A7 426567 B7 五、發明說明（'） 「產業h之利用領域] 本發明為有翮一種工件接合方法及接合裝置，其係作 為工件接合之用者。尤指有關使用同服馬達以操作多數 工件之間的相對旋轉及對準相位之摩擦壓接方法及工件 接合装置者。 「習知之技術] 在以注，將多數的工件接合之方法中，用摩擦壓接方 法乃為眾所周知者。此方法是使兩工件的端面互相接觸 並相對旋轉.利用其所產生的摩擦熱使其端面軟化，而 將兩工件相互壓緊，以使兩工件接合者。 此接合方法被廣泛應用於棒材或管材等之接合上。尤 於其係具優異的接合精度、接合成本、及生產性，因而 有用於作為大量生產零件之接合方法。 在此說明以注的工件接合工程。 首先，將兩工件裝在工件接合裝置上。第1工件是固 定在脅旋轉的主铀之夾頭，第2工件是固定在不旋轉的 靜止夾頭。在第8圖中的時間tO時主軸開始旋轉。主軸 的轉速達到所定值後，一®維持該轉速，一面使旋轉中 的第〗工件之端面接觸於靜止中的第2工件之端面。茌 時間11時，由推力賦與裝置，在兩工件之間加上預熱推 力P 0 ,使兩端面親和。於是就由摩檫熱使接合端面的溫 度會上升。經過所定時間後的時間12時，在兩工件之間 加上比預熱推力P 0還大的摩擦推力P 1。於是，接合端面 的溫度魷會大大的升高，形成高溫層，該高溫層的金匾 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） -------- ---裝 〆------訂- It — · —---線 (請先閱讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製 4 2 6 5 6 7 . A7 _B7_ 五、發明說明（> ) #軟化，在時間t3時，兩工件開始互相陷入。其陷入童 (迫近鼍）闢聯於高溫層的深度。在接合界面的金屬軟化 到所欲狀態的時間t4時，將工阼的旋轉急速減速，使其 淳ih 與其同時，在兩工件間加上比摩擦推力P 1更大的 陲接Π! P S R T')推力P 2。於是迫近量就會大大的增加。此 吠態下，在整個所定時間内繼續加上加接推力P2。高溫 層的金廳會逐漸冷化.而硬化。其结果是2支工件會被 接合。 在此，如第8圖2點鐽線所示，如主軸旋轉的停止時 刻比加上壓接推力P 2的時刻為慢時，總迫近量會增加。 另一方面如第8圖虛媒所示，加上壓接推力P 2的時刻比 主蚰旋轉停止時刻為慢時，總迫近量會減少。也即，變 更主軸停止的滯後時間X 1或壓接推力P 2加壓的滯後時間 5(2時，就可調節摩擦壓接的總迫近畺。 接著參照第9圖說明主軸的減速及停止時之主軸轉速 (請先閱讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製 兩軸虛之時 ， 在主的時t5矩(W 而其中轉間 轉矩 -關圖空時 的轉 轉有。，的ig)铀 旋，圖即止 U 主 之中序 ，停 U 的 軸法時時被(IE上 主方之轉轉 向加 動合量運旋 方所 驅接近載的 轉， K 件迫無軸 旋時 機工及的主 其此 動的、時在。上 。 電位力觸。P2加轉 。 瞜相推接矩力被旋 像感準、未轉推軸下 關用對矩件軸接主速 之使做力 Η 主壓 ，轉 矩是不紬兩及與前定 轉圖間主示速陚 Μ 一 軸 9 之、表轉始t4茌 主第件速是蚰開在軸 和 工轉線主- 主 本紙張尺度適用尹國國家標準（CNS)A4規格（210 X 297公釐） 426567 A7 B7 五、發明說明（々 J為 的} 間線 之虛 件- Η 兩 於 -<1-種 此 拒 抗 力 轉 旋 的 軸 主 使 要 是 值 h 擦 摩 之 中 面 □Tyv 合 線接 矩 轉 軸 主 的 時 轉 空 比 而 因 停反 上相 加向 軸方 主轉 對旋 而的 止軸 停主 轉與 旋是 的向 軸方 主的 使矩 要轉 . 闬 時lh t4if 在。卜 。 矩向 大轉方 時 轉 空 及 時 接 壓 擦 摩 在 值 之 矩 轉 用 停 又 用…負相 止 < 都 ο 是 秒5) 5 t ο 到 約t4 是1( T 間 間時 時的 的要 要所 所轉 轉旋 旋止 止停 停軸 軸主 主到 到 ， ， 時 時接 轉壓 空擦 ο 摩 同而 間在摩 之 ，的 件此間 Η 如之 兩。件 於者 Η 由致用 乃所利 此矩可 。 力 ， 短速中 為減程 Τ 於 Η 間加接 時附壓 止而擦 停力摩 軸動的 主制位 的為相 時成準 轉擦對 空摩做 比的不 的 接 達 件 馬 工 ο 的 分。位 部器相 一 動準 的制對 力式做 動械明 制機說 之等圖 轉器11 旋動第 的制及 軸式圖 主盤10 止圓第 停用照 速使參 急可 ， 為也著 作動接 擦制 主 驅Κ 達 馬 艮 伺 用 採 而 位 相 準 對 要 了 為 是 。 圖 法10 方第 合 速力所 轉袖圖 軸主10 主是第 其圖如 關11。 有第圖 ,。係 中圖關 法序之 方時虽 合之近 接量迫 件近及 工迫 、 之及力 闬力推 所推、 達、位 馬矩相 之轉軸 轉軸主 旋主、 軸、矩 ----'----------裝 i (請先閱讀背面之注意事項再填寫本頁) 訂. -線. 經濟部智慧財產局員工消費合作杜印製 ο 無 止是 停線 要虛 後的 秒圖 ο Ε—_ <—| 在第 定 ， 設又 樣 0 ] 2 同 Ρ 圖力 9 推 第接 和壓 是上 轉加 旋會 的時 袖t5 主間 , 時 示在 饋 反 至 受 會 態 吠 轉 旋 ο 的 矩蚰 轉主 軸 ， 主中 之法 下方 態接 吠壓 轉的 空圖 的10 擦第 摩 C a ( 而 置 ο 位 轉 旋 的 間 之 件 Η 兩 使Μ 時 始 開 速 減 的 轉 旋 軸 主 是 4 t 間 時 0 致 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 相 位 4 t 間 時 A7 4 265 6 7 , B7_ 五、發明說明u ) 開姶，為了使主軸減速，主軸轉矩的大小會被逐漸減低 。然後，主軸轉矩的方向會被變更到與旋轉方向相反之 方向（負方向）。在主軸旋轉即將停止之前為了要正確的 對準相位，及減低停止時的衝擊，而對伺服馬達的轉速 加κ控制，使其諼慢的降低·，在此控制中，轉速與時間 之間是成為所定的指數函數之關係。在旋轉即將停止之 前，使主軸轉速順著所定減速曲線變化，就可減少在兩工 件之間的接合界面之發熱。因而，接合界面的軟化不會 再進行。因此，只有已軟化的金屬會由工件的旋轉，被 擠圈於接觸界面的直徑方向。其结果是工件之間的接觸 面積會加大，兩工件之間的摩擦會增加。為了對抗該摩 擦而使兩工件的柑位對齊，在伺服馬達上會加上相對較 大轉矩。如此，在主軸旋轉即將停止之前，要對抗於構 成制動力的兩工件之間的摩擦，而使主軸旋轉，在主軸 旋轉方向（正方向）中會被加上大的主軸轉矩。然後，進 行對準相位，而如第1 1圃所示的，於時間t 5時使主袖在 於目標枏位（0 ° )停止。 然而，在莨際上，要使Μ如2000rpm(轉/分）高速旋轉 的主铀在0 . 5秒程度急速停止時，雖然在時間t 5時主蚰 相位已到達目標相位（0 ° >,但由於在主軸旋轉方向（正 方向）所加上的大的主軸轉矩，會使主铀超過目標相位 而過衝。而要修正該過衝量，會再加上與旋轉方向相反 (負方向）的修正轉矩。如此，在最後，主軸的相位會和 目標相位（(Γ )相一致。又，由反方向的修正轉矩，可使 —β — 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） -----------------訂-1111 —i· (請先閱讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印制^ 4 265 6 7 Λ λ7 —__Β7 五、發明說明（，） 經濟部智慧財產局員工消費合作社印製 上部合 性作的 停而在其 Η 。 基較在正正應 狀 牛合接 彈此轉 軸然而而的中 的擦-修修 t 方之 :ί-接在 其在扭 主 β ,因位報 面摩即要該止1Ε向 Η - 3h 兩使是 於位計。在間轉。相公 界的 .了由 4PJ方 0 在以, 由相估 Μ ，之扭fb準號 合面矩為而卜 W 正 位fcrT與 ，的要。的件的變對60接界轉、在 相?2陚 時間 ，<0樣工間始做42在合蚰且矩(0須轉 準後力 g 下之中位同兩之開 ，17，接主，轉位必扭 對 r 推P2卸件法相形於件已又9"差 ，之大之相 ί 被 ，0 接力 置工方標情上 Η 量。平 參此示為向標。 在 下ίο壓推 裝兩合目的加於加大開 之因所時方目(0會 態位及接 合而接之圖會由增為特 成。線常負過位件 狀相矩壓 接。件止 9Ρ2是的形在 組異虛通上超相工 的標轉及。從退工停第力的量情佈 的差圖比加而標兩 轉目軸矩除件回此的和推同近的公 料有11是的轉目是 扭成主轉解工微，軸其接不迫圈是el]材會第矩遽旋到果 在達的蚰被的稍此主，壓形 ，9 例111件小如轉急度正结 Εα- 位 -向主後後會因定示時情前第 一 Ρ Η 大上軸被再修其 部下方。化合分。設所t5的之比之 Ρ 於力加主會會位矩 接態負化硬接部定以圖間圖t5會置 Μ 由眼被的 fe 軸相轉 連狀上硬 _ 此轉確 ，10時 9 間量裝 U .之會時，主的軸 的此加_金如杻的最第的第時近合"：而擦 ，t5最 ，铀主 明 件在續金的將其後退如時和達迫接罾然摩時間衝矩主的 Η 繼的部 ，最冋 止，未總件 f 於大時過轉將向 -------------- 1------訂" — — I —---- (請先閱讀背面之注t事項再填寫本頁) 本紙張尺度適用中S國家標準（CNS)A4規格（210 X 297公釐） 五、發明說明（k ) 經濟部智慧財產局員工消費合作社印製 反時缌 结單反界 一 達者間的壓欲將將之矩 法 成下且 之分向合 供 馬法之件擦所即 ，值轉 方 形取而 位10位接 提 服方件 Η 摩到轉時定軸η 合 而置。 相許相其。於 伺合工 1 定fb旋之所主者接 ，裝移 其容後在著在 用接 2 第所軟的致在的程件 合合偏 定只最象顯是 使件第有 Μ 面軸一制制 Η 工 接接向 測在種琨為的。 是工與裝件合主為限限之的 之從方 ，如這種尤目者 態之件安工接在位小所止態 線件反 品，的這，，法 形合工使 2 的.，相大和停形 實工向 製而述，時題方 1 接 1 達第件程止之力位 1 的將會 的因上又合問合 第Μ第馬與工 Η 停矩擦相第 1a，位 轉度，。場述接 的予在腋件2之定轉摩止述 11此相 扭 3 上品之上件 明件了 伺工第速所軸的停上 第因後 向為合良材於工 發工為使 1及減和主間在在 如。最 方差接不營鑑之 本 2; 而第 1 速位的面致是 於合其 反誤品為壁有位 的第含 ，使第轉相軸合大態 對接， 向的製成薄乃相 Μ 目與包動.，在的的主接轉形 段 相之退。於位之會的明準 述件是運程；軸軸與用旋 2 即態回加對相差，固發對^上工法轉工程主主賦利的第 。 狀會增者後誤者粘本的？ 成 1 方旋之工將，達，蚰的 合轉轉也明最位移遽 ，確 』達第合對轉之 ，前馬及主明 结杻杻最發其相偏急此精 Ρ 了將接相旋觸後之眼；使發 下向該近本 ，的向是因可 Μ 為 Κ 此予铀接態lh伺程 Κ 本 態方 ，迫 闲位方面 種 f ,。 賦牛力狀停由工， --------------裝' — I I I I 訂--------- (請先閲讀背面之注意事項再填寫本頁) 本紙張尺度適用中囤國家標準（CNS)A4規格（210 X 297公釐） 426567 ' A7 B7 五、發明說明（7 ) 轉擦 旋摩 軸的 主間 加面 施合 ，接 後於 程抗 Η 對 速以 減’ 的程 速 Η 轉之 軸矩 主轉 在軸 : 主 含的 包— 再 , 向 中方A7 426567 B7 V. Description of the invention (') "Utilization field of industry h" The present invention is a method and a device for joining workpieces, which are used for joining workpieces, especially related to the use of a uniform motor to operate most workpieces. Relative rotation and alignment phase friction welding method and workpiece joining device. "Known technique" In the method of joining most workpieces by injection, friction welding method is well known. This method is well known. It is to make the end faces of two workpieces contact each other and rotate relative to each other. The frictional heat generated by them is used to soften the end faces, and the two workpieces are pressed against each other so that the two workpieces are joined. This joining method is widely used in rods or pipes. In particular, it has excellent joining accuracy, joining cost, and productivity, so it is used as a joining method for mass-produced parts. Here, the workpiece joining process by injection will be described. First, two workpieces are mounted on Workpiece joining device. The first work piece is a chuck fixed to the main uranium rotating, and the second work piece is fixed to a non-rotating stationary chuck. At t0, the spindle starts to rotate. After the spindle's rotation speed reaches a predetermined value, one ® maintains the rotation speed while keeping the end surface of the first workpiece in rotation contacting the end surface of the second workpiece while it is stationary. At 11 o'clock, it is given by thrust And the device, add a preheating thrust P 0 between the two workpieces to make the two ends affinity. Therefore, the temperature of the joint end surface will be increased by the heat of the friction. At 12 o'clock after the predetermined time, add between the two workpieces. The frictional thrust P1 is larger than the preheating thrust P0. Therefore, the temperature of the joint end surface will be greatly increased to form a high temperature layer. The gold plaque of this high temperature layer is in accordance with the Chinese National Standard (CNS) A4 specification. (210 X 297 mm) -------- --- Decoration ------ Order-It — · —--- Line (Please read the notes on the back before filling this page) Economy Printed by the Consumer Cooperatives of the Ministry of Intellectual Property Bureau 4 2 6 5 6 7. A7 _B7_ V. Description of the invention (>)#Softening, at time t3, the two artifacts began to fall into each other. It fell into contact with children (imminent). The depth of the high-temperature layer. At time t4 when the metal at the bonding interface softens to the desired state, the The rotation of the work is rapidly decelerated, so that at the same time, Chun ih adds a contact force greater than the frictional thrust P 1 between the two workpieces! PSR T ′) thrust P 2. Then the approach amount will increase greatly. This In the bark state, the additional thrust P2 continues to be added throughout the predetermined time. The gold hall in the high-temperature layer will gradually cool