Sanyo Machine Works, Ltd.

Koichi Ishihara

Katsuhiko Asai

Ryuichiro Takata

Toshio Kohari

In a hemming structure of metal plate material with an edge portion ( ) of an outer panel ( ) hemmed over an edge portion ( ) of an inner panel ( ), the edge portion ( ) of the inner panel ( ) has an inside rise portion ( ) having a surface plane ( &prime;) down-sloping towards an edge ( ) thereof and the edge portion ( ) of the outer panel ( ) has an outside rise portion ( ) telescopically fitted with the inside rise portion ( ), a back plane ( &prime;) of the outside rise portion ( ) abutting on the surface plane ( &prime;) of the inside rise portion ( ).

Structure of hemmed together metal plate materials

Automatic alignment correction of the setting angles of mirrors in a laser robot is achieved by mirrors 2c,2d, and 2e being linearly displaced a predetermined distance in a sequence from one closer to a laser oscillator 1 to another. At the same time, a locus of displacement of a spot S on a position sensor during movement of a particular mirror is detected by the position sensor 9 disposed in front of a laser output nozzle 4. An error in the setting angle of a mirror preceding to the particular mirror having been moved is computed on the basis of the detected value, so as to perform angular correction relative to the particular mirror by motors 11a and 11b. In one embodiment, mirror 2e is rotated about the C-axis. When the incident position of the laser beam is offset from the center of rotation of the mirror 2e, the spot S obtained in the position sensor 9 will move in a circular path. The center of the circle is determined and the setting angle of the mirror 2c is adjusted so that the spot S comes to the center. Because of this modification in the setting angle of mirror 2c, the optical axis between mirrors 2d and 2e is again out of parallel to the Z-axis. This operation is then repeated to minimize the size of the spot S. By this sequence, the laser beam incident to the mirror 2e is accurately directed to the center of the mirror 2e in parallel with the C-axis.

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Aichi-ken, Japan

Koichi Ishihara