JP6608021B1 - Friction stir welding equipment - Google Patents

Friction stir welding equipment Download PDF

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JP6608021B1
JP6608021B1 JP2018183135A JP2018183135A JP6608021B1 JP 6608021 B1 JP6608021 B1 JP 6608021B1 JP 2018183135 A JP2018183135 A JP 2018183135A JP 2018183135 A JP2018183135 A JP 2018183135A JP 6608021 B1 JP6608021 B1 JP 6608021B1
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friction stir
stir welding
joining
welding apparatus
tool
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JP2020049533A (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 JP2018183135A priority Critical patent/JP6608021B1/en
Priority to CN201980040991.7A priority patent/CN112334263B/en
Priority to PCT/JP2019/036313 priority patent/WO2020059686A1/en
Priority to EP19861518.9A priority patent/EP3854511A4/en
Priority to KR1020207036645A priority patent/KR102438105B1/en
Priority to US17/273,610 priority patent/US11440132B2/en
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Abstract

【課題】接合ツールのＺ軸方向（鉛直方向）の高精度な位置設定が可能な摩擦攪拌接合装置及び摩擦攪拌接合方法を提供する。【解決手段】被接合部材に挿入されて回転しながら進行し、当該被接合部材を接合する接合ツールと、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、前記接合ツールを進行させる装置本体と、前記被接合部材を載置する載置台上に、撮像補助光を照射する補助光照射装置が配設された第１のついたてと、前記第１のついたての水平方向に対向して配置され、前記撮像補助光を照射して得られる前記接合ツールの画像情報を取得する画像取得手段が配設された第２のついたてと、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 setting a position of a welding tool in the Z-axis direction (vertical direction) with high accuracy are provided. A welding tool that is inserted into a member to be joined and rotates while rotating, and joins the member to be joined, a joining head that holds the joining tool, a holding head, and the joining tool that rotates. And a first body with an auxiliary light irradiating device for irradiating imaging auxiliary light on a mounting base on which the joining tool is advanced, a mounting table on which the member to be joined is placed, And a second iron plate provided with image obtaining means for obtaining image information of the joining tool obtained by irradiating with the imaging auxiliary light. And [Selection] Figure 1

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と摩擦攪拌接合方法に係り、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 together by friction stir welding, and is particularly applicable 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: Friction Stir Welding) that softens the material to be joined 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、摩擦攪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 rotation speed and / or the traveling speed so as to keep the bonding temperature in the vicinity of the bonding portion substantially constant is disclosed.

特許第５８８３９７８号公報Japanese Patent No. 5883978

摩擦攪拌接合装置（ＦＳＷ装置）を用いて被接合部材を摩擦攪拌接合する際には、攪拌する際に発生する入熱が必要となる。但し、入熱量は大き過ぎても小さ過ぎても不適切であり、適切な入熱量の範囲内に収束させることが求められる。   When the members to be welded are friction stir welded using a friction stir welding apparatus (FSW apparatus), heat input generated during stirring is required. However, if the heat input is too large or too small, it is inappropriate, and it is required to converge within an appropriate heat input range.

この入熱は、摩擦攪拌接合をするうえで必要なものであるが、同時に、接合ツールに対して影響を与えることもわかっている。つまり、入熱により、接合ツールが延伸し、接合ツールの先端位置が変動することがわかっている。   This heat input is necessary for friction stir welding, but at the same time, it has been found to affect the welding tool. That is, it is known that the joining tool extends due to heat input, and the tip position of the joining tool varies.

また、摩擦攪拌接合装置（ＦＳＷ装置）の設置場所の周辺温度の上昇によっても影響を受けることがわかった。   Moreover, it turned out that it is influenced also by the surrounding temperature rise of the installation place of a friction stir welding apparatus (FSW apparatus).

従来、摩擦攪拌接合装置（ＦＳＷ装置）により摩擦攪拌接合する被接合部材は、ある程度の厚みがあり、接合ツールの先端位置がＺ軸下方向へ変動しても問題とはならなかった。   Conventionally, a member to be joined by friction stir welding using a friction stir welding apparatus (FSW apparatus) has a certain thickness, and even if the tip position of the welding tool fluctuates downward in the Z-axis, there has been no problem.

