JP2013233558A - Friction stir welding device - Google Patents

Friction stir welding device Download PDF

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JP2013233558A
JP2013233558A JP2012106683A JP2012106683A JP2013233558A JP 2013233558 A JP2013233558 A JP 2013233558A JP 2012106683 A JP2012106683 A JP 2012106683A JP 2012106683 A JP2012106683 A JP 2012106683A JP 2013233558 A JP2013233558 A JP 2013233558A
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jig
friction stir
long plate
pressure roller
stir welding
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JP6021421B2 (en
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Yuji Kawabata
雄士 川畑
Yuichi Nishi
雄一 西
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Senqcia Corp
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Hitachi Metals Techno Ltd
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Abstract

PROBLEM TO BE SOLVED: To provide a friction stir welding device capable of reducing non-joined part at both ends in the longitudinal direction when butt-welding the side surface parts of long planar members against each other.SOLUTION: A friction stir welding device is provided with a processing tool 6a, a pressurizing roller 7a disposed before the processing tool in the moving direction for pressurizing the abutting part 3a of a long planar member from an upper surface side, an auxiliary roller 7b disposed before the pressurizing roller in the moving direction for moving integrally with the pressurizing roller, a pressing jig 4 for pressing the long planar member abutted at both ends in the longitudinal direction of the long planar member altogether from the upper surface side, and a running-on jig 5 disposed near the pressing jig. The processing tool, the pressurizing roller and the auxiliary roller are relatively moved integrally to the abutting part, and when the processing tool approaches to the pressing jig, the auxiliary roller gets on the running-on jig and moves on the running-on jig while pressurizing and the pressurizing roller gets on the running-on jig and moves on the running-on jig while pressurizing.

Description

本発明は、長尺板状部材を突合せて接合する、摩擦撹拌接合装置に関する。   The present invention relates to a friction stir welding apparatus that joins long plate-like members together.

摩擦撹拌接合（ＦＳＷ）は、被接合金属同士を突合わせて固定し、回転する加工ツール（丸棒）を突合せ部に押し付け、被接合金属同士を接合する方法である。摩擦撹拌接合では、回転する加工ツールを突合せ部に押し付けることにより、突合せ部の被接合金属が発熱し、軟化した被接合金属が塑性流動して被接合金属同士が固相接合される。このような摩擦撹拌接合は、特許文献１にあるように、例えば、嵌め合い構造を有する中空材同士の突合せ接合に用いられている。   Friction stir welding (FSW) is a method in which the metal to be bonded is abutted and fixed, and a rotating processing tool (round bar) is pressed against the abutting part to bond the metal to be bonded. In the friction stir welding, when the rotating processing tool is pressed against the abutting portion, the metal to be joined at the abutting portion generates heat, the softened metal to be joined is plastically flowed, and the metals to be joined are solid-phase joined. Such friction stir welding is used, for example, for butt joining of hollow materials having a fitting structure as disclosed in Patent Document 1.

摩擦撹拌接合では、加工ツールを回転しながら移動させるので、突合せ部の金属が上下に撹拌され、被接合金属の突合せ部をずらすような力が発生する。例えば、特許文献１の中空材同士の摩擦撹拌接合では、中空材の突合せ部である開先を上下左右に開こうとする力が発生する。よって、接合後の開先部分に段差を生じないようにするためには、中空材同士を突合せた後、突合せ部を上下左右から固定しながら摩擦撹拌接合をする必要がある。   In the friction stir welding, since the processing tool is moved while rotating, the metal in the butt portion is stirred up and down, and a force that shifts the butt portion of the metal to be joined is generated. For example, in the friction stir welding between the hollow members disclosed in Patent Document 1, a force is generated to open the groove, which is a butt portion of the hollow member, vertically and horizontally. Therefore, in order to prevent a step from occurring in the groove portion after joining, it is necessary to perform friction stir welding while fixing the abutting portions from the top, bottom, left and right after abutting the hollow materials.

突合せ部を固定する装置としては、例えば、特許文献２に、加工ツールの進行方向前方の突き合わせ部を、加圧ローラーで押さえつける装置が記載されている。このような加圧ローラーを用いれば、突合せ部が固定され、接合後の開先部分に段差を生じないようにすることができる。   As an apparatus for fixing the abutting portion, for example, Patent Document 2 describes an apparatus that presses the abutting portion in the forward direction of the processing tool with a pressure roller. By using such a pressure roller, the butt portion is fixed, and it is possible to prevent a step from being generated in the groove portion after joining.

一方、３本以上の長尺板状部材を、隣り合わせに突き合わせて並べ、その後、複数の突合せ部を順々に接合する場合、長尺板状部材の押さえ位置を突合せ部ごとに変えていたのでは作業効率が悪い。そこで、作業効率を良く接合するには、図５のような押え治具５４を用い、ステージ５２上に長尺板状部材５３を隣り合わせに突合せて並べ、長尺板状部材３の長手方向両端を上面側から押さえつけて一括固定し、その後、加工ツール５６ａだけを移動して、突合せ部５３ａを順々に接合すればよいと考えられる。   On the other hand, when three or more long plate-like members are abutted side by side, and then a plurality of abutting portions are joined sequentially, the pressing position of the long plate-like member is changed for each abutting portion. Then work efficiency is bad. Accordingly, in order to join the working efficiency well, a holding jig 54 as shown in FIG. 5 is used, and the long plate members 53 are arranged side by side on the stage 52 so that both ends in the longitudinal direction of the long plate member 3 are aligned. Are pressed together from the upper surface side and fixed together, and then only the processing tool 56a is moved to join the butt portions 53a in sequence.

特開２０００−２８８７５０号公報JP 2000-288750 A 特開２０００−２０２６４５号公報JP 2000-202645 A

しかし、図５の押え治具５４と、特許文献２の加圧ローラーを併用すると、図６の概略図に示されるように、加圧ローラー６７ａと加工ツール６６ａとの間に間隔があるため、長尺板状部材６３の端部まで接合を進めると、加工ツール６６ａが押え治具６４に当たる前に、加圧ローラー６７ａが押え治具６４に当たってしまい、接合されない部分（未接合部分６３ｃ）が長くなってしまう問題がある。この未接合部分６３ｃは、接合後に切削して捨ててしまうので、長尺板状部材６３を有効利用するには、未接合部分６３ｃが小さくなるように接合するのが好ましい。   However, when the pressing jig 54 of FIG. 5 and the pressure roller of Patent Document 2 are used in combination, there is a gap between the pressure roller 67a and the processing tool 66a as shown in the schematic diagram of FIG. When the joining is advanced to the end of the long plate-like member 63, the pressure roller 67a hits the holding jig 64 before the processing tool 66a hits the holding jig 64, and the unbonded portion (unbonded portion 63c) becomes long. There is a problem that becomes. Since the unjoined portion 63c is cut and discarded after joining, in order to effectively use the long plate member 63, it is preferable to join the unjoined portion 63c so that the unjoined portion 63c becomes small.

