WO2019189505A1 - Friction stir welding device, and friction stir welding method - Google Patents
Friction stir welding device, and friction stir welding method Download PDFInfo
- Publication number
- WO2019189505A1 WO2019189505A1 PCT/JP2019/013435 JP2019013435W WO2019189505A1 WO 2019189505 A1 WO2019189505 A1 WO 2019189505A1 JP 2019013435 W JP2019013435 W JP 2019013435W WO 2019189505 A1 WO2019189505 A1 WO 2019189505A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- friction stir
- stir welding
- attachment
- joining
- swing
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
- B23K20/26—Auxiliary equipment
Definitions
- the apparatus main body 2 is provided with a control unit (control apparatus) 12 that controls the operation of the friction stir welding apparatus 1.
- the control unit (control device) 12 includes a swing control signal for controlling the swing amount and swing speed of the welding tool unit 9 by the swing mechanism unit 6, a welding condition signal for determining a welding condition by the welding tool unit 9, and a vertical movement drive mechanism unit.
- 3 is a storage unit (not shown) that stores a bonding parameter (FSW bonding condition) such as a holding position determination signal for determining a holding position (insertion amount of the bonding pin 9) in the height direction (Z direction) of the bonding tool unit 9 by 3. ).
- the swing mechanism unit 6 (joining tool unit 9) can be swung in a substantially vertical direction with respect to the mounting direction of the swing mechanism unit 6 to the apparatus main body 2.
- the swing mechanism unit 6 swings downward in the plane of the paper.
- the swing mechanism unit 6 is moved upward in the plane of the paper by replacing the second attachment / detachment mechanism unit of the swing mechanism unit 6 with the second attachment / detachment mechanism unit 5c. Can swing.
- the second attaching / detaching mechanism part 27 a for attaching the part 28 to the C-shaped frame 24, the holder part (joining head) 29 connected to the swing mechanism part 28 via the rotating mechanism part 30, and the holder part (joining head) 29
- the welding tool part 31 is provided.
- the joining tool part 31 includes a shoulder 32 and a joining pin 33, and the joining pin 33 is held by a holder part (joining head) 29 via the shoulder 32.
- the apparatus main body 22 is provided with a control unit (control apparatus) 34 that controls the operation of the friction stir welding apparatus 21.
- the control unit (control device) 34 is a device for the C-shaped frame 24 by a joining condition signal (joining command signal) for determining a joining condition by the joining tool unit 31 and a vertical movement drive mechanism part (first vertical movement drive mechanism part) 23.
- a holding position determination signal for determining a holding position in the height direction (Z direction) with respect to the main body 22, a C-type frame 24 (holder) of the first attaching / detaching mechanism portion 26 by the vertically moving drive mechanism portion (second vertically moving drive mechanism portion) 25.
- a storage unit (not shown) for storing a bonding parameter (FSW bonding condition) such as a holding position determination signal for determining a holding position in the height direction (Z direction) with respect to the part holding unit 24b).
- the multi-axis robot 42 is a vertical articulated robot generally called a robot arm, and can freely move (move) in a three-dimensional space by an articulated structure and a servo motor. Although the movable range varies depending on the number of joints (number of axes), an example of a three-axis type robot arm having a lower arm part 42b, an upper arm part 42c, and a wrist part 42d on a pedestal part 42a is shown here.
- the white circles of the multi-axis robot 42 are joints.
- the friction stir welding apparatus 41 includes a control device (not shown) in which a servo amplifier, a substrate, and the like are housed, and the movement of the multi-axis robot 42 and the swing mechanism unit according to a command (program signal) from the control device.
- the swing condition of 47 and the joining condition of the joining tool part 50 are comprehensively controlled.
- the friction stir welding apparatus 41 is configured as described above, and, as in the first embodiment, the second attachment / detachment mechanism portion 46a is fitted (attached) to the first attachment / detachment mechanism portion 45, thereby swinging.
- the mechanism part 47, the holder part (joining head) 48, and the joining tool part 50 are mounted on the C-shaped frame 43 (multi-axis robot 42).
- the swing direction of the unit 50 can be changed by 90 degrees.
- the swing of the swing mechanism part 47 (that is, the joining tool part 50) is swung.
- the second attachment / detachment mechanism portion may be provided so that the direction has an angle ⁇ (for example, about 45 degrees as shown in FIG. 4), and the attachment / detachment mechanism of the swing mechanism portion 47 according to the desired joining direction of the members to be joined. Since the other configurations and operations (actions) such as the point (second attachment / detachment mechanism portions 46a and 46b in FIG. 7) are basically the same as those in the first embodiment, repeated detailed description is omitted. .
- this invention is not limited to an above-described Example, Various modifications are included.
- 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.
- 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.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Pressure Welding/Diffusion-Bonding (AREA)
Abstract
Provided is a friction stir welding device that can ensure satisfactory weld strength with fewer welds than conventional friction stir welding devices. This friction stir welding device, which uses friction stir welding to weld members to be welded, is characterized by comprising: a device main body having a first detachable mechanism part; a swing mechanism part having a plurality of second detachable mechanism parts; a holder part rotatably supported by the swing mechanism part; and a welding tool held by the holder part. The friction stir welding device is further characterized in that one of the plurality of second detachable mechanism parts is selected in accordance with the desired swing direction of the swing mechanism part, and the selected second detachable mechanism part engages with the first detachable mechanism part, thereby mounting the welding tool to the device main body.
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、多種多様な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 more particularly, to a technique effective when applied to joining a wide variety of members to be joined.
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: Friction Stir Welding) that softens the material to be joined by frictional 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.
低コスト・大量生産が求められる自動車ボディの生産では、ＦＳＷ装置を用いて自動車用鋼板などの被接合部材を接合する場合、従来、接合速度が速く、動作が比較的単純で自動化が容易なスポットＦＳＷが広く採用されてきた。
In the production of automobile bodies that require low cost and mass production, when joining members to be joined such as steel sheets for automobiles using an FSW device, a spot that has conventionally been fast in speed, relatively simple in operation, and easy to automate. FSW has been widely adopted.
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「接合ヘッドに保持された接合ツールをスイングしてスポット的に摩擦撹拌接合する技術」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. Japanese Patent Application Laid-Open No. 2004-151561 discloses “a technique for performing spot stirring and friction stir welding on a welding tool held on a welding head”.
特許文献１では、接合強度をより高めるため、接合ツールをスイングして金属結合領域を大きくする方法が示されている。この方法は、Ｃ型フレームを被接合部材に差し込んだ方向のみでのスイングによる接合であるが、従来のスポット接合と比較すると、スイングした分だけ接合強度を確保することができる。
Patent Document 1 discloses a method of swinging a welding tool to increase the metal bonding area in order to further increase the bonding strength. This method is joining by swinging only in the direction in which the C-shaped frame is inserted into the member to be joined, but the joining strength can be ensured by the amount of swing compared to the conventional spot joining.
上述したように、上記特許文献１は、摩擦撹拌接合を用いてスポット接合を行う際に、接合ツールをスイングして接合領域を大きくし、接合強度を高める技術であるが、幅広の鋼板を接合するときには、基本的にスポット接合と同じ回数の接合が必要とされる。また、スイングする方向は一方向のみであり、スイングする方向と直角方向に対しては、被接合部材同士の接合強度を高めることは期待できない。
As described above, Patent Document 1 is a technique for swinging a welding tool to increase a bonding area and increasing bonding strength when spot bonding is performed using friction stir welding. In order to do so, basically, the same number of bondings as spot bonding are required. Further, the swinging direction is only one direction, and it is not expected to increase the bonding strength between the members to be bonded in the direction perpendicular to the swinging direction.
そこで、本発明の目的は、従来よりも少ない接合回数で十分な接合強度を確保すること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 ensuring a sufficient joining strength with a smaller number of times of joining than before.
また、本発明の別の目的は、接合方向を容易に変更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。
Another object of the present invention is to provide a friction stir welding apparatus and a friction stir welding method capable of easily changing the joining direction.