しかしながら、昨今の被接合部材は、板厚が薄くなる傾向にあり、接合ツール先端位置のＺ軸下方向への変動が無視できなくなってきており、特に、軽量化が求められている自動車分野では顕著である。   However, recent members to be joined tend to have a thin plate thickness, and the variation of the welding tool tip position in the Z-axis downward direction cannot be ignored. It is remarkable.

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、摩擦攪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、上述したような摩擦攪拌接合装置の設置場所の周辺温度の上昇や被接合部材からの入熱による接合ツールの変動（熱による延伸）に対しては一切考慮がされていない。   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 joining temperature substantially constant. However, the friction stir welding apparatus as described above is installed. No consideration is given to the variation of the welding tool (stretching due to heat) due to an increase in ambient temperature of the place or heat input from the member to be joined.

そこで、本発明の目的は、接合ツールを被接合部材に挿入する前段階である接合条件設定段階において、接合ツールのＺ軸方向（鉛直方向）の初期位置を精度よく設定可能な摩擦攪拌接合装置及び摩擦攪拌接合方法を提供することにある。   Accordingly, an object of the present invention is to provide a friction stir welding apparatus capable of accurately setting the initial position in the Z-axis direction (vertical direction) of the welding tool in the welding condition setting stage, which is a stage before inserting the welding tool into the member to be joined. And providing a friction stir welding method.

上記課題を解決するために、本発明は、被接合部材に挿入されて回転しながら進行し、当該被接合部材を接合する接合ツールと、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、前記接合ツールを進行させる装置本体と、前記被接合部材を載置する載置台上に、撮像補助光を照射する補助光照射装置が配設された第１のついたてと、前記第１のついたての水平方向に対向して配置され、前記撮像補助光を照射して得られる前記接合ツールの画像情報を取得する画像取得手段が配設された第２のついたてと、を備えることを特徴とする。   In order to solve the above-described problems, the present invention includes a joining tool that is inserted into a member to be joined and rotates while rotating, and joins the member to be joined, a joining head that holds the joining tool, and the joining head. An auxiliary light irradiation device for irradiating imaging auxiliary light is disposed on an apparatus main body for holding and rotating the bonding tool and advancing the bonding tool and a mounting table on which the member to be bonded is mounted. A second image acquisition means arranged to face the first image and the horizontal direction of the first image, and to acquire image information of the joining tool obtained by irradiating the imaging auxiliary light. It is characterized by comprising

本発明によれば、接合ツールを被接合部材に挿入する前段階である接合条件設定段階において、接合ツールのＺ軸方向（鉛直方向）の初期位置を精度よく設定可能な摩擦攪拌接合装置及び摩擦攪拌接合方法を実現することができる。   According to the present invention, the friction stir welding apparatus and the friction that can accurately set the initial position of the welding tool in the Z-axis direction (vertical direction) in the joining condition setting stage, which is a stage before the joining tool is inserted into the member to be joined. A stir welding method can be realized.

これにより、接合ツールのＺ軸方向（鉛直方向）の高精度な位置設定が可能となり、高品質（高精度）な摩擦攪拌接合が可能となる。   Thereby, the position setting of the welding tool in the Z-axis direction (vertical direction) can be performed with high accuracy, and high-quality (high accuracy) friction stir welding can be performed.

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攪拌接合装置の全体概要を示す図である。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攪拌接合装置の動作（作用）を概念的に示す図である。It is a figure which shows notionally operation | movement (action) 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攪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。   Embodiments of the present invention will be described below with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and detailed description of the overlapping portions is omitted.

図１から図３を参照して、本発明の実施例１の摩擦攪拌接合装置および摩擦攪拌接合方法について説明する。図１は本実施例の摩擦攪拌接合装置１の全体概要を示す図であり、図２はその動作（作用）を概念的に示す図である。図３は本実施例による代表的な摩擦攪拌接合方法（制御方法）を示すフローチャートである。   A friction stir welding apparatus and a friction stir welding method according to a first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram showing an overall outline of the friction stir welding apparatus 1 of the present embodiment, and FIG. 2 is a diagram conceptually showing its operation (action). FIG. 3 is a flowchart showing a typical friction stir welding method (control method) 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、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、Ｙ軸方向、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 body (joining head) that is connected to the apparatus body 2 via the apparatus 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, Y-axis direction, and Z-axis direction in FIG.

