JP6553791B1 - Friction stir welding apparatus and friction stir welding method - Google Patents

Friction stir welding apparatus and friction stir welding method Download PDF

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JP6553791B1
JP6553791B1 JP2018174589A JP2018174589A JP6553791B1 JP 6553791 B1 JP6553791 B1 JP 6553791B1 JP 2018174589 A JP2018174589 A JP 2018174589A JP 2018174589 A JP2018174589 A JP 2018174589A JP 6553791 B1 JP6553791 B1 JP 6553791B1
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friction stir
distance
stir welding
joining
reference point
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JP2020044548A (en
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幸一 石黒
幸一 石黒
俊 篠原
俊 篠原
恒平 船原
恒平 船原
富夫 小田倉
富夫 小田倉
好則 大山
好則 大山
剛介 碇山
剛介 碇山
義章 小林
義章 小林
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Toyoda Iron Works Co Ltd
Hitachi Power Solutions Co Ltd
Technol Eight Co Ltd
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Toyoda Iron Works Co Ltd
Hitachi Power Solutions Co Ltd
Technol Eight Co Ltd
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Priority to US17/273,610 priority patent/US11440132B2/en
Priority to EP19861518.9A priority patent/EP3854511A4/en
Priority to CN201980040991.7A priority patent/CN112334263B/en
Priority to KR1020207036645A priority patent/KR102438105B1/en
Priority to PCT/JP2019/036313 priority patent/WO2020059686A1/en
Publication of JP2020044548A publication Critical patent/JP2020044548A/en
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Abstract

【課題】要求タクトタイムの短い生産ラインであっても、被接合部材同士の高品質（高精度）な接合が可能な摩擦撹拌接合装置及び摩擦撹拌接合方法を提供する。【解決手段】ショルダ部７とプローブ部８で構成され、被接合部材９に挿入されて回転する接合ツール６と、前記接合ツールを保持する接合ヘッド４と、前記接合ヘッドを保持し、前記接合ツールを回転させると共に、前記接合ツールを移動させる装置本体２と、前記接合ツールの動作を制御する制御装置１２と、前記接合ヘッドの所定の位置である第一の基準点と前記被接合部材を載置する載置台１０上の所定の位置である第二の基準点との間の距離を計測する距離計測手段１１を備えることを特徴とする。【選択図】図１A friction stir welding apparatus and a friction stir welding method capable of high-quality (high accuracy) joining of members to be joined even on a production line with a short required tact time. A welding tool comprising a shoulder portion and a probe portion, inserted into a member to be joined and rotated, a joining head holding the joining tool, holding the joining head, and joining the joining tool. The apparatus main body 2 that rotates the tool and moves the joining tool, the control device 12 that controls the operation of the joining tool, the first reference point that is a predetermined position of the joining head, and the member to be joined It is characterized by comprising distance measuring means 11 for measuring a distance from a second reference point which is a predetermined position on the mounting table 10 to be mounted. [Selection] Figure 1

Description

本発明は、被接合部材同士を摩擦撹拌接合により接合する摩擦撹拌接合装置と摩擦撹拌接合方法に係り、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 a friction stir welding apparatus and a friction stir welding method for joining members to be joined by friction stir welding, and in particular, applied to joining of members to be joined that require high quality (high accuracy) joining. It relates to effective technology.

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、その部分を撹拌することで被接合材料同士を接合する摩擦撹拌接合（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) that softens the material to be welded by friction heat generated by rotating a cylindrical joining tool and stirs the part to join the materials to be joined. Since no material is used, fatigue strength is high, and since the material does not melt, joining with less welding deformation (strain) is possible, and applications in a wide range of fields such as aircraft and automobile bodies are expected.

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「接合条件（接合ヘッドのＺ軸方向の位置、回転速度、進行速度）を、接合ツールを被接合部材に挿入する前に設定し、接合ツールを被接合部材に挿入し、摩擦撹拌接合を開始した後は、接合部位近傍の接合温度を略一定に保持するように、回転速度及び／又は進行速度を制御する技術」が開示されている。   As a background art in this technical field, for example, there is a technique such as Patent Document 1. Patent Document 1 states that “the joining conditions (position of the joining head in the Z-axis direction, rotational speed, traveling speed) are set before the joining tool is inserted into the joined member, the joining tool is inserted into the joined member, After the friction stir welding is started, a technique for controlling the rotational speed and / or the traveling speed so as to keep the joining temperature in the vicinity of the joining portion substantially constant is disclosed.

特許第５８８３９７８号公報Patent No. 5883978

上記特許文献１においては、接合温度を略一定に保持するために、摩擦撹拌接合を開始した後に、リアルタイムで回転速度、進行速度を制御しているが、接合条件のうち、接合ヘッドのＺ軸方向の位置に関しては何ら制御することはない。   In Patent Document 1, the rotational speed and the traveling speed are controlled in real time after the friction stir welding is started in order to keep the bonding temperature substantially constant. There is no control over the position of the direction.

しかしながら、本願発明者らは、鋭意研究の結果、さらに高品質（高精度）な接合を実現するためには、接合する条件によっては、接合ヘッドのＺ軸方向の位置に関しても、接合中に位置補正をする必要があることを突き止めた。   However, as a result of diligent research, the inventors of the present application have found that the position of the bonding head in the Z-axis direction is also determined during bonding depending on the bonding conditions, in order to achieve higher quality (high accuracy) bonding. It was found that it was necessary to make corrections.