上記課題を解決するために、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であって、第１着脱機構部を有する装置本体と、複数の第２着脱機構部を有するスイング機構部と、前記スイング機構部に回動可能に支持されるホルダ部と、前記ホルダ部に保持される接合ツールと、を備え、前記スイング機構部の所望のスイング方向に応じて前記複数の第２着脱機構部のいずれかを選択し、当該選択した第２着脱機構部を前記第１着脱機構部へ嵌合することで前記接合ツールを前記装置本体に装着することを特徴とする。
In order to solve the above problems, the present invention provides a friction stir welding apparatus that joins members to be joined by friction stir welding, and includes a device main body having a first attachment / detachment mechanism and a plurality of second attachment / detachment mechanisms. A swing mechanism portion, a holder portion rotatably supported by the swing mechanism portion, and a joining tool held by the holder portion, and the plurality of the swing mechanism portions according to a desired swing direction of the swing mechanism portion. The second attachment / detachment mechanism portion is selected, and the joining tool is attached to the apparatus main body by fitting the selected second attachment / detachment mechanism portion to the first attachment / detachment mechanism portion.
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装置であって、複数の関節を有し、三次元空間を自在に移動可能な多軸ロボットアームと、前記多軸ロボットアームの先端に接続され、一端に第１着脱機構部を有するＣ型フレームと、複数の第２着脱機構部を有するスイング機構部と、前記スイング機構部に回動可能に支持されるホルダ部と、前記ホルダ部に保持される接合ツールと、前記Ｃ型フレームの他端に接続され、前記接合ツールからの押圧力を受け止める押圧力受け部と、を備え、前記スイング機構部の所望のスイング方向に応じて前記複数の第２着脱機構部のいずれかを選択し、当該選択した第２着脱機構部を前記第１着脱機構部へ嵌合することで前記接合ツールを前記Ｃ型フレームに装着することを特徴とする。
Further, the present invention is a friction stir welding apparatus for joining members to be joined by friction stir welding, having a plurality of joints and capable of freely moving in a three-dimensional space, and the multi-axis robot A C-shaped frame having a first attachment / detachment mechanism at one end, a swing mechanism having a plurality of second attachment / detachment mechanisms, and a holder that is rotatably supported by the swing mechanism. And a joining tool held by the holder part, and a pressing force receiving part connected to the other end of the C-shaped frame and receiving the pressing force from the joining tool, and a desired swing of the swing mechanism part The joining tool is attached to the C-shaped frame by selecting any one of the plurality of second attaching / detaching mechanisms according to the direction and fitting the selected second attaching / detaching mechanism to the first attaching / detaching mechanism. To do The features.
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）被接合部材の接合方向に応じてスイング機構部の複数の着脱機構部から所望のスイング方向の着脱機構部を選択し、当該選択した着脱機構部を装置本体の着脱機構部に装着するステップと、（ｂ）前記スイング機構部のスイング条件及び接合ツールの接合条件を制御部に入力するステップと、（ｃ）前記制御部の指令に基づき前記スイング機構部及び前記接合ツールを制御しながら前記被接合部材の接合部を摩擦撹拌接合するステップと、を有することを特徴とする。
Further, the present invention is a friction stir welding method for joining members to be joined by friction stir welding, and (a) a desired swing from a plurality of attachment / detachment mechanism portions of the swing mechanism portion according to the joining direction of the members to be joined. Selecting a direction attaching / detaching mechanism part, attaching the selected attaching / detaching mechanism part to the attaching / detaching mechanism part of the apparatus main body, and (b) inputting the swing condition of the swing mechanism part and the joining condition of the joining tool to the control part. And (c) performing friction stir welding of the joined portion of the member to be joined while controlling the swing mechanism portion and the joining tool based on a command from the control portion.
本発明によれば、従来よりも少ない接合回数で十分な接合強度を確保すること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できる。
According to the present invention, it is possible to realize a friction stir welding apparatus and a friction stir welding method capable of ensuring a sufficient joining strength with a smaller number of times of joining than before.
また、接合方向を容易に変更可能な摩擦撹拌接合装置及び摩擦撹拌接合方法を実現できる。
Also, a friction stir welding apparatus and a friction stir welding method that can easily change the joining direction can be realized.
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。
Issues, configurations, and effects other than those described above will be clarified by the following description of the embodiments.
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 description of the overlapping portions is omitted.
図１から図５及び図８Ａ，図８Ｂを参照して、実施例１の摩擦撹拌接合装置及び摩擦撹拌接合方法について説明する。図１は本実施例の摩擦撹拌接合装置１の全体概要を示している。図２は図１におけるＡ－Ａ’方向矢視図であり、スイング機構部６及び接合ヘッド７などからなる接合ヘッドアタッチメントの構成を示している。図３は図２の接合ヘッドアタッチメントの装着位置を変えた状態を示す図であり、図４は図２の変形例を示す図である。図５は本実施例の摩擦撹拌接合方法を示すフローチャートである。図８Ａは本発明の摩擦撹拌接合による被接合部材（自動車用鋼板）５３の接合部５４の様子を示し、図８Ｂは従来の摩擦撹拌接合による被接合部材（自動車用鋼板）５３の接合部５４の様子を示している。
The friction stir welding apparatus and the friction stir welding method of Example 1 will be described with reference to FIGS. 1 to 5 and FIGS. 8A and 8B. FIG. 1 shows an overall outline of a friction stir welding apparatus 1 of this embodiment. FIG. 2 is a view taken in the direction of the arrow A-A ′ in FIG. 1 and shows the configuration of the joining head attachment including the swing mechanism 6 and the joining head 7. FIG. 3 is a view showing a state where the mounting position of the joining head attachment of FIG. 2 is changed, and FIG. 4 is a view showing a modification of FIG. FIG. 5 is a flowchart showing the friction stir welding method of this embodiment. FIG. 8A shows a state of a joint portion 54 of a member to be joined (automobile steel plate) 53 by friction stir welding according to the present invention, and FIG. 8B shows a joint portion 54 of a member to be joined (automobile steel plate) 53 by conventional friction stir welding. The state of is shown.
図１に示すように、摩擦撹拌接合装置１は主要な構成として、装置本体２、上下動駆動機構部３を介して装置本体２に接続される第１着脱機構部４、第１着脱機構部４に嵌合されてスイング機構部６を装置本体２に装着する第２着脱機構部５ａ、回動機構部８を介してスイング機構部６に接続されるホルダ部（接合ヘッド）７、ホルダ部（接合ヘッド）７により保持される接合ツール部９を備えている。第２着脱機構部５ａを第１着脱機構部４に嵌合（装着）することで、スイング機構部６、ホルダ部（接合ヘッド）７、接合ツール部９が装置本体２に装着される。
As shown in FIG. 1, the friction stir welding apparatus 1 includes, as main components, a device main body 2, a first attachment / detachment mechanism portion 4 connected to the device body 2 via a vertical movement drive mechanism portion 3, and a first attachment / detachment mechanism portion. 4, a second attachment / detachment mechanism portion 5 a that attaches the swing mechanism portion 6 to the apparatus main body 2, a holder portion (joining head) 7 that is connected to the swing mechanism portion 6 via the rotation mechanism portion 8, a holder portion A joining tool portion 9 held by a (joining head) 7 is provided. By fitting (attaching) the second attaching / detaching mechanism portion 5 a to the first attaching / detaching mechanism portion 4, the swing mechanism portion 6, the holder portion (joining head) 7, and the joining tool portion 9 are attached to the apparatus main body 2.
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９はショルダ１０及び接合ピン１１で構成され、ショルダ１０を介して接合ピン１１がホルダ部（接合ヘッド）７に保持される。
For example, a ball screw or the like is used for the vertical movement drive mechanism 3 as illustrated in FIG. The joining tool part 9 includes a shoulder 10 and a joining pin 11, and the joining pin 11 is held by a holder part (joining head) 7 through the shoulder 10.
この接合ピン１１が被接合部材（図示せず）の突き合せ部に挿入され、高速回転することで接合ピン１１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、接合部が撹拌される。接合ピン１１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。
The joining pin 11 is inserted into a butted portion of a member to be joined (not shown) and rotated at a high speed to generate frictional heat between the joining pin 11 and the member to be joined. Plastic flow occurs and the joint is agitated. When the joining pin 11 moves, the stirring portion (joining portion) is cooled, and the members to be joined are joined together.
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、スイング機構部６による接合ツール部９のスイング量やスイング速度を制御するスイング制御信号、接合ツール部９による接合条件を決定する接合条件信号、上下動駆動機構部３による接合ツール部９の高さ方向（Ｚ方向）の保持位置（接合ピン９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。
The apparatus main body 2 is provided with a control unit (control apparatus) 12 that controls the operation of the friction stir welding apparatus 1. The control unit (control device) 12 includes a swing control signal for controlling the swing amount and swing speed of the welding tool unit 9 by the swing mechanism unit 6, a welding condition signal for determining a welding condition by the welding tool unit 9, and a vertical movement drive mechanism unit. 3 is a storage unit (not shown) that stores a bonding parameter (FSW bonding condition) such as a holding position determination signal for determining a holding position (insertion amount of the bonding pin 9) in the height direction (Z direction) of the bonding tool unit 9 by 3. ).
