WO2012127833A1 - 摩擦攪拌点接合装置および摩擦攪拌点接合方法 - Google Patents
摩擦攪拌点接合装置および摩擦攪拌点接合方法 Download PDFInfo
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- WO2012127833A1 WO2012127833A1 PCT/JP2012/001847 JP2012001847W WO2012127833A1 WO 2012127833 A1 WO2012127833 A1 WO 2012127833A1 JP 2012001847 W JP2012001847 W JP 2012001847W WO 2012127833 A1 WO2012127833 A1 WO 2012127833A1
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- tool
- press
- pin member
- friction stir
- shoulder member
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- 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
- B23K20/122—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 using a non-consumable tool, e.g. friction stir welding
- B23K20/123—Controlling or monitoring the welding process
-
- 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
- B23K20/122—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 using a non-consumable tool, e.g. friction stir welding
- B23K20/1265—Non-butt welded joints, e.g. overlap-joints, T-joints or spot welds
-
- 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
- B23K20/002—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating specially adapted for particular articles or work
-
- 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
- B23K20/122—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 using a non-consumable tool, e.g. friction stir welding
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- 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
- B23K20/122—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 using a non-consumable tool, e.g. friction stir welding
- B23K20/1245—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 using a non-consumable tool, e.g. friction stir welding characterised by the apparatus
- B23K20/125—Rotary tool drive mechanism
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- 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 present invention relates to a friction stir spot joining apparatus and a friction stir spot joining method, and more particularly, a friction stir spot joining apparatus and a friction stir spot joining capable of suitably controlling the advancing and retreating movement of a rotary tool for performing friction stir spot joining. Regarding the method.
- This friction stir welding is a method of joining metal materials using frictional heat, and uses a cylindrical rotary tool (joining tool) having a pin member at the tip.
- This rotary tool is configured to move forward and backward toward the workpiece, and is pushed into the workpiece (metal material) by advancing and moving at a predetermined range of pressure or speed while rotating at high speed (press-fit) ) Since the metal material softens at the site where the rotary tool is press-fitted, the objects to be joined are joined together by stirring the softened metal material.
- the friction stir welding disclosed in Patent Document 1 has only a pin member as a rotary tool, it is referred to as a single-acting friction stir spot welding for convenience of explanation.
- the friction stir welding disclosed in Patent Document 2 includes a substantially cylindrical pin member and a substantially cylindrical shoulder member having a hollow for inserting the pin member as a rotary tool. The pin member and the shoulder member can be rotated and moved back and forth, respectively. Therefore, the friction stir spot welding having such a configuration is referred to as double-acting friction stir spot welding for convenience of explanation. In this double-acting friction stir spot welding, it is possible to refill the recess formed by the press-fitting of the pin member by adjusting the timing of the forward / backward movement of the pin member and the forward / backward movement of the shoulder member. .
- the rotary tool is composed of a plurality of members such as a pin member and a shoulder member. Therefore, compared to single-acting friction stir spot welding, there are more items to be considered at the time of construction, and it is difficult to select items to be controlled at the time of construction. It is also difficult to determine how to decide specifically. For this reason, the single-acting friction stir spot welding control method disclosed in Patent Document 1 cannot be directly applied to the double-acting friction stir spot joining.
- Patent Document 2 has a problem of preventing or effectively suppressing the generation of non-uniform burrs in double-acting friction stir spot joining, but it meets the joining conditions as described above. A control that can realize a good bonding quality with excellent accuracy is not sufficiently disclosed.
- An object of the present invention is to provide a control technique capable of preventing or suppressing the occurrence of internal cavity defects.
- a friction stir spot welding device is a friction stir spot welding device that joins by partially stirring a workpiece by a rotary tool in order to solve the above-mentioned problem
- a cylindrical pin member that is configured to rotate around the axis and be movable back and forth in the axial direction, and is positioned so as to surround the outside of the pin member, and rotates about the same axis as the pin member.