また、特許文献１のような従来の摩擦撹拌接合装置（ＦＳＷ装置）では、１接合工程（接合ツールを被接合部材に挿入し、被接合部材の終端まで摩擦撹拌接合して接合ツールが原点位置に戻る工程）毎に、予めＺ軸方向（上方向）の撓みを予測し、その値を解消すための補正値を盛込んで接合ヘッドのＺ軸方向の位置を設定することで、接合途中で発生する接合ヘッドのＺ軸方向（上方向）の撓みに対応している。   Moreover, in the conventional friction stir welding apparatus (FSW apparatus) like patent document 1, one joining process (A joining tool is inserted in a to-be-joined member, and friction stir welding is carried out to the termination | terminus of a to-be-joined member, and a joining tool is an origin position. Each step), the bending in the Z-axis direction (upward direction) is predicted in advance, and a correction value for eliminating the value is incorporated to set the position of the bonding head in the Z-axis direction. This corresponds to the bending in the Z-axis direction (upward direction) of the joining head that occurs in FIG.

しかしながら、このような従来の方法では、生産ラインの要求タクトタイムが長い場合には対応可能であるが、要求タクトタイムが短い場合には十分に対応することができない。   However, such a conventional method can cope with a long required tact time of the production line, but cannot sufficiently cope with a short required tact time.

そこで、本発明の目的は、要求タクトタイムの短い生産ラインであっても、被接合部材同士の高品質（高精度）な接合が可能な摩擦撹拌接合装置及び摩擦撹拌接合方法を提供することにある。   Therefore, an object of the present invention is to provide a friction stir welding apparatus and a friction stir welding method capable of high-quality (high accuracy) joining between members to be joined even in a production line with a short required tact time. is there.

上記課題を解決するために、本発明は、ショルダ部とプローブ部で構成され、被接合部材に挿入されて回転する接合ツールと、前記接合ツールを保持する接合ヘッドと、前記接合ヘッドを保持し、前記接合ツールを回転させると共に、前記接合ツールを移動させる装置本体と、前記接合ツールの動作を制御する制御装置と、前記接合ヘッドの所定の位置である第一の基準点と前記被接合部材を載置する載置台上の所定の位置である第二の基準点との間の距離を計測する距離計測手段を備え、前記制御装置は、前記接合ツールが前記被接合部材に挿入される前段階において、前記接合ツールの先端位置を接合時のＺ軸方向位置まで降下して位置合わせを行い、前記第一の基準点と前記載置台上の前記第二の基準点との間の距離である基準距離を前記距離計測手段から取得する計測モードを有することを特徴とする。 In order to solve the above-described problems, the present invention comprises a shoulder tool and a probe part, a joining tool that is inserted into a member to be joined and rotates, a joining head that holds the joining tool, and a holder that holds the joining head. An apparatus main body for rotating the joining tool and moving the joining tool; a control device for controlling the operation of the joining tool; a first reference point which is a predetermined position of the joining head; A distance measuring means for measuring a distance between the second reference point, which is a predetermined position on the mounting table, and the control device before the joining tool is inserted into the member to be joined. In the stage, the tip position of the welding tool is lowered to the position in the Z-axis direction at the time of joining, alignment is performed, and the distance between the first reference point and the second reference point on the mounting table is A certain reference distance Characterized in that it has a measurement mode for acquiring the serial distance measuring means.

また、本発明は、被接合部材同士を摩擦撹拌接合により接合する摩擦撹拌接合方法であって、（ａ）接合ツールを被接合部材に挿入する前段階において、当該接合ツールの先端位置を接合時のＺ軸方向位置まで降下して位置合わせを行い、接合ヘッドの所定の位置である第一の基準点と、当該第一の基準点に対向する位置であって被接合部材を載置する載置台上の所定の位置である第二の基準点との間の距離である基準距離を接合開始位置にて計測するステップと、（ｂ）前記（ａ）工程の後、前記接合ツールを前記被接合部材に挿入して前記被接合部材を接合する接合段階に移行するステップと、（ｃ）前記（ｂ）工程の後、接合段階において、前記第一の基準点と前記第二の基準点との間の距離である現在距離を計測するステップと、（ｄ）前記現在距離と前記基準距離との偏差を算出し、当該算出した偏差が所定の値を超えた場合、前記接合ツールのＺ軸方向において前記偏差の生じた方向と反対方向に前記偏差の大きさを補正した前記接合ヘッドの位置を設定するか、Ｚ軸方向において前記偏差の生じた方向と反対方向に前記偏差が前記所定の値の範囲内に到達するまで前記接合ヘッドを単位時間当たり所定の距離を移動するように継続的に前記接合ヘッドの位置を制御するステップと、を有することを特徴とする。   Further, the present invention is a friction stir welding method for joining the members to be joined by friction stir welding, and (a) in the stage before the joining tool is inserted into the members to be joined, The first reference point, which is a predetermined position of the joining head, is placed at a position facing the first reference point and the member to be joined is placed. Measuring a reference distance, which is a distance from a second reference point, which is a predetermined position on the mounting table, at a joining start position; (b) after the step (a), A step of transitioning to a joining step of inserting the joining member into the joining member, and (c) after the step (b), in the joining step, the first reference point and the second reference point; Measuring the current distance, which is the distance between ) When a deviation between the current distance and the reference distance is calculated and the calculated deviation exceeds a predetermined value, the deviation is increased in a direction opposite to the direction in which the deviation occurs in the Z-axis direction of the welding tool. The position of the bonding head corrected in height is set, or the bonding head is set to a predetermined unit time per unit time until the deviation reaches the predetermined value in the direction opposite to the direction in which the deviation occurs in the Z-axis direction. Controlling the position of the bonding head continuously to move the distance.