摩擦撹拌接合装置１により被接合部材の摩擦撹拌接合を行う際、制御部（制御装置）１２からの制御信号（指令）に基づき、上下動駆動機構部３、スイング機構部６、接合ツール部９の各部の動作を制御する。
When performing friction stir welding of the members to be joined by the friction stir welding apparatus 1, based on a control signal (command) from the control section (control apparatus) 12, the vertical movement drive mechanism section 3, the swing mechanism section 6, the welding tool section 9. Control the operation of each part.
図１及び図２に示す摩擦撹拌接合装置１では、図中の矢印で示すように、接合ツール部９はスイング機構部６の装置本体２への装着方向（Ｘ方向）に対し、略同一方向（つまりＸ方向）にスイングする。この装置構成で被接合部材（自動車用鋼板）５３の摩擦撹拌接合を行った場合、図８Ｂに示すように、被接合部材（自動車用鋼板）５３の長手方向（すなわちＹ方向）に対して十分な接合強度を得ようとする場合、接合部５４を長手方向（Ｙ方向）にできるだけ多くの接合部５４（図８Ｂでは８箇所の接合部）を形成する必要がある。
In the friction stir welding apparatus 1 shown in FIGS. 1 and 2, as indicated by the arrows in the drawings, the welding tool part 9 is substantially in the same direction as the mounting direction (X direction) of the swing mechanism part 6 to the apparatus main body 2. Swing in the X direction. When the friction stir welding of the member to be joined (automobile steel plate) 53 is performed with this apparatus configuration, as shown in FIG. 8B, it is sufficient with respect to the longitudinal direction (that is, the Y direction) of the member to be joined (automotive steel plate) 53. In order to obtain a high bonding strength, it is necessary to form as many bonding portions 54 as possible in the longitudinal direction (Y direction) (eight bonding portions in FIG. 8B).
そこで、本実施例では、図２，図３に示すように、スイング機構部６に複数の第２着脱機構部（ここでは、３つの第２着脱機構部５ａ，５ｂ，５ｃ）を設けている。従って、装置本体２側の第１着脱機構部４に嵌合させるスイング機構部６の第２着脱機構部を第２着脱機構部５ａから第２着脱機構部５ｂに付け替えることで、接合ツール部９のスイング方向を９０度変えることができる。つまり、スイング機構部６の装置本体２への装着方向に対し、略垂直方向にスイング機構部６（接合ツール部９）をスイングさせることができる。なお、図３ではスイング機構部６は紙面の下方向にスイングするが、スイング機構部６の第２着脱機構部を第２着脱機構部５ｃに付け替えることで、スイング機構部６を紙面の上方向にスイングさせることができる。
Therefore, in this embodiment, as shown in FIGS. 2 and 3, the swing mechanism portion 6 is provided with a plurality of second attachment / detachment mechanism portions (here, three second attachment / detachment mechanism portions 5 a, 5 b, 5 c). . Therefore, the joining tool part 9 can be obtained by changing the second attaching / detaching mechanism part of the swing mechanism part 6 to be fitted to the first attaching / detaching mechanism part 4 on the apparatus body 2 side from the second attaching / detaching mechanism part 5a to the second attaching / detaching mechanism part 5b. The swing direction can be changed by 90 degrees. That is, the swing mechanism unit 6 (joining tool unit 9) can be swung in a substantially vertical direction with respect to the mounting direction of the swing mechanism unit 6 to the apparatus main body 2. In FIG. 3, the swing mechanism unit 6 swings downward in the plane of the paper. However, the swing mechanism unit 6 is moved upward in the plane of the paper by replacing the second attachment / detachment mechanism unit of the swing mechanism unit 6 with the second attachment / detachment mechanism unit 5c. Can swing.
これにより、図８Ａに示すように、被接合部材（自動車用鋼板）５３の長手方向（Ｙ方向）に対して少ない接合部５４の形成で（図８Ａでは図８Ｂの半分の４箇所の接合部）、被接合部材（自動車用鋼板）５３の長手方向（Ｙ方向）に対して十分な接合強度を得ることができる。つまり、装置本体２に対する被接合部材（自動車用鋼板）５３の向き（位置）を変える必要がなく、接合ヘッドアタッチメントの装置本体への装着位置を変えるのみで、従来よりも少ない接合回数で被接合部材（自動車用鋼板）５３の長手方向（Ｙ方向）に対して十分な接合強度を確保することができる。
As a result, as shown in FIG. 8A, the number of joints 54 formed in the longitudinal direction (Y direction) of the member to be joined (automotive steel plate) 53 is small (in FIG. 8A, four joints, which are half of FIG. 8B). ), Sufficient bonding strength can be obtained with respect to the longitudinal direction (Y direction) of the member to be bonded (automobile steel plate) 53. In other words, it is not necessary to change the orientation (position) of the member to be joined (automobile steel plate) 53 with respect to the apparatus main body 2, and only by changing the mounting position of the joining head attachment to the apparatus main body, the number of times of joining is smaller than conventional. Sufficient bonding strength can be ensured with respect to the longitudinal direction (Y direction) of the member (steel steel plate) 53.
なお、第２着脱機構部５ａ，５ｂ，５ｃを第１着脱機構部４へ嵌合（装着）した後、第１着脱機構部４に対する第２着脱機構部５ａ，５ｂ，５ｃの位置を保持する保持機構を設けるのが望ましい。第２着脱機構部５ａ，５ｂ，５ｃを第１着脱機構部４へ確実に保持（固定）することで安定した接合を行うことができる。
After the second attachment / detachment mechanism portions 5a, 5b, 5c are fitted (attached) to the first attachment / detachment mechanism portion 4, the positions of the second attachment / detachment mechanism portions 5a, 5b, 5c with respect to the first attachment / detachment mechanism portion 4 are maintained. It is desirable to provide a holding mechanism. Stable joining can be performed by securely holding (fixing) the second attaching / detaching mechanism portions 5a, 5b, 5c to the first attaching / detaching mechanism portion 4.
図４は図２及び図３に示す接合ヘッドアタッチメントの変形例である。図４に示すように、スイング機構部６に設ける第２着脱機構部５ａに替えて、接合ヘッドアタッチメントを装置本体に装着した際、スイング機構部６（すなわち接合ツール部９）のスイング方向が角度θ（図４では約４５度）を有するように第２着脱機構部５ｄを設けている。これにより、スイング機構部６の装置本体２への装着方向に対し、角度θ方向（略斜め４５度方向）に接合ツール部９をスイングさせることができる。
FIG. 4 shows a modification of the joining head attachment shown in FIGS. As shown in FIG. 4, when the joining head attachment is attached to the apparatus main body instead of the second attaching / detaching mechanism portion 5 a provided in the swing mechanism portion 6, the swing direction of the swing mechanism portion 6 (that is, the joining tool portion 9) is an angle. The second attaching / detaching mechanism portion 5d is provided so as to have θ (about 45 degrees in FIG. 4). Thereby, the joining tool part 9 can be swung in the angle θ direction (substantially 45 degrees direction) with respect to the mounting direction of the swing mechanism part 6 to the apparatus main body 2.
図５を用いて、上記で説明した本実施例の摩擦撹拌接合装置による代表的な摩擦撹拌接合方法を説明する。
A typical friction stir welding method using the friction stir welding apparatus of the present embodiment described above will be described with reference to FIG.