未接合部分６３ｃを小さくするには、以下のような３つの方法が考えられる。   The following three methods are conceivable for reducing the unjoined portion 63c.

まずは、図７の装置７１のように、押え治具７４に複数の切欠き部７４ａを設ける方法が考えられる。この方法では、押え治具７４の突合せ部７３ａの位置に、加圧ローラー７７ａ以上の幅の切欠き部７４ａを設け、加圧ローラー７７ａを切欠き部７４ａに逃がして移動させることにより、加工ツール７６ａをより長尺板状部材７３の端まで移動させることができ、未接合部分７３ｃを小さくすることができると考えられる。しかしこの方法では、切欠き部７４ａの間隔と長尺板状部材７３の幅とを同じにする必要があり、長尺板状部材７３の幅寸法が変わる毎に、新たに押え治具７４を設計する必要がある。そして、長尺板状部材７３の幅が狭くなると、長尺板状部材７３を押える、押え治具７４の面積が小さくなってしまい、長尺板状部材７３を固定しにくくなるという問題点もある。   First, a method of providing a plurality of notches 74a in the holding jig 74 as in the apparatus 71 of FIG. In this method, a processing tool is provided by providing a notch 74a having a width equal to or larger than the pressure roller 77a at the position of the abutting portion 73a of the holding jig 74 and moving the pressure roller 77a to the notch 74a. It is considered that 76a can be moved to the end of the long plate-like member 73, and the unjoined portion 73c can be reduced. However, in this method, it is necessary to make the interval between the notches 74a and the width of the long plate member 73 the same, and each time the width dimension of the long plate member 73 changes, a new holding jig 74 is attached. Need to design. When the width of the long plate-like member 73 is narrowed, the area of the holding jig 74 that holds the long plate-like member 73 becomes small, and it becomes difficult to fix the long plate-like member 73. is there.

また、図８の装置８１のように、押え治具８４にテーパーをつけ、加圧ローラー８７ａを押え治具８４上に乗り上げさせる方法も考えられる。この方法でも、加工ツール８６ａをより長尺板状部材８３の端まで移動させることができ、未接合部分８３ｃを小さくすることができると考えられる。しかしこの方法では、押え治具８４が加圧ローラー８７ａの押し付け荷重により変形して、押え治具８４が長尺板状部材３を固定する力が緩んでしまう恐れがある。さらに、押え治具８４が加圧ローラー８７ａの押し付け荷重により過度に変形して、押え治具８４が破損してしまう恐れもある。   Further, as in the apparatus 81 of FIG. 8, a method in which the presser jig 84 is tapered and the pressure roller 87 a is run on the presser jig 84 is also conceivable. Even in this method, it is considered that the processing tool 86a can be moved to the end of the long plate-like member 83, and the unjoined portion 83c can be reduced. However, in this method, the pressing jig 84 may be deformed by the pressing load of the pressure roller 87a, and the pressing jig 84 may loosen the force for fixing the long plate member 3. Furthermore, the pressing jig 84 may be excessively deformed by the pressing load of the pressure roller 87a, and the pressing jig 84 may be damaged.

さらに、加圧ローラーが押え治具に当たる寸前に、加圧ローラーを引き抜いてしまう方法も考えられる。この方法でも、加工ツールをより長尺板状部材の端まで移動させることができ、未接合部分を小さくすることができると考えられる。しかしこの方法では、加圧ローラーを引き抜くタイミングを制御する必要があり、また、加工ツールの主軸負荷を検知し、一定の主軸負荷になるよう、加工ツールの押し付け量を制御する、トルクフィードバック制御を用いた装置に適用すると、加圧ローラーを引き抜いた瞬間に加工ツールの押し付け力が急激に高まり、接合できなくなってしまう可能性が高い。   Furthermore, a method is also conceivable in which the pressure roller is pulled out just before the pressure roller hits the holding jig. Even in this method, it is considered that the processing tool can be moved to the end of the long plate-like member, and the unjoined portion can be reduced. However, in this method, it is necessary to control the timing of pulling out the pressure roller, and torque feedback control is performed to detect the spindle load of the machining tool and control the pressing amount of the machining tool so that the spindle load is constant. When applied to the apparatus used, there is a high possibility that the pressing force of the processing tool increases rapidly at the moment when the pressure roller is pulled out, and it becomes impossible to join.

本発明は、上記問題を解決することが可能な、摩擦撹拌接合装置を提供するものであり、長尺板状部材の長手方向両端を押え治具で固定し、加工ツールの進行方向前方を加圧ローラーで押さえつけながら摩擦撹拌接合する装置であって、未接合部分を容易に小さくできるような、摩擦撹拌接合装置を提供するものである。   The present invention provides a friction stir welding apparatus capable of solving the above-described problems, in which both ends in the longitudinal direction of a long plate-like member are fixed with a holding jig, and the front of the processing tool in the advancing direction is added. The present invention provides a friction stir welding apparatus that performs friction stir welding while pressing with a pressure roller so that an unjoined portion can be easily reduced.