本発明によれば、要求タクトタイムの短い生産ラインにおいて摩擦撹拌接合装置（ＦＳＷ装置）を使用する際に、反力により接合ツールがＺ軸方向（上方向）に撓んでも、精度良く接合ツールのＺ軸方向（上方向）の位置補正を行うことが可能となる。   According to the present invention, when a friction stir welding device (FSW device) is used in a production line with a short required tact time, even if the welding tool is bent in the Z-axis direction (upward) due to a reaction force, the welding tool is accurately obtained. It is possible to correct the position in the Z-axis direction (upward).

つまり、要求タクトタイムの短い生産ラインであっても、被接合部材同士の高品質（高精度）な接合が可能な摩擦撹拌接合装置及び摩擦撹拌接合方法を実現することができる。   That is, it is possible to realize a friction stir welding apparatus and a friction stir welding method capable of high-quality (high accuracy) joining between members to be joined even in a production line with a short required tact time.

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って明らかにされる。   Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

本発明の一実施形態に係る摩擦撹拌接合装置の全体概要を示す図である。BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the whole outline | summary of the friction stir welding apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る摩擦撹拌接合装置の全体概要を示す図である。BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows the whole outline | summary of the friction stir welding apparatus which concerns on one Embodiment of this invention. 本発明の一実施形態に係る摩擦撹拌接合方法を示すフローチャートである。It is a flowchart which shows the friction stir welding method which concerns on one Embodiment of this 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。   Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and detailed descriptions of overlapping components are omitted.

図１から図３を参照して、実施例１の摩擦撹拌接合装置および摩擦撹拌接合方法について説明する。図１および図２は本実施例の摩擦撹拌接合装置１の全体概要を示す図である。図１は被接合部材９（９ａ，９ｂ）に接合ツール部６を挿入する前（つまり、接合開始前）の状態を示しており、図２は被接合部材９（９ａ，９ｂ）に接合ツール部６を挿入し摩擦撹拌接合を行っている接合中の状態を示している。図３は本実施例による代表的な摩擦撹拌接合方法（制御方法）を示すフローチャートである。   The friction stir welding apparatus and the friction stir welding method of Example 1 will be described with reference to FIGS. 1 to 3. 1 and 2 are views showing an overall outline of the friction stir welding apparatus 1 of the present embodiment. FIG. 1 shows a state before the joining tool portion 6 is inserted into the member 9 (9a, 9b) to be joined (that is, before the start of joining), and FIG. 2 shows a joining tool on the member 9 (9a, 9b) to be joined. The state in which the part 6 is inserted and the friction stir welding is performed is shown. FIG. 3 is a flowchart showing a typical friction stir welding method (control method) according to this embodiment.

図１では、後述する「計測モード」において基準距離（Ｌ１）を計測する状態を示しており、実際には載置台１０上に被接合部材９（９ａ，９ｂ）を載置しない状態で「計測モード」が実行される場合が多いため、被接合部材９（９ａ，９ｂ）を点線で示している。   FIG. 1 shows a state in which the reference distance (L1) is measured in a “measurement mode” to be described later. In actuality, the “measurement” is performed in a state where the member 9 (9a, 9b) is not placed on the placement table 10. Since the mode is often executed, the members 9 (9a, 9b) to be joined are shown by dotted lines.

本実施例の摩擦撹拌接合装置１は、図１に示すように、主要な構成として、装置本体２、上下動駆動機構部３を介して装置本体２に接続されるホルダ部（接合ヘッド）保持部４、ホルダ部（接合ヘッド）保持部４に接続（保持）されるホルダ部（接合ヘッド）５、ホルダ部（接合ヘッド）５により保持される接合ツール部６を備えている。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などが用いられる。接合ツール部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、ショルダ部７を介してプローブ部（接合ピン）８がホルダ部（接合ヘッド）５に保持される。装置本体２はホルダ部（接合ヘッド）５を保持し、接合ツール部６を回転させると共に、接合ツール部６を図１のＸ軸方向およびＺ軸方向に移動させる。   As shown in FIG. 1, the friction stir welding apparatus 1 according to the present embodiment has, as main components, a holder part (joining head) that is connected to the apparatus main body 2 via the apparatus main body 2 and the vertical movement drive mechanism unit 3. 4, a holder part (joining head) 5 connected (held) to the holder part (joining head) holding part 4, and a joining tool part 6 held by the holder part (joining head) 5. As illustrated in FIG. 1, for example, a ball screw or the like is used for the vertical movement drive mechanism unit 3. The joining tool part 6 includes a shoulder part 7 and a probe part (joining pin) 8, and the probe part (joining pin) 8 is held by the holder part (joining head) 5 through the shoulder part 7. The apparatus main body 2 holds a holder part (joining head) 5, rotates the joining tool part 6, and moves the joining tool part 6 in the X-axis direction and the Z-axis direction in FIG.