down and harden. As a result, two workpieces will be joined. Here, as shown in Figure 8 Figure 2 As shown by the line, if the stop time of the spindle rotation is slower than the time when the crimping thrust P 2 is added, the total approach amount will increase. On the other hand, as shown in the virtual medium in Figure 8, the pressure with the crimping thrust P 2 When the time is slower than the time when the rotation of the main shaft is stopped, the total approaching amount is reduced. That is, changing the hysteresis time X 1 of the spindle stop or the hysteresis time 5 of the pressing force P 2 (the pressure can be adjusted by 2) The total imminent approach. Next, refer to Figure 9 to explain the spindle deceleration and the spindle speed at the time of stopping (please read the precautions on the back before filling this page). (W and the inter-rotation torque-off map of the space-time rotation is., Ig) Uranium spin, the picture stops at the main sequence of U, and the axis method of U is stopped by the rotation of the master on IE. To the rotation of the approaching load driven by the combined volume-turning square, the K piece is forced to rotate without rotation. The master and its master are always moving on. The potential is touching. The P2 is turning. The moment is pushed by the moment. The rotation image is accurate, and the non-rotating push shaft is closed. The torque is used to connect the moment of the shaft to the main speed. The main pressure and torque are not different. The start of table rotation t4. The speed of the main piece is the opening of the shaft and the work line. The paper size of the main paper is applicable to the national standard (CNS) A4 (210 X 297 mm). 426567 A7 B7 5. Description of the invention (々 J is the imaginary part of the line-Η Liang Yu-< 1-The main axis of this resistive rotation is if the value h rubs the middle face □ T yv The moment-to-space ratio of the main shaft to the main shaft of the rotating shaft is reversed and added to the main shaft of the shaft due to the reverse rotation. The stop of the main shaft and the main shaft of the main shaft must be turned. 闬 时 lh When t4if is in the direction of turning to the square, it will turn to the air in time and then press and rub the friction. In the moment of the value, use it again and again ... Negative phase stop < both ο are seconds 5) 5 t ο to about t4 is 1 (T interval From time to time, the main axis of the shaft must be turned, turned, stopped, stopped, and stopped, and then connected to the air pressure, and the time is the same as the time. In this case, it is in the best interest to use it. The force, short-range is to reduce the stroke T when the connection between the pressure and stop the friction of the master position of the frictional movement of the master position is quasi-rotation. The parts that are not comparable to the air motor are the points of the horsemanship. The position of the parts is exactly the same. The force type is the same as the action type. The figure is the same as the figure. The stop of the main plate 10 and the deactivation of the speed of light make it urgent, and it is in order to also work to wipe the main drive DK Damagan. Yes, please. Yes. Figure 10: The speed of the sleeves of the 10th joint speed force. The main axis of the 10th is the first graph. As shown in Figure 11, there is a graph. Close to the work force, push the force, push, push, push, push, push the shaft of the shaft, the main axis of the shaft, the main axis, the shaft, the moment ----'---------- install i (please read the back first Please pay attention to this page and fill in this page again) Order. -Line. Printed by the consumer cooperation of the Intellectual Property Bureau of the Ministry of Economic Affairs ο The stoppage is the second chart after the line is stopped. Ε—_ < — | Like 0] 2 Same as the figure P. 9 Pushing and pressing is the time between the main sleeve and the main body of the t5 sleeve. The time is shown in the moment of the rotation of the main axis. The lower part is connected to the bar graph, and the 10th part of the empty map is set to the position of the rotation. The two rotation shafts that make the opening speed decrease from the hour are mainly 4 hours. 0 The scale is applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) Phase 4 t Time A7 4 265 6 7, B7_ V. Description of the invention u) The deceleration of the spindle, spindle torque size will be gradually reduced. Then, the direction of the spindle torque is changed to the direction opposite to the rotation direction (negative direction). Immediately before the spindle rotation stops, in order to correctly align the phase and reduce the impact at the stop, the servo motor speed is controlled by κ to reduce it slowly. In this control, the speed between time and time is Becomes the relationship of the specified exponential function. Just before the rotation is stopped, the spindle speed can be changed along the deceleration curve to reduce the heat generated at the joint interface between the two workpieces. Therefore, the softening of the bonding interface will not proceed. Therefore, only the softened metal will be squeezed in the diameter direction of the contact interface by the rotation of the workpiece. As a result, the contact area between the workpieces will increase and the friction between the two workpieces will increase. In order to counteract this friction and align the positions of the two workpieces, a relatively large torque is applied to the servo motor. In this way, immediately before the rotation of the spindle is stopped, it is necessary to oppose the friction between the two workpieces that constitute the braking force, and to rotate the spindle, a large spindle torque is added to the spindle rotation direction (positive direction). Then, the alignment is performed, and as shown in the first step, the main sleeve is stopped at the target position (0 °) at time t5. However, when the main uranium rotating at a high speed such as 2000 rpm (revolutions per minute) is suddenly stopped at about 0.5 seconds, although the main plutonium phase has reached the target phase at time t 5 (0 ° > However, due to the large spindle torque added to the spindle rotation direction (positive direction), the main uranium will overshoot the target phase. To correct this amount of overshoot, the direction opposite to the rotation direction (negative direction) will be added. ) Correction torque. In this way, in the end, the phase of the main axis will be consistent with the target phase ((Γ)). Moreover, the correction torque in the opposite direction can make —β — this paper size applicable to the Chinese National Standard (CNS) A4 specification (210 X 297 mm) ----------------- Order-1111 —i · (Please read the notes on the back before filling this page) Intellectual Property Bureau of the Ministry of Economic Affairs Printed by the employee consumer cooperative ^ 4 265 6 7 Λ λ7 —__ Β7 V. Description of the invention (,) The printing of the upper cooperative work by the employee consumer cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs is at a standstill. But the rubbing-repairing of this rotating shaft, but in the middle of it: ί-connected to its main twist β, because of the position The face is about to stop at 1Ε to Η-3h. The two envoys are in-place. Turn between. The phase of the public domain. The 4PJ square 0 is in the phase, and the phase is estimated. W positive fcrT and the change of the pieces of 60 to the boundary turn, in the same time 2 陚 time, < 0 sample workshop to do 42 in the combination and moment (0 must be turned after the force g The median position is the same as the two, 17, when the master is connected, the index must be reversed. Pushing the P2 unloading method is inconsistent with the 9 " worse, the big difference is the quilt. The plain ginseng is shown here as the target. In the next section, the two-purpose purpose is added to the