JP2023147704A - Friction stirring joining device and position correction method for join line - Google Patents

Friction stirring joining device and position correction method for join line Download PDF

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JP2023147704A
JP2023147704A JP2022055372A JP2022055372A JP2023147704A JP 2023147704 A JP2023147704 A JP 2023147704A JP 2022055372 A JP2022055372 A JP 2022055372A JP 2022055372 A JP2022055372 A JP 2022055372A JP 2023147704 A JP2023147704 A JP 2023147704A
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welding
friction stir
stir welding
line
image information
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JP7190074B1 (en
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幸一 石黒
Koichi Ishiguro
俊 篠原
Shun SHINOHARA
昇三 宮部
Shozo Miyabe
小林義章
Yoshiaki Kobayashi
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Hitachi Power Solutions Co Ltd
Technol Eight Co Ltd
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Technol Eight Co Ltd
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Abstract

To correct deviation of a join line caused by a setting error made when placing a member to be joined on a placement base and deviation of the join line caused when performing friction stirring joining, without deteriorating productivity.SOLUTION: A friction stirring joining device performs friction stirring joining of a member to be joined, by inserting a joining tool attached to a spindle into the member to be joined, up to a target depth while rotating the tool at a target rotating speed and advancing the joining tool from a friction stirring joining starting end part to a friction stirring joining finishing end part while softening an inserted portion of the member to be joined and the vicinity of the inserted portion by friction heat, in a join line showing a butting-site of the member to be joined at which a first member to be joined and a second member to be joined are butted to each other, which makes the joining tool advance from the friction stirring joining starting end part to the friction stirring joining finishing end part while correcting a position of the join line so that a position in image information on the join line matches a reference joint point set in the friction stirring joining device in a test operation step which is a previous step in which the member to be joined is subjected to friction stirring joining.SELECTED DRAWING: Figure 2

Description

本発明は、被接合部材同士を摩擦攪拌接合により接合する摩擦攪拌接合装置の構成とその制御に係り、特に、高品質（高精度）な接合が要求される被接合部材の接合に適用して有効な技術に関する。 The present invention relates to the configuration and control of a friction stir welding apparatus for joining workpieces together by friction stir welding, and is particularly applicable to joining workpieces that require high-quality (high-precision) joining. Concerning effective techniques.

円柱状の接合ツールを回転させて発生する摩擦熱で被接合材料を軟化させ、その部分を攪拌することで被接合材料同士を接合する摩擦攪拌接合（ＦＳＷ：Friction Stir Welding）は、材料以外の素材を用いないため、疲労強度が高く、材料も溶融しないことから溶接変形（ひずみ）の少ない接合が可能であり、航空機や自動車のボディなど、幅広い分野での応用が期待されている。 Friction stir welding (FSW) is a process in which materials to be joined are joined together by softening the materials to be welded using frictional heat generated by rotating a cylindrical welding tool and stirring that part. Since no material is used, the fatigue strength is high, and since the material does not melt, it is possible to join with little welding deformation (strain), and it is expected to be applied in a wide range of fields, such as aircraft and automobile bodies.

本技術分野の背景技術として、例えば、特許文献１のような技術がある。特許文献１には、「接合工具（接合ツールに相当）のＸＹＺ方向位置をサーボモータによって制御しつつ、接合工具で接合線を追跡してアルミ板の接合を行う摩擦撹拌接合装置において、接合工具よりも進行方向前方にＣＣＤカメラを設け、当該ＣＣＤカメラで接合される接合線を撮影し、アルミ板の接合端縁上面に、接合端面と平行なマーキングを設けてあって、上記ＣＣＤカメラで撮影した映像を画像処理装置で画像処理し、画像中の上記マーキングの位置の画像上の基準線からのずれ量を演算手段で演算し、上記ずれ量をサーボアンプに伝送して、接合線の中心部を接合工具が追跡するように、サーボモータをフィードバック制御する摩擦撹拌接合装置」が開示されている。 As background technology in this technical field, there is a technology such as that disclosed in Patent Document 1, for example. Patent Document 1 states, ``In a friction stir welding apparatus that welds aluminum plates by tracing a welding line with the welding tool while controlling the XYZ direction position of the welding tool (corresponding to the welding tool) by a servo motor, the welding tool A CCD camera is installed in front of the machine in the direction of travel, and the CCD camera photographs the joint line to be joined.A marking parallel to the joint end surface is provided on the upper surface of the joint edge of the aluminum plate, and the above CCD camera photographs the joint line. The image is processed by an image processing device, the amount of deviation of the position of the marking in the image from the reference line on the image is calculated by the calculation means, the amount of deviation is transmitted to the servo amplifier, and the center of the joining line is calculated. A friction stir welding apparatus that performs feedback control of a servo motor so that a welding tool tracks a welding part is disclosed.

特開２００５－１４０９３号公報Japanese Patent Application Publication No. 2005-14093

上記特許文献１に開示された技術によれば、接合工具を接合線に精度よく沿って進行させて被接合部材を摩擦攪拌接合することが可能としている。 According to the technique disclosed in Patent Document 1, it is possible to perform friction stir welding of members to be welded by moving a welding tool along a welding line with high accuracy.

しかしながら、この方法を実現するためには、準備作業として被接合部材にマーキングをする必要がある。この準備作業は、例えば自動車ボディのパネルなどを大量に（連続的に）摩擦攪拌接合する場合においては、生産性を大きく低下させる要因となる。 However, in order to implement this method, it is necessary to mark the members to be joined as a preparatory work. This preparatory work is a factor that greatly reduces productivity, for example, when friction stir welding a large number of automobile body panels (continuously).

そこで、本発明の目的は、生産性を低下させることなく、被接合部材を載置台に載置した際のセットミスによる接合線のズレや、摩擦攪拌接合する際に生じる接合線のズレを修正し、本来あるべき接合線の位置において被接合部材を摩擦攪拌接合することが可能な摩擦攪拌接合装置及び接合線の位置修正方法を提供することにある。 Therefore, an object of the present invention is to correct the deviation of the joining line due to a setting error when placing the welded parts on the mounting table, or the deviation of the joining line that occurs during friction stir welding, without reducing productivity. Another object of the present invention is to provide a friction stir welding apparatus and a method for correcting the position of the joining line, which can perform friction stir welding of members to be joined at the original position of the joining line.

上記課題を解決するために、本発明は、第１の被接合部材と第２の被接合部材とを突き合せた被接合部材の前記突き合せた部位を示す接合線において、主軸に取り付けた接合ツールを目標回転速度で回転させながら目標深度まで挿入し、前記被接合部材の挿入部及びその近傍を摩擦熱により軟化させながら摩擦攪拌接合始端部から摩擦攪拌接合終端部まで前記接合ツールを進行させて前記被接合部材を摩擦攪拌接合する摩擦攪拌接合装置であって、前記被接合部材を摩擦攪拌接合する前段階であるテスト運用段階において前記摩擦攪拌接合装置内に設定した基準接合点に、前記接合線の画像情報の位置が一致するように、前記接合線の位置を修正しながら前記接合ツールを前記摩擦攪拌接合始端部から前記摩擦攪拌接合終端部まで進行することを特徴とする。 In order to solve the above-mentioned problems, the present invention provides a joint that is attached to a main shaft at a joining line indicating the butted portion of a first joined member and a second joined member that are butted against each other. The welding tool is inserted to the target depth while rotating at the target rotational speed, and the welding tool is advanced from the friction stir welding starting end to the friction stir welding end while softening the inserted part of the welded parts and the vicinity thereof by frictional heat. A friction stir welding apparatus for friction stir welding the members to be welded together, wherein the reference welding point is set in the friction stir welding apparatus in a test operation stage, which is a stage before friction stir welding the members to be welded. The method is characterized in that the welding tool is advanced from the friction stir welding starting end to the friction stir welding end while correcting the position of the welding line so that the positions of the image information of the welding line match.

また、本発明は、摩擦攪拌接合装置における接合線の位置修正方法であって、（ａ）被接合部材を摩擦攪拌接合する前段階であるテスト運用段階において、接合ツールの進行方向である主軸の前側に配置された前側画像情報取得装置と前記接合ツールの進行方向と反対方向である前記主軸の後側に配置された後側画像情報取得装置を使用して、摩擦攪拌接合始端部から摩擦攪拌接合終端部までの前記接合線の画像情報を示す接合線画像情報を取得するステップと、（ｂ）前記摩擦攪拌接合装置が内部に設定するＸＹ平面上において、所定間隔で前記接合線画像情報の座標を算出して基準接合点を設定するステップと、（ｃ）前記被接合部材を摩擦攪拌接合する際に、前記接合ツールを前記摩擦攪拌接合始端部に配置したときに前記後側画像情報取得装置により現在の前記接合線の画像情報を取得して前記摩擦攪拌接合始端部の前記ＸＹ平面上の座標を算出し、前記基準接合点の座標との差分を算出して前記差分が許容範囲を超えていたら前記差分が前記許容範囲に入るように載置台の位置を移動して前記接合線の位置を修正する初期位置修正ステップと、（ｄ）前記被接合部材を摩擦攪拌接合する際に、前記前側画像情報取得装置により現在の前記接合線の画像情報を取得しながら前記接合ツールを前記摩擦攪拌接合始端部から前記摩擦攪拌接合終端部まで進行させ、前記所定間隔で前記現在の接合線画像情報の座標を算出して対応する前記基準接合点の座標との差分を算出し、前記差分が前記許容範囲を超えていたら前記差分が前記許容範囲に入るように前記載置台の位置を移動して前記接合線の位置を修正する進行位置修正ステップと、を有することを特徴とする。 The present invention also provides a method for correcting the position of a welding line in a friction stir welding apparatus, in which (a) the main shaft, which is the traveling direction of the welding tool, is Using a front image information acquisition device placed on the front side and a rear image information acquisition device placed on the rear side of the spindle in the direction opposite to the direction of movement of the welding tool, friction stir welding is performed from the starting end of friction stir welding. (b) obtaining the joining line image information at predetermined intervals on the XY plane set inside the friction stir welding apparatus; (c) obtaining the rear side image information when the welding tool is placed at the friction stir welding starting end when friction stir welding the welded members; A device acquires image information of the current welding line, calculates the coordinates of the friction stir welding starting end on the XY plane, calculates the difference from the coordinates of the reference welding point, and determines whether the difference falls within an allowable range. If the difference exceeds the allowable range, an initial position correction step of moving the position of the mounting table to correct the position of the welding line; (d) when friction stir welding the members to be welded; The welding tool is advanced from the friction stir welding starting end to the friction stir welding end while acquiring image information of the current welding line by the front image information acquisition device, and images of the current welding line are captured at the predetermined intervals. Calculate the coordinates of the information and calculate the difference from the coordinates of the corresponding reference junction point, and if the difference exceeds the tolerance range, move the position of the mounting base so that the difference falls within the tolerance range. and a step of correcting the position of the joining line.