このプローブ部（接合ピン）８が載置台１０上に載置された被接合部材９（９ａ，９ｂ）の突き合せ部に挿入され、高速回転することでプローブ部（接合ピン）８と被接合部材９（９ａ，９ｂ）の間に摩擦熱が発生し、摩擦熱により被接合部材９（９ａ，９ｂ）内で塑性流動が生じ、接合部が撹拌される。プローブ部（接合ピン）８が移動すると撹拌部（接合部）が冷却されて、被接合部材同士が接合される。   This probe part (joint pin) 8 is inserted into the abutting part of the joined member 9 (9a, 9b) placed on the mounting table 10 and rotated at a high speed so that the probe part (joint pin) 8 and the joined part are joined. Frictional heat is generated between the members 9 (9a, 9b), plastic flow is generated in the members 9 (9a, 9b) to be joined by the frictional heat, and the joint is agitated. When the probe portion (bonding pin) 8 moves, the stirring portion (bonding portion) is cooled and the members to be bonded are bonded.

なお、図１では、ホルダ部５および接合ツール部６がホルダ部保持部４および上下動駆動機構部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、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、ホルダ部５および接合ツール部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、さらにホルダ部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）される構成も本実施例の範囲に含むものとする。   1 shows a configuration in which the holder unit 5 and the welding tool unit 6 are connected (held) to the apparatus main body 2 via the holder unit holding unit 4 and the vertical movement drive mechanism unit 3, but the present invention is not limited thereto. For example, a configuration that is connected (held) to the apparatus main body 2 only through the vertical movement drive mechanism unit 3 or a structure that is connected (held) to the apparatus main body 2 via other movable means, A configuration in which the holder unit 5 and the joining tool unit 6 are directly connected (held) to the apparatus main body 2, or a configuration in which a C-shaped frame is further provided between the holder unit 5 and the apparatus main body 2 in the configuration of FIG. A configuration connected (held) to the apparatus main body 2 having a robot arm is also included in the scope of the present embodiment.

ホルダ部（接合ヘッド）５には、距離計測センサ１１が設けられている。この距離計測センサ１１は、接合時のホルダ部（接合ヘッド）５の進行方向（接合方向）とは反対側に配設されており、ホルダ部（接合ヘッド）５（距離計測センサ１１）の所定の位置（第一の基準点と呼ぶ）と被接合部材９（９ａ，９ｂ）を載置する載置台１０の所定の位置（第二の基準点と呼ぶ）との間の距離を計測する。第一の基準点と第二の基準点は互いに対向する位置に配置（設定）される。   A distance measurement sensor 11 is provided in the holder part (joining head) 5. This distance measurement sensor 11 is disposed on the opposite side to the traveling direction (bonding direction) of the holder part (bonding head) 5 at the time of bonding, and the holder part (bonding head) 5 (distance measurement sensor 11) is a predetermined one. And a predetermined position (referred to as a second reference point) of the mounting table 10 on which the member 9 (9a, 9b) to be joined is placed is measured. The first reference point and the second reference point are arranged (set) at positions facing each other.

距離計測センサ１１には、例えば、レーザーを利用するレーザー変位センサなどの非接式の変位センサを用いる。或いは、距離計測や摩擦撹拌接合処理に影響が出なければ、リニアゲージなどの接触式の変位センサを用いてもよい。レーザー変位センサを用いた場合、第一の基準点は、図１に示すように距離計測センサ１１の距離計測信号照射点となる。   For the distance measurement sensor 11, for example, a noncontact displacement sensor such as a laser displacement sensor using a laser is used. Alternatively, a contact-type displacement sensor such as a linear gauge may be used if the distance measurement or the friction stir welding process is not affected. When the laser displacement sensor is used, the first reference point is a point to be irradiated with a distance measurement signal of the distance measurement sensor 11 as shown in FIG.

装置本体２には、摩擦撹拌接合装置１の動作を制御する制御部（制御装置）１２が設置されている。制御部（制御装置）１２は、接合ツール部６による接合条件を決定する接合条件信号や上下動駆動機構部３による接合ツール部６の高さ方向（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。   A control unit (control device) 12 that controls the operation of the friction stir welding device 1 is installed in the device body 2. The control unit (control device) 12 is a welding condition signal for determining a welding condition by the welding tool unit 6, and a holding position in the height direction (Z direction) of the welding tool unit 6 by the vertical movement drive mechanism unit 3 (of the bonding pin 8. A storage unit (not shown) is provided for storing a bonding parameter (FSW bonding condition) such as a holding position determination signal for determining an insertion amount).

また、装置本体２には、Ｘ軸方向に駆動可能なリニア駆動機構部１３が設けられており、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１４に沿って移動させることで、ホルダ部（接合ヘッド）５をＸ軸方向（接合方向）へ移動させることができる。   Further, the apparatus main body 2 is provided with a linear drive mechanism 13 capable of driving in the X-axis direction, and the upper portion of the apparatus main body 2 is moved along the rails 14 of the linear guides provided in the X-axis direction. Thus, the holder part (joining head) 5 can be moved in the X-axis direction (joining direction).