本発明の摩擦撹拌接合装置は、隣り合う長尺板状部材の側面部同士を突き合わせて突合せ部を形成し、摩擦撹拌接合工具である加工ツールを前記長尺板状部材の上面側から前記突合せ部に回転させながら押しつけ、前記加工ツールを前記突合せ部に対して相対移動させて前記長尺板状部材同士を接合する摩擦撹拌装置であって、前記加工ツールと、前記加工ツールの移動方向前方に配されて前記長尺板状部材の前記突合せ部を上面側から加圧する加圧ローラーと、当該加圧ローラーの移動方向前方に配されて当該加圧ローラーの加圧方向に当該加圧ローラーと一体的に移動する補助ローラーと、前記長尺板状部材の長手方向両端にあって突き合わされた前記長尺板状部材を上面側から一括して押さえつける押え治具と、当該押え治具近傍に配された乗り上げ治具とを備え、前記加工ツールと前記加圧ローラーと前記補助ローラーとが、前記突合せ部に対して一体的に相対移動し、前記加工ツールが前記押え治具に接近した際、前記補助ローラーが前記乗り上げ治具上に乗り上がって前記乗り上げ治具上を加圧しながら移動しつつ、前記加圧ローラーが前記押え治具上に乗り上がって前記押え治具上を加圧しながら移動することを特徴としている。   The friction stir welding apparatus according to the present invention forms a butted portion by abutting side surfaces of adjacent long plate-like members, and a working tool that is a friction stir welding tool from the upper surface side of the long plate-like member. A friction stirrer for pressing the processing tool relative to the abutting portion to join the long plate-like members together, the processing tool and the moving direction of the processing tool forward A pressure roller that presses the abutting portion of the long plate-shaped member from the upper surface side, and a pressure roller that is disposed in front of the pressure roller in the moving direction and is in the pressure direction of the pressure roller. An auxiliary roller that moves integrally with the pressing plate, a pressing jig that collectively presses the long plate-shaped member that is abutted at both ends in the longitudinal direction of the long plate-shaped member from the upper surface side, and the vicinity of the pressing jig Arranged The processing tool, the pressure roller, and the auxiliary roller integrally move relative to the abutting portion, and when the processing tool approaches the presser jig, While the auxiliary roller rides on the climbing jig and moves while pressing on the climbing jig, the pressure roller climbs on the presser jig and moves while pressing on the presser jig. It is characterized by doing.

そして、本発明の摩擦撹拌接合装置は、前記長尺板状部材を３本以上隣り合わせて接合することが可能であることも特徴としている。   And the friction stir welding apparatus of the present invention is also characterized in that it is possible to join three or more of the long plate-like members side by side.

また、本発明の摩擦撹拌接合装置では、前記加圧ローラーと前記補助ローラーとが共通の支持部により支持されているのが好ましい。   Moreover, in the friction stir welding apparatus of this invention, it is preferable that the said pressure roller and the said auxiliary | assistant roller are supported by the common support part.

さらに、本発明の摩擦撹拌接合装置では、前記補助ローラーの実質的な幅が、前記加圧ローラーの幅より広いほうが好ましい。   Furthermore, in the friction stir welding apparatus of the present invention, it is preferable that the substantial width of the auxiliary roller is wider than the width of the pressure roller.

また、本発明の摩擦撹拌接合装置では、前記乗り上げ治具または前記押え治具上に弾性材料が貼り付けられているか、あるいは、前記補助ローラーの外周に弾性材料が設けられていることが好ましい。   In the friction stir welding apparatus according to the present invention, it is preferable that an elastic material is affixed on the riding jig or the pressing jig, or an elastic material is provided on the outer periphery of the auxiliary roller.

そして、本発明の摩擦撹拌接合装置は、前記長尺板状部材として押出し中空材を接合するのに用いるのが好ましい。   And it is preferable to use the friction stir welding apparatus of this invention for joining an extrusion hollow material as said elongate plate-shaped member.

本発明の摩擦撹拌接合装置によれば、長尺板状部材の側面同士を突き合わせて接合する際、長尺板状部材の長手方向両端に生じる未接合部分を小さくできる。   According to the friction stir welding apparatus of the present invention, when the side surfaces of the long plate-like member are butted together and joined, the unjoined portions generated at both ends in the longitudinal direction of the long plate-like member can be reduced.

本発明の摩擦撹拌接合装置を上方から見た概略構成図である。It is the schematic block diagram which looked at the friction stir welding apparatus of this invention from the upper direction. 本発明の摩擦撹拌接合装置を側方から見た概略構成図である。It is the schematic block diagram which looked at the friction stir welding apparatus of this invention from the side. 本発明の摩擦撹拌接合装置について長尺板状部材の押さえつける構成の一例を示す図である。It is a figure which shows an example of the structure which presses a elongate plate-shaped member about the friction stir welding apparatus of this invention. 本発明の摩擦撹拌接合装置の動作を説明する図である。It is a figure explaining operation | movement of the friction stir welding apparatus of this invention. 複数の中空材を効率よく接合作業するための中空材の固定方法の一例をを説明する図である。It is a figure explaining an example of the fixing method of the hollow material for joining a some hollow material efficiently. 従来の加圧ローラーを備えた摩擦撹拌接合装置を説明する図である。It is a figure explaining the friction stir welding apparatus provided with the conventional pressure roller. 従来の加圧ローラーを備えた摩擦撹拌接合装置の問題点を説明する図である。It is a figure explaining the problem of the friction stir welding apparatus provided with the conventional pressurization roller. 従来の加圧ローラーを備えた摩擦撹拌接合装置の他の問題点を説明する図である。It is a figure explaining the other problem of the friction stir welding apparatus provided with the conventional pressurization roller. 本発明の摩擦撹拌接合装置に弾性材料を貼り付けた例を説明する図である。It is a figure explaining the example which affixed the elastic material on the friction stir welding apparatus of this invention.

以下、本発明の摩擦撹拌接合装置について、その実施態様を図面を参照しながら説明する。   Hereinafter, embodiments of the friction stir welding apparatus of the present invention will be described with reference to the drawings.