本発明によれば、生産性を低下させることなく、被接合部材を載置台に載置した際のセットミスによる接合線のズレや、摩擦攪拌接合する際に生じる接合線のズレを修正し、本来あるべき接合線の位置において被接合部材を摩擦攪拌接合することが可能な摩擦攪拌接合装置及び接合線の位置修正方法を実現することができる。 According to the present invention, it is possible to correct the deviation of the joining line due to a setting error when placing the welded parts on the mounting table, or the deviation of the joining line that occurs during friction stir welding, without reducing productivity, It is possible to realize a friction stir welding apparatus and a method for correcting the position of a welding line that can perform friction stir welding of members to be joined at the position of the welding line that should originally exist.

これにより、被接合部材同士の高品質（高精度）な摩擦攪拌接合が可能となる。 This enables high-quality (high-precision) friction stir welding of the members to be joined.

上記した以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。 Problems, configurations, and effects other than those described above will be made clear by the following description of the embodiments.

本発明の実施例１に係る摩擦攪拌接合装置の全体概要を示す図である。1 is a diagram showing an overall outline of a friction stir welding apparatus according to Example 1 of the present invention. 図１の載置台と画像情報取得装置の具体例を示す斜視図である。FIG. 2 is a perspective view showing a specific example of the mounting table and image information acquisition device of FIG. 1; 本発明の実施例１に係るＸＹ平面と基準接合点を示す図である。FIG. 3 is a diagram showing an XY plane and a reference junction point according to Example 1 of the present invention. 接合線のズレと載置台の位置調整を示す図である。It is a figure which shows the shift of a joining line and the position adjustment of a mounting table. 接合線のズレと載置台の位置調整を示す図である。It is a figure which shows the shift of a joining line and the position adjustment of a mounting table. 接合線のズレと接合ツールの位置調整を示す図である。FIG. 7 is a diagram illustrating the deviation of the joining line and the position adjustment of the joining tool. 接合線のズレと接合ツールの位置調整を示す図である。FIG. 7 is a diagram illustrating the deviation of the joining line and the position adjustment of the joining tool. 主軸モータ負荷率と接合ツール挿入動作の関係を概念的に示す図である。FIG. 3 is a diagram conceptually showing the relationship between the spindle motor load factor and the welding tool insertion operation. 本発明の実施例２に係る接合線の位置修正方法を示すフローチャートである。7 is a flowchart showing a method for correcting the position of a joining line according to a second embodiment of the present invention.

以下、図面を用いて本発明の実施例を説明する。なお、各図面において同一の構成については同一の符号を付し、重複する部分についてはその詳細な説明は省略する。 Embodiments of the present invention will be described below with reference to the drawings. Note that in each drawing, the same components are denoted by the same reference numerals, and detailed explanations of overlapping parts will be omitted.

図１から図６を参照して、本発明の実施例１に係る摩擦攪拌接合装置について説明する。 Embodiment 1 A friction stir welding apparatus according to a first embodiment of the present invention will be described with reference to FIGS. 1 to 6.

図１は、本実施例に係る摩擦攪拌接合装置１の全体概要を示す図である。 FIG. 1 is a diagram showing an overall outline of a friction stir welding apparatus 1 according to this embodiment.

本実施例の摩擦攪拌接合装置１は、図１に示すように、主要な構成として、装置本体２と、Ｚ軸上下動駆動機構部３を介して装置本体２に接続される主軸支持部４と、主軸支持部４により保持される主軸１５と、主軸１５により保持されるツールホルダ（接合ヘッド）５と、ツールホルダ（接合ヘッド）５により保持される接合ツール６とを備えて構成されている。 As shown in FIG. 1, the friction stir welding apparatus 1 of this embodiment has, as main components, an apparatus main body 2 and a main shaft support part 4 connected to the apparatus main body 2 via a Z-axis vertical movement drive mechanism part 3. , a main shaft 15 held by the main shaft support 4, a tool holder (welding head) 5 held by the main shaft 15, and a joining tool 6 held by the tool holder (welding head) 5. There is.

Ｚ軸上下動駆動機構部３には、図１に例示するように、例えばボールスクリュー、リニアガイドなどが用いられ、Ｚ軸上下動駆モータ１６により装置本体２に対して主軸支持部４をＺ軸方向（上下方向）に駆動させる。 As illustrated in FIG. 1, the Z-axis vertical movement drive mechanism 3 uses, for example, a ball screw, a linear guide, etc. Drive in the axial direction (vertical direction).

接合ツール６はショルダ部７およびプローブ部（接合ピン）８で構成され、主軸モータ１４に連結（図１では直結）されている。主軸モータ１４は、接合ツール６を所定方向に回転させる。 The welding tool 6 includes a shoulder portion 7 and a probe portion (joint pin) 8, and is connected to a main shaft motor 14 (directly connected in FIG. 1). The main shaft motor 14 rotates the welding tool 6 in a predetermined direction.

装置本体２は、Ｚ軸上下動駆動機構部３を介して主軸支持部４を支持し、装置本体２に搭載（付属）された制御部（制御装置）１１から主軸モータ１４に駆動信号を付与して接合ツール６を回転させながら接合線に沿って進行させる。つまり、装置本体２は、主軸支持部４と、主軸１５と、ツールホルダ（接合ヘッド）５を保持し、接合ツール６を回転させると共に、接合ツール６を図１のＸ軸方向およびＺ軸方向に移動させる。 The device main body 2 supports a main shaft support portion 4 via a Z-axis vertical movement drive mechanism 3, and provides a drive signal to the main shaft motor 14 from a control section (control device) 11 mounted on (attached to) the device main body 2. The welding tool 6 is advanced along the welding line while rotating. In other words, the device main body 2 holds the spindle support part 4, the spindle 15, and the tool holder (welding head) 5, rotates the welding tool 6, and rotates the welding tool 6 in the X-axis direction and Z-axis direction in FIG. move it to

接合ツール６を所定の回転数で回転させながら、載置台１０上に載置された被接合部材９（９ａ，９ｂ）表面の接合線上にショルダ部７とプローブ部８とを押し付けることにより摩擦熱を発生させて被接合部材９を軟化させ、ショルダ部７とプローブ部８とを被接合部材９に必要量挿入し、当該回転数を保持することで塑性流動が生じ、挿入部が攪拌される。接合ツール６を引き抜く、又は移動することで攪拌部（接合部）が冷却され、被接合部材９は接合される。 While rotating the welding tool 6 at a predetermined rotation speed, the shoulder portion 7 and the probe portion 8 are pressed onto the welding line on the surface of the workpieces 9 (9a, 9b) placed on the mounting table 10, thereby generating frictional heat. is generated to soften the welded member 9, the shoulder portion 7 and the probe portion 8 are inserted into the welded member 9 by the required amount, and by maintaining the rotation speed, plastic flow is generated and the inserted portion is agitated. . By pulling out or moving the welding tool 6, the stirring section (joint section) is cooled, and the members 9 to be welded are welded.

なお、図１では、ツールホルダ（接合ヘッド）５及び接合ツール６が、主軸１５及び主軸支持部４、Ｚ軸上下動駆動機構部３を介して装置本体２に接続（保持）される構成を示しているが、これに限定されるものではなく、例えば、Ｚ軸上下動駆動機構部３のみを介して装置本体２に接続（保持）される構成や、他の可動手段を介して装置本体２に接続（保持）される構成、ツールホルダ（接合ヘッド）５及び接合ツール６が直接装置本体２に接続（保持）される構成、或いは、図１の構成に、さらにツールホルダ（接合ヘッド）５と装置本体２の間にＣ型フレームを設ける構成、多軸ロボットアームを有する装置本体２に接続（保持）される構成なども本実施例の範囲に含むものとする。 Note that FIG. 1 shows a configuration in which the tool holder (welding head) 5 and the welding tool 6 are connected (held) to the apparatus main body 2 via the main shaft 15, the main shaft support part 4, and the Z-axis vertical movement drive mechanism part 3. However, the present invention is not limited to this, and for example, a configuration in which the device is connected (held) to the device main body 2 only via the Z-axis vertical movement drive mechanism section 3, or a configuration in which the device main body 2 is connected to the device main body 2 via other movable means is possible. 2, a configuration in which the tool holder (welding head) 5 and the welding tool 6 are directly connected (held) to the apparatus main body 2, or a configuration in which the tool holder (welding head) 5 and the welding tool 6 are directly connected (held) to the apparatus main body 2, or the configuration shown in FIG. The present embodiment also includes a configuration in which a C-shaped frame is provided between the device body 2 and the device body 2, and a configuration in which the device body 2 is connected (held) to the device body 2 having a multi-axis robot arm.