- a cylindrical shoulder member configured to be movable back and forth in the axial direction, and a tool drive that operates the pin member and the shoulder member to move forward and backward along the axis, respectively.
- a tool drive control unit that controls the operation of the tool drive unit
- the tool drive control unit Ap is a cross-sectional area of the tip surface of the pin member, and a tip of the shoulder member
- the cross-sectional area of the surface is As
- the press-fitting depth when the pin member is press-fitted from the surface of the object to be joined is Pp
- the press-fitting depth when the shoulder member is press-fitted from the surface of the object to be joined is Ps.
- the following formula Ap ⁇ Pp + As ⁇ Ps Tx
- the tool driving unit is controlled so as to reduce the absolute value of the tool average position Tx defined in (1).
- the friction stir spot welding device further includes a press-fit reference point setting unit that sets a position when the shoulder member contacts the workpiece to be a press-fit reference point
- the tool drive control unit includes The press-fitting depth of the shoulder member or the pin member may be controlled based on the press-fitting reference point set by the press-fitting reference point setting unit.
- a displacement amount calculation unit that calculates a displacement amount that is a displacement of the tip position of the pin member or the shoulder member is provided, and the tool drive control unit includes the displacement amount amount. May be configured to correct the press-fitting depth.
- the friction stir spot joining method includes a cylindrical pin member that is configured to rotate around an axis and move forward and backward in the axial direction.
- a cylindrical shoulder member which is positioned so as to surround the outside of the pin member, rotates around the same axis as the pin member, and can move forward and backward in the axial direction.
- the area is Ap
- the cross-sectional area of the front end surface of the shoulder member is As
- the press-fitting depth when the pin member is press-fitted from the surface of the article to be joined is Pp
- the shoulder member is press-fitted from the surface of the article to be joined.
- the advancing and retreating operations of the pin member and the shoulder member are controlled so as to reduce the absolute value of the tool average position Tx defined in (1).
- the position at the time when the shoulder member contacts the workpiece is set as a press-fitting reference point, and the shoulder member or the pin member is press-fitted based on the press-fitting reference point.
- the structure which controls depth may be sufficient.
- the friction stir spot joining method having the above-described configuration may be configured such that a displacement amount that is a displacement of a tip position of the pin member or the shoulder member is calculated, and the press-fitting depth is corrected based on the displacement amount. .
- FIG. 1 is a schematic side view showing a configuration example of a friction stir spot welding device according to Embodiment 1 of the present invention.
- 2A to 2F are process diagrams schematically showing an example of each stage of friction stir spot welding by the friction stir spot welding apparatus shown in FIG. 3A to 3F are process diagrams schematically showing another example of each stage of friction stir spot welding by the friction stir spot welding apparatus shown in FIG.
- FIG. 4 is a block diagram showing a functional configuration of the friction stir spot welding device shown in FIG.
- FIG. 5 is a schematic diagram showing a typical example of the position control of the pin member and the shoulder member in the friction stir spot welding device shown in FIG.
- FIG. 6 is a flowchart showing an example of control of friction stir spot welding in the friction stir spot welding apparatus shown in FIG. FIG.
- FIG. 7 is a flowchart showing another example of the control of the friction stir spot welding in the friction stir spot welding apparatus shown in FIG.
- FIG. 8 is a flowchart showing still another example of control of friction stir spot welding in the friction stir spot welding apparatus shown in FIG.
- FIG. 9 is a block diagram showing a functional configuration of the friction stir spot welding device according to Embodiment 2 of the present invention.
- 10A and 10B are schematic diagrams for explaining the setting of the press-fitting reference point in the friction stir spot welding device shown in FIG.
- FIG. 11 is a block diagram showing a functional configuration of a friction stir spot welding device according to Embodiment 3 of the present invention.
- FIG. 12 is a block diagram showing a functional configuration of the friction stir spot welding device according to Embodiment 4 of the present invention.
- the friction stir spot joining device 50A includes a rotary tool 51, a tool fixing unit 52, a tool driving unit 53, a clamp member 54, a backing support unit 55, and a backing member 56. It has.