図１に、本発明の実施態様である、摩擦撹拌接合装置１（以下装置１と略す）を上方から見たときの概略構成図を示す。装置１は、複数の長尺板状部材３が突合せ部３ａを形成するよう側面同士を突き合わせて並べられるステージ２と、長尺板状部材３の長手方向両端部を上面側から一括して押さえつける押え治具４と、押え治具４に隣接して配される乗り上げ治具５と、突合せ部３ａ上を移動する摩擦撹拌加工機６に取付けられ、回転しながら突合せ部３ａに押し付けられる加工ツール６ａと、加工ツール６ａの移動方向前方に配されて突合せ部３ａを加圧する加圧ローラー７ａと、加圧ローラー７ａの移動方向前方に配される補助ローラー７ｂとを、基本的な構成要素としている。そして、加工ツール６ａと加圧ローラー７ａ、補助ローラー７ｂが突合せ部３ａ上を一体的に移動することで、接合部３ｂが突合せ部３ａに形成され、長尺板状部材３同士が接合部３ｂを介して摩擦撹拌接合される。なお、図１では、摩擦撹拌加工機６の支持加圧機構、加圧ローラー７ａおよび補助ローラー７ｂの支持機構については、図示を省略している。   In FIG. 1, the schematic block diagram when the friction stir welding apparatus 1 (henceforth apparatus 1) which is an embodiment of this invention is seen from upper direction is shown. The apparatus 1 presses together both the longitudinal direction both ends of the long plate-shaped member 3 from the upper surface side, the stage 2 in which the long plate-shaped members 3 are arranged side by side so as to form the butted portion 3a. A pressing tool 4, a mounting jig 5 arranged adjacent to the pressing jig 4, and a processing tool attached to the friction stir processing machine 6 that moves on the butting portion 3 a and pressed against the butting portion 3 a while rotating. 6a, a pressure roller 7a that is arranged in front of the processing tool 6a in the moving direction and presses the butting portion 3a, and an auxiliary roller 7b that is arranged in front of the pressing roller 7a in the moving direction are basic components. Yes. Then, the processing tool 6a, the pressure roller 7a, and the auxiliary roller 7b integrally move on the abutting portion 3a, whereby the joining portion 3b is formed in the abutting portion 3a, and the long plate-like members 3 are joined to each other in the joining portion 3b. Through friction stir welding. In addition, in FIG. 1, illustration is abbreviate | omitted about the support pressure mechanism of the friction stir processing machine 6, the support mechanism of the pressure roller 7a, and the auxiliary roller 7b.

図２は、装置１を側方から見た概略構成図である。押え治具４は、長尺板状部材３の端部を上面側から押さえつけ、長尺板状部材３をステージ２に固定するものである。ここで、押え治具４が長尺板状部材３を押さえつける力は、長尺板状部材３に反りがあっても固定でき、かつ、長尺板状部材３の端部が座屈しない程度の力とするのが好ましい。そして、乗り上げ治具は５は、押え治具４に隣接して配され、長尺板状部材３上面から乗り上げ治具５上面までの高さｈが、長尺板状部材３上面から押え治具４上面までの高さｈ’より高く、加圧ローラー７ａと補助ローラ―７ｂのそれぞれが、押え治具４と乗り上げ治具５を同時に加圧可能にに設計される。そして、乗り上げ治具５の端部にはテーパー部５ａが設けられ、補助ローラー７ｂが乗り上げ治具５に乗り上がりやすくしている。   FIG. 2 is a schematic configuration diagram of the apparatus 1 as viewed from the side. The holding jig 4 presses the end of the long plate-like member 3 from the upper surface side and fixes the long plate-like member 3 to the stage 2. Here, the force by which the holding jig 4 presses the long plate-like member 3 can be fixed even if the long plate-like member 3 is warped, and the end of the long plate-like member 3 is not buckled. It is preferable to use the force of The climbing jig 5 is arranged adjacent to the presser jig 4, and the height h from the upper surface of the long plate-shaped member 3 to the upper surface of the climbing jig 5 is determined from the upper surface of the long plate-shaped member 3. The height h 'up to the upper surface of the tool 4 is higher, and each of the pressure roller 7a and the auxiliary roller 7b is designed so that the pressing jig 4 and the climbing jig 5 can be pressed simultaneously. A tapered portion 5 a is provided at the end of the climbing jig 5 so that the auxiliary roller 7 b can easily climb onto the climbing jig 5.

押え治具４は、長尺板状部材３を固定するのに十分な強度になるよう設計すればよいが、乗り上げ治具５は、補助ローラー７ｂが乗り上がった際の衝撃に耐えるように設計する必要がある。従って、乗り上げ治具５は、セラミックスや工具鋼など、硬度が高い材料を加工して作成するのが好ましく、あるいは、ゴム等の弾性材料を表面に貼り付け、補助ローラー７ｂが乗り上がった際に受ける衝撃が小さくなるような構造にしてもよい。   The holding jig 4 may be designed to have sufficient strength to fix the long plate-like member 3, but the climbing jig 5 is designed to withstand the impact when the auxiliary roller 7b rides on. There is a need to. Therefore, it is preferable that the climbing jig 5 is made by processing a material having high hardness such as ceramics or tool steel, or when an elastic material such as rubber is stuck on the surface and the auxiliary roller 7b is climbed. You may make it the structure where the impact to receive becomes small.

また、図９（ａ）のように、シート状の弾性材料５ｂを乗り上げ治具５表面に貼り付け、補助ローラ７ｂが、弾性材料５ｂを押し込みつつ、乗り上げ治具５を加圧するようにしてもよい。
弾性材料５ｂを貼り付けない構成では、加圧ローラー７ａと補助ローラー７ｂが、押え治具４と乗り上げ治具５を同時に加圧するためには、加圧ローラー７ａ下端と補助ローラー７ｂ下端の高低差と、押え治具４と乗り上げ治具５の高低差（図２においてｈ−ｈ’）が、全く同じでなければならない。このような構成では、装置に歪が生じると、加圧ローラー７ａと補助ローラー７ｂが、押え治具４と乗り上げ治具５を、同時に加圧しなくなる可能性がある。
一方、シート状の弾性材料５ｂを乗り上げ治具５表面に貼り付け、その分、加圧ローラー７ａ下端と補助ローラー７ｂ下端の高低差を、押え治具４と乗り上げ治具５の高低差より若干大きめに設定すれば、装置生じた歪の影響は、弾性材料５ｂの変形により吸収され、加圧ローラー７ａと補助ローラー７ｂが、押え治具４と乗り上げ治具５を、確実に同時に加圧できるようになる。 Further, as shown in FIG. 9A, a sheet-like elastic material 5b is attached to the surface of the climbing jig 5, and the auxiliary roller 7b presses the climbing jig 5 while pressing the elastic material 5b. Good.
In the configuration in which the elastic material 5b is not pasted, the pressure roller 7a and the auxiliary roller 7b can press the holding jig 4 and the climbing jig 5 at the same time so that the height difference between the lower end of the pressing roller 7a and the lower end of the auxiliary roller 7b is different. The height difference between the holding jig 4 and the riding jig 5 (hh ′ in FIG. 2) must be exactly the same. In such a configuration, when the apparatus is distorted, there is a possibility that the pressure roller 7a and the auxiliary roller 7b may not press the pressing jig 4 and the climbing jig 5 at the same time.
On the other hand, the sheet-like elastic material 5b is affixed to the surface of the climbing jig 5, and accordingly, the height difference between the lower end of the pressure roller 7a and the lower end of the auxiliary roller 7b is slightly higher than the height difference between the pressing jig 4 and the climbing jig 5. If set larger, the influence of the strain generated in the apparatus is absorbed by the deformation of the elastic material 5b, and the pressure roller 7a and the auxiliary roller 7b can reliably press the holding jig 4 and the lifting jig 5 simultaneously. It becomes like this.