このプローブ部（接合ピン）８が載置台９上に載置された複数の被接合部材同士の突き合せ部（図示せず）に挿入され、高速回転することでプローブ部（接合ピン）８と被接合部材の間に摩擦熱が発生し、摩擦熱により被接合部材内で塑性流動が生じ、接合部が攪拌される。プローブ部（接合ピン）８が移動すると攪拌部（接合部）が冷却されて、被接合部材同士が接合される。   The probe portion (joint pin) 8 is inserted into a butting portion (not shown) of a plurality of members to be joined placed on the mounting table 9 and rotated at a high speed, thereby the probe portion (joint pin) 8 and Frictional heat is generated between the members to be joined, plastic flow is generated in the members to be joined by the frictional heat, and the joint is agitated. When the probe part (joining pin) 8 moves, the stirring part (joining part) is cooled, and the members to be joined are joined together.

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. The configuration connected (held) to the apparatus main body 2 having a robot arm is also included in the scope of the present embodiment.

載置台９上には、先端位置計測部１０が設けられている。先端位置計測部１０は、撮像補助光を照射する補助光照射装置（図示せず）が配設された第１のついたて１０ａと、第１のついたて１０ａの水平方向に対向して配置され、撮像補助光を照射して得られる接合ツール部６の画像情報を取得する画像取得手段である画像センサ（図示せず）が配設された第２のついたて１０ｂとで構成される。   A tip position measuring unit 10 is provided on the mounting table 9. The tip position measurement unit 10 is disposed in the horizontal direction so as to oppose the first beam 10a provided with an auxiliary light irradiation device (not shown) for irradiating imaging auxiliary light and the first beam 10a. It is comprised with the 2nd iron 10b by which the image sensor (not shown) which is an image acquisition means which acquires the image information of the joining tool part 6 obtained by irradiating auxiliary light is arrange | positioned.

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が設置されている。制御部（制御装置）１１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、接合ヘッド５（接合ツール部６）の変更位置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。また、制御部（制御装置）１１は、第２のついたて１０ｂに配設された画像センサ（画像取得手段）から取得した画像情報を処理する画像処理装置（寸法測定手段）１１ａを備えている。（図２参照)
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１２およびＹ軸方向に駆動可能なリニア駆動機構部１４がそれぞれ設けられており、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１３、Ｙ軸方向に設けられたリニアガイドのレール１５に沿ってそれぞれ移動させることで、ホルダ部（接合ヘッド）５をＸ軸方向（接合方向）、Ｙ軸方向（Ｘ軸方向と直交する方向）へ移動させることができる。 The apparatus main body 2 is provided with a control unit (control apparatus) 11 that controls the operation of the friction stir welding apparatus 1. The control unit (control device) 11 is a bonding condition signal for determining a bonding condition by the bonding tool unit 6 and a holding position (the bonding pin 8 of the bonding pin 8) in the height direction (Z direction) of the bonding tool unit 6 by the vertical movement drive mechanism unit 3. A storage unit (not shown) is provided for storing bonding parameters (FSW bonding conditions) such as a holding position determination signal for determining (insertion amount) and a change position signal of the bonding head 5 (bonding tool unit 6). In addition, the control unit (control device) 11 includes an image processing device (dimension measurement unit) 11a that processes image information acquired from an image sensor (image acquisition unit) disposed in the second frame 10b. (See Figure 2)
The apparatus body 2 is provided with a linear drive mechanism section 12 that can be driven in the X-axis direction and a linear drive mechanism section 14 that can be driven in the Y-axis direction. The holder portion (joining head) 5 is moved along the rail 13 of the linear guide provided and the rail 15 of the linear guide provided in the Y-axis direction, so that the holder part (joining head) 5 is moved in the X-axis direction (joining direction) and Y-axis direction ( In the direction perpendicular to the X-axis direction).