また、ショルダ部７とプローブ部（接合ピン）８とが同一である接合ツール（つまりプローブを有さず、ショルダのみ）であっても良く、また、ショルダ部７が回転しない構造であっても良い。 Further, the welding tool may have the same shoulder portion 7 and the probe portion (joint pin) 8 (that is, only the shoulder without a probe), or may have a structure in which the shoulder portion 7 does not rotate. good.

装置本体２には、摩擦攪拌接合装置１の動作を制御する制御部（制御装置）１１が設置（付属）されている。制御部（制御装置）１１は、接合ツール６による接合条件を決定する接合条件信号やＺ軸上下動駆動機構部３による接合ツール６の鉛直方向（Ｚ方向）の保持位置（接合ピン８の挿入量）を決定する保持位置決定信号などの接合パラメータ（ＦＳＷ接合条件）を記憶する記憶部（図示せず）を備えている。なお、制御部１１は、制御装置として装置本体とは別に構成してもよい。 A control section (control device) 11 that controls the operation of the friction stir welding apparatus 1 is installed (attached) to the apparatus main body 2 . The control unit (control device) 11 controls welding condition signals that determine the welding conditions for the welding tool 6 and the vertical direction (Z direction) holding position of the welding tool 6 (insertion of the welding pin 8) by the Z-axis vertical movement drive mechanism 3. A storage unit (not shown) is provided for storing bonding parameters (FSW bonding conditions) such as a holding position determination signal that determines the holding position determination signal (FSW bonding amount). Note that the control unit 11 may be configured as a control device separately from the main body of the apparatus.

また、装置本体２には、Ｘ軸方向に駆動可能なＸ軸前後駆動機構部１２が設けられており、Ｘ軸前後動駆モータ１３により装置本体２の上部をＸ軸方向に設けられたリニアガイドのレールに沿って移動させることで、ツールホルダ（接合ヘッド）５及び接合ツール６をＸ軸方向（接合方向）へ移動させることができる。 The device main body 2 is also provided with an X-axis longitudinal drive mechanism section 12 that can be driven in the X-axis direction, and an X-axis longitudinal drive motor 13 drives the upper part of the device main body 2 into a linear By moving along the rail of the guide, the tool holder (joining head) 5 and the joining tool 6 can be moved in the X-axis direction (joining direction).

ここで、本実施例の摩擦攪拌接合装置１には、図１に示すように、接合ツール６の進行方向である主軸１５の前側に配置された前側画像情報取得装置１７ａと、接合ツール６の進行方向と反対方向である主軸１５の後側に配置された後側画像情報取得装置１７ｂが設置されている。 Here, as shown in FIG. 1, the friction stir welding apparatus 1 of this embodiment includes a front image information acquisition device 17a disposed on the front side of the main shaft 15, which is the traveling direction of the welding tool 6, and a A rear image information acquisition device 17b is installed on the rear side of the main shaft 15 in the direction opposite to the traveling direction.

前側画像情報取得装置１７ａおよび後側画像情報取得装置１７ｂにより取得した接合線画像情報は、制御部（制御装置）１１に入力され、接合ツール６による摩擦攪拌接合の接合条件にフィードバックされる。 The joining line image information acquired by the front side image information acquisition device 17a and the rear side image information acquisition device 17b is input to the control section (control device) 11, and is fed back to the welding conditions of friction stir welding by the welding tool 6.

図２に、載置台１０と画像情報取得装置１７ａ，１７ｂの具体例を示す。図２では、載置台１０の構成例として、載置台移動機構部１０ａにより被接合部材９（９ａ，９ｂ）をＹ軸方向に移動可能な構造の載置台を示している。 FIG. 2 shows a specific example of the mounting table 10 and the image information acquisition devices 17a and 17b. FIG. 2 shows, as an example of the configuration of the mounting table 10, a mounting table having a structure in which the members to be joined 9 (9a, 9b) can be moved in the Y-axis direction by a mounting table moving mechanism section 10a.

上述したように、主軸１５の前側（接合ツール６の進行方向側）には前側画像情報取得装置１７ａが配置され、主軸１５の後側（接合ツール６の進行方向と反対方向側）には後側画像情報取得装置１７ｂが配置されており、それぞれ主軸１５の前側の接合線１８の画像情報、主軸１５の後側の接合線１８の画像情報を取得することができる。 As described above, the front image information acquisition device 17a is arranged on the front side of the main shaft 15 (on the side in the direction of movement of the welding tool 6), and the rear image information acquisition device 17a is arranged on the rear side of the main shaft 15 (on the side in the direction opposite to the direction of movement of the welding tool 6). A side image information acquisition device 17b is arranged, and can acquire image information of the joining line 18 on the front side of the main shaft 15 and image information of the joining line 18 on the rear side of the main shaft 15, respectively.

本発明では、後述するように、主軸１５の前後に設置した画像情報取得装置１７ａ，１７ｂにより接合線１８の画像情報を取得し、接合線１８の画像情報の位置が摩擦攪拌接合装置１内に設定した基準接合点に一致するように接合線１８の位置を修正しながら接合ツール６を摩擦攪拌接合始端部から摩擦攪拌接合終端部まで進行する。 In the present invention, as described later, image information of the welding line 18 is acquired by image information acquisition devices 17a and 17b installed before and after the main shaft 15, and the position of the image information of the welding line 18 is determined within the friction stir welding apparatus 1. The welding tool 6 is advanced from the friction stir welding starting end to the friction stir welding end while correcting the position of the welding line 18 so as to match the set reference welding point.

次に、図６を用いて、主軸モータ負荷率と接合ツール挿入動作の関係について説明する。図６は、主軸モータ負荷率と接合ツール挿入動作の関係を概念的に示す図である。図６に示すように、接合ツール位置は主軸モータ１４の負荷率と関係がある。 Next, the relationship between the spindle motor load factor and the welding tool insertion operation will be described using FIG. 6. FIG. 6 is a diagram conceptually showing the relationship between the spindle motor load factor and the welding tool insertion operation. As shown in FIG. 6, the welding tool position is related to the load factor of the spindle motor 14.

プローブ部（接合ピン）８を被接合部材９に接触させて接合ツール６の挿入を開始すると、接合ツール位置が深くなるに従い主軸モータ１４の負荷率は上昇する。 When the probe portion (welding pin) 8 is brought into contact with the workpiece 9 and insertion of the welding tool 6 is started, the load factor of the main shaft motor 14 increases as the position of the welding tool becomes deeper.

接合ツール６の挿入中にショルダ部７が被接合部材９に接触すると、主軸モータ１４の負荷率の上昇率は一時的に低下するが、接合ツール６の挿入がさらに進むと、主軸モータ１４の負荷率の上昇率は再び上昇する。 If the shoulder portion 7 comes into contact with the workpiece 9 during insertion of the welding tool 6, the rate of increase in the load factor of the main shaft motor 14 will temporarily decrease; The rate of increase in the load factor increases again.

接合ツール６の挿入時の目標負荷率または目標接合ツール位置に到達した時点で、接合ツール６の挿入処理を終了し、接合ツール位置を固定した状態で、接合ツール６を一定の時間回転させて被接合部材９への入熱処理を行う。 When the target load rate or the target welding tool position during insertion of the welding tool 6 is reached, the insertion process of the welding tool 6 is finished, and the welding tool 6 is rotated for a certain period of time with the welding tool position fixed. Heat input treatment to the members 9 to be joined is performed.

その後、被接合部材９の摩擦攪拌接合処理を行う。摩擦攪拌接合処理の間は、主軸モータ負荷率と接合ツール位置をともに一定の値（目標値）を保持するように、主軸モータ１４及びＺ軸上下動駆動モータ１６の駆動を制御する。 Thereafter, friction stir welding processing of the members 9 to be welded is performed. During the friction stir welding process, the driving of the main shaft motor 14 and the Z-axis vertical movement drive motor 16 is controlled so that both the main shaft motor load factor and the welding tool position are maintained at constant values (target values).

摩擦攪拌接合処理が終了した時点で、接合ツール６の引き抜きを開始すると、接合ツール位置が浅くなるに従い主軸モータ１４の負荷率は低下する。 When the welding tool 6 is started to be withdrawn at the end of the friction stir welding process, the load factor of the main shaft motor 14 decreases as the welding tool position becomes shallower.

上記のように、本実施例の摩擦攪拌接合装置１は、摩擦攪拌接合始端部において、接合ツール６を所定の回転速度を示す目標回転速度で回転しながら被接合部材９（第１の被接合部材９ａと第２の被接合部材９ｂとを突き合せたもの）の接合線１８（第１の被接合部材９ａと第２の被接合部材９ｂとの突き合せた部位を示す線）に目標とする深度を示す目標深度まで挿入し、その位置において、接合ツール６近傍の被接合部材９の温度を示す接合温度が所望の値に上昇するまで入熱処理を行い、その後、接合線（第１の被接合部材９ａと第２の被接合部材９ｂとの接合部）に沿って所定の進行速度を示す目標進行速度で接合ツール６を摩擦攪拌接合終端部まで進行させて被接合部材９（９ａ，９ｂ）を摩擦攪拌接合する。 As described above, the friction stir welding apparatus 1 of this embodiment rotates the welding tool 6 at a target rotational speed that is a predetermined rotational speed at the starting end of the friction stir welding. A target is set on the joining line 18 (the line indicating the butt part of the first member 9a and the second member 9b) of the member 9a and the second member 9b to be joined. At that position, heat input treatment is performed until the welding temperature, which indicates the temperature of the workpiece 9 near the welding tool 6, rises to a desired value, and then the welding line (first The welding tool 6 is advanced along the welded parts 9 (joint part between the welded members 9a and the second welded members 9b) at a target advancement speed that indicates a predetermined advancement speed to the friction stir welding end portion. 9b) is friction stir welded.