図２および図３を用いて、上記で説明した距離計測センサ１１を用いた代表的な摩擦撹拌接合方法（制御方法）を説明する。   A typical friction stir welding method (control method) using the distance measuring sensor 11 described above will be described with reference to FIGS. 2 and 3.

先ず、制御部（制御装置）１２からの指令により、摩擦撹拌接合開始前（接合ツール部６を被接合部材９（９ａ，９ｂ）の接合部へ挿入する前）に距離計測センサ１１により、第一の基準点と第二の基準点との距離である基準距離（Ｌ１）を計測する。（ステップＳ１）ここで、このステップＳ１を「計測モード」と呼ぶ。   First, according to a command from the control unit (control device) 12, before the friction stir welding is started (before the welding tool unit 6 is inserted into the bonded portion of the members 9 (9a, 9b)), the distance measuring sensor 11 A reference distance (L1) that is a distance between one reference point and the second reference point is measured. (Step S1) Here, this step S1 is referred to as “measurement mode”.

つまり、制御部（制御装置）１２は、接合ツール部６（プローブ部８）が被接合部材９（９ａ，９ｂ）に挿入される前段階において、接合ツール部６（プローブ部８）の先端位置を接合時のＺ軸方向位置まで降下して位置合わせを行い、第一の基準点と載置台１０上の第二の基準点との間の距離である基準距離（Ｌ１）を距離計測センサ１１から取得する「計測モード」を有している。   That is, the control unit (control device) 12 is configured so that the tip position of the bonding tool unit 6 (probe unit 8) is inserted before the bonding tool unit 6 (probe unit 8) is inserted into the member 9 (9a, 9b). The position is lowered to the position in the Z-axis direction at the time of joining, alignment is performed, and a reference distance (L1) that is a distance between the first reference point and the second reference point on the mounting table 10 is determined as a distance measurement sensor 11. It has "measurement mode" acquired from.

次に、制御部（制御装置）１２からの指令により、摩擦撹拌接合中（接合開始から所定の時間（ｔ）経過後）に距離計測センサ１１により、第一の基準点と第二の基準点との距離である現在距離（Ｌ２）を計測する。（ステップＳ２）
続いて、制御部（制御装置）１２において、ステップＳ１で計測した基準距離（Ｌ１）とステップＳ２で計測した現在距離（Ｌ２）との偏差（ΔＬ）を算出し、予め設定した所定の値（閾値：Ｌｔ）と比較する。（ステップＳ３）この偏差（ΔＬ）は摩擦撹拌接合時の接合ツール部６の撓み量である。 Next, according to a command from the control unit (control device) 12, the first reference point and the second reference point are measured by the distance measurement sensor 11 during friction stir welding (after a predetermined time (t) has elapsed from the start of welding). The current distance (L2), which is the distance between (Step S2)
Subsequently, the control unit (control device) 12 calculates a deviation (ΔL) between the reference distance (L1) measured in step S1 and the current distance (L2) measured in step S2, and sets a predetermined value ( Threshold value: Lt). (Step S3) This deviation (ΔL) is the amount of deflection of the welding tool portion 6 during friction stir welding.

基準距離（Ｌ１）と現在距離（Ｌ２）の偏差（ΔＬ）が閾値（Ｌｔ）を超えた場合（ΔＬ＞Ｌｔ）、制御部（制御装置）１２の指令により、算出した偏差（ΔＬ）に基づいて接合ツール部６のＺ軸方向（上下方向）の位置を所定の変化率（移動速度）で制御しながら被接合部材９（９ａ，９ｂ）の摩擦撹拌接合を行う。（ステップＳ４）
ここで、このステップＳ４を「制御モード」と呼ぶ。制御部（制御装置）１２は、この「制御モード」において、ステップＳ３で算出した偏差（ΔＬ）が所定の値（閾値：Ｌｔ）を超えた場合、Ｚ軸方向において偏差（ΔＬ）の生じた方向と反対方向に偏差分（ΔＬ）を補正するホルダ部（接合ヘッド）５の変更位置信号を生成し、装置本体２に出力する。 When the deviation (ΔL) between the reference distance (L1) and the current distance (L2) exceeds the threshold (Lt) (ΔL> Lt), based on the deviation (ΔL) calculated by the command of the control unit (control device) 12 The friction stir welding of the members 9 (9a, 9b) is performed while controlling the position of the welding tool portion 6 in the Z-axis direction (vertical direction) at a predetermined change rate (moving speed). (Step S4)
Here, this step S4 is called a "control mode". In this “control mode”, the control unit (control device) 12 generates a deviation (ΔL) in the Z-axis direction when the deviation (ΔL) calculated in step S3 exceeds a predetermined value (threshold: Lt). A change position signal of the holder unit (bonding head) 5 for correcting the deviation (ΔL) in the direction opposite to the direction is generated and output to the apparatus main body 2.