上述したように、本実施例の摩擦攪拌接合装置１は、被接合部材に挿入されて回転しながら進行し、被接合部材を接合する接合ツール部６と、接合ツール部６を保持するホルダ部（接合ヘッド）５と、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を進行させる装置本体２と、被接合部材を載置する載置台９上に、撮像補助光を照射する補助光照射装置（図示せず）が配設された第１のついたて１０ａと、第１のついたて１０ａの水平方向に対向して配置され、撮像補助光を照射して得られる接合ツール部６の画像情報を取得する画像取得手段である画像センサ（図示せず）が配設された第２のついたて１０ｂを備えている。また、接合ツール部６の動作を制御する制御部（制御装置）１１を備えている。   As described above, the friction stir welding apparatus 1 according to the present embodiment is inserted into a member to be joined and proceeds while rotating, and a joining tool part 6 that joins the joined member and a holder part that holds the joining tool part 6. (Joining head) 5, holding the holder part (joining head) 5, rotating the joining tool part 6, and advancing the joining tool part 6, and the mounting base 9 on which the member to be joined is placed Are arranged opposite to each other in the horizontal direction of the first plate 10a provided with an auxiliary light irradiation device (not shown) for irradiating the image pickup auxiliary light and the first plate 10a. A second iron 10b provided with an image sensor (not shown), which is an image acquisition means for acquiring image information of the joining tool portion 6 obtained in this way, is provided. Moreover, the control part (control apparatus) 11 which controls operation | movement of the joining tool part 6 is provided.

図２および図３を用いて、上記で説明した先端位置計測部１０（第１のついたて１０ａ，第２のついたて１０ｂ）を用いた代表的な摩擦攪拌接合方法（制御方法）を説明する。   A typical friction stir welding method (control method) using the tip position measuring unit 10 (first arm 10a, second arm 10b) described above will be described with reference to FIGS.

先ず、制御部（制御装置）１１からの指令により、摩擦攪拌接合前段階（熱による変化が無い状態）で、第２のついたて１０ｂに配設された画像センサにより接合ツール部６の先端部の画像を取得する。この際、図２中の「接合前」に示すＣ位置を「基準位置」として設定し、制御部（制御装置）１１の記憶部に記憶する。さらに、ホルダ部（接合ヘッド）５の所定の位置である「第一の基準点」とショルダ部７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（Ｌ０）を計測する。また、その際のホルダ部（接合ヘッド）５（接合ツール部６）のＺ軸上の位置（基準位置：Ｚ０）を制御部（制御装置）１１の記憶部に記憶する。（ステップＳ１）
なお、「第一の基準点」は、取得画像範囲内で、撮像視野内で定めた基準位置Ｃから水平方向に延長した線上の点であり、「第二の基準点」は、取得画像範囲内で、撮像視野内の中央（横軸）上にあり、「第一の基準点」と鉛直方向に対向する点である。 First, in accordance with a command from the control unit (control device) 11, the front end portion of the welding tool unit 6 is detected by the image sensor disposed on the second vertical plate 10 b in the stage before friction stir welding (the state where there is no change due to heat). Get an image. At this time, the C position shown in “Before joining” in FIG. 2 is set as the “reference position” and stored in the storage unit of the control unit (control device) 11. Furthermore, a reference distance (L0) that is a distance between a “first reference point” that is a predetermined position of the holder part (joining head) 5 and a “second reference point” that is a predetermined position of the shoulder part 7. ). Further, the position (reference position: Z0) on the Z axis of the holder part (joining head) 5 (joining tool part 6) at that time is stored in the storage part of the control part (control device) 11. (Step S1)
The “first reference point” is a point on a line extending in the horizontal direction from the reference position C defined in the imaging field within the acquired image range, and the “second reference point” is the acquired image range. The point is on the center (horizontal axis) in the imaging field of view, and is opposed to the “first reference point” in the vertical direction.

ここで、接合開始前（接合前段階）に、「基準位置Ｃ」を設定・記憶し、「第一の基準点」と「第二の基準点」との間の距離である基準距離（Ｌ０）を計測・記憶し、ホルダ部（接合ヘッド）５（接合ツール部６）のＺ軸上の座標位置（基準位置：Ｚ０）を設定・記憶するステップＳ１を「基準位置設定モード」と呼ぶ。   Here, before the start of joining (pre-joining stage), “reference position C” is set and stored, and a reference distance (L0) that is a distance between “first reference point” and “second reference point”. ) Is measured and stored, and step S1 for setting and storing the coordinate position (reference position: Z0) on the Z-axis of the holder part (joining head) 5 (joining tool part 6) is referred to as “reference position setting mode”.

