Laser welding system
To provide a laser welding system that can correct divergence of a laser beam irradiation position with higher precision, and is capable of higher precision laser welding. A remote laser welding system ( 1 ) includes: a multi-axis robot ( 3 ); a laser head ( 5 ) provided to a leading end of an arm ( 31 ) of the multi-axis robot ( 3 ); a control unit ( 7 ) that controls operations of the multi-axis ( 3 ) and the laser head ( 5 ); and a laser light source ( 53 ), in which the laser head ( 5 ) includes: two galvano mirrors ( 51, 52 ) configured to be rotatable about rotational axes (X 1 , X 2 ), respectively, and reflect a laser beam; and galvano motors ( 54 ) that rotationally drive the galvano mirrors ( 51, 52 ), and in which the control unit ( 7 ) includes an acceleration sensor ( 73 ) that acquires the acceleration of the vibration; and a command correction section ( 74 ) that corrects a control command to the galvano motors ( 54 ) which rotationally drive the galvano mirrors ( 51, 52 ), based on the acceleration of the vibration acquired by the acceleration sensor ( 73 ), so as to suppress divergence of the laser beam irradiation position due to vibration.
1. A laser welding system comprising a robot, a laser head provided to a leading end of an arm of the robot, a control unit that controls operations of the robot and the laser head, and a laser light source that generates a laser beam,
wherein the laser head includes: at least one mirror which is configured to be rotatable around a rotation axis, and reflects the laser beam; and
a motor that rotationally drives the mirror, and
wherein the control unit includes: an acceleration acquisition section that acquires acceleration of vibration occurring at the leading end of the arm due to operation of the robot and
a command correction section that corrects a control command to the motor which rotationally drives the mirror so as to suppress divergence of a laser beam irradiation position due to the vibration, based on the acceleration of the vibration acquired by the acceleration acquisition section,
the laser welding system further comprising an electric current sensor that detects drive current of a motor driving the robot,
wherein the acceleration acquisition section is configured to include the electric current sensor, and calculates the acceleration of the vibration from the drive current detected by the electric current sensor.
2. The laser welding system according to claim 1 , further comprising a recording unit that acquires in advance and records the acceleration of the vibration,
wherein the command correction section corrects a control command to the motor which rotationally drives the mirror, based on the acceleration of the vibration recorded in advance in the recording unit.
3. A laser welding system comprising a robot, a laser head provided to a leading end of an arm of the robot, a control unit that controls operations of the robot and the laser head, and a laser light source that generates a laser beam,
wherein the laser head includes: at least one mirror which is configured to be rotatable around a rotation axis, and reflects the laser beam; and
a motor that rotationally drives the mirror, and
wherein the control unit includes: an acceleration acquisition section that acquires acceleration of vibration occurring at the leading end of the arm due to operation of the robot and
a command correction section that corrects a control command to the motor which rotationally drives the mirror so as to suppress divergence of a laser beam irradiation position due to the vibration, based on the acceleration of the vibration acquired by the acceleration acquisition section,
the laser welding system further comprising:
an imaging device that captures an image of the robot, or the robot and surrounding thereof; and
an image processing unit that processes an image captured by the imaging device,
wherein the acceleration acquisition section is configured to include the imaging device and the image processing unit, and calculates the acceleration of the vibration from a change in images captured every predetermined time period.
4. The laser welding system according to claim 3 , further comprising a recording unit that acquires in advance and records the acceleration of the vibration,
wherein the command correction section corrects a control command to the motor which rotationally drives the mirror, based on the acceleration of the vibration recorded in advance in the recording unit.