opening of the opening plan (the state of the 0 position and the connection will be increased to a special feature. The line is often negative.) State and moment crimping. Pieces 9P2 is the standard transformation of the super-phase work on the group of different virtual communication. From the difference of the stop force and the force of the situation, the difference graph is added, and the two rotation axis moments are divided. The return of the same and close to the official material is 11 is the twisted head is twisted into the main transfer to solve the micro, the axis is not connected to the circle is el] material will revolve to the fruit of the quilt slightly Primary, compression, 9 cases of 111 cases as small as urgency, positive knot Εα- site- After the master will show the situation, the first P Η large upper shaft will be repaired below its part. Combined points. Set the ratio of p to t5 in the force plus the main meeting position moment negative negative hard connection It is determined that the image t5 will be placed on the graph. The fe axis of the eye cover will be connected and hardened. This turn is true. At 10: 9, the U axis will be installed. When the meeting is held, the main axis will be added. The first time is close: "While rubbing, t5 is the most, the master of the uranium is renewing the gold and will retreat it as usual and reach the force of the impulse to strike the master ’s successor. The general piece f will turn to -------------- 1 ------ order " — — I —---- (Please read the note t on the back first Please fill in this page again on this page) The national standard (CNS) A4 specification (210 X 297 mm) of this paper size is applicable. 5. Description of the invention (k) Anti-temporary statement printed by the Intellectual Property Bureau of the Ministry of Economic Affairs. The pressure between the masters will change the moment method and the direction of the combination of the pieces of the Mafa, that is, the value is turned into a square and the 10 bits are connected to the service side. . Like each other. After waiting for the owner of the fixed fb rotation, the device is installed, and then the device is in use. The soft and soft process of the connection is the most obvious one. The most obvious thing is to make the component have the M axis. The one-man system is used to measure the direction of the unit. It is the subject of the limited cooperation between the tool and the assembly, such as the eye-catching piece of the safety equipment connected to the in-place small state of the line parts counterfeit. ., Sumida and stop-shape real work direction system, when the title side 1 then 1 to reach the first stage of the force position 1 will be related to each other, the first M and the horse and the stoppage to wipe the phase 1a, bit rotation. The field report received the fixed rotation of the axillary member 2 and stopped the description. 11 This phase is twisted. 3 The top piece of the upper part is clear. The stoppage of the axis of the workmanship is reversed. The backward direction is Heliangcai. And minus and the main room are like. The most variance is connected to the non-recognized book 2; and the first speed position is to make its counter product wrong, so that the first rotation axis is connected to the large state, and the direction is made thin and thin. Retreat from the main transfer section of Baodong. The clear description of the meeting in place is the journey; the difference between the axis and the use of the spin 2 instantaneous back-to-back pair, Gufa ^ Shanggong method to the main owner of the project. Will the situation increase, and the wrong person will stick to the original? The one who turns into a square spin will be the most displaced. It is true that the first one is the opposite, and the horse and the host are the most rushed. This will be the next step. Phase rotations touch the eyes; the direction to send to the near is because M can be K, this is the uranium connection state lh to serve the K side, forcing f,. Endowed with work force, -------------- install '-IIII order --------- (Please read the precautions on the back before filling this page) This Paper size applies to the national standard (CNS) A4 specification (210 X 297 mm) 426567 'A7 B7 V. Description of the invention (7) The main surface of the rotary rub shaft is added and applied, and then Cheng Chengyi The speed of the speed is reduced by the speed of the shaft. The moment of the main axis of rotation is on the axis: the main package-again, to the Chinese side.
If. 法 方 合 接 件 t_^ 的 。 態 者形 止 1 停第 位述 相上 止在 停 是 在態 致形 大 3 可第 軸的 主明 使發 ，本 力 供是 的小 達大 馬之 服矩 伺轉 制軸 限主 種的 此加 含施 包所 係流 程電 工制 制眼 限該 的 於 矩基 轉而 軸 ， 主流 , 電 中 _ 方 合 接 件 Η 的 態 形 1 。 第 者述 下上 以於 值茌 之是 力態 擦形 摩 4 的第 間的 而明 合發 接本 在 法 方 合 接 件 Η 的 。 態 者形 材 1 狀第 管述 曰疋 上 件在 Η 是 2 態 第形 及 5 1 第 第的 其 明 , 發 中本 法 工準 1 對 第做 各種 使此 而於 ，用 支適 1 時 有同 件 且 Η ， 2 面 第端 ， 兩 支的 2 件 有工 件 2 工第 1 於 第合 ，接 中件 7 第 供 提 是 置態 裝形 合 6 接第 件的 工明 的發 位本 相 者 上 .-—V ο 5 的 圖 件 Η 2 第 與 件 Η r _* 第 將 棰 工轉 1 旋 第的 定對 固相 ; 件 具工 係 2 置第 裝於 該對 。 件 者 Η 置 1 裝第 合使 接了 件為 Η ; 之铀 合主 接的 以用 加件 位觸 相接 之力 用壓 位擦 相摩 的定 軸所 主Κ 測件 檢工 i 2 達第 馬與 服件 伺 Η 之 1 轉第 旋使 軸 ; ΐ 段 使手 而測 ，檢 (請先閱讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製 置 裝 與 陚 力 壓 之 用 所 的 中 器 HJ 串 控 而 ο 器 圖制 '7控 6 之 、 用 2轉 1 旋 第的 f達 序 服 伺 制 控 及 主 使 後 態 狀 欲 所 anj 化 軟 面 合 接 的 件 Η 2 第 及 >—.. 第 在 是 的於面 軸加合 主所接 , 達用 前馬利 之服以 止伺 ， 停將值 將 ，之 即時定 轉之所 旋致在 的一制 蚰相限 主位小 在相大 並止之 , 停矩 速的轉 減定铀 速所主 bn? ΙΑ% TJ 轉與的 的位軸 軸相主 I 1 - - - - - - - - - - - - I - 1. ,||||||||||||||^||1|||[||> 未紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） 經濟部智慧財產局員工消費合作社印製 4 265 6 7 * A7 __B7_ 五、發明說明（/ ) 間的摩擦力和所限制的主軸轉矩，使主轴的旋轉大致在 停士相位停Ll·.者。 本發明中，可認為創新的特徴是在於申請專利範圍中 得K明瞭，Μ下參照附圖，說明在目前的理想實施例， 當可同時理解本發明的目的及慶點。 「實施例] •啻陁例1 參照第1〜3圖說明本發明的實陁例1之工件接合裝置1 ，該工件接合裝置1是要將2工件W1和W2接合者。 如第2圖所示，設備底座2是設置在水平方向。作為 推力賦與装置的滑動用伺服馬達4是經由托座3固定在 底座2上，球螺旋軸5是裝在水平方向，其一端是介由 連接器6聯接在滑動用伺眼馬達4的旋轉铀上，其另一 端是由托架7所支承，而可轉動。在設備底座2上，與 球螺旋軸5平行的形成直線型軸承（線性導軌主軸 箱9是配置在直線型軸承8上，而可順著該直線型軸承S 而滑動。其臂部9a是從主軸箱9向下方延伸，而介由測 力傳感器1 1及球螺帽]0咬合於球螺旋軸5。由滑動用伺服 馬達4使球螺旋軸5旋轉時，主軸箱9會如第2圖所示 的在Y方向滑動。此時測力感應器Η可测出球螺帽1 〇與 臂部9 a之間的實際推力。 主蚰12是由主軸箱9支承在水平方向，主軸12的前端 設有夾頭13。管吠的工件W1是由該夾頭13所固定。在主 轴箱9上固定著主铀旋轉用伺眼馬達14。該馬達14是介 -1 0- 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐） (請先閱讀背面之注意事項再填寫本頁) i' — 訂---------線·ι 經濟部智慧財產局員工消費合作社印製 426567 , A7 __B7_ 五、發明說明（9 ) 由馬達齒輪15、空轉齒輪16、及主軸齒輪17、Μ驅動主 軸1 2者。 在設備底座2上的面對夾頭1 3之位置中配置有夾绀1 8 ,該夾鉗18是要固定工件W2者。在夾鉗18的右方配置有 檔塊1 9。 又，工件接合裝置1上，也具備第2圖未示之控制装 置。該控制装置係包含第3圖所示之控制器23。由顯像 管（C R Τ ) 2 0和數位開關2 1所構成的操作盤2 2係連接在該 控制器2 3上。控剌器2 3並經由滑動用苘服驅動器（伺腋 放大器）24連接於上述滑動用伺服馬達4。又，控制器23 也經由旋轉用伺服馬達器（伺服放大器）25而連接於上述 主軸旋轉用伺眼馬達14。又，控制器23也連接於由顯像 管（C R Τ ) 2 6和中央處理器（C P U)所構成的品質保證装置2 8 。品質保證裝置28是將工件的長度及與時間相關的信號 傳送於控制器23。在品質保證装置28的中央處理器（CPU) 27上連接有主蚰轉速表29。主軸轉速表29可監視主軸12 的旋轉狀態（例如轉速、相位、及轉矩），並將與該主軸 12的旋轉狀態相關之信號傳送於中央處理器（CPIH27。又 ，主軸轉速表29也可作為監視主蚰旋轉用伺服馬達14之 用。上述測力傳感器11是可由發送機3 0而連接於控制器 2 3。發送機3 0是連接於品質保證裝置2 8的中央處理器（ CPU)27, K傳送賦與工件之間的推力（壓力）之相關信號。 又，主軸旋轉用苘脰馬達14是用每1轉、即每36(Γ 要輸出10000個脈衡信號者。因而，主軸旋轉用伺服馬 -11 - 本紙張尺度適用中國國家標準（CNS)A4規格（210x 297公釐） (請先閱讀背面之注意事項再填寫本頁) i' .----- 訂---------線— _ 經濟部智慧財產局員工消費合作社印製 426567 * A7 __B7_ 五、發明說明（P ) 達〗4的旋轉位置可由控制器23高精度地檢測之。 接著，參照窠4圖及第5圖來說明由工件接合裝置1 的工件接合方法。第4圖是個別表示主釉轉逮、推力（ 應力）、及迫近最之時序圖。 首先，將工件in、W 2分別夾住在夾顗1 3及夾钳1 8上， 並使兩工件的中心铀線為一致。接著，在第4圖的時間 tO時，由主軸旋轉用伺服馬達14使主軸12旋轉，而將主軸 1 2的轉速維持在一定值（例如2 0 0 0 r p m )。然後，由滑動 用伺眼馬達4使球螺旋袖5旋轉，使主軸箱9順著Y方 向（參照第2圖）向工件W2方向移動。在此，主軸12的轉 速是依據工件Wl、W 2的材質及形狀（例如管材或空心材， 及其外徑尺寸）而設定。 然後，在時間11時，W 1、W 2互相接觸。此時，要進行 摩檫發熱工程，而在工件lil、W2的接觸界面加上預熱推 力P0。該預熱推力P0是為了使接合面凹凸親和，而加上 於兩工件Wl、W2之間的比較小之壓力。在兩工件Wl、W2 之間加上預熱推力P0後可抑低兩工件Wl、W2在接觸初期 所產生的暫態性轉矩之增加。而在經過所定畤間後的t2 時，在兩工件W 1、W 2之間開始加上比預熱推力P 0更大的 摩擦推力Μ。由此，在接合界面產生摩擦熱，接合界面 的金屬會由於該摩擦熱而開始钦化。而在時間t 3時，兩 工件ΙΠ、W 2開始互相陷入。 從被加上摩擦推力P 1的時間t 2到經過所定時間後的時 間t 4當中，接合面會軟化到所欲之狀態。