先ず、被接合部材の所望の接合方向に合わせてスイング機構部６の着脱機構部（第２着脱機構部５ａ～５ｄ）を選択し、装置本体２（上下動駆動機構部３）の着脱機構部（第１着脱機構部４）に装着する。（ステップＳ１）
次に、制御部（制御装置）１２にスイング機構部６のスイング条件、接合ツール部９の接合条件、接合ツール部９の高さ（Ｚ方向の位置）を入力し、記憶部に記憶（登録）する。（ステップＳ２）
続いて、制御部（制御装置）１２からの制御信号（指令）に基づき、接合ツール部９を被接合部材の接合部（被接合部材同士の突き合わせ部）の所定の位置へ挿入する。（ステップＳ３）
続いて、制御部（制御装置）１２からの制御信号（指令）に基づき、接合ツール部９の高さ（Ｚ方向の位置）を上下動駆動機構部３により制御しながら被接合部材の接合部に沿ってスイング（移動）させ、接合部を摩擦撹拌接合する。（ステップＳ４）
最後に、制御部（制御装置）１２からの制御信号（指令）に基づき、接合ツール部９のスイング量（移動量）が所定の値（位置）に達した時点で接合ツール部９を被接合部材の接合部から引き抜き、摩擦撹拌接合処理を終了する。（ステップＳ５）
以上説明したように、本実施例の摩擦撹拌接合装置及び摩擦撹拌接合方法によれば、従来よりも少ない接合回数で十分な接合強度を確保することができる。また、従来よりも簡便な方法で接合方向を容易に変更することが可能となる。 First, the attachment / detachment mechanism portion (second attachment /detachment mechanism portions 5a to 5d) of the swing mechanism portion 6 is selected in accordance with the desired joining direction of the members to be joined, and the attachment / detachment mechanism portion of the apparatus main body 2 (vertical movement drive mechanism portion 3). It is attached to the (first attaching / detaching mechanism 4). (Step S1)
Next, the swing condition of theswing mechanism unit 6, the joining condition of the welding tool unit 9, and the height (position in the Z direction) of the welding tool unit 9 are input to the control unit (control device) 12 and stored (registered) in the storage unit. ) (Step S2)
Subsequently, based on a control signal (command) from the control unit (control device) 12, the welding tool unit 9 is inserted into a predetermined position of the bonded portion of the bonded members (butting portion between the bonded members). (Step S3)
Subsequently, based on a control signal (command) from the control unit (control device) 12, the height of the welding tool unit 9 (position in the Z direction) is controlled by the verticalmovement drive mechanism 3, and the bonded part of the members to be bonded Are swung (moved) along the frictional stir welding. (Step S4)
Finally, based on a control signal (command) from the control unit (control device) 12, the welding tool unit 9 is joined when the swing amount (movement amount) of the welding tool unit 9 reaches a predetermined value (position). The member is pulled out from the joint portion of the member, and the friction stir welding process is finished. (Step S5)
As described above, according to the friction stir welding apparatus and the friction stir welding method of the present embodiment, sufficient joining strength can be ensured with a smaller number of joinings than in the past. Moreover, it becomes possible to change a joining direction easily by a simpler method than before.
次に、制御部（制御装置）１２にスイング機構部６のスイング条件、接合ツール部９の接合条件、接合ツール部９の高さ（Ｚ方向の位置）を入力し、記憶部に記憶（登録）する。（ステップＳ２）
続いて、制御部（制御装置）１２からの制御信号（指令）に基づき、接合ツール部９を被接合部材の接合部（被接合部材同士の突き合わせ部）の所定の位置へ挿入する。（ステップＳ３）
続いて、制御部（制御装置）１２からの制御信号（指令）に基づき、接合ツール部９の高さ（Ｚ方向の位置）を上下動駆動機構部３により制御しながら被接合部材の接合部に沿ってスイング（移動）させ、接合部を摩擦撹拌接合する。（ステップＳ４）
最後に、制御部（制御装置）１２からの制御信号（指令）に基づき、接合ツール部９のスイング量（移動量）が所定の値（位置）に達した時点で接合ツール部９を被接合部材の接合部から引き抜き、摩擦撹拌接合処理を終了する。（ステップＳ５）
以上説明したように、本実施例の摩擦撹拌接合装置及び摩擦撹拌接合方法によれば、従来よりも少ない接合回数で十分な接合強度を確保することができる。また、従来よりも簡便な方法で接合方向を容易に変更することが可能となる。 First, the attachment / detachment mechanism portion (second attachment /
Next, the swing condition of the
Subsequently, based on a control signal (command) from the control unit (control device) 12, the welding tool unit 9 is inserted into a predetermined position of the bonded portion of the bonded members (butting portion between the bonded members). (Step S3)
Subsequently, based on a control signal (command) from the control unit (control device) 12, the height of the welding tool unit 9 (position in the Z direction) is controlled by the vertical
Finally, based on a control signal (command) from the control unit (control device) 12, the welding tool unit 9 is joined when the swing amount (movement amount) of the welding tool unit 9 reaches a predetermined value (position). The member is pulled out from the joint portion of the member, and the friction stir welding process is finished. (Step S5)
As described above, according to the friction stir welding apparatus and the friction stir welding method of the present embodiment, sufficient joining strength can be ensured with a smaller number of joinings than in the past. Moreover, it becomes possible to change a joining direction easily by a simpler method than before.
図６を参照して、実施例２の摩擦撹拌接合装置及び摩擦撹拌接合方法について説明する。図６は本実施例の摩擦撹拌接合装置２１の全体概要を示している。
The friction stir welding apparatus and the friction stir welding method of Example 2 will be described with reference to FIG. FIG. 6 shows an overall outline of the friction stir welding apparatus 21 of this embodiment.
図６に示すように、摩擦撹拌接合装置２１は主要な構成として、装置本体２２、上下動駆動機構部（第１上下動駆動機構部）２３を介して装置本体２２に接続されるＣ型フレーム２４、上下動駆動機構部（第２上下動駆動機構部）２５を介してＣ型フレーム２４の一端に接続される第１着脱機構部２６、第１着脱機構部２６に嵌合されてスイング機構部２８をＣ型フレーム２４に装着する第２着脱機構部２７ａ、回動機構部３０を介してスイング機構部２８に接続されるホルダ部（接合ヘッド）２９、ホルダ部（接合ヘッド）２９により保持される接合ツール部３１を備えている。第２着脱機構部２７ａを第１着脱機構部２６に嵌合（装着）することで、スイング機構部２８、ホルダ部（接合ヘッド）２９、接合ツール部３１がＣ型フレーム２４（装置本体２２）に装着される。
As shown in FIG. 6, the friction stir welding apparatus 21 has a C-type frame connected to the apparatus main body 22 via an apparatus main body 22 and a vertical movement drive mechanism section (first vertical movement drive mechanism section) 23 as main components. 24. A swing mechanism that is fitted to a first attaching / detaching mechanism portion 26 and a first attaching / detaching mechanism portion 26 that are connected to one end of the C-shaped frame 24 via a vertically moving drive mechanism portion (second vertically moving drive mechanism portion) 25. The second attaching / detaching mechanism part 27 a for attaching the part 28 to the C-shaped frame 24, the holder part (joining head) 29 connected to the swing mechanism part 28 via the rotating mechanism part 30, and the holder part (joining head) 29 The welding tool part 31 is provided. By fitting (attaching) the second attaching / detaching mechanism portion 27a to the first attaching / detaching mechanism portion 26, the swing mechanism portion 28, the holder portion (joining head) 29, and the joining tool portion 31 become the C-shaped frame 24 (device main body 22). It is attached to.
上下動駆動機構部（第１上下動駆動機構部）２３，上下動駆動機構部（第２上下動駆動機構部）２５には、図６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３１はショルダ３２及び接合ピン３３で構成され、ショルダ３２を介して接合ピン３３がホルダ部（接合ヘッド）２９に保持される。 As illustrated in FIG. 6, for example, a ball screw or the like is used for the vertical drive mechanism (first vertical drive mechanism) 23 and the vertical drive mechanism (second vertical drive mechanism) 25.
The joiningtool part 31 includes a shoulder 32 and a joining pin 33, and the joining pin 33 is held by a holder part (joining head) 29 via the shoulder 32.
接合ツール部３１はショルダ３２及び接合ピン３３で構成され、ショルダ３２を介して接合ピン３３がホルダ部（接合ヘッド）２９に保持される。 As illustrated in FIG. 6, for example, a ball screw or the like is used for the vertical drive mechanism (first vertical drive mechanism) 23 and the vertical drive mechanism (second vertical drive mechanism) 25.