なお、Ｚ軸上の基準位置（Ｚ０）は、上記したように、接合前段階において、基準距離（Ｌ０）を計測した際のＺ軸上の装置の位置であり、装置のＺ軸可動範囲内で、装置がどの位置にあるのかを特定するための位置情報である。例えば、ＰＬＣ制御（Programmable Logic Controller）により自動で位置合わせを行い、その繰り返し精度は±０．０１ｍｍ程度に制御するのが好適である。   The reference position (Z0) on the Z axis is the position of the device on the Z axis when the reference distance (L0) is measured in the pre-joining stage as described above, and is within the Z axis movable range of the device. Thus, the position information is used to identify the position of the device. For example, it is preferable to perform alignment automatically by PLC control (Programmable Logic Controller) and to control the repetition accuracy to about ± 0.01 mm.

また、図２中の「接合後」に示す接合ツール部６のＡ，Ｂの位置は、熱源に近いため寸法変化があり、基準位置としては不適である。そのため、図２中の「接合前」に示すように、接合ピン８とショルダ部７を除く所定の位置Ｃの位置を基準位置として「設定」する。   In addition, the positions of A and B of the welding tool portion 6 shown in “after bonding” in FIG. Therefore, as shown in “Before joining” in FIG. 2, the position of a predetermined position C excluding the joining pin 8 and the shoulder portion 7 is “set” as a reference position.

次に、制御部（制御装置）１１からの指令により、接合ツール部６を複数の被接合部材同士の接合部へ挿入し、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を被接合部材の接合部から引き抜く。（ステップＳ２）ここで、このステップＳ２を「一接合工程」と呼ぶ。   Next, according to a command from the control unit (control device) 11, the joining tool unit 6 is inserted into the joining part between the plurality of members to be joined, and the amount of movement (elapsed time) of the joining tool unit 6 is a predetermined value (position) When the time has reached, the joining tool part 6 is pulled out from the joined part of the member to be joined. (Step S2) Here, this step S2 is referred to as “one joining step”.

続いて、制御部（制御装置）１１からの指令により、接合ヘッド５（接合ツール部６）をステップＳ１で記憶したＺ軸上の位置（基準位置：Ｚ０）に合わせる。（ステップＳ３）
続いて、制御部（制御装置）１１からの指令により、摩擦攪拌接合による熱の影響で接合ツール部６が延伸している状態の画像を取得する。また、その際の画像内のＣ位置（現在位置）を確認し、現在距離（Ｌ１）を計測する。（ステップＳ４）ここで、このステップＳ４を「現在位置取得モード」と呼ぶ。 Subsequently, according to a command from the control unit (control device) 11, the bonding head 5 (bonding tool unit 6) is set to the position on the Z axis (reference position: Z0) stored in step S1. (Step S3)
Subsequently, according to a command from the control unit (control device) 11, an image in a state in which the welding tool unit 6 is extended by the influence of heat by friction stir welding is acquired. Further, the C position (current position) in the image at that time is confirmed, and the current distance (L1) is measured. (Step S4) Here, this step S4 is referred to as “current position acquisition mode”.

続いて、制御部（制御装置）１１において、ステップＳ４で計測した現在距離（Ｌ１）とステップＳ１で計測・記憶した基準距離（Ｌ０）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Ｓ５）この偏差（ΔＬ）は、ΔＬ＝現在距離（Ｌ１）−基準距離（Ｌ０）であり、摩擦攪拌接合時の入熱や外気温の上昇などの熱の影響により変動したホルダ部（接合ヘッド）５（接合ツール部６）の変動量（Ｚ軸方向の延伸量）である。   Subsequently, the control unit (control device) 11 calculates a deviation (ΔL) between the current distance (L1) measured in step S4 and the reference distance (L0) measured and stored in step S1, and a predetermined value set in advance. Compare with (threshold value: Lt). (Step S5) This deviation (ΔL) is ΔL = current distance (L1) −reference distance (L0), and the holder portion (fluctuated due to heat effects such as heat input during friction stir welding and an increase in outside air temperature) ( It is a fluctuation amount (stretching amount in the Z-axis direction) of the joining head) 5 (joining tool portion 6).