この変更位置信号は、例えば、ホルダ部（接合ヘッド）５を単位時間当たり所定の距離を移動させ、現在距離（Ｌ２）或いは偏差（ΔＬ）が所定の値の範囲内に到達するまで装置本体２に継続出力する。装置本体２は、制御部（制御装置）１２から取得する変更位置信号に基づき、ホルダ部（接合ヘッド）５のＺ軸方向の位置を設定して所定の変化率（移動速度）でホルダ部（接合ヘッド）５を移動させる。   The change position signal is generated by, for example, moving the holder unit (joining head) 5 by a predetermined distance per unit time until the current distance (L2) or deviation (ΔL) reaches a predetermined value range. Output continuously to The apparatus main body 2 sets the position of the holder part (joining head) 5 in the Z-axis direction based on the change position signal acquired from the control part (control apparatus) 12, and sets the holder part (moving speed) at a predetermined change rate (moving speed). Move the bonding head 5).

なお、この「制御モード」は摩擦撹拌接合中に継続的に行ってもよく、所定の時間間隔で断続的に繰返すように制御してもよい。   This “control mode” may be continuously performed during the friction stir welding, or may be controlled to be repeated intermittently at a predetermined time interval.

また、「制御モード」を繰り返す所定の時間間隔は、被接合部材９（９ａ，９ｂ）の特性に基づき予め決定し、被接合部材９（９ａ，９ｂ）の特性と対応する所定の時間間隔を記憶した特性テーブルから被接合部材９（９ａ，９ｂ）の特性に対応する値を選択することも可能である。   Further, the predetermined time interval for repeating the “control mode” is determined in advance based on the characteristics of the members 9 (9a, 9b) to be bonded, and the predetermined time intervals corresponding to the characteristics of the members 9 (9a, 9b) are determined. It is also possible to select a value corresponding to the characteristics of the joined members 9 (9a, 9b) from the stored characteristic table.

さらに、「制御モード」において、偏差（ΔＬ）に基づいて変更位置信号を出力した後、制御モードを停止する「制御停止モード」を設定し、断続的に制御するようにしてもよい。   Further, in the “control mode”, after the change position signal is output based on the deviation (ΔL), a “control stop mode” for stopping the control mode may be set to control intermittently.

一方、基準距離（Ｌ１）と現在距離（Ｌ２）の偏差（ΔＬ）が閾値（Ｌｔ）以下である場合（ΔＬ≦Ｌｔ）、接合ツール部６のＺ軸方向（上下方向）の位置制御を行わずに、現在距離（Ｌ２）を計測した際の接合条件を維持したまま、被接合部材９（９ａ，９ｂ）の摩擦撹拌接合を継続する。（ステップＳ５）
その後、制御部（制御装置）１２からの指令により、接合ツール部６の移動量（経過時間）が所定の値（位置・時間）に達した時点で接合ツール部６を被接合部材９（９ａ，９ｂ）の接合部から引き抜いて、摩擦撹拌接合処理を終了する。（ステップＳ６）
以上説明したように、本実施例の摩擦撹拌接合装置および摩擦撹拌接合方法によれば、摩擦撹拌接合開始前のホルダ部（接合ヘッド）５（距離計測センサ１１）の所定の位置（第一の基準点）と被接合部材９（９ａ，９ｂ）を載置する載置台１０の所定の位置（第二の基準点）との間の距離（基準距離：Ｌ１）を計測し、摩擦撹拌接合中（接合開始から所定の時間（ｔ）経過後）に再び第一の基準点と第二の基準点との距離（現在距離：Ｌ２）を計測し、その偏差ΔＬ（Ｌ２−Ｌ１）が所定の範囲内になるように接合ツール部６のＺ軸方向（上下方向）の位置を補正することで、接合ツール部６の押圧により生じる撓みを補正することができる。 On the other hand, when the deviation (ΔL) between the reference distance (L1) and the current distance (L2) is equal to or less than the threshold value (Lt) (ΔL ≦ Lt), the position control of the welding tool portion 6 in the Z-axis direction (vertical direction) is performed. Instead, friction stir welding of the members 9 (9a, 9b) is continued while maintaining the welding conditions when the current distance (L2) is measured. (Step S5)
Thereafter, when the movement amount (elapsed time) of the welding tool unit 6 reaches a predetermined value (position / time) according to a command from the control unit (control device) 12, the welding tool unit 6 is joined to the member 9 (9a). , 9b), and the friction stir welding process is completed. (Step S6)
As described above, according to the friction stir welding apparatus and the friction stir welding method of the present embodiment, the predetermined position (first measurement) of the holder part (joining head) 5 (distance measurement sensor 11) before the start of friction stir welding is performed. The distance (reference distance: L1) between the reference point) and a predetermined position (second reference point) of the mounting table 10 on which the member 9 (9a, 9b) is placed is measured and friction stir welding is in progress. The distance (current distance: L2) between the first reference point and the second reference point is measured again (after a predetermined time (t) has elapsed since the start of joining), and the deviation ΔL (L2-L1) is a predetermined value. By correcting the position in the Z-axis direction (vertical direction) of the welding tool portion 6 so as to be within the range, it is possible to correct the deflection caused by the pressing of the welding tool portion 6.