The joining
Ｃ型フレーム２４は、上下動駆動機構部（第１上下動駆動機構部）２３を介して装置本体２２に接続される被保持部（立上部）２４ａ、上下動駆動機構部（第２上下動駆動機構部）２５を介して第１着脱機構部２６に接続されるホルダ部保持部２４ｂ、Ｃ型フレーム２４の他端に接続され、摩擦撹拌接合時に接合ツール部３１からの押圧力を受け止める押圧力受け部２４ｃで構成され、略Ｃ型（略コの字型）形状を有している。
The C-shaped frame 24 includes a held portion (upper portion) 24a connected to the apparatus main body 22 via a vertical motion drive mechanism portion (first vertical motion drive mechanism portion) 23, and a vertical motion drive mechanism portion (second vertical motion mechanism). The holder holding portion 24b connected to the first attaching / detaching mechanism portion 26 via the drive mechanism portion 25) is connected to the other end of the C-shaped frame 24 and receives the pressing force from the welding tool portion 31 during the friction stir welding. The pressure receiving portion 24c has a substantially C shape (substantially U shape).
装置本体２２には、摩擦撹拌接合装置２１の動作を制御する制御部（制御装置）３４が設置されている。制御部（制御装置）３４は、接合ツール部３１による接合条件を決定する接合条件信号（接合指令信号）や上下動駆動機構部（第１上下動駆動機構部）２３によるＣ型フレーム２４の装置本体２２に対する高さ方向（Ｚ方向）の保持位置を決定する保持位置決定信号、上下動駆動機構部（第２上下動駆動機構部）２５による第１着脱機構部２６のＣ型フレーム２４（ホルダ部保持部２４ｂ）に対する高さ方向（Ｚ方向）の保持位置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。
The apparatus main body 22 is provided with a control unit (control apparatus) 34 that controls the operation of the friction stir welding apparatus 21. The control unit (control device) 34 is a device for the C-shaped frame 24 by a joining condition signal (joining command signal) for determining a joining condition by the joining tool unit 31 and a vertical movement drive mechanism part (first vertical movement drive mechanism part) 23. A holding position determination signal for determining a holding position in the height direction (Z direction) with respect to the main body 22, a C-type frame 24 (holder) of the first attaching / detaching mechanism portion 26 by the vertically moving drive mechanism portion (second vertically moving drive mechanism portion) 25. A storage unit (not shown) for storing a bonding parameter (FSW bonding condition) such as a holding position determination signal for determining a holding position in the height direction (Z direction) with respect to the part holding unit 24b).
本実施例の摩擦撹拌接合装置２１は以上のように構成されており、実施例１と同様に、第２着脱機構部２７ａを第１着脱機構部２６に嵌合（装着）することで、スイング機構部２８、ホルダ部（接合ヘッド）２９、接合ツール部３１がＣ型フレーム２４（装置本体２２）に装着される。従って、例えばＣ型フレーム２４側の第１着脱機構部２６に嵌合させるスイング機構部２８の第２着脱機構部を第２着脱機構部２７ａから第２着脱機構部２７ｂに付け替えることで、接合ツール部３１のスイング方向を９０度変更することができる。
The friction stir welding apparatus 21 of the present embodiment is configured as described above, and as in the first embodiment, the second attaching / detaching mechanism portion 27a is fitted (attached) to the first attaching / detaching mechanism portion 26, thereby swinging. The mechanism part 28, the holder part (joining head) 29, and the joining tool part 31 are attached to the C-shaped frame 24 (device main body 22). Therefore, for example, by changing the second attachment / detachment mechanism portion of the swing mechanism portion 28 to be fitted to the first attachment / detachment mechanism portion 26 on the C-shaped frame 24 side from the second attachment / detachment mechanism portion 27a to the second attachment / detachment mechanism portion 27b, The swing direction of the part 31 can be changed by 90 degrees.
実施例１の図４のように、スイング機構部２８に設ける第２着脱機構部２７ａに替えて、接合ヘッドアタッチメントを装置本体に装着した際、スイング機構部２８（すなわち接合ツール部３１）のスイング方向が角度θ（図４のように例えば約４５度）を有するように第２着脱機構部を設けてもよい点や、被接合部材の所望の接合方向に合わせてスイング機構部２８の着脱機構部（図６では第２着脱機構部２７ａ，２７ｂ）を選択する点など、その他の構成及び動作（作用）は基本的に実施例１と同様であるため、繰り返しとなる詳細な説明は省略する。
As shown in FIG. 4 of the first embodiment, when the joining head attachment is attached to the apparatus main body instead of the second attachment / detachment mechanism portion 27a provided in the swing mechanism portion 28, the swing of the swing mechanism portion 28 (that is, the joining tool portion 31). The second attaching / detaching mechanism portion may be provided so that the direction has an angle θ (for example, about 45 degrees as shown in FIG. 4), and the attaching / detaching mechanism of the swing mechanism portion 28 according to a desired joining direction of the members to be joined. Since the other configuration and operation (action) are basically the same as those in the first embodiment, such as the point (the second attaching / detaching mechanism portions 27a and 27b in FIG. 6) are selected, the detailed description that is repeated is omitted. .
本実施例においても、従来よりも少ない接合回数で十分な接合強度を確保することができるなど、実施例１と同様の効果を得ることができる。また、本実施例では、上下動駆動機構部（第１上下動駆動機構部）２３を介して装置本体２２にＣ型フレーム２４を接続しており、なおかつ、上下動駆動機構部（第２上下動駆動機構部）２５を介して接合ヘッドアタッチメント（スイング機構部２８及び接合ツール部３１）をＣ型フレーム２４に接続しているため、Ｃ型フレーム２４の装置本体２２に対する高さ（Ｚ方向の位置）及びスイング機構部２８（接合ツール部３１）のＣ型フレーム２４に対する高さ（Ｚ方向の位置）を制御しながら摩擦撹拌接合を行うことができ、より精度の高い摩擦撹拌接合が可能となる。
Also in this embodiment, the same effects as in Embodiment 1 can be obtained, such as sufficient bonding strength can be ensured with a smaller number of times of bonding than in the past. Further, in this embodiment, the C-type frame 24 is connected to the apparatus main body 22 via the vertical movement drive mechanism section (first vertical movement drive mechanism section) 23, and the vertical movement drive mechanism section (second vertical movement drive mechanism section). Since the joining head attachment (swing mechanism part 28 and joining tool part 31) is connected to the C-type frame 24 via the dynamic drive mechanism part) 25, the height of the C-type frame 24 relative to the apparatus main body 22 (in the Z direction). Position) and the height (position in the Z direction) of the swing mechanism portion 28 (joining tool portion 31) with respect to the C-shaped frame 24 can be controlled, and the friction stir welding can be performed with higher accuracy. Become.
図７を参照して、実施例３の摩擦撹拌接合装置及び摩擦撹拌接合方法について説明する。図７は本実施例の摩擦撹拌接合装置４１の全体概要を示している。
The friction stir welding apparatus and the friction stir welding method of Example 3 will be described with reference to FIG. FIG. 7 shows an overall outline of the friction stir welding apparatus 41 of this embodiment.
図７に示すように、摩擦撹拌接合装置４１は主要な構成として、多軸ロボット４２、多軸ロボット４２に接続されるＣ型フレーム４３、上下動駆動機構部４４を介してＣ型フレーム４３の一端に接続される第１着脱機構部４５、第１着脱機構部４５に嵌合されてスイング機構部４７をＣ型フレーム４３に装着する第２着脱機構部４６ａ、回動機構部４９を介してスイング機構部４７に接続されるホルダ部（接合ヘッド）４８、ホルダ部（接合ヘッド）４８により保持される接合ツール部５０を備えている。第２着脱機構部４６ａを第１着脱機構部４５に嵌合（装着）することで、スイング機構部４７、ホルダ部（接合ヘッド）４８、接合ツール部５０がＣ型フレーム４３（多軸ロボット４２）に装着される。接合ツール部５０はショルダ５１及び接合ピン５２で構成され、ショルダ５１を介して接合ピン５２がホルダ部（接合ヘッド）４８に保持される。
As shown in FIG. 7, the friction stir welding apparatus 41 includes, as main components, a multi-axis robot 42, a C-type frame 43 connected to the multi-axis robot 42, and a C-type frame 43 via a vertical movement drive mechanism 44. Via a first attaching / detaching mechanism portion 45 connected to one end, a second attaching / detaching mechanism portion 46 a fitted to the first attaching / detaching mechanism portion 45 and attaching the swing mechanism portion 47 to the C-shaped frame 43, and a rotation mechanism portion 49. A holder part (joining head) 48 connected to the swing mechanism part 47 and a joining tool part 50 held by the holder part (joining head) 48 are provided. By fitting (attaching) the second attaching / detaching mechanism portion 46a to the first attaching / detaching mechanism portion 45, the swing mechanism portion 47, the holder portion (joining head) 48, and the joining tool portion 50 are combined with the C-shaped frame 43 (multi-axis robot 42). ). The joining tool part 50 includes a shoulder 51 and a joining pin 52, and the joining pin 52 is held by a holder part (joining head) 48 via the shoulder 51.