上記のように、シート状の弾性材料を貼りつける効果は、図９（ｂ）のように、シート状の弾性材料４ａを押え治具４表面に貼り付けたり、図９（ｃ）のように、補助ローラー７ｂの外周に弾性材料７ｆを設けても、同じ効果を得ることができ、図９（ａ）〜（ｃ）の構成にすることで、加圧ローラ７ａと補助ローラ７ｂが、押え治具４と乗り上げ治具５を、確実に同時に加圧できるようになる。   As described above, the effect of attaching the sheet-like elastic material is that the sheet-like elastic material 4a is attached to the surface of the holding jig 4 as shown in FIG. 9B, or as shown in FIG. Even if the elastic material 7f is provided on the outer periphery of the auxiliary roller 7b, the same effect can be obtained. By adopting the configuration shown in FIGS. 9A to 9C, the pressure roller 7a and the auxiliary roller 7b can be pressed. The jig 4 and the climbing jig 5 can be reliably pressed simultaneously.

加工ツール６ａは、摩擦撹拌加工機６に取付けられて回転し、突合せ部３ａに押し付けられ、突合せ部３ａ上を移動することで、接合部３ｂを突合せ部３ａに形成する。ここで加工ツール６ａは、トルクフィードバック制御を用いて、主軸負荷が一定になるように制御されるのが好ましい。トルクフィードバック制御を用いると、長尺板状部材３の上面状態（高さ、平滑性等）が多少バラついていても、突合せ部３ａ近傍の金属を安定して摩擦撹拌できるようになるので、良好な接合部３ｂを形成することができ、安定的に長尺板状部材３同士を摩擦撹拌接合することが可能になる。   The processing tool 6a is attached to the friction stir processing machine 6, rotates, is pressed against the butting portion 3a, and moves on the butting portion 3a, thereby forming the joint portion 3b in the butting portion 3a. Here, it is preferable that the machining tool 6a is controlled so that the spindle load becomes constant by using torque feedback control. When torque feedback control is used, even if the upper surface state (height, smoothness, etc.) of the long plate-like member 3 is somewhat varied, the metal in the vicinity of the butt portion 3a can be stably stirred by friction, which is good. Thus, it is possible to stably form and join the long plate-like members 3 to each other by friction stir welding.

摩擦撹拌加工機６の移動方向前方には、加圧ローラー７ａと補助ローラー７ｂを備えた、ローラーユニット７が取り付けられている。ローラーユニット７は、摩擦撹拌加工機６から取り外し可能であり、従来の摩擦撹拌加工機に取付けることもできる。   A roller unit 7 having a pressure roller 7a and an auxiliary roller 7b is attached in front of the friction stir processing machine 6 in the moving direction. The roller unit 7 can be detached from the friction stir processing machine 6 and can be attached to a conventional friction stir processing machine.

加圧ローラー７ａは、加工ツール６ａの移動方向前方に配されていて、支持部７ｃを介してシリンダー７ｄに支持され、そのシリンダー７ｄは、ガイド７ｅを介して摩擦撹拌加工機６に取付けられている。従って、加圧ローラー７ａは、シリンダー７ｄが支持部７ｃを押し下げる力により、突合せ部３ａを上方から加圧することができる。加圧ローラー７ａは、約１０００〜１００００Ｎの荷重で突合せ部３ａを加圧するのが好ましく、荷重に耐え得る材料、例えば、工具鋼などで製作するのが好ましい。そして、加圧ローラー７ａは、突合せ部３ａとの接触面積を小さくした方が単位接触面積当たりの荷重が高くなり、突合せ部をより強固に固定することができる。従って、加圧ローラー７ａは、走行が不安定にならない程度に、幅を狭くするのが好ましい。   The pressure roller 7a is arranged in front of the processing tool 6a in the moving direction, and is supported by the cylinder 7d through the support portion 7c. The cylinder 7d is attached to the friction stir processing machine 6 through the guide 7e. Yes. Therefore, the pressure roller 7a can press the butting portion 3a from above by the force with which the cylinder 7d pushes down the support portion 7c. The pressure roller 7a preferably pressurizes the butt 3a with a load of about 1000 to 10000N, and is preferably made of a material that can withstand the load, such as tool steel. The pressure roller 7a has a higher load per unit contact area when the contact area with the abutting portion 3a is reduced, so that the abutting portion can be more firmly fixed. Therefore, it is preferable to narrow the width of the pressure roller 7a to such an extent that traveling does not become unstable.

補助ローラー７ｂは、加圧ローラー７ａの移動方向前方に配されて、支持部７ｃに支持されている。そして、補助ローラー７ｂの下端が押え治具４に接触しないよう、補助ローラー７ｂの下端が加圧ローラー７ａの下端より高く配置され、その高さは、押え治具４の厚みよりも高く設定される。   The auxiliary roller 7b is arranged in front of the pressure roller 7a in the moving direction and is supported by the support portion 7c. And the lower end of the auxiliary roller 7b is arranged higher than the lower end of the pressure roller 7a so that the lower end of the auxiliary roller 7b does not contact the presser jig 4, and the height is set higher than the thickness of the presser jig 4. The

加圧ローラー７ａと補助ローラー７ｂは、シリンダー７ｄに接続する共通の支持部７ｃにより支持され、支持部７ｃはシリンダー７ｄにより常に上方から押さえつけられている。そして、加圧ローラー７ａと補助ローラー７ｂは、共通する支持部７ｃにより支持されているので、加圧ローラー７ａと補助ローラー７ｂは、加圧ローラー７ａが加圧する方向に一体的に移動する。従って、補助ローラー７ｂが乗り上げ治具５に乗り上がって上方に移動すると、加圧ローラー７ａも、補助ローラー７ｂおよび支持部７ｃとともに一体的に移動し、突合せ部３ａから上方に離れた状態となる。   The pressure roller 7a and the auxiliary roller 7b are supported by a common support portion 7c connected to the cylinder 7d, and the support portion 7c is always pressed from above by the cylinder 7d. And since the pressure roller 7a and the auxiliary roller 7b are supported by the common support part 7c, the pressure roller 7a and the auxiliary roller 7b move integrally in the direction which the pressure roller 7a presses. Therefore, when the auxiliary roller 7b rides on the riding jig 5 and moves upward, the pressure roller 7a also moves integrally with the auxiliary roller 7b and the support portion 7c, and is separated from the butting portion 3a upward. .