これにより、要求タクトタイムの短い生産ラインであっても、被接合部材同士の高品質（高精度）な接合が可能となる。   As a result, even in a production line with a short required tact time, high quality (high accuracy) joining of members to be joined can be achieved.

なお、図３のステップＳ６において、被接合部材９（９ａ，９ｂ）の一端から摩擦撹拌接合を開始し、被接合部材９（９ａ，９ｂ）の他端まで連続的に摩擦撹拌接合を行う、いわゆる「線接合」を行うことで、接合の質（信頼性）をより高めることができる。   In addition, in step S6 of FIG. 3, friction stir welding is started from one end of the member 9 (9a, 9b) to be joined, and friction stir welding is continuously performed to the other end of the member 9 (9a, 9b). By performing so-called “line bonding”, the quality (reliability) of the bonding can be further enhanced.

また、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。   Further, 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 in order to explain the present invention in an easy-to-understand manner, and are not necessarily limited to those having all the configurations described. Also, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

１…摩擦撹拌接合装置、２…装置本体、３…上下動駆動機構部（ボールスクリュー）、４…ホルダ部（接合ヘッド）保持部、５…ホルダ部（接合ヘッド）、６…接合ツール部、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、１１…距離計測センサ、１２…制御部（制御装置）、１３…（Ｘ軸方向）リニア駆動機構部、１４…リニアガイドのレール（Ｘ軸）。   DESCRIPTION OF SYMBOLS 1 ... Friction stir welding apparatus, 2 ... Apparatus main body, 3 ... Vertical motion drive mechanism part (ball screw), 4 ... Holder part (joining head) holding part, 5 ... Holder part (joining head), 6 ... Joining tool part, DESCRIPTION OF SYMBOLS 7 ... Shoulder part, 8 ... Probe part (joining pin), 9, 9a, 9b ... Joined member, 10 ... Mounting stand, 11 ... Distance measuring sensor, 12 ... Control part (control apparatus), 13 ... (X-axis direction) ) Linear drive mechanism, 14 ... Rail of the linear guide (X axis).

Claims (11)