在該時間t 4時 -12- 本紙張尺度適用中國國家標準（CNS)A4規格（2〗0 X 297公釐） (請先閱讀背面之注意事項再填寫本頁) I -----I 訂·-----—till------------------ 4 265 6 A7 B7 經濟部智慈財產局員工消費合作社印製 五、發明説印 ( l f ) i i 要 進 行 壓 接 加 壓 工 程， 而 控 制 主 軸旋 轉 用 伺 服 馬 達 1 4 1 1 I 以 將 主 軸 1 2的 旋 轉 減速 〇 然 後 在主 軸 1 2停 止 的 時 間 t 5 1 1 時 » 由 滑 動 用 伺 服 馬達 4 對 主 軸 1 2加 上 比 摩 檫 推 力 P 1 更 請 1 先 大 的 壓 接 推 力 P 2 〇 閱 讀 1 I 在 此 9 將 主 軸 1 2 的減 速 及 停 止 時之 主 軸 轉 速 主 軸 轉 背 面 I 1 之 1 矩 及 主 軸 相 位 r 參 照第 5 A 圖 、 第 5 B圖 詳 細 說 明 〇 在 第 5 A 注 意 1 化， 事 1 圖 第 5 B圖 中 y 實 線是 表 示 本 實 施例 中 的 各 狀 態 之 變 項 再 1 處 線 是 表 示 以 往 例 子中 的 各 狀 態 之受 化 〇 填 寫 本 1 裝 首 先 » 經 控 制 器 2 3判 斷 兩 工 件 W1、 W2的 接 合 面 已 達 所 I 欲 軟 化 狀 態 (時間t 4 )時 > 控 制 器 2 3為 了 要 使 主 軸 1 2停 止 1 1 旋 轉 曰 對 主 軸 旋 轉用 词 服 馬 達 14控 制 » 以 使 其 對 主 軸 i 1 1 2加 上 舆 旋 轉 方 向 相反 (負） 方 向 之主 軸 轉 矩 〇 在 此 » 如 1 訂 要 主 軸 1 2 的 旋 轉 慢 慢的 停 下 來 時 ，並 不 必 加 上 負 方 向 之 1 主 軸 轉 矩 9 但 S 本 實施 例 是 要 使 以20 00 ΓΡ»旋轉中的主 1 l 軸 > 在 0 * 5 s e c 急 速 停止 S 因 而 要 在負 方 向 加 上 大 的 轉 矩。 1 1 而 當 主 軸 1 2的 轉 速比 所 定 值 為 小時 * 控 制 器 23為 了 使 I 1 主 軸 12的 轉 速 和 所 定減 速 曲 線 為 一致 9 且 使 主 軸 1 2可 於 緣 所 定 百 標 相 位 (〇 0 )停止， 而控制主軸旋轉用伺服馬逹 1 ί 1 4 9 使 其 對 主 軸 1 2加上 旋 轉 方 向 (正方向）的 轉 矩 〇 詳 細 i 情 形 是 要 對 抗 於 接 合界 面 的 由 於 摩擦 所 産 生 的 制 動 力 1 I 而 經 由 主 軸 旋 轉 用 伺脹 馬 達 1 4 t 使主 軸 1 2向 正 方 向 旋 轉 1 1 的 主 軸 轉 矩 加 上 於 兩工 件 W1 W2之間 0 此 後 控 制 器 2 3 1 1 會 依 據 主 軸 轉 速 表 23來 的 倍 thL· m 而 在測 出 所 定 停 止 控 制 開 I 始 相 位 Θ 時 (t5) > 將供 應 於 主 軸 旋轉 用 伺 服 馬 達 14的 電 1 1 1 3 1 1 1 1 本紙張尺度適用中國國家標準（CNS ) Λ4規格（210X297公釐） 426567 * A7 B7 經濟部智慈財產局工消費合作社印製 五、發明説明 ( 1 ) 1 1 流 限 制 在 所 定 值， 以 使 主 軸 轉 矩 的 大 小 在一 定 值 (限制 1 1 轉 矩 )Q以 下 〇 於是 就 如 第 5 B 圖 所 示 9 主 軸12 會 由 於工 1 1 件 ¥1 W2之 間 的摩 擦 力 > 而 在 比 時 刻 t5稍微 慢 一 黠的 時 請 1 先 1 刻 t 5 a停止。 此時， 主軸1 2的相位是在比停止控制開始相 閱 讀 1 1 位 Θ 只 前 進 制 動角 度 a 之 最 後 相 位 A。 制動角度£ r是依 背 1 之 1 賴 於 X 件 W 1 、 tf 2之 間 的 摩 擦 力 限 制 轉 矩Q， 及旋轉構 注 意 ! 举 1 件 類 的 慣 性 矩 ,是 由 預 先 所 nt. 做 的 實 驗 中 求得 〇 又 ，為 了 項 •S- ί bb 較 ， 將 以 往 技術 中 的 變 化 * 在 第 5 A圖 ，第5 B圖中以2 填 寫 本 1 裝 點 鏈 線 表 示 之 ί ί 1 何 服 馬 達 14在無 載 時 是 設 定 為 使 其 在 目標 相 位 (0 1 ) 1 1 停 止 * 但 在 X 件接 合 時 9 在 測 出 停 止 控 制開 始 相 位0 時 1 1 (t 5) > 控 制 器 23會 將 主 軸 轉 矩 限 制 在 bb 較小 的 限 制轉 矩 I 訂 Q 值 9 词 服 馬 逹14主 要 是 受 到 工 件 ¥1 W2之 間 的 摩擦 力 i « 而 在 巨 標 相 位（〇 P )跟前的大約停止控制開始相位0 ( ! I 最 後 相 位 A) 處 停止 〇 因 此 在 於 主 軸 12的旋 轉 即 將停 止 1 I 之 前 9 在 X 件 W1、 W2之 間 並 不 能 在 正 方 向或 負 方 向加 上 1 1 大 的 停 止 轉 矩 e 線 如 此 y 在 到 時間 t5之 前 是 和 以 往 技 術同 樣 « 主軸 旋 丨 轉 用 间 服 馬 逹 1 4會 施 加 對 準 相 位 用 的 轉 矩， 以 使 其在 相 ί 1 標 相 位 (〇 0 )停止。 但， 在控制器2 3側出停止控制開姶 I I 相 位 Θ 的 時 刻 t5以 後 9 對 主 軸 旋 轉 用 伺 服馬 逹 14 只賦 與 1 1 旋 轉 方 向 (正方向）的 限 制 轉 矩 Q。 1 1 在 此 停 止 控制 開 始 相 位 Θ 是 考 慮 制 動角 度 α 及從 工 ί 件 接 合 裝 置 1 卸下 後 的 兩 工 件 W1 、 W2 之 扭轉 回 退 量， 而 1 ί 14 i 1 1 1 本紙乐尺度適用中國國家標準（CNS ) A4規格（210X297公釐） 經濟部智慧財產局員工消費合作社印制^ 426567 J A7 _B7_ 五、發明說明（) 設定在例如伺服馬達14的目標相位（0° )之導前5° 。又 ,在本實施例中，如第4圖所示，在主軸12停止之時間 t. 5 ,會在兩工件W 1、tf 2之間加上使兩工件Wl、W 2固相接 合的歷接推力P 2。又，限制轉矩Q的大小，是對於每一 種工件的外形或材質等的壓接條件，須先做過實驗，而 設定在工件VI、的接合界面不產生滑動之值。要施加 軺接推力P2的時間之選擇是可按照所欲的迫近量而任意 設定。要施加壓接推力P 2的時刻原本是根據t 4起的經過 時間所設定，但，如根據主軸1 2的相位，Μ調節要施加 暱接推力Ρ 2的時刻時，可使工件的接合誤差為更小。 而在停止施加壓接推力Ρ 2後，鬆開夾頭1 3 ,將主軸箱 9向左方移動，從工件接合裝置1卸下已接合之工件W1 、W 2。如此可獲得Κ所欲相位接合之工件W 1、W 2。 如上述，由控制器23執行對滑動用伺眼馬達4及主軸 旋轉用伺服禺達1 4的位置指令、轉矩控制及轉速控制。 因此，將已被接合的工件Wl、W2從工件接合裝置1卸下 時，可獲得已被正確對準相位之工件W1、W2。但由於材 料的彈性係數之參差，於卸下工件W 1、W 2時，會有例如 15分程度的誤差。又，總迫近量是被控制在例如為8mni 稈度。又.本工件接合方法中的W 1、W 2之接合，不僅用 在同種金屬，而對異種金屬的接合也可適用之。 又，本發明中的相位檢測手段是由主軸轉速表所構成。 依撺冒陁例1的工件接合方法時，可獲得如下之效果° -15- 本紙張尺度適用中國國家標準（CNS)Al規格（210x 297公釐） 裝 -------訂---------線 (請先閱讀背面之注意事項再填寫本頁) A7 426567 B7_ 五、發明說明（) (請先間讀背面之注意事項再填寫本頁) ί 1 )如第1 0圖及第1 1圖所示，在Μ往的工件接含方法 中，於對準相位之際，由於在主軸旋轉即將停止之前， 其接合界面的摩擦會增加，因而，為了要對抗於該摩擦 所產生的制動力，而向加速側（正方向）加上大的主軸轉 矩，使ΐ軸的旋轉減速及停止，Μ使兩工件之間的相位 可在於目標相位（0 ° )者。 而在本實腌例中，是在於主軸1 2的相位到達停止控制 開始相位0之時，由控制器2 3限制流通於伺服馬達1 4之 雷流.由此，將其所輸出的主軸轉矩限制在不超過所定 的限制轉矩Q以上。該限制轉矩Q是設定在不致於在接合 界面產生滑動之值，因而，由接合界面所產生的摩擦力 ,使主蚰的旋轉大致在停止控制開始相位0停止。 其結果是，在主軸旋轉即將停止之前，不會在主軸12 上加上大的主軸轉矩，因而，於接合時，工件W1、W2之 間的相位可使其大致在於停止控制開始相位Θ 。 經濟部智慧財產局員工消費合作社印製 又如第5圖所示，在使主軸旋轉的方向（正方向）繼壤 加上限制轉矩Q之吠態下，工件的接合會结束，因而工 件W 1、W 2之間的相位是在於向旋轉方向（正方向）側扭轉 之狀態下接合。如此，在主軸的旋轉即將停止之前的對 準相位之時，並未加上大的主蚰轉矩，因而，可確實防 I卜.Τ.件ΪΠ、W2之間的杻轉方向在於反方向之事。因此， 將工件、ίί 2從工件接合裝置1卸Τ時，其扭轉如有回 退.也可確保兩工件、W 2在於正確的相位。 (2)由於是使用管狀的工件Wl、W2,因而，在主軸12的 -16- 本紙張尺度適用中國國家標準（CNS)Al規格（21〇χ297公釐） Λ7 4 265 6 7 Λ _Β7_ 五、發明說明（β ) (請先閱讀背面之注意事項再填寫本頁) 減速及停止時，在各工件y 1、w 2的接合界面之摩擦會急 速的增大。而積掻的利用該摩擦力作為主軸旋轉即將停 it:之前的制動力，由此，可使主铀12的旋轉確簧的大致 在停〗h控制開始相位Θ停止。 (3 )茌Μ往技術的對準相位方法中，其要加上壓接推 ΛΡ2的時刻是被限定在主軸12的停止時，而在本實陁例 中，要加上壓接推力Ρ2的時刻並不限定在主軸12的停止 時，因而可增加壓接條件的自由度°其结果是可容易的 設定適當的壓接條件。 Μ )在本W施例中.並沒有像以往技術一樣在對準相位 時加上克眼摩擦面砠力之轉矩，因而對準相位時可節省 能源，目.，可使用小型的主軸旋轉用伺服馬達1 4。又， 如使用枏同消蚝電力的伺服馬達14時，與以往技術相較 ,可對更大直徑的工件之間實行摩擦壓接。 經濟部智慧財產局員Η消費合作杜印制衣 (5 )利用液壓的Μ往之機械式工件接合裝置、例如在 特公平8-15673號所公佈的工件接合裝置中，於對準相 位時會產生]20〜140dB(分貝）的衝擊音，而依據本實施 例的工件接合方法時.其在減速時並未加上大的主铀轉 矩，因而在對準相位時，並不產生衡擊音。 (6)在本啻施例的工件接合裝置1中，是移動會旋轉的 主軸1 2 , Μ進行壓接者，因而固定在不轉動的夾绀1 8之 工件W 2的固定方法，可任意選擇。 實胞Μ 2 參照第6圖，說明本實施例2的工件接合裝置40。其 -17" 本紙張尺度適用中國國家標準（CNS)Al規格（210x 297公釐） A7 4 265 6 7^ B7_ 五、發明說明（4 ) 與宵施例1相同的構成、構件，均附與相同符號，從略 其說明。 在實施例1中是使旋轉側的主軸1 2側構成為滑動者. 而本莨陁例2的工件接合装置4 0是將不轉動的夾绀4 1構 成為可滑動者。 也即，如第6圖所示，夾鉗41是設置在直線型铀承8 上，而可滑動。夾钳41是可Μ球螺帽10及側力傳感器11 咬合於球螺旋軸5。工件W2是由夾鉗41所固定。在夾紺 4 1上固定著擋塊4 2 , Μ限制工件2在軸向之移動。在設 備底座2上，面對於擋塊42，固定著可支承主軸12旋轉 之主軸箱43。工件是由主軸12的夾頭13所固定。在本 啻施例2中，是移動夾鉗41,將不轉動的工件W2壓住於 旋轉的Ί：件5Π，Μ使兩工件Wl、M2接合者。 因而.由本工件接合裝置40來實行上述的工件接合 方法時，可獲得和上述實施例1中除了（ 6 )項外之同樣 效困。再加上由於主蚰12不移動，可使主軸旋轉用伺服 馬達14的控制所需之電路配線的配置更為容易，且，夾 绀4 1可Μ高速移動，在實用上很理想。 •實施例3 參照第7圖說明本實胞例3的工件接合裝置5 0。其與 宵陁例1相同的構成、構件，均附與相同符號，從略其 說明。 在工件接合裝置5 0中，是要在中間工件W 3上接合2支 丁.件W 1 ,目對兩端構件W 1同時做對準相位者。 _ 1 8 _ 本紙張尺度適用中國國家標準（CNS)A_1規格（210x 297公釐） -----裝 ------—訂*--------線 (請先閲讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印制^ 經濟部智慧財產局員工消f合作社印製 4 2 6 Λ7 __B7_ 五、發明說明（7 ) 如第7圖所示，工件接合裝置50係在設備底座2上的 兩側，具可個別使工件W 1旋轉和移動之構件（滑動用伺 服馬達4、主蚰旋轉用伺服馬達1 4等）。即，由夾鉗5 1固 定著中間丁件W3,而由2支工件W1—面旋轉一面壓住於 該中間T件W3的兩端面者。 因而，由本工件接合裝置50來實行上述的工件接合方 法時，可獲得和實腌例1同樣效果。再加上由於2支工 件W1可同時接合，而可提高單位時間的生產量，在實用 上很理想。 又，本發明並不限定於上述實胞例，也可如下述的實 胞之。 (A)在上述中，為了限制主軸轉矩，是對主袖旋轉用伺 眼馬達1 4的電流加Μ限制，Μ使主軸1 2的旋轉停止者，但 並不限定於此，例如也可Μ如下方法實施之。 Π )將供應於主軸旋轉用伺服馬達〗4的電流完全截止（ 敗斷伺腋）.Μ使主轴12停止。Κ這種情形時不能做位置 控制，泪旋轉位置的檢測本身仍會照漾執行。 ί 2 )可利用軸聯鎖功能以使主軸1 2的旋轉停止。此功能 是可禁lh加上聯鎖的軸之旋轉及移動者。加上聯鎖時铀 的旋轉會減速，並移動會停止。一方面，解除聯鎖時，蚰 的旋轉及移動會再開始。 (3 )工件接合装置1是Μ自動的運轉，但也可中斷其自 動運轉。Κ這種情形時，可在於緊急事態時，使工件接 合裝置1緊急停止運轉。 本紙張尺度適用中國國家標準（CNS)A,1規恪（210 X 297公釐） . I ----------訂·--- I I--- (請先間讀背面之1'1意事項再填寫本頁) Λ7 B7_ 五、發明說明（ (4)也可利用可使控制器23不發出輸出脈衝（旋轉移動 指令）到馬達1 4之櫬器鎖，也使主軸停止。 (5 )也可使主蚰轉矩的輸出飽和，而使其轉矩輸出不致 於達到轉矩指令的所定值Μ上，Κ使主軸1 2停止時^ Μ 這種情形時，如輸出飽和的轉矩值小於接合界面的摩擦 所產生的Μ力時，會在該狀態下平行，成為仍然殘留相位偏 差之狀態。 (Β )在於主蚰1 2被加上大的主軸轉矩之主軸1 2即將停 If：之前，如從測出停止控制開始相位Θ時之後就不對伺 脂馬達1 4做要其在目標相位（0 ° )停止之控制，而只利 用工件之間的摩擦和限制轉矩Q , K使主軸的旋轉停止之 構成時，其他的構成就可任意的變更。 (C )在上述各啻施例中，是經介由各齒輪1 5、1 6、1 7。 將主軸旋轉用伺腋馬達14的旋轉傳動到主袖12之構成， 俱，也可不介由這费各齒輸15、16、17,而由主軸旋轉 用伺服馬達14直接的驅動主軸12之構成。 (D)在上述各實施例中，是在於被加上摩擦推力P1的 時間t 2起，經過所定時間後的t 4之時刻，主軸的旋轉會 被開始減速，即用時間的控制，使主軸的旋轉闢始減速 者，但，fc可依據壓接時的工件、W 2之長度，而用長 度的控制，使主軸的旋轉開始減速者。即，依據滑動用 伺眼馬達4的旋轉相關之資訊，測出迫近量，於達到所 定迫定畺時，使主軸的旋轉開始減速之構成。 本發明的實施例已參照附附圏加以說明，但本發明並 本紙張尺度適用中國國家標準（CNS)Al規格mo X 297公t ) (請先閱讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製 ------—訂·--- ---- I I I -----------------^------ 4 265 ^ A7 B7 經濟部智您財產局資工消費合作社印製 五、發明説明 ( ι9 ) 1 1 不 限 定 於 此 » 而 可在 於 申 請 專 利 範 圍 所 記 載 内 容 及 其 等 1 1 效 事 物 之 範 圍 内 變更 之 〇 1 I [附圖簡單説明] 請 1 先 1 第 1 圖 本 發 明實 施 例 1 的 工 件 接 合 裝 置 之 榭 斷 面 圖〇 閱 讀 1 第 2 圖 第 1 圖的 工 件 接 合 裝 置 之 横 m 面 圖 〇 背 面 1 之 1 第 3 ΙαΙ 画 第 1 圖的 工 件 接 合 裝 置 之 控 制 裝 置 方 塊 圜 〇 意 1 事 1 第 4 圖 本 發 明的 工 件 接 合 方 法 之 時 序 圈 項 ! 第 5為 ISI 國 在 第 4圖 的 工 件 接 合 方 法 中 » 說 明 其 對 準 相 填 寫 本 1 裝 位 的 方 法 之 時 序 匾。 貪 '«· 1 I 第 5B 圖 ： 在 第 5 A圖 中 的 旋 轉 即 將 停 止 之 前 9 其 主 軸 轉 1 1 速 及 主 軸 相 位 之 時序 圖 〇 1 1 第 6 圖 實 施 例2 的 工 件 接 合 裝 置 之 部 分 斷 面 圖 0 1 訂 第 7 圔 實 施 例3 的 X 件 接 合 裝 置 之 部 分 断 面 圖 6 1 第 8 tBt 圈 以 往 的工 件 接 合 方 法 之 時 序 圖 〇 1 | 第 9 nan 國 以 往 的工 件 接 合 方 法 之 時 序 圖 〇 1 I 第 1 0 圖 另 一 以往 例 的 工 件 接 合 方 法 之 時 序 圖 〇 1 [ 第 1 1 圔 另 一 以往 例 的 工 件 接 合 方 法 之 時 序 圖 〇 線 符 號 之 說 明 1 J 1 . .工件接合裝置 1 2 . .設備底座 1 I 3 - .托座 1 1 4 . .滑動用何服馬逹 1 1 5 . .球螺旋軸 1 6 . .連接器 1 1 7 . • · .托架 [ 1 -2 1 - 1 1 本紙張尺度適用中國國家橾準（CNS ) A4規格（2丨OX 297公釐） 經濟部智慧財產局員工消費合作社印製 4 26567 λ Α7 __Β7_五、發明說明（/ ) 8 . · . ·直線型袖承 9——主軸箱 9 a ...臂部 1 〇 ...球螺帽 1 1 ...測力傳感器 1 2 ...主軸 1 3 ...夾頭 1 4 ...主軸旋轉用伺腋馬達 15, 16. 17.…齒輪 18 ...夾鉗 19 ...擋塊 2 0 ...顯像管 2 1 ...數位開關 2 2 ...操作盤 2 3 ...控制器 24.. .滑動用伺服驅動器 25.. .旋轉用同服驅動器 2 6 ...顯像管 2 7 ...中央控制器 2 8 ...品質保證裝置 2 9 ...主軸轉速表 3 0 ...發送機 4 0 ...工件接合裝置 41 ...夾紺 -22- (請先閱讀背面之注意事項再填寫本頁) I I - - - - - - 一-0· I -. n n - - - - I - I - - - ------ - 1 n _ _ _ _ 本紙張尺度適用中國國家標準（CNS)A.l規格（210 X 297公釐） 2 6 5 6 i A7 B7 五、發明說明（w ) 42 ...擋塊 4 3 ...