高精度の摩擦攪拌接合品質を確保するには、正確性を保持して接合ツール６を接合線１８に沿って進行させることが肝要となる。本来あるべき接合線１８の位置からずれて摩擦攪拌接合すると、接合強度の低下を招くこととなり、その結果、高精度の接合品質を確保できないこととなる。 In order to ensure high-precision friction stir welding quality, it is important to advance the welding tool 6 along the welding line 18 while maintaining accuracy. If friction stir welding is performed with the joining line 18 shifted from the original position, the joining strength will be reduced, and as a result, highly accurate joining quality cannot be ensured.

しかしながら、接合線１８は、必ずしも本来あるべき位置にあるとは限らない。例えば、載置台１０に被接合部材９（９ａ，９ｂ）をセットする際に、セットミスによって接合線１８の位置にズレが生じたり、接合ツール６により被接合部材９（９ａ，９ｂ）を摩擦攪拌接合する際にも被接合部材９（９ａ，９ｂ）の載置位置にズレが生じることにより接合線１８の位置がずれることがある。 However, the joining line 18 is not necessarily in the position it should be. For example, when setting the members 9 (9a, 9b) to be welded on the mounting table 10, the position of the welding line 18 may be misaligned due to a setting error, or the welding tool 6 may cause friction between the members 9 (9a, 9b) to be welded. Even when stirring and welding, the position of the joining line 18 may shift due to a shift in the mounting position of the members to be welded 9 (9a, 9b).

本発明は、接合線１８のズレを修正するものである。これにより、連続的に被接合部材９（９ａ，９ｂ）を摩擦攪拌接合する場合であっても、接合線１８を本来あるべき位置に保持し、その位置において摩擦攪拌接合することが可能になる。 The present invention corrects the deviation of the joining line 18. As a result, even when friction stir welding is performed on the members 9 (9a, 9b) to be welded continuously, it becomes possible to maintain the joining line 18 at the original position and perform friction stir welding at that position. .

接合線１８の位置ずれを修正するには、基準となるテンプレートを実際の接合線１８の位置を取得して定期的にズレ量の状態を管理する必要がある。本発明では、次のようにこれを実現する。 In order to correct the positional deviation of the joining line 18, it is necessary to obtain the actual position of the joining line 18 from a reference template and to periodically manage the state of the amount of deviation. In the present invention, this is achieved as follows.

先ず、載置台１０に被接合部材９（９ａ，９ｂ）を精度よく載置する。このときの接合線１８の位置は当然、ズレが生じていないので、この接合線１８の位置によりテンプレートを作成する。 First, the members to be joined 9 (9a, 9b) are placed on the mounting table 10 with high precision. Naturally, there is no deviation in the position of the joining line 18 at this time, so a template is created based on the position of this joining line 18.

被接合部材９（９ａ，９ｂ）を摩擦攪拌接合する際には、実際の接合線１８の位置を取得して、作成したテンプレートとの差異を定期的に確認し、その差異が許容範囲を超えていたら許容範囲内に入るように載置台１０の位置を調整、すなわち被接合部材９（９ａ，９ｂ）の配置位置を修正することで接合線１８の位置を修正しながら、接合ツール６を進行させていく。 When performing friction stir welding on the members to be welded 9 (9a, 9b), obtain the position of the actual joining line 18, periodically check the difference from the created template, and check if the difference exceeds the allowable range. If so, the welding tool 6 is advanced while adjusting the position of the mounting table 10 so that it is within the allowable range, that is, correcting the position of the welding line 18 by correcting the placement position of the workpieces 9 (9a, 9b). I'll let you do it.

以下、具体的に説明する。 This will be explained in detail below.

本発明では、実際の接合線１８の位置を接合線１８の画像情報を取得して把握する。接合線１８の画像情報を取得するために、図２に示すように、主軸１５の回転しない部位（主軸ホルダなど）に画像情報取得装置１７ａ，１７ｂを配設する。 In the present invention, the actual position of the joining line 18 is grasped by acquiring image information of the joining line 18. In order to acquire image information of the joining line 18, as shown in FIG. 2, image information acquisition devices 17a and 17b are disposed at parts of the spindle 15 that do not rotate (such as the spindle holder).

接合線１８の位置ずれを管理するには、被接合部材９（９ａ，９ｂ）を載置台１０にセットしてから接合ツール６による摩擦攪拌接合終了まで、すなわち、摩擦攪拌接合始端部から摩擦攪拌接合終端部までの接合線１８の位置を監視することとなるので、接合線１８の画像情報は摩擦攪拌接合始端部から摩擦攪拌接合終端部まで取得することとなる。 In order to manage the positional deviation of the welding line 18, the welding process is performed from the time the welded members 9 (9a, 9b) are set on the mounting table 10 until the end of the friction stir welding by the welding tool 6, that is, from the starting end of the friction stir welding. Since the position of the joining line 18 up to the welding end is monitored, image information of the joining line 18 is acquired from the friction stir welding start end to the friction stir welding end.

そのために、本発明では、主軸１５の前側（接合ツール６の進行方向）に前側画像情報取得装置１７ａを備え、主軸１５の後側（接合ツール６の進行方向と反対方向）に後側画像情報取得装置１７ｂを備える。これら、主軸１５の前側と後側に配設した２つの画像情報取得装置１７ａ，１７ｂにより、摩擦攪拌接合始端部から摩擦攪拌接合終端部までの接合線１８の画像情報を取得する。 To this end, in the present invention, the front image information acquisition device 17a is provided on the front side of the main shaft 15 (in the direction of movement of the welding tool 6), and the rear image information acquisition device 17a is provided on the back side of the main shaft 15 (in the direction opposite to the direction of movement of the welding tool 6). It includes an acquisition device 17b. These two image information acquisition devices 17a and 17b disposed on the front and rear sides of the main shaft 15 acquire image information of the joining line 18 from the friction stir welding start end to the friction stir welding end.

先ず、摩擦攪拌接合装置１により被接合部材９（９ａ，９ｂ）を摩擦攪拌接合する本運用接合段階の前段階であるテスト運用段階において、載置台１０に摩擦攪拌接合をする被接合部材９（９ａ，９ｂ）を載置する。このとき、被接合部材９（９ａ，９ｂ）の載置位置にズレが生じていないことを確認する。この状態において、テンプレートを作成する。テンプレートは、基準接合点の集合体で構成する。 First, in a test operation stage, which is a pre-stage of the actual welding stage in which the members 9 (9a, 9b) to be welded are friction stir welded by the friction stir welding apparatus 1, the members 9 (9a, 9b) to be welded are placed on the mounting table 10 by friction stir welding. 9a, 9b). At this time, it is confirmed that there is no deviation in the mounting position of the members to be joined 9 (9a, 9b). In this state, create a template. A template consists of a collection of reference junction points.

図３に、本発明に係るＸＹ平面と基準接合点１９を示す。 FIG. 3 shows the XY plane and the reference junction 19 according to the present invention.

図３に示すように、載置台１０上において、１辺が摩擦攪拌接合装置１の載置台１０と対向する面に平行で、接合線１８を含む所定の矩形領域を仮想的なＸＹ平面として設定する。 As shown in FIG. 3, a predetermined rectangular area on the mounting table 10, one side of which is parallel to the surface facing the mounting table 10 of the friction stir welding apparatus 1 and including the welding line 18, is set as a virtual XY plane. do.

図４Ａ及び図４Ｂに、接合線１８のズレと載置台１０の位置調整を示す。また、図５Ａ及び図５Ｂに、接合線１８のズレと接合ツール６の位置調整を示す。 4A and 4B show the displacement of the joining line 18 and the position adjustment of the mounting table 10. Further, FIGS. 5A and 5B show the deviation of the joining line 18 and the position adjustment of the joining tool 6.

図３，図４Ａ及び図４Ｂに示すように、ＸＹ平面において摩擦攪拌接合装置１に近い側の頂点の一つを原点として、原点を含んで摩擦攪拌接合装置１の載置台１０と対向する面に直交して遠ざかる一辺である直交軸をＸ軸とするとき、原点においてＸ軸と直交して摩擦攪拌接合装置１の載置台１０と対向する面に平行する一辺である平行軸をＹ軸とする。 As shown in FIGS. 3, 4A, and 4B, one of the vertices on the side closer to the friction stir welding apparatus 1 in the XY plane is set as the origin, and the surface facing the mounting table 10 of the friction stir welding apparatus 1 including the origin When the orthogonal axis, which is a side that is perpendicular to and receding from the X axis, is the X axis, the parallel axis, which is a side that is perpendicular to the X axis at the origin and parallel to the surface facing the mounting table 10 of the friction stir welding apparatus 1, is the Y axis. do.

或いは、図５Ａ及び図５Ｂに示すように、直交軸をＹ軸と設定するときは平行軸をＸ軸として設定する。 Alternatively, as shown in FIGS. 5A and 5B, when the orthogonal axis is set as the Y-axis, the parallel axis is set as the X-axis.

いずれの場合も、基準接合点１９はＸＹ平面におけるＸ軸とＹ軸上の座標として設定する。 In either case, the reference junction point 19 is set as coordinates on the X and Y axes in the XY plane.