ここで、補助ローラー７ｂは、乗り上げ治具５に乗り上がった際に受ける衝撃で損傷しにくい構造にするのが好ましく、幅広にするのが好ましい。上述のように、加圧ローラー７ａは幅が狭いほうが好ましいことを踏まえると、補助ローラー７ｂは加圧ローラー７ａよりも相対的に幅が広いほうが好ましいものである。さらに、補助ローラー７ｂは、複数に分割されたローラーにして、実質的に加圧ローラー７ａよりも幅を広くしてもよい。さらに、補助ローラー７ｂの外周にゴム等の弾性材料を貼り付け、乗り上げ治具５に乗り上がった際に受ける衝撃が小さくなるような構造にしてもよい。   Here, it is preferable that the auxiliary roller 7 b has a structure that is not easily damaged by an impact received when the auxiliary roller 7 b rides on the riding jig 5, and is preferably wide. As described above, considering that the pressure roller 7a is preferably narrow, it is preferable that the auxiliary roller 7b is relatively wider than the pressure roller 7a. Further, the auxiliary roller 7b may be divided into a plurality of rollers and substantially wider than the pressure roller 7a. Further, an elastic material such as rubber may be attached to the outer periphery of the auxiliary roller 7b so that the impact received when riding on the riding jig 5 is reduced.

図２の装置１は、長尺板状部材３を平坦なステージ２上に固定する装置であるが、図３のように、敷板２ａをステージ２上に設け、長尺板状部材３を上方に湾曲させて固定するほうが好ましい。   The apparatus 1 in FIG. 2 is an apparatus for fixing the long plate-like member 3 on the flat stage 2. As shown in FIG. 3, the floor plate 2 a is provided on the stage 2 and the long plate-like member 3 is moved upward. It is preferable to be bent and fixed.

長尺板状部材３を上方に湾曲させると、引張応力が長尺板状部材３の長手方向に付与されるので、接合後の長尺板状部材３が下方に湾曲しにくくなり、接合による長手方向の反りを小さくすることができる。また、長尺板状部材３を多数並べて接合する場合、並べた方向についても材料が収縮して反りが発生しやすくなるが、長尺板状部材３を上方に湾曲させると、長尺板状部材３は並べた方向にも湾曲しにくくなり、長尺板状部材３を多数並べて接合しても、並べた方向の反りも小さくすることができる。   When the long plate-like member 3 is bent upward, tensile stress is applied in the longitudinal direction of the long plate-like member 3, so that the long plate-like member 3 after joining becomes difficult to bend downward, and due to joining. Warpage in the longitudinal direction can be reduced. In addition, when a large number of the long plate-like members 3 are arranged and joined, the material also shrinks in the arranged direction and warpage is likely to occur. However, if the long plate-like member 3 is curved upward, The members 3 are less likely to bend in the arranged direction, and even when a large number of the long plate-like members 3 are arranged and joined, warpage in the arranged direction can be reduced.

また、長尺板状部材３が長い場合、両端を押え治具４で固定しただけでは、長尺板状部材３の長手方向中央付近を強くステージ２に押し付けることが難しく、長手方向中央付近では押し付け力が弱くなって突合せ部３ａにズレが生じやすくなり、接合後に段差が生じるなどの接合欠陥が発生しやすくなる問題がある。長尺板状部材３を上方に湾曲させると、長尺板状部材３の長手方向中央付近は敷板２ａに押し付けられて強く固定されるようになり、突合せ部３ａにズレが生じにくくなって接合後に段差が生じるなどの接合欠陥の発生を抑制できるようになる。   Further, when the long plate-like member 3 is long, it is difficult to strongly press the vicinity of the center in the longitudinal direction of the long plate-like member 3 against the stage 2 only by fixing both ends with the holding jig 4. There is a problem that the pressing force is weakened and the butt portion 3a is likely to be displaced, and a joining defect such as a step is formed after joining. When the long plate-shaped member 3 is bent upward, the vicinity of the center in the longitudinal direction of the long plate-shaped member 3 is pressed against the floor plate 2a to be strongly fixed, and the butt portion 3a is less likely to be displaced and joined. It becomes possible to suppress the occurrence of bonding defects such as a step later.

図３のような固定方法は、突合せ部３ａに段差が生じやすい材料、すなわち、板厚方向の押えが効きにくく変形しやすい材料の接合に有効な固定方法であり、特に、アルミニウム等の押し出し中空材を摩擦撹拌接合するのには有効である。   The fixing method as shown in FIG. 3 is an effective fixing method for joining a material in which a level difference is likely to occur in the abutting portion 3a, that is, a material that is difficult to press in the plate thickness direction and is easily deformed. It is effective for friction stir welding of materials.

図４の側方から見た模式図を用いて、長尺板状部材３の長手方向端部における、加圧ローラー７ａと補助ローラー７ｂの動きについて説明する。   The movement of the pressure roller 7a and the auxiliary roller 7b at the longitudinal end of the long plate-like member 3 will be described with reference to the schematic view seen from the side of FIG.

図４（ａ）の図は、加工ツール６ａ、加圧ローラー７ａ、補助ローラー７ｂが、突合せ部３ａ上を移動して、長尺板状部材３の長手方向端部に接近しつつある状態を示したものである。加圧ローラー７ａは、加工ツール６ａの移動方向前方の突合せ部３ａを上方から加圧し、加工ツール６ａは、回転しながら突合せ部３ａに押し付けられ、接合部３ｂを形成する。この状態において、補助ローラー７ｂは、長尺板状部材３の上面および押え治具４の上方を、押え治具４に接触しないような位置関係で、摩擦撹拌加工機６と一体となって移動する。   4A shows a state in which the processing tool 6a, the pressure roller 7a, and the auxiliary roller 7b are moving on the butting portion 3a and approaching the longitudinal end portion of the long plate-like member 3. FIG. It is shown. The pressure roller 7a presses the abutting portion 3a in the moving direction of the processing tool 6a from above, and the processing tool 6a is pressed against the abutting portion 3a while rotating to form a joint portion 3b. In this state, the auxiliary roller 7b moves integrally with the friction stir processing machine 6 on the upper surface of the long plate-like member 3 and the upper side of the presser jig 4 so as not to contact the presser jig 4. To do.