主軸箱 5 0 ...工件接合裝置 5 1 ...夾鉗 W1 , W2，W3…工件 (請先閱讀背面之注意事項再填寫本頁) 經濟部智慧財產局員工消費合作社印製 -23- 本紙張尺度適用中國國家標準（CNS)A4規格（210 X 297公釐）If. French method t_ ^. The person who is in shape, stops, stops, stops, stops, stops, is in shape, and can be used by the master of the axis. The force of the main force, which is small and big, is the main type of rotation. Add the state of the electrician system of the contracting system, which is limited to the moment of the base, the main stream, the electric power _ square joints Η shape 1. The first one is described below. The value of the upper part is that the state of the frictional friction 4 is in the state, and it is clear that the joint is issued in the French joint. The state person shape 1 shape The first description is that the 疋 上 件 is in the 2 state shape and 5 1 the first place, in the law, this law does a variety of things to do so, with support for 1 hour There are the same piece and Η, 2 sides of the first end, two pieces of 2 pieces have a work piece 2 work 1st and 1st joint, then the middle piece 7 The first confession is placed in the shape of the shape 6 and the 2nd work piece is issued. On the phase of the .--- the drawing of V ο 5 Η 2 与 and Η r _ * The first set of solids to turn the first pair of solid phase; the tooling system 2 is placed on the pair. The user sets 1 to make the connected part be plutonium; the main part of the uranium joint is contacted by the force of the contact with the addition part, and the position of the fixed shaft is rubbed with the pressure. The tester inspector i 2 reaches The first horse and the server serve the first turn of the shaft; ΐ The paragraph is tested by hand, please check (please read the precautions on the back before filling this page) Printed by the consumer property cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs. The middle device HJ is used for pressure control, and the device is made of '7 control 6', using 2 f and 1 turn to reach the order control server and the master to make the state and the soft surface joint Η 2 及 > — .. The first is to add the master's connection to the parcel, and before the use of Marley ’s suit to stop the service, stop the value, and the immediate rotation The limit phase of the thorium control phase is small and the phase is large, and the stop speed is reduced. The speed of the uranium speed is controlled by bn? ΙΑ% TJ. The phase axis of the rotation is the main phase I 1--------- ---I-1., |||||||||||||| ^ || 1 || [[|| &>; China National Standard (CNS) A4 (210 X 297) Mm) Ministry of Economy Wisdom Property Office employees consumer cooperatives printed 4 265 6 7 * A7 __B7_ V. invention will be described friction and spindle torque limit (/) between the spindle rotation stops roughly in phase with disabilities stop Ll ·. Who. In the present invention, it can be considered that the special feature of the innovation lies in the scope of the patent application. The following describes the ideal embodiment with reference to the accompanying drawings when the purposes and points of the present invention can be understood at the same time. [Example] • Example 1 The workpiece joining device 1 of the first embodiment of the present invention will be described with reference to FIGS. 1 to 3. The workpiece joining device 1 is a device for joining two workpieces W1 and W2. As shown in FIG. 2 As shown, the equipment base 2 is installed in the horizontal direction. The sliding servo motor 4 as a thrust imparting device is fixed to the base 2 via the bracket 3, the ball screw shaft 5 is installed in the horizontal direction, and one end is connected through a connector 6 is connected to the rotating uranium of the sliding eye motor 4 and the other end is supported by the bracket 7 and can be rotated. On the equipment base 2, a linear bearing (linear guide spindle) is formed in parallel with the ball screw shaft 5 The box 9 is arranged on the linear bearing 8 and can slide along the linear bearing S. The arm portion 9a extends downward from the main shaft box 9 through the load cell 11 and the ball nut] 0 It engages with the ball screw shaft 5. When the ball servo shaft 5 is rotated by the sliding servo motor 4, the headstock 9 slides in the Y direction as shown in Fig. 2. At this time, the load cell Η can measure the ball nut The actual thrust between 10 and the arm 9 a. The main shaft 12 is supported in the horizontal direction by the headstock 9 and the main shaft The front end of 12 is provided with a chuck 13. The workpiece W1 of the pipe bark is fixed by the chuck 13. The main uranium rotation eye-catching motor 14 is fixed to the main shaft box 9. The motor 14 is a medium-1 0- paper Standards are applicable to China National Standard (CNS) A4 specifications (210 X 297 mm) (Please read the precautions on the back before filling this page) i '— Order --------- line · ι Intellectual Property of the Ministry of Economic Affairs Printed by the Bureau's Consumer Cooperatives 426567, A7 __B7_ V. Description of the Invention (9) The motor 12 is driven by the motor gear 15, the idle gear 16, and the main shaft gear 17, M. The chuck on the base 2 of the equipment 1 3 A clamp 18 is arranged in this position, and the clamp 18 is for fixing the workpiece W2. A stopper 19 is arranged to the right of the clamp 18. The workpiece joining device 1 is also provided with a not shown in Fig. 2 The control device. The control device includes the controller 23 shown in Fig. 3. An operation panel 2 2 composed of a picture tube (CR T) 20 and a digital switch 21 is connected to the controller 23. The controller 23 is connected to the above-mentioned sliding servo motor 4 via a sliding server driver (servo amplifier) 24. The controller 23 also A rotation servo motor (servo amplifier) 25 is connected to the above-mentioned spindle rotation servo motor 14. The controller 23 is also connected to a quality composed of a picture tube (CR T) 2 6 and a central processing unit (CPU). Guarantee device 28. The quality guarantee device 28 transmits the length and time-related signals of the workpiece to the controller 23. A central processing unit (CPU) 27 of the quality guarantee device 28 is connected to a main shaft tachometer 29. The spindle speed Table 29 can monitor the rotation state (such as speed, phase, and torque) of the spindle 12 and transmit signals related to the rotation state of the spindle 12 to the central processing unit (CPIH27). The spindle speed meter 29 can also be used as a servo motor 14 for monitoring the rotation of the main shaft. The load cell 11 is connected to the controller 23 by a transmitter 30. The transmitter 30 is a central processing unit (CPU) 27 connected to the quality assurance device 28, and K transmits signals related to the thrust (pressure) applied to the workpiece. In addition, the spindle motor 苘 脰 motor 14 is used to output 10,000 pulse balance signals per revolution, that is, 36 (Γ.) Therefore, the servo motor for spindle rotation -11-This paper size applies Chinese National Standard (CNS) A4 Specifications (210x 297 mm) (Please read the precautions on the back before filling out this page) i '.