テスト運用段階において、先ず、後側画像情報取得装置１７ｂにより摩擦攪拌接合始端部における接合線１８の画像情報を取得する。この位置のＸ座標及びＹ座標を算出する。この点を最初の基準接合点１９として摩擦攪拌接合装置１の制御部１１に備える記憶部に記憶する。 In the test operation stage, first, image information of the joining line 18 at the starting end of friction stir welding is acquired by the rear image information acquisition device 17b. Calculate the X and Y coordinates of this position. This point is stored as the first reference welding point 19 in the storage section provided in the control section 11 of the friction stir welding apparatus 1.

次に、接合ツール６を接合線１８に沿って所定速度で進行する。接合ツール６を摩擦攪拌接合始端部から摩擦攪拌終端部まで進行させながら、所定間隔で前側画像情報取得装置１７ａにより接合線１８の画像情報を取得し、接合線１８のＸ座標及びＹ座標を算出し、基準接合点群として記憶部に記憶していく。これらの基準接合点１９の集合体でテンプレートを構成する。基準接合点１９を設定する所定間隔は時間で設定してもよいし、距離で設定してもよい。 Next, the welding tool 6 is advanced along the welding line 18 at a predetermined speed. While advancing the welding tool 6 from the friction stir welding start end to the friction stir weld end, image information of the weld line 18 is acquired by the front image information acquisition device 17a at predetermined intervals, and the X and Y coordinates of the weld line 18 are calculated. Then, it is stored in the storage unit as a reference junction point group. A template is composed of a collection of these reference junction points 19. The predetermined intervals for setting the reference junction points 19 may be set in terms of time or distance.

なお、接合線１８がＸ軸に平行な直線形状である場合には、Ｘ軸方向に接合線１８のズレが生じることはないので、基準接合点１９のＸ座標は固定座標となり、Ｙ座標が変動座標となる。そして、接合線１８が曲線を含む複雑形状である場合には、Ｘ座標及びＹ座標ともに変動座標となる。 Note that if the joining line 18 has a linear shape parallel to the X-axis, there will be no deviation of the joining line 18 in the X-axis direction, so the X coordinate of the reference joining point 19 is a fixed coordinate, and the Y coordinate is It becomes a fluctuating coordinate. When the joining line 18 has a complicated shape including a curve, both the X coordinate and the Y coordinate become variable coordinates.

また、基準接合点１９は、被接合部材９（９ａ，９ｂ）の形状と接合線１８の位置に変更がなければ再設定をする必要はない。 Furthermore, there is no need to reset the reference joining point 19 if there is no change in the shape of the members 9 (9a, 9b) to be joined and the position of the joining line 18.

次に、被接合部材９（９ａ，９ｂ）を摩擦攪拌接合する本運用接合段階の運用について説明する。 Next, the operation of the actual welding stage in which the members to be welded 9 (9a, 9b) are friction stir welded will be described.

先ず、被接合部材９（９ａ，９ｂ）を載置台１０に載置し、接合ツール６を摩擦攪拌接合始端部に配置する。 First, the members to be welded 9 (9a, 9b) are placed on the mounting table 10, and the welding tool 6 is placed at the starting end of friction stir welding.

後側画像情報取得装置１７ｂにより摩擦攪拌接合始端部の接合線１８の画像情報を取得し、接合線１８のＸ座標とＹ座標を算出する。これらの座標を、最初の基準接合点１９の座標と比較し、その差分を算出する。 Image information of the joining line 18 at the starting end of friction stir welding is acquired by the rear image information acquisition device 17b, and the X and Y coordinates of the joining line 18 are calculated. These coordinates are compared with the coordinates of the first reference junction point 19, and the difference is calculated.

当該座標の差分が許容範囲を超えている場合には、差分が許容範囲に入るように載置台１０の位置を調整することにより、接合線１８の位置ズレを修正する。これが、摩擦攪拌接合始端部における接合線１８の位置ズレ修正であり、最初の修正である。当然、座標の差分が許容範囲内であれば、修正する必要はない。 If the difference in the coordinates exceeds the allowable range, the position of the mounting table 10 is adjusted so that the difference falls within the allowable range, thereby correcting the positional deviation of the joining line 18. This is a correction of the positional deviation of the joining line 18 at the starting end of friction stir welding, and is the first correction. Naturally, if the difference in coordinates is within the allowable range, there is no need to correct it.

最初の接合線１８の修正が終了したら、接合線１８に沿って、接合条件（被接合部材９の材質と厚みなど）により設定した進行速度で接合ツール６を進行していく。 After the initial welding line 18 has been corrected, the welding tool 6 is advanced along the welding line 18 at a speed set according to the welding conditions (such as the material and thickness of the members 9 to be welded).

このとき、所定間隔で、前側画像情報取得装置１７ａより接合線１８の画像情報を取得し、接合線１８のＸ座標及びＹ座標を算出し、対応する基準接合点１９のそれぞれの座標との差分を算出する。 At this time, the image information of the joining line 18 is acquired from the front side image information acquisition device 17a at predetermined intervals, the X coordinate and Y coordinate of the joining line 18 are calculated, and the difference with each coordinate of the corresponding reference joining point 19 is calculated. Calculate.

当該差分が許容範囲を超えている場合には、差分が許容範囲に入るように載置台１０の位置を調整することにより接合線１８の位置ズレを修正する。この処理を摩擦攪拌接合終端部まで繰り返して接合ツール６を進行する。 If the difference exceeds the allowable range, the position of the mounting table 10 is adjusted so that the difference falls within the allowable range, thereby correcting the positional deviation of the joining line 18. This process is repeated until the end of the friction stir welding, and the welding tool 6 is advanced.

なお、接合線１８がＸ軸に平行な直線形状である場合には、Ｘ軸方向に接合線１８にズレが生じることはないので、Ｘ座標は固定座標となり、Ｙ座標のみを変動座標として基準接合点１９との差分算出、接合線１８の位置ズレ修正を行うこととなる。 Note that if the joining line 18 is a straight line parallel to the X-axis, there will be no deviation in the joining line 18 in the X-axis direction, so the X coordinate will be a fixed coordinate and only the Y coordinate will be the standard variable coordinate. The difference with the joining point 19 is calculated and the positional deviation of the joining line 18 is corrected.

前側画像情報取得装置１７ａ及び後側画像情報取得装置１７ｂは、光学カメラかレーザ変位計の何れを使用してもよい。 The front image information acquisition device 17a and the rear image information acquisition device 17b may use either an optical camera or a laser displacement meter.

図７を参照して、本発明の実施例２に係る接合線の位置修正方法について説明する。図７は、本発明による代表的な接合線の位置修正方法を示すフローチャートである。 With reference to FIG. 7, a method for correcting the position of a joining line according to a second embodiment of the present invention will be described. FIG. 7 is a flowchart illustrating a typical joining line position correction method according to the present invention.

＜接合線画像情報取得ステップ＞
先ず、ステップＳ７０１において、被接合部材９（９ａ，９ｂ）を摩擦攪拌接合する前段階であるテスト運用段階において、接合ツール６の進行方向である主軸１５の前側に配置された前側画像情報取得装置１７ａと接合ツール６の進行方向と反対方向である主軸１５の後側に配置された後側画像情報取得装置１７ｂを使用して、摩擦攪拌接合始端部から摩擦攪拌接合終端部までの接合線１８の画像情報を示す接合線画像情報を取得する。 <Joint line image information acquisition step>
First, in step S701, in a test operation stage which is a stage before friction stir welding of the welded members 9 (9a, 9b), a front side image information acquisition device arranged on the front side of the main shaft 15 in the direction of movement of the welding tool 6 is used. 17a and the rear image information acquisition device 17b disposed on the rear side of the main shaft 15 in the direction opposite to the direction in which the welding tool 6 moves, welding line 18 from the friction stir welding start end to the friction stir welding end end is detected. Obtain joining line image information indicating image information of.

＜基準接合点設定ステップ＞
次に、ステップＳ７０２において、摩擦攪拌接合装置１が内部に設定するＸＹ平面上において、所定間隔で接合線画像情報の座標を算出して基準接合点１９を設定する。 <Reference junction point setting step>
Next, in step S702, the coordinates of the joining line image information are calculated at predetermined intervals on the XY plane set inside the friction stir welding apparatus 1, and the reference joining point 19 is set.

＜初期位置修正ステップ＞
続いて、ステップＳ７０３において、被接合部材９（９ａ，９ｂ）を摩擦攪拌接合する際に、接合ツール６を摩擦攪拌接合始端部に配置したときに後側画像情報取得装置１７ｂにより現在の接合線１８の画像情報を取得して摩擦攪拌接合始端部のＸＹ平面上の座標を算出し、基準接合点１９の座標との差分を算出して当該差分が許容範囲を超えていたら差分が許容範囲に入るように載置台１０の位置を移動して接合線１８の位置を修正する。 <Initial position correction step>
Subsequently, in step S703, when friction stir welding the members 9 (9a, 9b) to be welded, when the welding tool 6 is placed at the starting end of friction stir welding, the rear image information acquisition device 17b detects the current welding line. 18 is acquired, the coordinates on the XY plane of the starting end of friction stir welding are calculated, and the difference from the coordinates of the reference welding point 19 is calculated. If the difference exceeds the allowable range, the difference falls within the allowable range. The position of the mounting table 10 is moved so that the position of the joining line 18 is corrected.

