin 200 engaged on the edge portion 1b, weld seam tracking is performed by the guide pin 200. Here, during weld seam tracking, the force on the rotating device 151 is maintained in a controlled and floating state (see...). Figure 15 ).

[0233] Here, by the force of the guide pin 200 contacting and pressing the edge 1b, that is, the engaging force applied to the edge 1b, the guide pin 200 can maintain the weld seam tracking state without disengaging from the weld seam between the two plates 1 and 2.

[0234] Therefore, during weld seam tracking by guide pin 200, welding tip 102 can move along the edge welding portion of engine cover plate H, and during the movement of welding tip 102, welding of the target welding location can be performed by controlling the switching of laser output device 104.

[0235] During welding, the force on the rotating device 151 is maintained, along with its floating state. Here, if the engine hood plate H is moved away from the welding tip 102, the support device 130 and the welding head 101 are controlled by the tension of the spring 122 to move towards the engine hood plate H in the Z-axis direction, and the front end of the guide pin 200 remains engaged with the edge portion 1b (see...). Figure 15 (The middle image).

[0236] On the other hand, if the engine hood plate H is close to the welding tip 102, the support device 130 and the welding head 101 are controlled to move upward away from the engine hood plate H in the Z-axis direction. Therefore, the front end of the guide pin 200 remains engaged with the edge portion 1b while pressing it with appropriate force (see...). Figure 15 (The image on the right).

[0237] After welding is completed, the laser welding system is controlled in the reverse manner compared to when the welding head enters the welding section, causing the guide pin 200 to separate and space from the engine hood plate H. After the welding head 101 and guide pin 200 separate from the engine hood plate H, the rotation of the first support frame 111 is again constrained by the normal position stop device 160. Subsequently, the laser welding tool 100 is moved to a predetermined position by the operation of the robot 10 and enters a standby state (see...). Figure 16 ).

[0238] On the other hand, in the operation of the laser welding system according to this disclosure, the engine cover plate H (see edge banding) is subjected to edge banding treatment. Figure 3 The workpiece is loaded into a fixture (not shown), and the edge of the engine hood can be welded using a laser welding system. The operation of the fixture can be controlled by a controller 20.

[0239] Alternatively, an additional multi-joint robot 13 (see...) can be used. Figure 6 ), so that the edge-sealed engine hood panel, i.e., workpiece H (see) is held by a clamp (not shown). Figure 3 (and moves together with the clamp during the welding process to achieve the determined welding position, angle and direction.)

[0240] In this configuration, a gripper capable of holding the edge-sealed engine hood panel is secured and mounted to the front end of the arm of the multi-joint robot 13. This gripper can be equipped with multiple vacuum suction cups (not shown) capable of holding the engine hood panel by vacuum pressure. The height and rotation of the vacuum suction cups can be controlled according to the shape of the engine hood panel for various vehicle models.

[0241] Furthermore, the clamp can also be a clamp further equipped with multiple clamping elements (not shown) capable of clamping the engine hood panel. For example, the clamp may include multiple vacuum suction cups and two clamping elements.

[0242] In the above structure, the clamping method for the engine cover plate is as follows: Engine cover plate H (see...) Figure 3 The engine hood is adsorbed and fixed to multiple vacuum suction cups, and then the two opposite ends of the engine hood, namely one end of the engine hood and the opposite end of the engine hood, are simultaneously clamped by two clamping members. Therefore, engine hoods of various sizes can be clamped.

[0243] The multi-joint robot 13 controls the movement of a gripper that holds and holds the engine cover plate to control the position of the engine cover plate, as well as the angle and orientation of the gripper, so that the engine cover plate has a suitable posture for welding. The operation of the multi-joint robot 13 and the operation of the gripper can be controlled by the controller 20.

[0244] In some embodiments of this disclosure, robot 10 equipped with laser welding tool 100 and robot 13 equipped with gripper are controlled by controller 20. Here, the operation of the two robots 10 and 13 can be controlled by a single controller 20 performing integrated functions, or they can be controlled separately by separate controllers.