- the rotary tool 51 is supported by the tool fixing unit 52, and is advanced and retracted and rotated by the tool driving unit 53.
- the rotary tool 51, the tool fixing unit 52, the tool driving unit 53, and the clamp member 54 are provided on an upper portion of a backing support portion 55 configured by a C-type gun (C-type frame), and a lower portion of the backing support portion 55. Is provided with a backing member 56. Therefore, the rotary tool 51 and the backing member 56 are attached to the backing support portion 55 at positions facing each other, and the workpiece 60 is disposed between the rotary tools 51.
- the rotary tool 51 includes a pin member 11 and a shoulder member 12.
- the tool fixing unit 52 includes a rotary tool fixing unit 521 and a clamp fixing unit 522.
- the tool driving unit 53 includes a pin driving unit 531, a shoulder driving unit 532, a rotation driving unit 533, and a clamp driving unit 41. ing.
- the clamp member 54 is fixed to the clamp fixing portion 522 via the clamp driving portion 41.
- the clamp drive part 41 is comprised with the spring.
- the pin member 11 has a substantially cylindrical shape or a substantially columnar shape, and is supported by a rotary tool fixing portion 521, although not shown in detail.
- the pin member 11 is rotated around the axis Xr (rotation axis, one-dot chain line in the drawing) by the rotation driving unit 533, and along the broken line arrow P1 direction, that is, the axis Xr direction (vertical direction in FIG. 1) by the pin driving unit 531. It can be moved forward and backward.
- the shoulder member 12 has a substantially cylindrical shape having a hollow, the pin member 11 is inserted into the hollow, and is supported by the rotary tool fixing portion 521 so as to surround the pin member 11 outside the pin member 11.
- the shoulder member 12 is configured to be rotated about the same axis line Xr as the pin member 11 by the rotation driving unit 533, and can be moved forward and backward by the shoulder driving unit 532 along the broken line arrow P ⁇ b> 2 direction, that is, the axis line Xr direction.
- the pin member 11 and the shoulder member 12 are both supported by the same rotary tool fixing portion 521 in the present embodiment, and both rotate integrally around the axis Xr by the rotation drive portion 533. Further, the pin member 11 and the shoulder member 12 are configured to be movable forward and backward along the direction of the axis Xr by the pin driving unit 531 and the shoulder driving unit 532, respectively. In the configuration shown in FIG. 1, the pin member 11 can move forward and backward independently, and can also move forward and backward with the forward and backward movement of the shoulder member 12. However, the pin member 11 and the shoulder member 12 are mutually connected. It may be configured to be able to move forward and backward independently.
- the clamp member 54 is provided on the outer side of the shoulder member 12 and, like the shoulder member 12, has a hollow cylindrical shape, and the shoulder member 12 is inserted into the hollow. Therefore, the substantially cylindrical shoulder member 12 is located on the outer periphery of the pin member 11, and the substantially cylindrical clamp member 54 is located on the outer periphery of the shoulder member 12. In other words, the clamp member 54, the shoulder member 12, and the pin member 11 each have a coaxial core-like nested structure.
- the clamp member 54 presses the workpiece 60 from one surface (front surface), and is supported by the clamp fixing portion 522 via the clamp driving portion 41 in the present embodiment. Therefore, the clamp member 54 is urged toward the backing member 56 side.
- a rotating tool fixing portion 521 is supported on the clamp fixing portion 522 via a rotation driving portion 533.
- the clamp fixing portion 522 is configured to be able to advance and retract in the direction of the broken line arrow P3 (the same direction as the broken line arrows P1 and P2) by the shoulder drive unit 532.
- the configuration of the clamp drive unit 41 is not limited to a spring, and any configuration may be used as long as the clamp member 54 is biased or applied with pressure, for example, gas pressure, hydraulic pressure, servo motor, or the like.
- clamp drive unit 41 may be configured to be able to move forward and backward by the shoulder drive unit 532, or may be configured to be able to move forward and backward independently of the shoulder drive unit 532.