ショルダ部とプローブ部で構成され、被接合部材に挿入されて回転する接合ツールと、
前記接合ツールを保持する接合ヘッドと、
前記接合ヘッドを保持し、前記接合ツールを回転させると共に、前記接合ツールを移動させる装置本体と、
前記接合ツールの動作を制御する制御装置と、
前記接合ヘッドの所定の位置である第一の基準点と前記被接合部材を載置する載置台上の所定の位置である第二の基準点との間の距離を計測する距離計測手段を備え、
前記制御装置は、前記接合ツールが前記被接合部材に挿入される前段階において、前記接合ツールの先端位置を接合時のＺ軸方向位置まで降下して位置合わせを行い、
前記第一の基準点と前記載置台上の前記第二の基準点との間の距離である基準距離を前記距離計測手段から取得する計測モードを有することを特徴とする摩擦攪拌接合装置。 A welding tool which is composed of a shoulder portion and a probe portion and is inserted into a workpiece and rotated;
A welding head for holding the welding tool;
An apparatus body for holding the welding head, rotating the welding tool, and moving the welding tool;
A controller for controlling the operation of the welding tool;
Distance measuring means for measuring a distance between a first reference point which is a predetermined position of the bonding head and a second reference point which is a predetermined position on a mounting table on which the member to be bonded is mounted; ,
The control device performs positioning by lowering the tip position of the welding tool to a position in the Z-axis direction at the time of welding before the welding tool is inserted into the workpiece.
A friction stir welding apparatus having a measurement mode in which a reference distance which is a distance between the first reference point and the second reference point on the table is acquired from the distance measuring means . 請求項１に記載の摩擦攪拌接合装置であって、
前記制御装置は、前記接合ツールが前記被接合部材に挿入された後、前記第一の基準点と前記載置台上の前記第二の基準点の間の距離である現在距離を前記距離計測手段から取得し、
当該取得した現在距離と前記基準距離との偏差を算出し、
当該算出した偏差が所定の値を超えた場合、Ｚ軸方向において前記偏差の生じた方向と反対方向に前記偏差を補正する前記接合ヘッドの変更位置信号を生成し、前記装置本体に出力する制御モードを有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 1 , wherein
After the joining tool is inserted into the member to be joined, the control device calculates a current distance that is a distance between the first reference point and the second reference point on the mounting table as the distance measuring unit. Get from
Calculate the deviation between the acquired current distance and the reference distance,
When the calculated deviation exceeds a predetermined value, a control for generating a change position signal of the joining head for correcting the deviation in a direction opposite to the direction in which the deviation has occurred in the Z-axis direction and outputting it to the apparatus main body A friction stir welding apparatus characterized by having a mode. 請求項１に記載の摩擦攪拌接合装置であって、
前記制御装置は、前記接合ツールが前記被接合部材に挿入された後、前記第一の基準点と前記載置台上の前記第二の基準点の間の距離である現在距離を前記距離計測手段から取得し、
当該取得した現在距離と前記基準距離との偏差を算出し、
当該算出した偏差が所定の値を超えた場合、Ｚ軸方向において前記偏差の生じた方向と反対方向に前記接合ヘッドを単位時間当たり所定の距離を移動させる変更位置信号を生成し、
前記現在距離が前記所定の値の範囲内に到達するまで前記装置本体に継続出力する制御モードを有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 1 ,
After the joining tool is inserted into the member to be joined, the control device calculates a current distance that is a distance between the first reference point and the second reference point on the mounting table as the distance measuring unit. Get from
Calculate the deviation between the acquired current distance and the reference distance,
When the calculated deviation exceeds a predetermined value, a change position signal for moving the bonding head by a predetermined distance per unit time in a direction opposite to the direction in which the deviation has occurred in the Z-axis direction is generated.
A friction stir welding apparatus having a control mode of continuously outputting to the apparatus main body until the current distance reaches within the range of the predetermined value. 請求項２または３に記載の摩擦攪拌接合装置であって、
前記装置本体は、前記制御装置から取得する前記変更位置信号に基づき、前記接合ヘッドのＺ軸方向の位置を設定して所定の変化率で前記接合ヘッドを移動させ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 or 3 ,
The apparatus main body sets a position in the Z-axis direction of the bonding head based on the change position signal acquired from the control device, and moves the bonding head at a predetermined change rate. apparatus. 請求項２または３に記載の摩擦攪拌接合装置であって、
前記制御装置は、前記制御モードを所定の時間間隔で繰返す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 or 3 ,
The control apparatus repeats the control mode at predetermined time intervals. 請求項１に記載の摩擦攪拌接合装置であって、
前記第一の基準点は、前記距離計測手段の距離計測信号照射点であ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, wherein
The friction stir welding apparatus according to claim 1, wherein the first reference point is a distance measurement signal irradiation point of the distance measuring means. 請求項１に記載の摩擦攪拌接合装置であって、
前記距離計測手段は、変位センサであ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, wherein
The distance stirrer is a displacement sensor, and is a friction stir welding apparatus. 請求項７に記載の摩擦攪拌接合装置であって、
前記変位センサは、非接触式または接触式のいずれかであ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 7 , wherein
The friction stir welding apparatus, wherein the displacement sensor is either noncontact type or contact type. 請求項１に記載の摩擦攪拌接合装置であって、
前記距離計測手段は、前記接合ヘッドにおいて、前記接合ツールの進行方向とは反対側に設置され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, wherein
The friction stir welding apparatus according to claim 1, wherein the distance measuring means is installed on the welding head on the opposite side to the traveling direction of the welding tool. 請求項１に記載の摩擦攪拌接合装置であって、
前記装置本体は、前記被接合部材の一端から摩擦攪拌接合を開始し、前記被接合部材の他端まで連続的に摩擦攪拌接合を行う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, wherein
The friction stir welding apparatus is characterized in that the apparatus main body starts friction stir welding from one end of the members to be joined and continuously performs friction stir welding up to the other end of the members to be joined. 被接合部材同士を攪拌接合により接合する摩擦攪拌接合方法であって、
（ａ）接合ツールを被接合部材に挿入する前段階において、当該接合ツールの先端位置を接合時のＺ軸方向位置まで降下して位置合わせを行い、接合ヘッドの所定の位置である第一の基準点と、当該第一の基準点に対向する位置であって被接合部材を載置する載置台上の所定の位置である第二の基準点との間の距離である基準距離を接合開始位置にて計測するステップと、
（ｂ）前記（ａ）工程の後、前記接合ツールを前記被接合部材に挿入して前記被接合部材を接合する接合段階に移行するステップと、
（ｃ）前記（ｂ）工程の後、接合段階において、前記第一の基準点と前記第二の基準点との間の距離である現在距離を計測するステップと、
（ｄ）前記現在距離と前記基準距離との偏差を算出し、当該算出した偏差が所定の値を超えた場合、前記接合ツールのＺ軸方向において前記偏差の生じた方向と反対方向に前記偏差の大きさを補正した前記接合ヘッドの位置を設定するか、Ｚ軸方向において前記偏差の生じた方向と反対方向に前記偏差が前記所定の値の範囲内に到達するまで前記接合ヘッドを単位時間当たり所定の距離を移動するように継続的に前記接合ヘッドの位置を制御するステップと、
を有することを特徴とする摩擦攪拌接合方法。 A friction stir welding method for joining members to be joined together by stir welding,
(A) In the stage before inserting the welding tool into the workpiece, the tip position of the welding tool is lowered to the Z-axis direction position at the time of welding to perform alignment, and the first position which is a predetermined position of the welding head Start bonding the reference distance which is the distance between the reference point and the second reference point which is the position on the mounting table on which the workpiece is placed, which is the position opposite to the first reference point Measuring at a position;
(B) moving to a joining step of inserting the welding tool into the workpiece and joining the workpiece after the step (a);
(C) measuring a current distance which is a distance between the first reference point and the second reference point in the bonding step after the step (b);
(D) A deviation between the current distance and the reference distance is calculated, and when the calculated deviation exceeds a predetermined value, the deviation in a direction opposite to the direction in which the deviation occurs in the Z-axis direction of the welding tool. The position of the bonding head corrected in magnitude is set, or the bonding head is moved in unit time until the deviation reaches the predetermined value in the direction opposite to the direction in which the deviation occurs in the Z-axis direction. Controlling the position of the welding head continuously so as to move a predetermined distance.
The friction stir welding method characterized by having.
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