現在距離（Ｌ１）と基準距離（Ｌ０）の偏差（ΔＬ）が閾値（Ｌｔ）に到達した場合（ΔＬ≧Ｌｔ）、制御部（制御装置）１１の指令により、算出した偏差（ΔＬ）が所定の値（閾値：Ｌt）より小さくなるように接合ヘッド５（接合ツール部６）のＺ軸方向（鉛直方向）の位置を移動する指令信号を装置本体２へ出力する。装置本体２は、接合ヘッド５（接合ツール部６）のＺ軸方向（鉛直方向）の位置を所定の変化率（移動速度：移動率）で制御しながら設定する。（ステップＳ６）
ここで、このステップＳ６を「制御モード」と呼ぶ。制御部（制御装置）１１は、この「制御モード」において、ステップＳ５で算出した偏差（ΔＬ）が小さくなるように偏差分（ΔＬ）を補正するホルダ部（接合ヘッド）５の変更位置信号（指令信号）を生成し、装置本体２に出力する。 When the deviation (ΔL) between the current distance (L1) and the reference distance (L0) reaches the threshold value (Lt) (ΔL ≧ Lt), the calculated deviation (ΔL) is predetermined by a command from the control unit (control device) 11. A command signal for moving the position of the joining head 5 (joining tool portion 6) in the Z-axis direction (vertical direction) to be smaller than the value (threshold value: Lt) is output to the apparatus main body 2. The apparatus main body 2 sets the position of the joining head 5 (joining tool part 6) in the Z-axis direction (vertical direction) while controlling it at a predetermined rate of change (moving speed: moving rate). (Step S6)
Here, this step S6 is referred to as “control mode”. In this “control mode”, the control unit (control device) 11 corrects the deviation (ΔL) so that the deviation (ΔL) calculated in step S5 becomes small. Command signal) is generated and output to the apparatus body 2.

この変更位置信号（指令信号）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、偏差（ΔＬ）が所定の値（閾値：Ｌｔ）よりも小さくなるまで装置本体２に継続出力する。装置本体２は、制御部（制御装置）１１から取得する変更位置信号（指令信号）に基づき、ホルダ部（接合ヘッド）５のＺ軸方向（鉛直方向）の位置を設定して所定の変化率（移動速度：移動率）でホルダ部（接合ヘッド）５を移動させる。   For example, the change position signal (command signal) moves the holder unit (joining head) 5 by a predetermined distance per unit time, and the apparatus main body until the deviation (ΔL) becomes smaller than a predetermined value (threshold value: Lt). Continue output to 2. The apparatus body 2 sets the position of the holder part (joining head) 5 in the Z-axis direction (vertical direction) based on the changed position signal (command signal) acquired from the control part (control apparatus) 11 and has a predetermined rate of change. The holder part (joining head) 5 is moved at (moving speed: moving rate).

一方、現在距離（Ｌ１）と基準距離（Ｌ０）の偏差（ΔＬ）が所定の値（閾値：Ｌｔ）未満である場合（ΔＬ＜Ｌｔ）、接合ツール部６のＺ軸方向（鉛直方向）の位置設定を行わずに、現在距離（Ｌ１）を計測した際の接合条件を維持したまま、被接合部材の摩擦攪拌接合を継続する。（ステップＳ７）
その後、制御部（制御装置）１１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を被接合部材の接合部から引き抜いて、摩擦攪拌接合処理を終了する。（ステップＳ８）
上述したように、本実施例の摩擦攪拌接合方法は、装置本体２に電源を投入し、被接合部材を接合する前の接合前段階において、ホルダ部（接合ヘッド）５の特定の位置を基準位置として設定する基準位置設定ステップと、基準位置設定ステップを実行後で、かつ、接合ツール部６により被接合部材を摩擦攪拌接合後、上記のホルダ部（接合ヘッド）５の特定の位置の現在位置を取得する現在位置取得ステップと、基準距離（Ｌ０）（または基準位置）と現在距離（Ｌ１）（または現在位置）との偏差（ΔＬ）が所定の閾値（Ｌt）に到達した場合、偏差（ΔＬ）が所定の閾値（Ｌt）より小さくなるようにホルダ部（接合ヘッド）５の鉛直方向の位置を補正する位置補正ステップを有している。 On the other hand, when the deviation (ΔL) between the current distance (L1) and the reference distance (L0) is less than a predetermined value (threshold value: Lt) (ΔL <Lt), the Z-axis direction (vertical direction) of the welding tool portion 6 Without performing position setting, the friction stir welding of the members to be joined is continued while maintaining the joining conditions when the current distance (L1) is measured. (Step S7)
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) 11, the welding tool unit 6 is joined to the bonded member. The friction stir welding process is completed. (Step S8)
As described above, the friction stir welding method of the present embodiment is based on the specific position of the holder portion (joining head) 5 in the pre-joining stage before the apparatus main body 2 is turned on and the joined members are joined. After executing the reference position setting step to set as the position and the reference position setting step, and after the friction stir welding of the members to be joined by the joining tool part 6, the current position of the specific position of the holder part (joining head) 5 described above When the current position acquisition step for acquiring the position and the deviation (ΔL) between the reference distance (L0) (or reference position) and the current distance (L1) (or current position) reaches a predetermined threshold (Lt), the deviation There is a position correction step for correcting the vertical position of the holder part (joining head) 5 so that (ΔL) is smaller than a predetermined threshold value (Lt).