- the rotating tool 51, the tool fixing part 52, the tool driving part 53, and the clamp member 54 having the above-described configuration are provided on the backing support part 55 so as to face the backing member 56 as described above.
- the pin member 11 and the shoulder member 12 and the clamp member 54 constituting the rotary tool 51 include a contact surface 11a, a contact surface 12a, and a contact surface 54a, respectively, and the contact surfaces 11a, 12a, 54a are
- the tool drive unit 53 moves forward and backward, and can come into contact with the surface (first surface, one surface) of the article 60 to be joined to the backing member 56.
- the backing member 56 is provided at a position facing the pin member 11, the shoulder member 12, and the clamp member 54, and comes into contact with the back surface of the article 60 to be joined. In FIG. 1, it has a flat surface so that it may contact
- the backing member 56 is located on the advancing direction side of the pin member 11 and the shoulder member 12, and supports the back surface of the workpiece 60 with the surface of the workpiece 60 facing the pin member 11 and the shoulder member 12. It is supported by the surface 56a.
- the configuration of the backing member 56 is not particularly limited as long as the backing member 56 can appropriately support the workpiece 60 so that the friction stir spot welding can be performed.
- it may be a flat plate-like structure having a support surface 56 a that can stably support the plate-like object 60, but a structure other than the flat shape can also be adopted according to the shape of the object 60 to be joined.
- the backing member 56 having a plurality of types of shapes may be separately prepared and configured so as to be removed from the backing support portion 55 and exchanged depending on the type of the object to be joined 60.
- the specific configurations of the rotary tool 51, the tool fixing unit 52, and the tool driving unit 53 in the present embodiment are not limited to the configurations described above, and widely known configurations can be suitably used in the field of friction stir welding.
- the pin driving unit 531, the shoulder driving unit 532, and the rotation driving unit 533 constituting the tool driving unit 53 are all configured of a motor and a gear mechanism that are well-known in the field of friction stir welding in the present embodiment.
- the clamp member 54 may not be provided in the configuration of the friction stir spot joining device 50A, and may be configured to be detachable from the backing support portion 55 as necessary, for example.
- other members not shown in FIG. 1 may be included.
- the backing support portion 55 is configured by a C-type gun in the present embodiment, but is not limited to this, and supports the pin member 11 and the shoulder member 12 so as to be movable forward and backward, and these rotary tools 51. What is necessary is just to be comprised so that the backing member 56 may be supported in the position which opposes.
- the backing support portion 55 is attached to the tip of an arm (not shown).
- This arm is configured in a friction stir spot welding robot apparatus (not shown in FIG. 1). Therefore, it can be considered that the backing support portion 55 is also included in the friction stir spot welding robot apparatus.
- the specific configuration of the friction stir spot welding robot apparatus including the backing support portion 55 and the arm is not particularly limited, and a known configuration in the field of friction stir welding such as an articulated robot can be suitably used. .
- the friction stir spot welding device 50A including the backing support portion 55 is not limited to being applied to a friction stir spot welding robot device.
- the present invention can be suitably applied to known processing equipment such as NC machine tools, large C frames, and auto riveters.
- a configuration in which two or more pairs of robots directly face the friction stir spot welding device and the backing member 56 may be employed, and the friction stir spot welding can be stably performed on the workpiece 60.
- the fixed friction stir spot welding apparatus 50A according to the present embodiment can be used as a hand-held configuration, or the robot can be used as a positioner for the workpiece 60.
- the arrow p indicates the moving direction of the rotary tool 51 (corresponding to the directions of broken line arrows P1 and P2 in FIG. 1)
- the arrow r indicates the rotating member ( The rotation direction of the pin member 11 and the shoulder member 12)
- the block arrow F shows the direction in which force is applied to the metal plates 61 and 62.
- the arrows p and the block arrows F are used for the sake of convenience in clearly explaining the positions of the constituent members in each step, the joints formed on the metal plates 61 and 62, and the like. Are denoted by the symbols “p” and “F” only in FIG.