加工ツール６ａが移動して、図４（ｂ）の図の状態になると、補助ローラー７ｂは、乗り合げ治具５に接触する。この時点において、加圧ローラー７ａは、突合せ部３ｂを上方から加圧した状態を維持し、加工ツール６ａも、突合せ部３ａに押し付けられた状態を維持している。   When the processing tool 6a moves to reach the state shown in FIG. 4B, the auxiliary roller 7b comes into contact with the joining jig 5. At this time, the pressure roller 7a maintains a state where the butt portion 3b is pressed from above, and the processing tool 6a also maintains a state where it is pressed against the butt portion 3a.

加工ツール６ａがさらに移動して、図４（ｃ）の図の状態になると、補助ローラー７ｂは、テーパー５ａを加圧しながら乗り上げ治具５に乗り上げて上方に移動する。加圧ローラー７ａは、補助ローラー７ｂとともに支持部７ｃに接続しているので、補助ローラー７ｂと共に加工ローラー７ａも上方に移動し、押え治具４に乗り上がる。なお、この状態において、補助ローラー７ｂがテーパー５ａに乗り上がるのと同時に、加圧ローラー７ａが上方に移動するので、加工ツール６ａが突合せ部３ａを押し付ける力は急激に変化することがない。従って、本装置にトルクフィードバック制御を適用させても、長尺板状部材３どうしが接合できなくなる問題は発生しない。   When the processing tool 6a further moves to the state shown in FIG. 4C, the auxiliary roller 7b rides on the riding jig 5 and moves upward while pressing the taper 5a. Since the pressure roller 7a is connected to the support portion 7c together with the auxiliary roller 7b, the processing roller 7a also moves upward together with the auxiliary roller 7b and rides on the presser jig 4. In this state, since the pressure roller 7a moves upward simultaneously with the auxiliary roller 7b climbing on the taper 5a, the force with which the processing tool 6a presses the butt portion 3a does not change abruptly. Therefore, even if the torque feedback control is applied to the present apparatus, the problem that the long plate-like members 3 cannot be joined does not occur.

その後、乗り上げ治具５に乗り上がった補助ローラー７ｂは、乗り上げ治具５上を加圧しながら移動し、押え治具４に乗り上がった加圧ローラー７ａは、押え治具４上を加圧しながら移動する。このとき、補助ローラー７ｂと加圧ローラー７ａは支持部７ｃに接続されて一体的に移動するので、支持部７ｃからの加圧力は、補助ローラー７ｂと加圧ローラー７ａに分散されることになり、押え治具４が加圧ローラー７ａの加圧により破損したり、押え治具５の押えが緩みにくくなる。   After that, the auxiliary roller 7b that has climbed on the climbing jig 5 moves while pressing on the climbing jig 5, and the pressure roller 7a that has climbed on the pressing jig 4 presses on the pressing jig 4. Moving. At this time, since the auxiliary roller 7b and the pressure roller 7a are connected to the support portion 7c and move integrally, the applied pressure from the support portion 7c is distributed to the auxiliary roller 7b and the pressure roller 7a. The presser jig 4 is not easily damaged by the pressurization of the pressure roller 7a, or the presser jig 5 is less likely to loosen.

最後に、加工ツール６ａがさらに移動し、図４（ｄ）の状態のように、加工ツール６ａが、押え治具４の端部に達して接合が完了する。このように、装置１を用いると、未接合部分３ｃの長さＬを、図６に示す従来技術の装置６１の未接合部分６３ｃの長さＬ’よりも短くすることができ、長尺板状部材を有効利用することができる。   Finally, the processing tool 6a further moves, and the processing tool 6a reaches the end of the presser jig 4 as shown in FIG. Thus, when the device 1 is used, the length L of the unjoined portion 3c can be made shorter than the length L ′ of the unjoined portion 63c of the prior art device 61 shown in FIG. The shaped member can be used effectively.

さらには、上記のような摩擦撹拌装置は、長尺板状部材の幅によらず、長尺板状部材を突合せて固定することができ、接合中、加圧ローラーが押え治具を強く加圧することがないので、押え治具が加圧により破損しにくく、押え治具の押えが緩みにくい。さらに、長尺板状部材の端部において、加工ツールの押し付け力が急激に変わることがないので、トルクフィードバック制御が付加された摩擦撹拌接合装置にも適用可能である。   Furthermore, the friction stirrer as described above can abut and fix the long plate-like member regardless of the width of the long plate-like member, and the pressure roller strongly applies the holding jig during joining. Since there is no pressure, the presser jig is not easily damaged by pressurization, and the presser jig is not easily loosened. Furthermore, since the pressing force of the processing tool does not change abruptly at the end of the long plate-like member, it can also be applied to a friction stir welding apparatus to which torque feedback control is added.

１，５１，６１，７１，８１：摩擦撹拌接合装置
２，５２，６２，７２，８２：ステージ
２ａ：敷板
３，５３，６３，７３，８３：長尺板状部材
３ａ，５３ａ，７３ａ：突合せ部
３ｂ，８３ｂ：接合部
３ｃ，６３ｃ，８３ｃ：未接合部分
４，５４，６４，７４，８４：押え治具
４ａ：弾性材料
７４ａ：切欠き部
５：乗り上げ治具
５ａ：テーパー
５ｂ：弾性材料
６：摩擦撹拌加工機
６ａ，５６ａ，６６ａ，７６ａ，８６ａ：加工ツール
７：ローラーユニット
７ａ，６７ａ，７７ａ，８７ａ：加圧ローラー
７ｂ：補助ローラー
７ｃ：支持部
７ｄ：シリンダー
７ｅ：ガイド
７ｆ：弾性材料
Ｌ，Ｌ’，Ｌ’’：未接合部分