多軸ロボット４２は、一般的にロボットアームと呼ばれる垂直多関節ロボットであり、多関節構造とサーボモーターによって三次元空間を自在に動作（移動）することができる。関節の数（軸数）によって可動範囲が変化するが、ここでは台座部４２ａ上に下腕部４２ｂ、上腕部４２ｃ、手首部４２ｄを有する三軸タイプのロボットアームの例を示す。多軸ロボット４２の白丸部分が関節である。
The multi-axis robot 42 is a vertical articulated robot generally called a robot arm, and can freely move (move) in a three-dimensional space by an articulated structure and a servo motor. Although the movable range varies depending on the number of joints (number of axes), an example of a three-axis type robot arm having a lower arm part 42b, an upper arm part 42c, and a wrist part 42d on a pedestal part 42a is shown here. The white circles of the multi-axis robot 42 are joints.
なお、摩擦撹拌接合装置４１はサーボアンプや基板などが収納された制御装置（図示せず）を備えており、この制御装置からの指令（プログラム信号）により多軸ロボット４２の動きやスイング機構部４７のスイング条件、接合ツール部５０の接合条件を総合的にコントロールする。
The friction stir welding apparatus 41 includes a control device (not shown) in which a servo amplifier, a substrate, and the like are housed, and the movement of the multi-axis robot 42 and the swing mechanism unit according to a command (program signal) from the control device. The swing condition of 47 and the joining condition of the joining tool part 50 are comprehensively controlled.
多軸ロボット４２の手首部４２ｄの先端には、Ｃ型フレーム４３が回動可能に接続されている。Ｃ型フレーム４３は、多軸ロボット４２の手首部４２ｄに接続される被保持部（立上部）４３ａ、被保持部４３ａの一方の端部に接続されて上下動駆動機構部４４を介して第１着脱機構部４５を支持するホルダ部保持部４３ｂ、被保持部（立上部）４３ａの他方の端部に接続されて接合ツール部５０からの押圧力を受け止める押圧力受け部４３ｃから構成されている。
A C-shaped frame 43 is rotatably connected to the tip of the wrist portion 42d of the multi-axis robot 42. The C-shaped frame 43 is connected to a held portion (upright portion) 43 a connected to the wrist portion 42 d of the multi-axis robot 42, and is connected to one end portion of the held portion 43 a and connected to the first through the vertical movement drive mechanism portion 44. 1 A holder holding portion 43b that supports the attachment / detachment mechanism portion 45, and a pressing force receiving portion 43c that is connected to the other end of the held portion (upper portion) 43a and receives the pressing force from the welding tool portion 50. Yes.
なお、図７では被保持部（立上部）４３ａ、ホルダ部保持部４３ｂ、押圧力受け部４３ｃが一体物としてＣ型フレーム４３を構成する例を示しているが、各部位がそれぞれ別体として形成され、それらを組み合せることでＣ型フレーム４３を構成する例も含んでいる。
FIG. 7 shows an example in which the held portion (upright portion) 43a, the holder portion holding portion 43b, and the pressing force receiving portion 43c constitute the C-shaped frame 43 as an integrated body. An example of forming the C-shaped frame 43 by combining them is also included.
ホルダ部（接合ヘッド）４８は、上下動駆動機構部４４を介してＣ型フレーム４３（ホルダ部保持部４３ｂ）と接続されており、Ｃ型フレーム４３に対して上下方向（図７のＺ方向）に動作する。
The holder part (joining head) 48 is connected to the C-type frame 43 (holder part holding part 43b) via the vertical movement drive mechanism part 44, and the vertical direction (Z direction in FIG. 7) with respect to the C-type frame 43. ) Works.
接合ツール部５０は、ショルダ５１、接合ピン５２で構成され、接合ピン５２を高速回転させながら被接合部材（図示せず）に所定の深さまで挿入し、接合部（接合線）に沿って移動させることで摩擦撹拌接合を行う。
The joining tool portion 50 includes a shoulder 51 and a joining pin 52. The joining tool portion 50 is inserted into a member to be joined (not shown) to a predetermined depth while rotating the joining pin 52 at a high speed, and moves along the joining portion (joining line). Friction stir welding is performed.
本実施例の摩擦撹拌接合装置４１は以上のように構成されており、実施例１と同様に、第２着脱機構部４６ａを第１着脱機構部４５に嵌合（装着）することで、スイング機構部４７、ホルダ部（接合ヘッド）４８、接合ツール部５０がＣ型フレーム４３（多軸ロボット４２）に装着される。従って、例えばＣ型フレーム４３側の第１着脱機構部４５に嵌合させるスイング機構部４７の第２着脱機構部を第２着脱機構部４６ａから第２着脱機構部４６ｂに付け替えることで、接合ツール部５０のスイング方向を９０度変更することができる。
The friction stir welding apparatus 41 according to the present embodiment is configured as described above, and, as in the first embodiment, the second attachment / detachment mechanism portion 46a is fitted (attached) to the first attachment / detachment mechanism portion 45, thereby swinging. The mechanism part 47, the holder part (joining head) 48, and the joining tool part 50 are mounted on the C-shaped frame 43 (multi-axis robot 42). Therefore, for example, by changing the second attachment / detachment mechanism portion of the swing mechanism portion 47 to be fitted to the first attachment / detachment mechanism portion 45 on the C-shaped frame 43 side from the second attachment / detachment mechanism portion 46a to the second attachment / detachment mechanism portion 46b, The swing direction of the unit 50 can be changed by 90 degrees.
実施例１の図４のように、スイング機構部４７に設ける第２着脱機構部４６ａに替えて、接合ヘッドアタッチメントを装置本体に装着した際、スイング機構部４７（すなわち接合ツール部５０）のスイング方向が角度θ（図４のように例えば約４５度）を有するように第２着脱機構部を設けてもよい点や、被接合部材の所望の接合方向に合わせてスイング機構部４７の着脱機構部（図７では第２着脱機構部４６ａ，４６ｂ）を選択する点など、その他の構成及び動作（作用）は基本的に実施例１と同様であるため、繰り返しとなる詳細な説明は省略する。
As shown in FIG. 4 of the first embodiment, when the joining head attachment is attached to the apparatus main body instead of the second attaching / detaching mechanism part 46a provided in the swing mechanism part 47, the swing of the swing mechanism part 47 (that is, the joining tool part 50) is swung. The second attachment / detachment mechanism portion may be provided so that the direction has an angle θ (for example, about 45 degrees as shown in FIG. 4), and the attachment / detachment mechanism of the swing mechanism portion 47 according to the desired joining direction of the members to be joined. Since the other configurations and operations (actions) such as the point (second attachment / detachment mechanism portions 46a and 46b in FIG. 7) are basically the same as those in the first embodiment, repeated detailed description is omitted. .
本実施例においても、従来よりも少ない接合回数で十分な接合強度を確保することができるなど、実施例１と同様の効果を得ることができる。また、本実施例では、Ｃ型フレーム４３を多軸ロボットアーム４２により保持しているため、接合点（接合面）を三次元空間において自在に移動することができ、自動車のボディのように立体的に配置され、曲面を含む複雑な形状の被接合部材の摩擦撹拌接合を精度よく行うことができる。
Also in this embodiment, the same effects as in Embodiment 1 can be obtained, such as sufficient bonding strength can be ensured with a smaller number of times of bonding than in the past. Further, in this embodiment, since the C-shaped frame 43 is held by the multi-axis robot arm 42, the joint point (joint surface) can be freely moved in the three-dimensional space, and can be three-dimensional like a car body. Therefore, the friction stir welding of the member to be joined having a complicated shape including the curved surface can be performed with high accuracy.
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.