[0245] In some embodiments of this disclosure, the controller 20 can be configured and programmed to perform synchronous control between the two robots 10 and 13. Through controlled synchronization between the two robots, the orientation of the engine cover plate H, such as its position, angle, and direction, as well as the movement speed and motion speed of the engine cover plate H, can be controlled according to the position, orientation, and speed of the workpiece suitable for welding; and the position, welding orientation, movement speed, motion speed, and welding speed of the laser welding tool 100 relative to the engine cover plate can also be controlled according to the position, orientation, and movement speed of the engine cover plate suitable for welding the edging portion of the engine cover plate.

[0246] Therefore, welding can be performed continuously in the order of the side, front, and other sides of the edging portion of the engine hood. Furthermore, since a robot equipped with a gripper is used to simultaneously control the position, orientation, and speed of the laser welding tool and the workpiece (engine hood), a precise and stable process can be performed continuously, thereby achieving improved welding quality and process optimization.

[0247] Furthermore, it prevents contamination from residual electrophoretic coating on the edging of the engine hood, and allows for robotic control of the engine hood's position, ensuring it is in a suitable welding location and easily guaranteeing improved weld quality. Additionally, it effectively prevents deformation of the edging that may occur during the painting process prior to oven treatment, and the clamping device is adaptable to various vehicle models.

[0248] As is evident from the above description, in the laser welding system according to this disclosure, since the system uses guide pins for tracking, it can reduce equipment and facility costs, labor costs, and manufacturing costs compared to conventional laser welding systems equipped with vision-type weld seam tracking devices, etc. Furthermore, the weld seam tracking technology using guide pins ensures improved weld quality.

[0249] Furthermore, after the edge banding process, the two engine hood panels are welded and fixed by a welding device moved and controlled by a multi-joint robot. Compared with the traditional method of pre-curing and final curing the edge banding sealant in the painting process, this can reduce or prevent the later deformation of the edge banding, further improve the marketability of the edge banding appearance, and solve the problems caused by residual electrophoretic liquid and air bubbles in the sealant.

[0250] This disclosure has been described in detail with reference to exemplary embodiments thereof. However, those skilled in the art will understand that changes may be made to these embodiments without departing from the principles and spirit of this disclosure, and that the scope of this disclosure is defined in the appended claims and their equivalents.

Claims

1. A laser welding tool, comprising: Welding joint; The welding tip is attached to the welding head; The guide pin is configured to be spaced apart from the welding tip; A support device supports the welding head and the guide pin; as well as A floating device, connected to the support device, allows the welding head and the guide pin on the support device to move vertically and horizontally relative to the floating device while the guide pin is in contact with the welding target area during welding.

2. The laser welding tool according to claim 1, wherein, The welding tip, while the support device is floating, follows behind the guide pin as the guide pin moves, along the target welding location.

3. The laser welding tool according to claim 1, wherein: The welding target areas include the edge portion of the end of the first plate and the surface portion of the second plate, and While maintaining contact with and pressing against the edge of the first plate, the tip of the guide pin is guided along the edge by an engaging force applied to the edge.

4. The laser welding tool according to claim 1, wherein, The floating device includes: The first floating unit, during welding, moves the support device in the vertical direction while providing a force that compresses the welding target area with the guide pin; and The second floating unit moves the support device in the left-right direction during welding to apply a counterforce to the target welding area.

5. The laser welding tool according to claim 4, wherein, The first floating unit includes: A first support frame is connected to the second floating unit; and An elastic member is disposed between the first support frame and the support device, and elastically supports the support device in the vertical direction.

6. The laser welding tool according to claim 5, wherein, The first floating unit further includes a linear guide rail disposed between the first support frame and the support device, and guides the support device, which is elastically moved by the elastic member, in the vertical direction.

7. The laser welding tool according to claim 4, wherein, The second floating unit includes: Second support framework; and A rotating device is disposed between the second support frame and the first floating unit, and during welding, the first floating unit rotates relative to the second support frame in the left-right direction, and during welding, the guide pin is moved to make the guide pin come into close contact with the welding target area and provide the resisting force to the welding target area.