以上説明したように、本実施例の摩擦攪拌接合装置および摩擦攪拌接合方法によれば、熱の影響により変動（変位）したホルダ部（接合ヘッド）５（接合ツール部６）の変動量（Ｚ軸方向の延伸量）を補正することができる。   As described above, according to the friction stir welding apparatus and the friction stir welding method of the present embodiment, the fluctuation amount (Z) of the holder part (joining head) 5 (joining tool part 6) that has fluctuated (displaced) due to the influence of heat. The amount of stretching in the axial direction) can be corrected.

これにより、接合ツールのＺ軸方向（鉛直方向）の高精度な位置設定が可能となり、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, it is possible to set the position of the welding tool in the Z-axis direction (vertical direction) with high accuracy, and high-quality (high accuracy) joining between the members to be joined becomes possible.

なお、上記の「現在位置取得ステップ」と「位置補正ステップ」とを交互に繰り返すことで、より高品質（高精度）な接合を行うことができる。   Note that, by alternately repeating the “current position acquisition step” and the “position correction step”, higher quality (high accuracy) bonding can be performed.

また、図３のステップＳ２およびステップＳ８において、被接合部材の一端から摩擦攪拌接合を開始し、被接合部材の他端まで連続的に摩擦攪拌接合を行う、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。   Further, in step S2 and step S8 of FIG. 3, by performing friction stir welding from one end of the member to be joined and continuously performing friction stir welding to the other end of the member to be joined, so-called “line joining” is performed. Further, the quality (reliability) of bonding can be further improved.

また、本実施例の摩擦攪拌接合装置および摩擦攪拌接合方法により、接合ツールを被接合部材に挿入する前段階である接合条件設定段階において、接合ツールのＺ軸方向（鉛直方向）の初期位置を精度よく設定できるため、載置台９を複数備えるマルチステーション方式の摩擦攪拌接合装置に本発明を適用することで、載置台９毎に接合ツールのＺ軸方向（鉛直方向）の初期位置を精度よく設定することができ、全ての載置台９において高品質（高精度）な接合を行うことができる。   In addition, the initial position of the welding tool in the Z-axis direction (vertical direction) is determined by the friction stir welding apparatus and the friction stir welding method of the present embodiment in the joining condition setting stage, which is a stage before the joining tool is inserted into the member to be joined. Since the present invention can be applied to a multi-station friction stir welding apparatus having a plurality of mounting tables 9, the initial position of the welding tool in the Z-axis direction (vertical direction) can be accurately determined for each mounting table 9 because it can be set with high accuracy. It is possible to set, and it is possible to perform high quality (high accuracy) bonding on all the mounting tables 9.

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。   In addition, this invention is not limited to an above-described Example, Various modifications are included. For example, the above-described embodiments have been described in detail for easy understanding of the present invention, and are not necessarily limited to those having all the configurations described. Further, a 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…摩擦攪拌接合装置、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…載置台、１０…先端位置計測部、１０ａ…第１のついたて（補助光照射装置）、１０ｂ…第２のついたて（画像センサ）、１１…制御部（制御装置）、１１ａ…画像処理装置（寸法測定手段）、１２…（Ｘ軸方向）リニア駆動機構部、１３…リニアガイドのレール（Ｘ軸）、１４…（Ｙ軸方向）リニア駆動機構部、１５…リニアガイドのレール（Ｙ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 ... Mounting stand, 10 ... Tip position measuring part, 10a ... 1st attaching (auxiliary light irradiation apparatus), 10b ... 2nd attaching (image sensor), DESCRIPTION OF SYMBOLS 11 ... Control part (control apparatus), 11a ... Image processing apparatus (dimension measuring means), 12 ... (X-axis direction) linear drive mechanism part, 13 ... Linear guide rail (X-axis), 14 ... (Y-axis direction) Linear drive mechanism section, 15... Linear guide rail (Y axis).