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…第１着脱機構部、５，５ａ，５ｂ，５ｃ，５ｄ…第２着脱機構部、６…スイング機構部、７…ホルダ部（接合ヘッド）、８…回動機構部、９…接合ツール部、１０…ショルダ、１１…接合ピン、１２…制御部（制御装置）、２１…摩擦撹拌接合装置、２２…装置本体、２３，２５…上下動駆動機構部（ボールスクリュー）、２４…Ｃ型フレーム、２４ａ…被保持部（立上部）、２４ｂ…ホルダ部保持部、２４ｃ…押圧力受け部、２６…第１着脱機構部、２７，２７ａ，２７ｂ…第２着脱機構部、２８…スイング機構部、２９…ホルダ部（接合ヘッド）、３０…回動機構部、３１…接合ツール部、３２…ショルダ、３３…接合ピン、３４…制御部（制御装置）、４１…摩擦撹拌接合装置、４２…多軸ロボット、４２ａ…台座部、４２ｂ…下腕部、４２ｃ…上腕部、４２ｄ…手首部、４３…Ｃ型フレーム、４３ａ…被保持部（立上部）、４３ｂ…ホルダ部保持部、４３ｃ…押圧力受け部、４４…上下動駆動機構部（ボールスクリュー）、４５…第１着脱機構部、４６，４６ａ，４６ｂ…第２着脱機構部、４７…スイング機構部、４８…ホルダ部（接合ヘッド）、４９…回動機構部、５０…接合ツール部、５１…ショルダ、５２…接合ピン、５３…被接合部材（自動車用鋼板）、５４…接合部。
DESCRIPTION OF SYMBOLS 1 ... Friction stir welding apparatus, 2 ... Apparatus main body, 3 ... Vertical motion drive mechanism part (ball screw), 4 ... 1st attachment / detachment mechanism part, 5, 5a, 5b, 5c, 5d ... 2nd attachment / detachment mechanism part, 6 ... Swing mechanism part, 7 ... Holder part (joining head), 8 ... Turning mechanism part, 9 ... Joining tool part, 10 ... Shoulder, 11 ... Joining pin, 12 ... Control part (control device), 21 ... Friction stir welding apparatus 22 ... device main body, 23, 25 ... vertical movement drive mechanism (ball screw), 24 ... C-shaped frame, 24a ... held portion (upper part), 24b ... holder holding portion, 24c ... pressing force receiving portion, 26: First attaching / detaching mechanism part, 27, 27a, 27b ... Second attaching / detaching mechanism part, 28 ... Swing mechanism part, 29 ... Holder part (joining head), 30 ... Turning mechanism part, 31 ... Joining tool part, 32 ... Shoulder, 33 ... joint pin, 34 ... control unit (control Apparatus), 41 ... friction stir welding apparatus, 42 ... multi-axis robot, 42a ... pedestal part, 42b ... lower arm part, 42c ... upper arm part, 42d ... wrist part, 43 ... C-shaped frame, 43a ... held part (standing) Upper part), 43b ... Holder part holding part, 43c ... Pressing force receiving part, 44 ... Vertical movement drive mechanism part (ball screw), 45 ... First attachment / detachment mechanism part, 46, 46a, 46b ... Second attachment / detachment mechanism part, 47 DESCRIPTION OF SYMBOLS ... Swing mechanism part, 48 ... Holder part (joining head), 49 ... Turning mechanism part, 50 ... Joining tool part, 51 ... Shoulder, 52 ... Joining pin, 53 ... Joined member (automobile steel plate), 54 ... Joining Department.
Claims (11)
- 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であって、
第１着脱機構部を有する装置本体と、
複数の第２着脱機構部を有するスイング機構部と、
前記スイング機構部に回動可能に支持されるホルダ部と、
前記ホルダ部に保持される接合ツールと、を備え、
前記スイング機構部の所望のスイング方向に応じて前記複数の第２着脱機構部のいずれかを選択し、
当該選択した第２着脱機構部を前記第１着脱機構部へ嵌合することで前記接合ツールを前記装置本体に装着することを特徴とする摩擦撹拌接合装置。 A friction stir welding apparatus for joining members to be joined by friction stir welding,
An apparatus body having a first attachment / detachment mechanism;
A swing mechanism having a plurality of second attachment / detachment mechanisms;
A holder part rotatably supported by the swing mechanism part;
A joining tool held by the holder part,
Select one of the plurality of second attachment / detachment mechanism units according to a desired swing direction of the swing mechanism unit,
A friction stir welding apparatus, wherein the joining tool is attached to the apparatus main body by fitting the selected second attaching / detaching mechanism part to the first attaching / detaching mechanism part. - 請求項１に記載の摩擦撹拌接合装置であって、
前記第１着脱機構部は、上下動駆動機構部を介して前記装置本体に設けられることを特徴とする摩擦撹拌接合装置。 The friction stir welding apparatus according to claim 1,
The friction stir welding apparatus according to claim 1, wherein the first attaching / detaching mechanism portion is provided in the apparatus main body through a vertical movement driving mechanism portion. - 請求項２に記載の摩擦撹拌接合装置であって、
前記装置本体に接続されるＣ型フレームを備え、
前記第１着脱機構部は、前記上下動駆動機構部を介して前記Ｃ型フレームの一端に接続され、
前記Ｃ型フレームの他端に前記接合ツールからの押圧力を受け止める押圧力受け部が設けられることを特徴とする摩擦撹拌接合装置。 The friction stir welding apparatus according to claim 2,
A C-shaped frame connected to the apparatus body;
The first attachment / detachment mechanism is connected to one end of the C-shaped frame via the vertical movement drive mechanism.
2. A friction stir welding apparatus according to claim 1, wherein a pressing force receiving portion for receiving a pressing force from the welding tool is provided at the other end of the C-shaped frame. - 請求項１から３のいずれか１項に記載の摩擦撹拌接合装置であって、
前記第２着脱機構部を前記第１着脱機構部へ嵌合した後、前記第１着脱機構部に対する前記第２着脱機構部の位置を保持する保持機構を有することを特徴とする摩擦撹拌接合装置。 The friction stir welding apparatus according to any one of claims 1 to 3,
A friction stir welding apparatus comprising: a holding mechanism that holds a position of the second attachment / detachment mechanism portion with respect to the first attachment / detachment mechanism portion after the second attachment / detachment mechanism portion is fitted to the first attachment / detachment mechanism portion. . - 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であって、
複数の関節を有し、三次元空間を自在に移動可能な多軸ロボットアームと、
前記多軸ロボットアームの先端に接続され、一端に第１着脱機構部を有するＣ型フレームと、
複数の第２着脱機構部を有するスイング機構部と、
前記スイング機構部に回動可能に支持されるホルダ部と、
前記ホルダ部に保持される接合ツールと、
前記Ｃ型フレームの他端に接続され、前記接合ツールからの押圧力を受け止める押圧力受け部と、を備え、
前記スイング機構部の所望のスイング方向に応じて前記複数の第２着脱機構部のいずれかを選択し、
当該選択した第２着脱機構部を前記第１着脱機構部へ嵌合することで前記接合ツールを前記Ｃ型フレームに装着することを特徴とする摩擦撹拌接合装置。 A friction stir welding apparatus for joining members to be joined by friction stir welding,
A multi-axis robot arm having a plurality of joints and freely moving in a three-dimensional space;
A C-shaped frame connected to the tip of the multi-axis robot arm and having a first attachment / detachment mechanism at one end;
A swing mechanism having a plurality of second attachment / detachment mechanisms;
A holder part rotatably supported by the swing mechanism part;
A joining tool held by the holder part;
A pressing force receiving portion connected to the other end of the C-shaped frame and receiving the pressing force from the joining tool,
Select one of the plurality of second attachment / detachment mechanism units according to a desired swing direction of the swing mechanism unit,
A friction stir welding apparatus, wherein the joining tool is attached to the C-shaped frame by fitting the selected second attaching / detaching mechanism part to the first attaching / detaching mechanism part. - 請求項５に記載の摩擦撹拌接合装置であって、
前記第１着脱機構部は、上下動駆動機構部を介して前記Ｃ型フレームに設けられることを特徴とする摩擦撹拌接合装置。 The friction stir welding apparatus according to claim 5,
The friction stir welding apparatus according to claim 1, wherein the first attachment / detachment mechanism is provided on the C-shaped frame via a vertical movement drive mechanism. - 請求項５または６に記載の摩擦撹拌接合装置であって、
前記第２着脱機構部を前記第１着脱機構部へ嵌合した後、前記第１着脱機構部に対する前記第２着脱機構部の位置を保持する保持機構を有することを特徴とする摩擦撹拌接合装置。 The friction stir welding apparatus according to claim 5 or 6,
A friction stir welding apparatus comprising: a holding mechanism that holds a position of the second attachment / detachment mechanism portion with respect to the first attachment / detachment mechanism portion after the second attachment / detachment mechanism portion is fitted to the first attachment / detachment mechanism portion. . - 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）被接合部材の接合方向に応じてスイング機構部の複数の着脱機構部から所望のスイング方向の着脱機構部を選択し、当該選択した着脱機構部を装置本体の着脱機構部に装着するステップと、
（ｂ）前記スイング機構部のスイング条件及び接合ツールの接合条件を制御部に入力するステップと、
（ｃ）前記制御部の指令に基づき前記スイング機構部及び前記接合ツールを制御しながら前記被接合部材の接合部を摩擦撹拌接合するステップと、
を有することを特徴とする摩擦撹拌接合方法。 A friction stir welding method for joining members to be joined by friction stir welding,