1, 51, 61, 71, 81: Friction stir welding apparatus 2, 52, 62, 72, 82: Stage 2a: Floor plate 3, 53, 63, 73, 83: Long plate member 3a, 53a, 73a: Butt Portions 3b, 83b: Joined portions 3c, 63c, 83c: Unjoined portions 4, 54, 64, 74, 84: Holding jig 4a: Elastic material 74a: Notch portion 5: Lifting jig 5a: Taper 5b: Elastic material 6: Friction stir processing machine 6a, 56a, 66a, 76a, 86a: Processing tool 7: Roller unit 7a, 67a, 77a, 87a: Pressure roller 7b: Auxiliary roller 7c: Support part 7d: Cylinder 7e: Guide 7f: Elasticity Materials L, L ', L'': Unjoined parts




Claims (7)

隣り合う長尺板状部材の側面部同士を突き合わせて突合せ部を形成し、摩擦撹拌接合工具である加工ツールを前記長尺板状部材の上面側から前記突合せ部に回転させながら押しつけ、前記加工ツールを前記突合せ部に対して相対移動させて前記長尺板状部材同士を接合する摩擦撹拌装置において、
前記加工ツールと、前記加工ツールの移動方向前方に配されて前記長尺板状部材の前記突合せ部を上面側から加圧する加圧ローラーと、当該加圧ローラーの移動方向前方に配されて当該加圧ローラーの加圧方向に当該加圧ローラーと一体的に移動する補助ローラーと、前記長尺板状部材の長手方向両端にあって突き合わされた前記長尺板状部材を上面側から一括して押さえつける押え治具と、当該押え治具近傍に配された乗り上げ治具とを備え、
前記加工ツールと前記加圧ローラーと前記補助ローラーとが、前記突合せ部に対して一体的に相対移動し、前記加工ツールが前記押え治具に接近した際、前記補助ローラーが前記乗り上げ治具上に乗り上がって前記乗り上げ治具上を加圧しながら移動しつつ、前記加圧ローラーが前記押え治具上に乗り上がって前記押え治具上を加圧しながら移動することを特徴とする摩擦撹拌接合装置。 The side surfaces of adjacent long plate-like members are butted together to form a butt portion, and a processing tool that is a friction stir welding tool is pressed against the butt portion while rotating from the upper surface side of the long plate-like member, In the friction stirrer for joining the long plate members by moving the tool relative to the butting portion,
The processing tool, a pressure roller disposed in front of the processing tool in the moving direction and pressurizing the butting portion of the long plate-shaped member from the upper surface side, and disposed in front of the pressure roller in the moving direction The auxiliary roller that moves integrally with the pressure roller in the pressure direction of the pressure roller, and the long plate-like member that is abutted at both ends in the longitudinal direction of the long plate-like member are bundled from the upper surface side. A pressing jig that presses down and a climbing jig arranged in the vicinity of the pressing jig,
The processing tool, the pressure roller, and the auxiliary roller integrally move relative to the butting portion, and when the processing tool approaches the presser jig, the auxiliary roller is placed on the climbing jig. Friction stir welding, wherein the pressure roller climbs onto the presser jig and moves while pressing on the presser jig while moving on the presser jig while pressing on the lifter jig apparatus. 前記長尺板状部材を３本以上隣り合わせて接合することが可能な請求項１に記載の摩擦撹拌接合装置。   The friction stir welding apparatus according to claim 1, wherein three or more long plate-like members can be joined side by side. 前記加圧ローラーと前記補助ローラーとが共通の支持部により支持されていることを特徴とする請求項１または２に記載の摩擦撹拌接合装置。   The friction stir welding apparatus according to claim 1 or 2, wherein the pressure roller and the auxiliary roller are supported by a common support portion. 前記補助ローラーの実質的な幅が、前記加圧ローラーの幅より広いことを特徴とする請求項１ないし３のいずれかに記載の摩擦撹拌接合装置。   The friction stir welding apparatus according to any one of claims 1 to 3, wherein a substantial width of the auxiliary roller is wider than a width of the pressure roller. 前記乗り上げ治具または前記押え治具上に弾性材料が貼り付けられていることを特徴とする請求項１ないし４のいずれかに記載の摩擦撹拌接合装置。   The friction stir welding apparatus according to any one of claims 1 to 4, wherein an elastic material is affixed on the riding jig or the pressing jig. 前記補助ローラーの外周に弾性材料が設けられていることを特徴とする請求項１ないし４のいずれかに記載の摩擦撹拌接合装置。   The friction stir welding apparatus according to any one of claims 1 to 4, wherein an elastic material is provided on an outer periphery of the auxiliary roller. 前記長尺板状部材として押出し中空材を接合する請求項１ないし６のいずれかに記載の摩擦撹拌接合装置。


The friction stir welding apparatus according to any one of claims 1 to 6, wherein an extruded hollow member is joined as the long plate member.


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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58221694A (en) * 1982-06-17 1983-12-23 Nippon Steel Corp Welding method of pipe end in welding inside of steel pipe
JPH1110366A (en) * 1997-06-26 1999-01-19 Showa Alum Corp Method and device of friction stirring joining
JP2000153375A (en) * 1998-11-19 2000-06-06 Sumitomo Light Metal Ind Ltd Frictional agitation joining device
JP2000202645A (en) * 1999-01-12 2000-07-25 Nippon Light Metal Co Ltd Device and method for friction-stirring-welding
JP2008302421A (en) * 2007-06-11 2008-12-18 Nikkeikin Aluminium Core Technology Co Ltd Joining jig
JP2011121110A (en) * 2009-12-14 2011-06-23 Hitachi Ltd Automatic inspection device for friction stir welding

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS58221694A (en) * 1982-06-17 1983-12-23 Nippon Steel Corp Welding method of pipe end in welding inside of steel pipe
JPH1110366A (en) * 1997-06-26 1999-01-19 Showa Alum Corp Method and device of friction stirring joining
US6068178A (en) * 1997-06-26 2000-05-30 Showa Aluminum Corporation Friction agitation joining method and friction agitation joining device
JP2000153375A (en) * 1998-11-19 2000-06-06 Sumitomo Light Metal Ind Ltd Frictional agitation joining device
JP2000202645A (en) * 1999-01-12 2000-07-25 Nippon Light Metal Co Ltd Device and method for friction-stirring-welding
JP2008302421A (en) * 2007-06-11 2008-12-18 Nikkeikin Aluminium Core Technology Co Ltd Joining jig
JP2011121110A (en) * 2009-12-14 2011-06-23 Hitachi Ltd Automatic inspection device for friction stir welding

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