----- Order --------- Line — _ Printed by the Intellectual Property Bureau Staff Consumer Cooperatives of the Ministry of Economic Affairs 426567 * A7 __B7_ V. Description of the invention (P) The rotation position up to 4 can be detected by the controller 23 with high accuracy. Next, the workpiece joining method by the workpiece joining device 1 will be described with reference to FIGS. 4 and 5. Figure 4 is a timing chart showing the main glaze transfer, thrust (stress), and the approaching point. First, clamp the workpieces in and W 2 on the clamp 13 and clamp 18 respectively, and make the two workpieces The central uranium line is the same. Then, at time tO in FIG. 4, the main shaft 12 is rotated by the main shaft rotation servo motor 14 to maintain the rotation speed of the main shaft 12 at a constant value (for example, 2000 rpm). Then, the ball screw sleeve 5 is rotated by the sliding eye motor 4 so that the headstock 9 is moved in the Y direction (see the second section). ) To the workpiece W2. Here, the rotation speed of the spindle 12 is set according to the material and shape of the workpieces W1, W2 (such as the pipe or hollow material, and its outer diameter). Then, at time 11, W1 , W 2 are in contact with each other. At this time, a friction heating project is to be performed, and a preheating thrust P0 is added to the contact interface of the workpieces lil and W2. The preheating thrust P0 is to make the joint surface uneven, and is added to the two. The relatively small pressure between the workpieces W1 and W2. Adding a preheating thrust P0 between the two workpieces W1 and W2 can suppress the increase in the transient torque generated by the two workpieces W1 and W2 in the initial contact. At t2 after the predetermined interval has passed, a frictional thrust M larger than the preheating thrust P 0 starts to be applied between the two workpieces W 1 and W 2. As a result, frictional heat is generated at the bonding interface, and the metal at the bonding interface is generated. The frictional heat will start to change. At time t 3, the two workpieces II and W 2 start to fall into each other. From the time t 2 to which the frictional thrust P 1 is added to the time t 4 after a predetermined time, The joint surface will soften to the desired state. At this time t 4-12: this paper Standards are applicable to China National Standard (CNS) A4 specifications (2) 0 X 297 mm (Please read the precautions on the back before filling this page) I ----- I Order · -----— till-- ---------------- 4 265 6 A7 B7 Printed by the Consumer Cooperatives of the Intellectual Property Office of the Ministry of Economic Affairs V. Invention Seal (lf) ii. Servomotor for controlling the rotation of the main shaft 1 4 1 1 I to decelerate the rotation of the main shaft 12 and then stop at the time t 5 1 1 of the main shaft 12 »The sliding servo motor 4 applies a specific motor thrust to the main shaft 12 Please refer to P 5 for more information. P 1 Please refer to the first large crimping force P 2 〇Read 1 I Here 9 Decrease and stop the spindle speed of the spindle 1 2 Spindle to the back I 1 Moment and spindle phase r Refer to Figure 5A, Fig. 5B illustrates the details in Fig. 5A. Note 1 in Fig. 5B. The solid lines in Fig. 5B indicate the states in this embodiment. One more line of the variable is the acceptance of each state in the previous example. Fill in this form and install it first »It is judged by the controller 2 3 that the joint surface of the two workpieces W1 and W2 has reached the desired softening state (time t 4 )> Controller 2 3 In order to stop the main shaft 1 2 1 1 rotation is to control the main shaft rotation with the word motor 14 »so that the main shaft i 1 1 2 plus the main shaft in the opposite (negative) direction of rotation Torque 〇 Here »If 1 is required, when the rotation of the main shaft 1 2 is stopped slowly, it is not necessary to add 1 in the negative direction. The main shaft torque is 9 but S in this embodiment is to make the rotation at 20 00 ΓP» The main 1 l axis > suddenly stops S at 0 * 5 sec, so a large torque is added in the negative direction. 1 1 When the rotation speed of the spindle 1 2 is smaller than the set value * The controller 23 makes the rotation speed of the spindle 12 of I 1 consistent with the set deceleration curve 9 and makes the spindle 1 2 stop at the specified hundred-phase phase (0). Servo horse 1 for controlling the rotation of the main shaft 1 ί 1 4 9 adds torque to the main shaft 1 2 in the direction of rotation (positive direction). The detailed situation is to resist the braking force 1 caused by friction at the joint interface. I and the servo motor 1 4 t through the spindle rotation to rotate the spindle 1 2 in the positive direction 1 1 The spindle torque is added between the two workpieces W1 W2 0 After that, the controller 2 3 1 1 will be based on the spindle speed table 23 Times tL · m and when the start phase Θ of the predetermined stop control is measured (t5) > Electricity to be supplied to the servo motor 14 for spindle rotation 1 1 1 3 1 1 1 1 This paper size applies Chinese national standards ( CNS) Λ4 specification (210X297 mm) 426567 * A7 B7 Intellectual Property Office, Ministry of Economic Affairs Printed by the Industrial and Consumer Cooperatives V. Description of the invention (1) 1 1 The flow is limited to a predetermined value so that the magnitude of the spindle torque is below a certain value (limit 1 1 torque) Q. Then it is as shown in Figure 5B. 9 The main shaft 12 will stop at 1 t 1 t 1 a while after the t 12 is slightly slower than the time t 5 due to the friction between the workpiece 1 and ¥ 1 W2. At this time, the phase of the spindle 12 is read 11 digits from the start of stop control. Θ is only the last phase A of the forward braking angle a. The braking angle £ r depends on the friction torque limiting torque Q between the X pieces W 1 and tf 2 and the rotation mechanism. Note that the moment of inertia of the 1 piece is made in advance by nt. Obtained in the experiment, and for the item S- ί bb, compare the changes in the prior art * in Figure 5 A, Figure 5 B with 2 and fill in the 1 dotted line shown in this 1 ί 1 Hofu motor 14 When no load is set, it is set to stop at the target phase (0 1) 1 1 * but when the X piece is engaged 9 When the stop control start phase 0 is detected 1 1 (t 5) > The controller 23 will The spindle torque is limited to bb. The smaller limiting torque is I. Q is set to 9. Convincing horses 14 are mainly affected by the friction between the workpiece ¥ 1 and W2. I «and the approximate stop control in front of the giant phase (〇P) Stop at start phase 0 (! I and final phase A). Therefore, the rotation of the spindle 12 is about to stop. 1 I before 9 Between X pieces W1 and W2, it is not possible to add 1 to the positive or negative direction 1 1 large stop torque e line so y is the same as the conventional technology before time t5 The serving horse 14 will apply a torque for aligning the phase to stop it at the phase 1 (0). However, at the moment of stopping the control opening I I phase Θ at the controller 2 and 3 sides, t5 and 9 pairs of spindles are used to rotate the main shaft 逹 14. Only the 1 1 rotation direction (positive direction) limit torque Q is given. 1 1 Here the stop control start phase Θ is taking into account the braking angle α and the amount of torsional back-off of the two workpieces W1 and W2 after being removed from the workpiece joining device 1, and 1 ί 14 i 1 1 1 National Standard (CNS) A4 specification (210X297 mm) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs ^ 567 567 J A7 _B7_ V. Description of the invention () Set at the leading phase of the target phase (0 °) of the servo motor 14 for example 5 °. Also, in this embodiment, as shown in FIG. 4, at the time t. 5 when the spindle 12 stops, a calendar that solid-phase joins the two workpieces W1 and W2 is added between the two workpieces W1 and tf 2. Then thrust P 2. In addition, the limit torque Q is a value for the crimping conditions such as the shape and material of each workpiece. Experiments must be performed first, and the value set at the joint interface of the workpiece VI and the workpiece does not cause slippage. The timing of applying the thrust force P2 can be arbitrarily set according to the desired approaching amount. The timing at which the crimping thrust P 2 is to be applied is originally set based on the elapsed time from t 4. However, if the timing at which the crimping thrust P 2 is to be applied is adjusted by M according to the phase of the main shaft 12, the joining error of the workpiece can be made. For smaller. After the application of the crimping thrust P 2 is stopped, the chuck 1 3 is released, the headstock 9 is moved to the left, and the joined workpieces W1 and W 2 are