Claims (7)

被接合部材に挿入されて回転しながら進行し、当該被接合部材を接合する接合ツールと、
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、前記接合ツールを進行させる装置本体と、
前記被接合部材を載置する載置台上に、撮像補助光を照射する補助光照射装置が配設された第１のついたてと、前記第１のついたての水平方向に対向して配置され、前記撮像補助光を照射して得られる前記接合ツールの画像情報を取得する画像取得手段が配設された第２のついたてと、
を備えることを特徴とする摩擦攪拌接合装置。 A joining tool that is inserted into the member to be joined and proceeds while rotating, and joins the member to be joined;
A joining head for holding the joining tool;
An apparatus main body for holding the joining head, rotating the joining tool, and advancing the joining tool;
On the mounting table on which the member to be joined is placed, the first lighting device in which the auxiliary light irradiation device for irradiating the imaging auxiliary light is arranged, and the first iron plate is arranged to face the horizontal direction, A second screen provided with image acquisition means for acquiring image information of the joining tool obtained by irradiating imaging auxiliary light;
A friction stir welding apparatus comprising: 請求項１に記載の摩擦攪拌接合装置であって、
制御装置をさらに備え、
前記制御装置は、前記接合ツールにより前記被接合部材を摩擦攪拌接合する前の接合前段階において、前記画像取得手段から前記画像情報を取得し、当該取得した画像情報の特定の位置を基準位置として設定する基準位置設定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,
A control device,
The control device acquires the image information from the image acquisition means in a pre-joining stage before friction stir welding of the members to be joined by the joining tool, and uses a specific position of the obtained image information as a reference position. A friction stir welding apparatus having a reference position setting mode for setting. 請求項２に記載の摩擦攪拌接合装置であって、
前記制御装置は、前記基準位置設定モードを実行後で、かつ、前記接合ツールにより前記被接合部材を摩擦攪拌接合後、前記画像取得手段から前記画像情報を取得し、前記画像情報の特定の位置を現在位置として取得する現在位置取得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 2,
The control device acquires the image information from the image acquisition means after executing the reference position setting mode and after the friction stir welding of the members to be bonded by the welding tool, and a specific position of the image information. A friction stir welding apparatus having a current position acquisition mode for acquiring a current position as a current position. 請求項３に記載の摩擦攪拌接合装置であって、
前記制御装置は、前記現在位置取得モードを実行後、前記基準位置と前記現在位置との偏差を算出し、
当該偏差が所定の閾値に到達した場合、前記偏差を前記所定の閾値より小さくなるように、前記接合ヘッドの鉛直方向位置を移動する指令信号を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 3,
The control device calculates a deviation between the reference position and the current position after executing the current position acquisition mode,
When the deviation reaches a predetermined threshold value, a control mode is provided for outputting a command signal for moving the vertical position of the joining head to the apparatus main body so that the deviation becomes smaller than the predetermined threshold value. Friction stir welding apparatus. 請求項４に記載の摩擦攪拌接合装置であって、
前記装置本体は、前記指令信号に基づき、所定の移動率で前記接合ヘッドの鉛直方向の位置を移動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 4,
The apparatus main assembly moves the position of the welding head in the vertical direction at a predetermined movement rate based on the command signal. 請求項３に記載の摩擦攪拌接合装置であって、
前記基準位置は、前記接合前段階において、前記補助光照射装置から照射される撮像補助光の照射範囲内において、接合ピンおよびショルダ部を除く前記接合ツールの所定の位置であり、
摩擦攪拌接合終了時に、前記所定の位置を前記現在位置として取得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,
The reference position is a predetermined position of the joining tool excluding a joining pin and a shoulder portion within an irradiation range of imaging auxiliary light emitted from the auxiliary light irradiation device in the pre-joining stage,
The friction stir welding apparatus, wherein the predetermined position is acquired as the current position at the end of friction stir welding. 請求項４に記載の摩擦攪拌接合装置であって、
前記制御装置は、前記現在位置取得モードと前記制御モードとを交互に繰り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 4,
The friction stir welding apparatus, wherein the control device alternately repeats the current position acquisition mode and the control mode.
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