8. The laser welding tool according to claim 7, wherein, The rotating device includes a rotary actuator connected to the second support frame, and the rotation axis of the rotary actuator is connected to the first floating unit so that the first floating unit can swing and rotate in the left-right direction.

9. The laser welding tool according to claim 8, wherein, The rotary actuator includes a pneumatic rotary cylinder or a hydraulic rotary cylinder.

10. A laser welding system, comprising: A laser welding tool includes: a welding head; a welding tip mounted to the welding head; a guide pin spaced apart from the welding tip; a support device supporting the welding head and the guide pin; and a floating device connected to the support device, which allows the welding head and the guide pin on the support device to move vertically and horizontally relative to the floating device in a floating state during welding, while the guide pin is in contact with the welding target area. A drive unit is connected to the laser welding tool and moves the laser welding tool; and The controller controls the operation of the drive device and the laser welding tool. During welding, the drive device moves the laser welding tool, causing the guide pin to be guided along and track the welding target area while in contact with it. The guide pin and the welding head are supported by the floating device in the floating state.

11. The laser welding system according to claim 10, wherein, The position and orientation of the laser welding tool are controlled by the operation of the drive device and the laser welding tool, which are controlled by the controller. As the guide pin moves along the target welding location, the welding tip follows behind the guide pin.

12. The laser welding system according to claim 10, wherein, The floating device includes: The first floating unit, during welding, causes the support device to move in the vertical direction while providing the force of the guide pin pressing against the welding target area; and The second floating unit moves the support device in the left-right direction during welding to apply a counterforce to the target welding area.

13. The laser welding system according to claim 12, wherein, The first floating unit includes: The first support frame is connected to the second floating unit, and An elastic member is disposed between the first support frame and the support device, and elastically supports the support device in the vertical direction.

14. The laser welding system according to claim 13, wherein, The first floating unit further includes a linear guide rail disposed between the first support frame and the support device, and guides the support device, which is elastically moved by the elastic member, in the vertical direction.

15. The laser welding system according to claim 13, wherein, The first support frame is provided with an upper limit rod, and the support device is provided with a stop member. As the support device moves upward to its maximum height, the upper limit rod restricts the upward movement of the support device by contacting the stop member.

16. The laser welding system according to claim 13, wherein: The support device is provided with an upper block. The first support frame is provided with a lower block, and the lower block has a through hole. The upper block is provided with a guide rod, which extends downward and inserts into the through hole in the lower block. When the support device moves in the vertical direction relative to the first support frame, the guide rod moves in the axial direction while inserted into the through hole, and The elastic member is installed on the guide rod between the upper block and the lower block.

17. The laser welding system according to claim 13, wherein: The first floating unit further includes a displacement sensor, which is disposed between the first support frame and the support device, and detects the relative displacement of the support device with respect to the first support frame; and The controller determines that the guide pin has disengaged from the welding target area based on the displacement value detected by the displacement sensor exceeding the displacement range, and executes control to stop the operation of the drive device and the laser welding tool.

18. The laser welding system according to claim 13, wherein, The laser welding tool further includes a second braking device, controlled by the controller, to lock the welding head in a first locked state at a first position in the vertical direction, and to release the first locked state of the welding head. The second braking device includes: The friction member moves forward to contact and press against the support device, thereby locking the support device in a second locked state, in which the support device cannot move in the vertical direction, and the friction member moves backward to separate from the support device, thereby releasing the second locked state of the support device; and A drive actuator is mounted to the first support frame and moves the friction member forward and backward, thereby locking the support device in a second locked state and releasing the support device from the second locked state.

19. The laser welding system according to claim 12, wherein, The second floating unit includes: Second support framework; and A rotating device is disposed between the second support frame and the first floating unit, and causes the first floating unit to rotate relative to the second support frame in the left-right direction, so that the guide pin is in close contact with the welding target part and provides resistance to the welding target part.

20. The laser welding system according to claim 19, wherein: The rotating device includes a rotary actuator connected to the second support frame, and the rotation shaft of the rotary actuator is connected to the first floating unit, enabling the first floating unit to oscillate and rotate in the left-right direction; and The controller performs force control on the rotary actuator and controls the rotation direction and position of the support device and the weld head mounted on the support device.

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