＜進行位置修正ステップ＞
最後に、ステップＳ７０４において、被接合部材９（９ａ，９ｂ）を摩擦攪拌接合する際に、前側画像情報取得装置１７ａにより現在の接合線１８の画像情報を取得しながら接合ツール６を摩擦攪拌接合始端部から摩擦攪拌接合終端部まで進行させ、所定間隔で現在の接合線画像情報の座標を算出して対応する基準接合点１９の座標との差分を算出し、差分が許容範囲を超えていたら当該差分が許容範囲に入るように載置台１０の位置を移動して接合線１８の位置を修正する。 <Progress position correction step>
Finally, in step S704, when friction stir welding the members 9 (9a, 9b) to be welded, the welding tool 6 is used for friction stir welding while acquiring image information of the current welding line 18 by the front image information acquisition device 17a. Proceed from the start end to the end of friction stir welding, calculate the coordinates of the current welding line image information at predetermined intervals, calculate the difference from the coordinates of the corresponding reference welding point 19, and if the difference exceeds the allowable range. The position of the mounting table 10 is moved to correct the position of the joining line 18 so that the difference falls within an allowable range.

なお、実施例１で説明したように、基準接合点１９は、被接合部材９（９ａ，９ｂ）を載置する載置台１０上で接合線１８を含む所定の矩形領域であるＸＹ平面を設定し、ＸＹ平面において摩擦攪拌接合装置１に近い側の頂点の一つを原点として、原点を含んで摩擦攪拌接合装置１の載置台１０と対向する面に直交して遠ざかる一辺である直交軸をＸ軸とするとき、原点においてＸ軸と直交して摩擦攪拌接合装置１の載置台１０と対向する面に平行する一辺である平行軸をＹ軸として設定する。或いは、直交軸をＹ軸とするときは、平行軸をＸ軸として設定する。いずれの場合も、基準接合点１９をＸ軸とＹ軸の座標として設定する。 As described in Example 1, the reference joining point 19 is set on the XY plane, which is a predetermined rectangular area including the joining line 18, on the mounting table 10 on which the members to be joined 9 (9a, 9b) are placed. In the XY plane, one of the vertices on the side closer to the friction stir welding apparatus 1 is set as the origin, and the orthogonal axis is one side that includes the origin and extends away from the surface that faces the mounting table 10 of the friction stir welding apparatus 1. When the X-axis is defined as the Y-axis, a parallel axis, which is one side that is perpendicular to the X-axis at the origin and parallel to the surface facing the mounting table 10 of the friction stir welding apparatus 1, is set as the Y-axis. Alternatively, when the orthogonal axis is the Y axis, the parallel axis is set as the X axis. In either case, the reference junction point 19 is set as the coordinates of the X and Y axes.

そして、接合線１８がＸ軸に平行な直線形状である場合には、初期位置修正ステップと進行位置修正ステップにおいて、Ｘ軸の座標を固定座標として接合線１８のＹ座標を取得して対応する基準接合点１９のＹ座標と比較して差分を算出する。 If the joining line 18 has a linear shape parallel to the X-axis, the Y-coordinate of the joining line 18 is acquired with the X-axis coordinate as a fixed coordinate in the initial position correction step and the progress position modification step. The difference is calculated by comparing with the Y coordinate of the reference junction point 19.

また、接合線１８が曲線を含む複雑形状である場合には、初期位置修正ステップと進行位置修正ステップにおいて、接合線１８のＸ座標及びＹ座標を取得して対応する基準接合点１９のＸ座標及びＹ座標と比較して差分を算出する。 In addition, if the joining line 18 has a complicated shape including a curve, the X coordinate and Y coordinate of the joining line 18 are acquired in the initial position correction step and the progress position correcting step, and the X coordinate of the corresponding reference joining point 19 is obtained. and the Y coordinate to calculate the difference.

なお、本発明は上記した実施例に限定されるものではなく、様々な変形例が含まれる。例えば、上記した実施例は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施例の構成の一部を他の実施例の構成に置き換えることが可能であり、また、ある実施例の構成に他の実施例の構成を加えることも可能である。また、各実施例の構成の一部について、他の構成の追加・削除・置換をすることが可能である。 Note that the present invention is not limited to the above-described embodiments, and includes various modifications. For example, the embodiments described above are described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described. Furthermore, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add, delete, or replace a part of the configuration of each embodiment with other configurations.

１…摩擦攪拌接合装置、２…装置本体、３…Ｚ軸上下動駆動機構部、４…主軸支持部、５…ツールホルダ（接合ヘッド）、６…接合ツール、７…ショルダ部、８…プローブ部（接合ピン）、９，９ａ，９ｂ…被接合部材、１０…載置台、１０ａ…載置台移動機構部、１１…制御部（制御装置）、１２…Ｘ軸前後駆動機構部、１３…Ｘ軸前後動駆モータ、１４…主軸モータ、１５…主軸、１６…Ｚ軸上下動駆動モータ、１７ａ…前側画像情報取得装置、１７ｂ…後側画像情報取得装置、１８…接合線、１９…基準接合点。 DESCRIPTION OF SYMBOLS 1...Friction stir welding device, 2...Device main body, 3...Z-axis vertical movement drive mechanism, 4...Spindle support part, 5...Tool holder (welding head), 6...Welding tool, 7...Shoulder part, 8...Probe part (joining pin), 9, 9a, 9b... member to be joined, 10... mounting table, 10a... mounting table moving mechanism section, 11... control section (control device), 12... X-axis longitudinal drive mechanism section, 13... X Axis longitudinal drive motor, 14... Main shaft motor, 15... Main shaft, 16... Z-axis vertical drive motor, 17a... Front side image information acquisition device, 17b... Rear side image information acquisition device, 18... Joining line, 19... Reference joining point.

上記課題を解決するために、本発明は、第１の被接合部材と第２の被接合部材とを突き合せた被接合部材の前記突き合せた部位を示す接合線において、主軸に取り付けた接合ツールを目標回転速度で回転させながら目標深度まで挿入し、前記被接合部材の挿入部及びその近傍を摩擦熱により軟化させながら摩擦攪拌接合始端部から摩擦攪拌接合終端部まで前記接合ツールを進行させて前記被接合部材を摩擦攪拌接合する摩擦攪拌接合装置であって、前記摩擦攪拌接合装置は、前記接合ツールの進行方向である前記主軸の前側に配置された前側画像情報取得装置と、前記接合ツールの進行方向と反対方向である前記主軸の後側に配置された後側画像情報取得装置と、前記被接合部材を移動可能な載置台と、を備え、前記被接合部材を摩擦攪拌接合する前段階であるテスト運用段階において前記接合ツールを前記摩擦攪拌接合始端部から前記摩擦攪拌接合終端部まで進行させながら前記前側画像情報取得装置と前記後側画像情報取得装置を使用して前記摩擦攪拌接合始端部から前記摩擦攪拌接合終端部までの前記接合線の画像情報を取得して、前記摩擦攪拌接合装置内に設定した基準接合点に、前記接合線の画像情報の位置が一致するように、前記載置台の位置を移動して前記接合線の位置を修正しながら前記接合ツールを前記摩擦攪拌接合始端部から前記摩擦攪拌接合終端部まで進行することを特徴とする。 In order to solve the above-mentioned problems, the present invention provides a joint that is attached to a main shaft at a joining line indicating the butted portion of a first joined member and a second joined member that are butted against each other. The welding tool is inserted to the target depth while rotating at the target rotational speed, and the welding tool is advanced from the friction stir welding starting end to the friction stir welding end while softening the inserted part of the welded parts and the vicinity thereof by frictional heat. A friction stir welding apparatus for friction stir welding the members to be welded together, the friction stir welding apparatus including a front image information acquisition device disposed on the front side of the main shaft in the traveling direction of the welding tool; A rear image information acquisition device disposed on the rear side of the main shaft in a direction opposite to the traveling direction of the tool, and a mounting table capable of moving the welded members, and performs friction stir welding of the welded members. In the test operation stage, which is the previous stage, the friction stir is performed using the front image information acquisition device and the rear image information acquisition device while advancing the welding tool from the friction stir welding start end to the friction stir welding end. Obtain image information of the welding line from the welding start end to the friction stir welding end, and align the position of the image information of the welding line with a reference welding point set in the friction stir welding apparatus. The method is characterized in that the welding tool is advanced from the friction stir welding starting end to the friction stir welding end while moving the position of the mounting table and correcting the position of the welding line.

Claims (14)