removed from the workpiece joining device 1. In this way, the workpieces W 1 and W 2 bonded in the desired phase of K are obtained. As described above, the controller 23 executes the position command, torque control, and rotation speed control of the eye servo motor 4 for sliding and the servo servo 14 for rotation of the main shaft. Therefore, when the joined workpieces W1 and W2 are detached from the workpiece joining apparatus 1, the workpieces W1 and W2 which have been correctly aligned with each other can be obtained. However, due to the difference in the elastic coefficient of the material, there may be an error of, for example, 15 minutes when the workpieces W 1 and W 2 are unloaded. The total approaching amount is controlled to, for example, 8 mni. The joining of W 1 and W 2 in the workpiece joining method is applicable not only to the same metal, but also to joining different metals. The phase detection means in the present invention is constituted by a spindle tachometer. According to the workpiece joining method of Example 1, the following effects can be obtained. -15- This paper size applies the Chinese National Standard (CNS) Al specification (210x 297 mm). ------- line (please read the notes on the back before filling this page) A7 426567 B7_ V. Description of the invention () (please read the notes on the back before filling this page) ί 1) as the first As shown in Fig. 0 and Fig. 11, in the workpiece receiving method for M, in the alignment phase, the friction at the joint interface will increase before the spindle rotation is about to stop. Therefore, in order to counteract this, The braking force generated by friction adds a large spindle torque to the acceleration side (positive direction), which decelerates and stops the rotation of the y-axis. The phase between the two workpieces can be the target phase (0 °). In this example, when the phase of the main shaft 12 reaches the stop control start phase 0, the controller 2 3 restricts the lightning current flowing through the servo motor 14. Therefore, the output shaft is rotated. The torque is limited to not more than a predetermined limit torque Q. This limit torque Q is set to a value that does not cause slippage at the joint interface. Therefore, the friction generated by the joint interface stops the rotation of the main shaft approximately at the stop control start phase 0. As a result, a large spindle torque is not added to the spindle 12 immediately before the spindle rotation is stopped. Therefore, the phase between the workpieces W1 and W2 at the time of the engagement may be approximately the stop control start phase Θ. Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs, as shown in Fig. 5, under the bark state in which the spindle rotation direction (positive direction) is followed by the limit torque Q, the joining of the workpieces ends, so the workpiece W 1. The phase between W 2 is engaged in a state twisted in the direction of rotation (positive direction). In this way, at the time of the alignment phase immediately before the rotation of the main shaft is stopped, a large main shaft torque is not added. Therefore, it is possible to prevent the rotation direction between the I.T. pieces ΪΠ and W2 from being in the opposite direction. Things. Therefore, when the workpiece, ί2 is unloaded from the workpiece joining device 1, if the twist is reversed, it can also ensure that the two workpieces, W2, are in the correct phase. (2) Due to the use of tubular workpieces W1 and W2, the Chinese standard (CNS) Al specification (21〇297297 mm) applies to the paper size of the spindle 12-16. Λ7 4 265 6 7 Λ_Β7_ Description of the Invention (β) (Please read the precautions on the back before filling this page) When decelerating and stopping, the friction at the joint interface of each workpiece y 1, w 2 will increase rapidly. And accumulated use of this friction force as the main shaft rotation is about to stop it: the previous braking force, so that the rotation of the main uranium 12 can be stopped at approximately h h h control start phase θ stop. (3) In the alignment phase method of the MEMS technology, the time at which the crimping push Λ2 is to be added is limited to the stop of the main shaft 12, and in this example, the crimping push force P2 is added. The time is not limited to when the main shaft 12 is stopped, so the degree of freedom of the crimping conditions can be increased. As a result, appropriate crimping conditions can be easily set. (M) In this W embodiment, the torque of the frictional force of the eye friction surface is not added when aligning the phase, as in the prior art. Therefore, energy can be saved when aligning the phase, and a small spindle rotation can be used. Use servo motor 1 4. In addition, when the servo motor 14 of the same electric power is used, compared with the prior art, friction welding can be performed between workpieces with a larger diameter. Member of the Intellectual Property Bureau of the Ministry of Economic Affairs, Consumer Cooperation, Du Yin Clothing (5) uses hydraulic M to mechanical workpiece joining devices, such as the workpiece joining device announced in JP 8-15673, which may occur during alignment. ] 20 ~ 140dB (decibel) impact sound, but when the workpiece joining method according to this embodiment is used, it does not add a large main uranium torque during deceleration, so no balancing sound is generated when the phase is aligned. . (6) In the workpiece joining device 1 of this embodiment, the main shaft 1 2, M which moves and rotates is crimped, so the method of fixing the workpiece W 2 fixed to the non-rotating clamp 绀 18 can be arbitrarily selected. select. The cell M 2 will be described with reference to FIG. 6 and the workpiece bonding apparatus 40 according to the second embodiment will be described. Its -17 " This paper size applies Chinese National Standard (CNS) Al specification (210x 297 mm) A7 4 265 6 7 ^ B7_ V. Description of the invention (4) The same structure and components as in Example 1 are attached with The same symbols are omitted here. In the first embodiment, the main shaft 12 on the rotating side is configured as a slider. In the workpiece joining device 40 of this second example, the non-rotating clamp 41 is configured as a slider. That is, as shown in FIG. 6, the clamp 41 is provided on the linear uranium bearing 8 and is slidable. The clamp 41 is capable of engaging the ball screw nut 10 and the side force sensor 11 with the ball screw shaft 5. The work W2 is fixed by the clamp 41. A stopper 4 2 is fixed on the clamp 绀 41 to limit the movement of the workpiece 2 in the axial direction. On the equipment base 2, facing the stopper 42, a spindle box 43 capable of supporting the rotation of the spindle 12 is fixed. The workpiece is fixed by the chuck 13 of the spindle 12. In the second embodiment, the clamp 41 is moved to hold the non-rotating work W2 against the rotating work: piece 5Π, where the two work W1, M2 are joined. Therefore, when the above-described workpiece joining method is carried out by the workpiece joining device 40, the same effect as that of the first embodiment except for the item (6) can be obtained. In addition, since the main shaft 12 does not move, the arrangement of the circuit wiring required for the control of the servo motor 14 for spindle rotation can be made easier, and the clamp shaft 41 can move at a high speed, which is ideal for practical use. [Embodiment 3] The workpiece joining device 50 of the present cellular example 3 will be described with reference to FIG. The same structures and components as in Example 1 are attached with the same symbols, and their descriptions are omitted. In the workpiece joining device 50, two pieces W1 are to be joined to the intermediate workpiece W3, and the two ends W1 are to be aligned at the same time. _ 1 8 _ This paper size is applicable to China National Standard (CNS) A_1 specification (210x 297 mm) ----- installation ------- order * -------- line (please read first Note on the back, please fill in this page again) Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs ^ Printed by the Consumer Cooperative of the Intellectual Property Bureau of the Ministry of Economic Affairs 4 2 6 Λ7 __B7_ V. Description of Invention (7) As shown in Figure 7, The workpiece joining device 50 is provided on both sides of the equipment base 2 and has members (sliding servo motor 4, main shaft rotation servo motor 14, etc.) which can individually rotate and move the workpiece W 1. That is, the intermediate slab W3 is fixed by the clamps 51, and the two workpieces W1 are pressed against both end surfaces of the intermediate T-piece W3 while rotating one side. Therefore, when the above-described workpiece joining method is carried out by the workpiece joining apparatus 50, the same effects as those in the first picking example can be obtained. In addition, since two workpieces W1 can be joined at the same time, the throughput per unit time can be increased, which is ideal in practice. The present invention is not limited to the above-mentioned examples of cells, but may be as described below. (A) In the above, in order to limit the spindle torque, the current of the eye sleeve motor 14 for rotation of the main sleeve is increased by M, and M stops the rotation of the spindle 12, but it is not limited to this. For example, it may be M is implemented as follows. Π) The current supplied to the servo motor for main shaft rotation 4 is completely cut off (the servo arm is broken). The main shaft 12 is stopped. In this case, position control cannot be performed, and the detection of the tear rotation position itself will still be performed according to Yang. ί 2) The shaft interlock function can be used to stop the rotation of the main shaft 12. This function is forbidden to rotate and move the axis with interlocking shaft. With interlocking, the rotation of uranium will slow down and movement will stop. On the one hand, when the interlock is released, the rotation and movement of 蚰 will restart. (3) The workpiece joining device 1 is an M automatic operation, but the automatic operation may be interrupted. In this case, the workpiece coupling device 1 may be brought to an emergency stop during an emergency. This paper size applies Chinese National Standard (CNS) A, 1 (210 X 297 mm). I ---------- Order · --- I I --- (Please read the back first Please fill in this page for 1'1 meanings) Λ7 B7_ 5. Description of the invention ((4) The controller 23 can also be used to prevent the controller 23 from sending output pulses (rotational movement instructions) to the motor lock of the motor 14 and also make the spindle (5) It can also saturate the output of the main torque, so that the torque output does not reach the predetermined value M of the torque command. When κ stops the spindle 1 2 ^ In this case, such as output When the saturated torque value is smaller than the M force generated by the friction at the joint interface, it will be parallel in this state, and it will be in a state where the phase deviation is still left. 1 2 is about to stop If: Before, if the stop control start phase Θ is measured, the servo motor 1 will not be controlled to stop at the target phase (0 °), and only the friction and limitation between the workpieces will be used. When the torque Q and K stop the rotation of the main shaft, other configurations can be arbitrarily changed. (C) In each of the above embodiments, the Each of the gears 15, 16, 1 7. The main shaft 12 is rotated by the rotation of the axillary motor 14 to the main sleeve 12, but the main shaft 12 can be driven by the main shaft 15, 16, 17 The rotation servo motor 14 directly drives the main shaft 12. (D) In each of the above embodiments, the rotation of the main shaft starts at time t 2 after the frictional thrust P1 is applied, and at time t 4 after a predetermined time has passed. Will be started to decelerate, that is, to control the time to make the rotation of the spindle start to slow down, but fc can be based on the length of the workpiece during crimping, W2, and the length of the spindle to start the deceleration. That is, based on the information related to the rotation of the eye servo motor 4 for sliding, the approach amount is measured, and the rotation of the spindle is started to decelerate when the predetermined force is reached. The embodiment of the present invention has been described with reference to the appendix. However, the present invention and this paper size are applicable to the Chinese National Standard (CNS) Al specification mo X 297 metric t. (Please read the precautions on the back before filling this page) Printed by the Consumer Cooperatives of the Intellectual Property Bureau of the Ministry of Economic Affairs ---- --- Order · --- ---- III ----------------- ^ ------ 4 265 ^ A7 B7 Printed by the Ministry of Economic Affairs, Intellectual Property Bureau, Consumer and Industrial Cooperatives V. Invention Description (ι9) 1 1 is not limited to this »but may be in the content of the scope of patent application and its contents 1 1 I change within the scope of the effective thing [I Brief Description of the Drawings] Please 1 First 1 Figure 1 Sectional view of the workpiece joining device according to the first embodiment of the present invention. Read 1 2 Figure 1 Horizontal view of the device 〇 Back 1 1 3rd ΙαΙ Control device block of the workpiece bonding device which draws the 1st figure 意 意 1 事 1 4th figure The timing sequence of the workpiece bonding method of the present invention! The 5th is ISI In the work piece joining method in Fig. 4 »explain the timing plaque of the registration method of filling out this 1 position. Greedy «· 1 1 Figure 5B: Timing chart of spindle speed 1 1 and spindle phase just before the rotation in Figure 5 A is about to stop. 9 1 Figure 6 Partial break of workpiece joining device in Example 2 Partial sectional view of the X-piece joining device of the 7th and third embodiment of the third embodiment. Fig. 6 1 Timing chart of the conventional workpiece joining method of the 8th tBt circle. 0 | 9th timing chart of the conventional workpiece joining method of the nan country. 1 I No. 10 Fig. Timing chart of workpiece joining method of another conventional example 〇1 [No. 1 1 时序 Timing diagram of workpiece joining method of another conventional example 〇 Explanation of line symbols 1 J 1. Workpiece joining device 1 2 .. Equipment base 1 I 3-. Bracket 1 1 4.. What to use for sliding horse 1 1 5.. Ball screw shaft 16... Connector 1 1 7. • · Bracket [1 -2 1-1 1 This paper size is applicable to China National Standard (CNS) A4 (2 丨 OX 297 mm) Printed by the Consumer Cooperative of Intellectual Property Bureau of the Ministry of Economic Affairs 4 26567 λ Α7 __Β7_ V. Description of the invention (/) 8. · · · Linear sleeve 9-headstock 9 a ... arm 1 〇 ... ball nut 1 1 ... load cell 1 2 ... Spindle 1 3 ... Chuck 1 4 ... Axillary motor for spindle rotation 15, 16. 17 .... Gear 18 ... Clamp 19 ... Stop block 2 0 ... Kinescope 2 1 ... Digital switch 2 2 ... Operation panel 2 3 ... Controller 24 .. Servo driver for sliding 25. .Same driver for rotation 2 6 ... Picture tube 2 7 ... Central controller 2 8 ... Quality Assurance Device 2 9 ... Spindle Speed Meter 3 0 ... Transmitter 4 0 ... Workpiece Engagement Device 41 ... Clamp 绀 -22- (Please read the precautions on the back before filling (This page) II--------0 · I-. Nn-----I-I----------1 n _ _ _ _ This paper size applies to the Chinese National Standard (CNS ) Al specifications (210 X 297 mm) 2 6 5 6 i A7 B7 V. Description of invention (w) 42 .. Stopper 4 3 ... Spindle box 5 0 ... Workpiece engaging device 5 1 ... Clamps W1, W2, W3 ... Workpiece (Please read the precautions on the back before filling this page) Intellectual Property Bureau, Ministry of Economic Affairs Printed by Employee Consumer Cooperatives -23- This paper size applies to China National Standard (CNS) A4 (210 X 297 mm)