(A) An attachment / detachment mechanism portion in a desired swing direction is selected from a plurality of attachment / detachment mechanism portions of the swing mechanism portion according to the joining direction of the members to be joined, and the selected attachment / detachment mechanism portion is attached to the attachment / detachment mechanism portion of the apparatus main body. Steps,
(B) inputting the swing condition of the swing mechanism and the joining condition of the joining tool to the control unit;
(C) Friction stir welding of the joined portion of the member to be joined while controlling the swing mechanism portion and the joining tool based on the command of the control portion;
A friction stir welding method characterized by comprising: - 請求項８に記載の摩擦撹拌接合方法であって、
前記（ｃ）工程において、前記スイング機構部の前記装置本体への装着方向に対し、略同一方向に前記接合ツールをスイングさせることを特徴とする摩擦撹拌接合方法。 The friction stir welding method according to claim 8,
In the step (c), the friction stir welding method is characterized in that the welding tool is swung in substantially the same direction with respect to the mounting direction of the swing mechanism portion to the apparatus main body. - 請求項８に記載の摩擦撹拌接合方法であって、
前記（ｃ）工程において、前記スイング機構部の前記装置本体への装着方向に対し、略垂直方向に前記接合ツールをスイングさせることを特徴とする摩擦撹拌接合方法。 The friction stir welding method according to claim 8,
In the step (c), the friction stir welding method is characterized in that the welding tool is swung in a substantially vertical direction with respect to a mounting direction of the swing mechanism portion to the apparatus main body. - 請求項８に記載の摩擦撹拌接合方法であって、
前記（ｃ）工程において、前記スイング機構部の前記装置本体への装着方向に対し、略斜め４５度方向に前記接合ツールをスイングさせることを特徴とする摩擦撹拌接合方法。 The friction stir welding method according to claim 8,
In the step (c), the friction stir welding method is characterized in that the welding tool is swung in a direction substantially 45 degrees obliquely with respect to the mounting direction of the swing mechanism portion to the apparatus main body.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2018063419A JP6408736B1 (en) | 2018-03-29 | 2018-03-29 | Friction stir welding apparatus and friction stir welding method |
| JP2018-063419 | 2018-03-29 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| WO2019189505A1 true WO2019189505A1 (en) | 2019-10-03 |
Family
ID=63855305
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| PCT/JP2019/013435 WO2019189505A1 (en) | 2018-03-29 | 2019-03-27 | Friction stir welding device, and friction stir welding method |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6408736B1 (en) |
| WO (1) | WO2019189505A1 (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6408736B1 (en) * | 2018-03-29 | 2018-10-17 | 株式会社日立パワーソリューションズ | Friction stir welding apparatus and friction stir welding method |
| CN109940262A (en) * | 2019-04-02 | 2019-06-28 | 湖南坤鼎数控科技有限公司 | Friction welding operation panel |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60172491A (en) * | 1984-02-14 | 1985-09-05 | 三菱電機株式会社 | Hand device for industrial robot |
| JP2007203326A (en) * | 2006-02-01 | 2007-08-16 | Honda Motor Co Ltd | Friction stir welding equipment |
| JP4511526B2 (en) * | 2004-03-19 | 2010-07-28 | 株式会社日立製作所 | Friction stir spot welding method and welding apparatus |
| JP2013094920A (en) * | 2011-11-02 | 2013-05-20 | Honda Motor Co Ltd | Joint mechanism and work attachment |
| DE102014213647A1 (en) * | 2014-07-14 | 2016-01-14 | Robert Bosch Gmbh | Apparatus and method for forming a welded joint |
| JP6408736B1 (en) * | 2018-03-29 | 2018-10-17 | 株式会社日立パワーソリューションズ | Friction stir welding apparatus and friction stir welding method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3763734B2 (en) * | 2000-10-27 | 2006-04-05 | 株式会社日立製作所 | Panel member processing method |
| JP4956029B2 (en) * | 2006-03-31 | 2012-06-20 | 本田技研工業株式会社 | Friction stir welding apparatus and friction stir welding method |
| US9511461B2 (en) * | 2006-10-05 | 2016-12-06 | The Boeing Company | Independent axis ancillary device |
-
2018
- 2018-03-29 JP JP2018063419A patent/JP6408736B1/en active Active
-
2019
- 2019-03-27 WO PCT/JP2019/013435 patent/WO2019189505A1/en active Application Filing
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60172491A (en) * | 1984-02-14 | 1985-09-05 | 三菱電機株式会社 | Hand device for industrial robot |
| JP4511526B2 (en) * | 2004-03-19 | 2010-07-28 | 株式会社日立製作所 | Friction stir spot welding method and welding apparatus |
| JP2007203326A (en) * | 2006-02-01 | 2007-08-16 | Honda Motor Co Ltd | Friction stir welding equipment |
| JP2013094920A (en) * | 2011-11-02 | 2013-05-20 | Honda Motor Co Ltd | Joint mechanism and work attachment |
| DE102014213647A1 (en) * | 2014-07-14 | 2016-01-14 | Robert Bosch Gmbh | Apparatus and method for forming a welded joint |
| JP6408736B1 (en) * | 2018-03-29 | 2018-10-17 | 株式会社日立パワーソリューションズ | Friction stir welding apparatus and friction stir welding method |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2019171437A (en) | 2019-10-10 |
| JP6408736B1 (en) | 2018-10-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3400409B2 (en) | Joining method and joining device | |
| KR102387693B1 (en) | Friction stir welding device and friction stir welding method | |
| WO2019189505A1 (en) | Friction stir welding device, and friction stir welding method | |
| JP5631162B2 (en) | Friction stir welding method | |
| JP6239172B1 (en) | Friction stir welding apparatus, C-shaped frame for friction stir welding apparatus, friction stir welding method | |
| JP4755447B2 (en) | Friction stirrer and friction stirrer method | |
| JP4409953B2 (en) | Method without welding material and carrier | |
| JP6412627B1 (en) | Friction stir welding apparatus, friction stir welding method, friction stir welding apparatus with database, friction stir welding method using database, control apparatus for friction stir welding apparatus | |
| JP4768418B2 (en) | Friction stir welding method | |
| JP3911232B2 (en) | Friction stir welding equipment | |
| JP6408737B1 (en) | Friction stir welding apparatus and friction stir welding method | |
| JP4668437B2 (en) | Friction stir welding method and friction stir welding apparatus | |
| KR20180068340A (en) | The calibration apparatus and method for friction stir welding tool, and Friction stir welding tool | |
| JP7002690B1 (en) | Friction stir welding device and joining tool insertion amount limiting method | |
| WO2022009928A1 (en) | Friction stir spot welding device and friction stir spot welding method | |
| JP6986651B1 (en) | Friction stir welding device, friction stir welding method | |
| JP5988265B2 (en) | Metal material joining method and metal material joining device | |
| TWI820726B (en) | Constant loading device for friction stir welding | |
| JP2004337890A (en) | Frictional stirring weld device | |
| JP6553791B1 (en) | Friction stir welding apparatus and friction stir welding method | |
| WO2022168980A1 (en) | Friction stir tool control method and friction stir device | |
| CN117794680A (en) | Bonding method, bonding device and bonding system | |
| JP2022157191A (en) | Robotic friction stir welding device and method of inserting weld tool thereof | |
| JP2020044549A (en) | Friction stir welding device and friction stir welding method | |
| KR20200005089A (en) | Friction stir joining device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 19776099 Country of ref document: EP Kind code of ref document: A1 |
|
| NENP | Non-entry into the national phase |
Ref country code: DE |
|
| 122 | Ep: pct application non-entry in european phase |
Ref document number: 19776099 Country of ref document: EP Kind code of ref document: A1 |