第１の被接合部材と第２の被接合部材とを突き合せた被接合部材の前記突き合せた部位を示す接合線において、主軸に取り付けた接合ツールを目標回転速度で回転させながら目標深度まで挿入し、前記被接合部材の挿入部及びその近傍を摩擦熱により軟化させながら摩擦攪拌接合始端部から摩擦攪拌接合終端部まで前記接合ツールを進行させて前記被接合部材を摩擦攪拌接合する摩擦攪拌接合装置であって、
前記被接合部材を摩擦攪拌接合する前段階であるテスト運用段階において前記摩擦攪拌接合装置内に設定した基準接合点に、前記接合線の画像情報の位置が一致するように、前記接合線の位置を修正しながら前記接合ツールを前記摩擦攪拌接合始端部から前記摩擦攪拌接合終端部まで進行することを特徴とする摩擦攪拌接合装置。 The welding tool attached to the main shaft is rotated at the target rotational speed until the welding tool attached to the main shaft reaches the target depth at the welding line indicating the abutted part of the welded members where the first welded member and the second welded member are butted together. Friction stir welding of the welded members by inserting the welding tool and advancing the welding tool from the friction stir welding starting end to the friction stir welding end while softening the inserted part of the welded member and its vicinity by frictional heat, and friction stir welding the welded members. A joining device,
The position of the welding line is adjusted so that the position of the image information of the welding line coincides with the reference welding point set in the friction stir welding apparatus in the test operation stage, which is the stage before friction stir welding the members to be welded. A friction stir welding apparatus characterized in that the welding tool advances from the friction stir welding start end to the friction stir welding end while correcting the friction stir welding. 請求項１に記載の摩擦攪拌接合装置であって、
前記接合ツールの進行方向である前記主軸の前側に配置された前側画像情報取得装置と、
前記接合ツールの進行方向と反対方向である前記主軸の後側に配置された後側画像情報取得装置と、を備えることを特徴とする摩擦攪拌接合装置。 The friction stir welding apparatus according to claim 1,
a front side image information acquisition device disposed on the front side of the main shaft, which is the traveling direction of the welding tool;
A friction stir welding apparatus comprising: a rear side image information acquisition device disposed on the rear side of the main shaft in a direction opposite to the traveling direction of the welding tool. 請求項２に記載の摩擦攪拌接合装置であって、
前記被接合部材を載置する載置台上において、前記接合線を含む所定の矩形領域である仮想的なＸＹ平面を設定し、
前記ＸＹ平面において摩擦攪拌接合装置に近い側の頂点の１つを原点とし、
前記原点を含んで前記摩擦攪拌接合装置の前記載置台と対向する面に直交して前記摩擦攪拌接合装置から遠ざかる一辺である直交軸をＸ軸とし、
前記原点を含んで前記Ｘ軸と直交して前記摩擦攪拌接合装置の前記載置台と対向する面に平行な一辺である平行軸をＹ軸とし、
前記基準接合点および前記接合線の画像情報の位置を前記Ｘ軸と前記Ｙ軸の座標として設定することを特徴とする摩擦攪拌接合装置。 The friction stir welding apparatus according to claim 2,
Setting a virtual XY plane, which is a predetermined rectangular area including the joining line, on a mounting table on which the members to be joined are placed;
In the XY plane, one of the vertices on the side closer to the friction stir welding device is set as the origin,
An orthogonal axis that includes the origin and is a side that is perpendicular to the surface of the friction stir welding device facing the mounting table and moves away from the friction stir welding device is the X axis,
A parallel axis that includes the origin and is perpendicular to the X-axis and parallel to a surface facing the mounting table of the friction stir welding apparatus is the Y-axis;
A friction stir welding apparatus characterized in that positions of image information of the reference welding point and the welding line are set as coordinates of the X-axis and the Y-axis. 請求項２に記載の摩擦攪拌接合装置であって、
前記被接合部材を載置する載置台上において、前記接合線を含む所定の矩形領域である仮想的なＸＹ平面を設定し、
前記ＸＹ平面において摩擦攪拌接合装置に近い側の頂点の一つを原点とし、
前記原点を含んで前記摩擦攪拌接合装置の前記載置台と対向する面に直交して前記摩擦攪拌接合装置から遠ざかる一辺である直交軸をＹ軸とし、
前記原点を含んで前記Ｙ軸と直交して前記摩擦攪拌接合装置の前記載置台と対向する面に平行な一辺である平行軸をＸ軸とし、
前記基準接合点および前記接合線の画像情報の位置を前記Ｘ軸と前記Ｙ軸の座標として設定することを特徴とする摩擦攪拌接合装置。 The friction stir welding apparatus according to claim 2,
Setting a virtual XY plane, which is a predetermined rectangular area including the joining line, on a mounting table on which the members to be joined are placed;
In the XY plane, one of the vertices on the side closer to the friction stir welding device is set as the origin,
An orthogonal axis that includes the origin and is a side that is perpendicular to the surface of the friction stir welding device facing the mounting table and moves away from the friction stir welding device is the Y axis,
A parallel axis that includes the origin and is perpendicular to the Y-axis and parallel to a surface facing the mounting table of the friction stir welding apparatus is the X-axis;
A friction stir welding apparatus characterized in that positions of image information of the reference welding point and the welding line are set as coordinates of the X-axis and the Y-axis. 請求項３または４に記載の摩擦攪拌接合装置であって、
前記接合線が前記Ｘ軸に平行な直線形状である場合には、前記テスト運用段階において、前記接合ツールを前記摩擦攪拌接合始端部に配置して前記後側画像情報取得装置により前記接合線の画像情報を取得して、前記接合線内の前記摩擦攪拌接合始端部のＸ座標とＹ座標を算出して前記基準接合点として記憶部に記憶するとともに前記接合ツールの中心部を前記基準接合点に合わせ、さらに、前記前側画像情報取得装置により前記接合線の画像情報を取得しながら前記接合線に沿って前記接合ツールを前記摩擦攪拌接合終端部まで進行するとともに、前記Ｘ座標を固定座標として所定間隔で前記接合線のＹ座標を算出して前記記憶部に前記基準接合点として追加記憶し、
前記接合線が曲線を含む複雑形状である場合には、前記テスト運用段階において、前記接合ツールを前記摩擦攪拌接合始端部に配置して前記後側画像情報取得装置により前記接合線の画像情報を取得して、前記接合線内の前記摩擦攪拌接合始端部のＸ座標とＹ座標を算出して前記基準接合点として記憶部に記憶するとともに前記接合ツールの中心部を前記基準接合点に合わせ、さらに、前記前側画像情報取得装置により前記接合線の画像情報を取得しながら前記接合線に沿って前記接合ツールを前記摩擦攪拌接合終端部まで進行するとともに所定間隔で前記接合線のＸ座標とＹ座標を算出して前記記憶部に前記基準接合点として追加記憶することを特徴とする摩擦攪拌接合装置。 The friction stir welding apparatus according to claim 3 or 4,
When the welding line has a straight line shape parallel to the X-axis, the welding tool is placed at the starting end of the friction stir welding in the test operation stage, and the rear image information acquisition device measures the welding line. Image information is acquired, and the X and Y coordinates of the friction stir welding starting end within the welding line are calculated and stored in the storage unit as the reference welding point, and the center of the welding tool is set as the reference welding point. Further, the welding tool is advanced along the welding line to the friction stir welding end portion while acquiring image information of the welding line by the front side image information acquisition device, and the X coordinate is set as a fixed coordinate. Calculating the Y coordinate of the joining line at predetermined intervals and additionally storing it in the storage unit as the reference joining point,
When the welding line has a complicated shape including a curve, in the test operation stage, the welding tool is placed at the starting end of the friction stir welding, and image information of the welding line is acquired by the rear image information acquisition device. acquiring and calculating the X and Y coordinates of the friction stir welding starting end within the welding line and storing them in a storage unit as the reference welding point, and aligning the center of the welding tool with the reference welding point; Further, while acquiring image information of the welding line by the front side image information acquisition device, the welding tool is advanced along the welding line to the end of the friction stir welding, and at predetermined intervals, the X coordinate and the Y coordinate of the welding line are A friction stir welding apparatus characterized in that coordinates are calculated and additionally stored in the storage unit as the reference welding point. 請求項５に記載の摩擦攪拌接合装置であって、
前記接合線が前記Ｘ軸に平行な直線形状である場合には、前記被接合部材を摩擦攪拌接合する際に、前記接合ツールを前記摩擦攪拌接合始端部に配置したときに前記後側画像情報取得装置により前記接合線の画像情報を取得して前記接合線内の前記摩擦攪拌接合始端部の現在のＹ座標を算出し、
前記記憶部に記憶した最初の前記基準接合点のＹ座標と比較して差分を算出し、
前記差分が予め設定した許容範囲を超えていたら前記差分が前記許容範囲に入るように前記載置台の位置を移動して前記接合線の位置を修正することを特徴とする摩擦攪拌接合装置。 The friction stir welding apparatus according to claim 5,
When the welding line has a linear shape parallel to the X-axis, when the welding tool is placed at the friction stir welding start end when the welded members are friction stir welded, the rear side image information is acquiring image information of the welding line by an acquisition device and calculating the current Y coordinate of the friction stir welding starting end within the welding line;
calculating a difference by comparing it with the Y coordinate of the first reference junction point stored in the storage unit;
If the difference exceeds a preset tolerance range, the position of the mounting table is moved to correct the position of the welding line so that the difference falls within the tolerance range. 請求項６に記載の摩擦攪拌接合装置であって、
前記前側画像情報取得装置により前記接合線の画像情報を取得しながら前記接合線に沿って前記接合ツールを前記摩擦攪拌接合始端部から前記摩擦攪拌接合終端部まで進行するとともに所定間隔で前記接合線の現在のＹ座標を算出し、
前記現在のＹ座標に対応する前記基準接合点のＹ座標を比較して差分を算出し、
前記差分が予め設定した許容範囲を超えていたら前記差分が前記許容範囲に入るように前記載置台の位置を移動して前記接合線の位置を修正することを特徴とする摩擦攪拌接合装置。 The friction stir welding apparatus according to claim 6,
The welding tool is advanced along the welding line from the friction stir welding start end to the friction stir welding end while acquiring image information of the welding line by the front image information acquisition device, and the welding tool is moved along the welding line at predetermined intervals. Calculate the current Y coordinate of
calculating a difference by comparing the Y coordinate of the reference junction point corresponding to the current Y coordinate;
If the difference exceeds a preset tolerance range, the position of the mounting table is moved to correct the position of the welding line so that the difference falls within the tolerance range. 請求項５に記載の摩擦攪拌接合装置であって、
前記接合線が曲線を含む複雑形状である場合には、前記被接合部材を摩擦攪拌接合する際に、前記接合ツールを前記摩擦攪拌接合始端部に配置したときに前記後側画像情報取得装置により前記接合線の画像情報を取得して前記接合線内の前記摩擦攪拌接合始端部の現在のＸ座標とＹ座標を算出し、
前記記憶部に記憶した最初の前記基準接合点のＸ座標およびＹ座標と比較して差分を算出し、
前記差分が予め設定した許容範囲を超えていたら前記差分が前記許容範囲に入るように前記載置台の位置を移動して前記接合線の位置を修正することを特徴とする摩擦攪拌接合装置。 The friction stir welding apparatus according to claim 5,
When the welding line has a complicated shape including a curve, when the welding tool is placed at the starting end of the friction stir welding when the welded members are friction stir welded, the rear image information acquisition device acquiring image information of the welding line and calculating the current X and Y coordinates of the friction stir welding starting end within the welding line;
calculating a difference by comparing with the X and Y coordinates of the first reference junction point stored in the storage unit;
If the difference exceeds a preset tolerance range, the position of the mounting table is moved to correct the position of the welding line so that the difference falls within the tolerance range. 請求項８に記載の摩擦攪拌接合装置であって、
前記前側画像情報取得装置により前記接合線の画像情報を取得しながら前記接合線に沿って前記接合ツールを前記摩擦攪拌接合始端部から前記摩擦攪拌接合終端部まで進行するとともに所定間隔で前記接合線の現在のＸ座標とＹ座標を算出し、
前記現在のＸ座標とＹ座標に対応する前記基準接合点のＸ座標とＹ座標を比較して差分を算出し、
前記差分が予め設定した許容範囲を超えていたら前記差分が前記許容範囲に入るように前記載置台の位置を移動して前記接合線の位置を修正することを特徴とする摩擦攪拌接合装置。 The friction stir welding apparatus according to claim 8,
The welding tool is advanced along the welding line from the friction stir welding start end to the friction stir welding end while acquiring image information of the welding line by the front image information acquisition device, and the welding tool is moved along the welding line at predetermined intervals. Calculate the current X and Y coordinates of
calculating a difference by comparing the X and Y coordinates of the reference junction point corresponding to the current X and Y coordinates;
If the difference exceeds a preset tolerance range, the position of the mounting table is moved to correct the position of the welding line so that the difference falls within the tolerance range. 請求項２に記載の摩擦攪拌接合装置であって、
前記前側画像情報取得装置および前記後側画像情報取得装置は、光学カメラまたはレーザ変位計のいずれかを使用することを特徴とする摩擦攪拌接合装置。 The friction stir welding apparatus according to claim 2,
The friction stir welding apparatus is characterized in that the front image information acquisition device and the rear image information acquisition device use either an optical camera or a laser displacement meter. 摩擦攪拌接合装置における接合線の位置修正方法であって、
（ａ）被接合部材を摩擦攪拌接合する前段階であるテスト運用段階において、接合ツールの進行方向である主軸の前側に配置された前側画像情報取得装置と前記接合ツールの進行方向と反対方向である前記主軸の後側に配置された後側画像情報取得装置を使用して、摩擦攪拌接合始端部から摩擦攪拌接合終端部までの前記接合線の画像情報を示す接合線画像情報を取得するステップと、
（ｂ）前記摩擦攪拌接合装置が内部に設定するＸＹ平面上において、所定間隔で前記接合線画像情報の座標を算出して基準接合点を設定するステップと、
（ｃ）前記被接合部材を摩擦攪拌接合する際に、前記接合ツールを前記摩擦攪拌接合始端部に配置したときに前記後側画像情報取得装置により現在の前記接合線の画像情報を取得して前記摩擦攪拌接合始端部の前記ＸＹ平面上の座標を算出し、前記基準接合点の座標との差分を算出して前記差分が許容範囲を超えていたら前記差分が前記許容範囲に入るように載置台の位置を移動して前記接合線の位置を修正する初期位置修正ステップと、
（ｄ）前記被接合部材を摩擦攪拌接合する際に、前記前側画像情報取得装置により現在の前記接合線の画像情報を取得しながら前記接合ツールを前記摩擦攪拌接合始端部から前記摩擦攪拌接合終端部まで進行させ、前記所定間隔で前記現在の接合線画像情報の座標を算出して対応する前記基準接合点の座標との差分を算出し、前記差分が前記許容範囲を超えていたら前記差分が前記許容範囲に入るように前記載置台の位置を移動して前記接合線の位置を修正する進行位置修正ステップと、
を有することを特徴とする接合線の位置修正方法。 A method for correcting the position of a joining line in a friction stir welding device, the method comprising:
(a) In the test operation stage, which is the stage before friction stir welding the parts to be welded, a front image information acquisition device placed on the front side of the main shaft, which is the traveling direction of the welding tool, and a acquiring joining line image information indicating image information of the joining line from a friction stir welding start end to a friction stir weld end end using a rear side image information acquisition device disposed on the rear side of a certain main shaft; and,
(b) calculating coordinates of the joining line image information at predetermined intervals on an XY plane set inside the friction stir welding apparatus to set a reference joining point;
(c) When friction stir welding the members to be welded, when the welding tool is placed at the starting end of the friction stir welding, image information of the current welding line is acquired by the rear image information acquisition device; Calculate the coordinates of the friction stir welding starting end on the XY plane, calculate the difference from the coordinates of the reference welding point, and if the difference exceeds the allowable range, load so that the difference falls within the allowable range. an initial position correction step of moving the position of the mounting table to correct the position of the joining line;
(d) When friction stir welding the members to be welded, the welding tool is moved from the friction stir welding starting end to the friction stir welding end while acquiring image information of the current welding line using the front side image information acquisition device. The coordinates of the current junction line image information are calculated at the predetermined intervals, and the difference from the coordinates of the corresponding reference junction point is calculated. If the difference exceeds the allowable range, the difference is calculated. a step of correcting the position of the joining line by moving the position of the mounting table so that it falls within the permissible range;
A method for correcting the position of a joining line, comprising: 請求項１１に記載の接合線の位置修正方法であって、
前記（ａ）ステップにおいて、前記載置台上で前記接合線を含む所定の矩形領域であるＸＹ平面を設定し、
前記ＸＹ平面において摩擦攪拌接合装置に近い側の頂点の１つを原点とし、
前記原点を含んで前記摩擦攪拌接合装置の前記載置台と対向する面に直交して前記摩擦攪拌接合装置から遠ざかる一辺である直交軸をＸ軸とし、
前記原点を含んで前記Ｘ軸と直交して前記摩擦攪拌接合装置の前記載置台と対向する面に平行な一辺である平行軸をＹ軸とし、
前記基準接合点および前記接合線の画像情報の位置を前記Ｘ軸と前記Ｙ軸の座標として設定することを特徴とする接合線の位置修正方法。 The method for correcting the position of a joining line according to claim 11,
In step (a), setting an XY plane that is a predetermined rectangular area including the joining line on the mounting table;
In the XY plane, one of the vertices on the side closer to the friction stir welding device is set as the origin,
An orthogonal axis that includes the origin and is a side that is perpendicular to the surface of the friction stir welding device facing the mounting table and moves away from the friction stir welding device is the X axis,
A parallel axis that includes the origin and is perpendicular to the X-axis and parallel to a surface facing the mounting table of the friction stir welding apparatus is the Y-axis;
A method for correcting the position of a joining line, characterized in that the positions of the image information of the reference joining point and the joining line are set as coordinates of the X axis and the Y axis. 請求項１１に記載の接合線の位置修正方法であって、
前記（ａ）ステップにおいて、前記載置台上で前記接合線を含む所定の矩形領域であるＸＹ平面を設定し、
前記ＸＹ平面において摩擦攪拌接合装置に近い側の頂点の１つを原点とし、
前記原点を含んで前記摩擦攪拌接合装置の前記載置台と対向する面に直交して前記摩擦攪拌接合装置から遠ざかる一辺である直交軸をＹ軸とし、
前記原点を含んで前記Ｙ軸と直交して前記摩擦攪拌接合装置の前記載置台と対向する面に平行な一辺である平行軸をＸ軸とし、
前記基準接合点および前記接合線の画像情報の位置を前記Ｘ軸と前記Ｙ軸の座標として設定することを特徴とする接合線の位置修正方法。 The method for correcting the position of a joining line according to claim 11,
In step (a), setting an XY plane that is a predetermined rectangular area including the joining line on the mounting table;
In the XY plane, one of the vertices on the side closer to the friction stir welding device is set as the origin,
An orthogonal axis that includes the origin and is a side that is perpendicular to the surface of the friction stir welding device facing the mounting table and moves away from the friction stir welding device is the Y axis,
A parallel axis that includes the origin and is perpendicular to the Y-axis and parallel to a surface facing the mounting table of the friction stir welding apparatus is the X-axis;
A method for correcting the position of a joining line, characterized in that the positions of the image information of the reference joining point and the joining line are set as coordinates of the X axis and the Y axis. 請求項１２または１３に記載の接合線の位置修正方法であって、
前記接合線が前記Ｘ軸に平行な直線形状である場合には、前記（ｃ）ステップおよび前記（ｄ）ステップにおいて、前記Ｘ軸の座標を固定座標として前記接合線のＹ座標を取得して対応する前記基準接合点のＹ座標と比較して差分を算出し、
前記接合線が曲線を含む複雑形状である場合には、前記（ｃ）ステップおよび前記（ｄ）ステップにおいて、前記接合線のＸ座標及びＹ座標を取得して対応する前記基準接合点のＸ座標及びＹ座標と比較して差分を算出することを特徴とする接合線の位置修正方法。 14. The method for correcting the position of a joining line according to claim 12 or 13,
When the joining line has a straight line shape parallel to the X-axis, in the step (c) and the step (d), the Y-coordinate of the joining line is obtained with the coordinate of the X-axis as a fixed coordinate. Calculating the difference by comparing with the Y coordinate of the corresponding reference junction point,
When the joining line has a complex shape including a curve, in the step (c) and the step (d), the X coordinate and Y coordinate of the joining line are obtained and the X coordinate of the corresponding reference joining point is determined. and a Y coordinate to calculate a difference.
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