- FIG. 2A and the arrow r is denoted by the symbol “r” only in FIG. 2B.
- a force is also applied from the backing member 56 to the metal plates 61 and 62, but for convenience of explanation, it is not shown in FIGS. 2A to 2F.
- the shoulder member 12 is hatched in order to clarify the distinction between the pin member 11 and the clamp member 54.
- the rotary tool 51 is brought close to the metal plates 61 and 62 (arrow p in the figure), and the contact surface 54a of the clamp member 54 (not shown in FIGS. 2A to 2F).
- the metal plates 61 and 62 are sandwiched between the clamp member 54 and the backing member 56, and a clamping force is generated by the pressing by the clamp member 54 (block arrow F in the figure).
- the rotary member of the rotary tool 51 is close to the metal plates 61, 62, the contact surface 11a of the pin member 11 (not shown in FIGS. 2A to 2F), and the shoulder member 12
- the contact surface 12a (not shown in FIGS. 2A to 2F) contacts the surface 60c of the metal plate 61.
- the clamping force of the clamp member 54 is generated by the contraction of the clamp driving unit 41 formed of a spring.
- the pin member 11 and the shoulder member 12 are brought into contact with the surface 60c of the metal plate 61 and rotated (arrow r in the figure).
- the pin member 11 is protruded from the shoulder member 12 by a pin driving unit 531 (not shown), thereby causing the pin member 11 to further enter (press-fit) from the surface 60 c of the metal plate 61.
- the softened portion of the metal material extends from the upper metal plate 61 to the lower metal plate 62, and the plastic flow portion 60a increases.
- the softened metal material of the plastic flow portion 60 a is pushed away by the pin member 11 and flows from directly below the pin member 11 to directly below the shoulder member 12, so that the shoulder member 12 moves backward and rises as seen from the pin member 11.
- the protruding pin member 11 is gradually retracted (retracted) by a pin driving unit 531 (not shown) as required, and the shoulder member 12 is retracted as the pin member 11 is retracted.
- a step of entering (press-fitting) into the metal plate 61 may be performed.
- the surface 60c of the metal plate 61 is shaped by the process shown in FIG. 2E described later, the process shown in FIG. 2D may be performed if there is a case where the surface 60c is not sufficiently shaped at this time.
- the pin member 11 or the shoulder member 12 maintains the pressure applied by the tip even when the pin member 11 or the shoulder member 12 is in the retracting operation.
- the softened metal material of the plastic fluidized portion 60a is directly below the shoulder member 12 and directly below the pin member 11. As a result, the concave portion is backfilled.
- rotation and pressing by the pin member 11 are maintained while the shoulder member 12 is pulled in, so that the concave portion generated by the press-fitting of the shoulder member 12 is backfilled.
- the contact surface 11a of the pin member 11 and the contact surface 12a of the shoulder member 12 are adjusted to such an extent that there is almost no step between them.
- the surface 60c of the metal plate 61 is shaped, and a substantially flat surface to the extent that no substantial concave portion is generated is obtained.
- FIGS. 3A to 3F a series of steps shown in FIGS. 3A to 3F will be described.
- the shoulder member 12 is press-fitted into the metal plates 61 and 62 before the pin member 11.
- force is also applied to the metal plates 61 and 62 from the backing member 56, but this is not shown for convenience of explanation.
- the shoulder member 12 is relatively protruded from the pin member 11 by a shoulder drive unit 532 (not shown) so that the shoulder member 12 further enters (press-fit) from the surface 60 c of the metal plate 61. )
- the plastic fluidized portion 60a extends from the upper metal plate 61 to the lower metal plate 62, and the softened metal material of the plastic fluidized portion 60a is pushed away by the shoulder member 12, and the pin member 11 is directly below the shoulder member 12. Therefore, the pin member 11 moves backward and floats when viewed from the shoulder member 12.
- the protruding shoulder member 12 may be gradually retracted (retracted) and the pin member 11 may enter (press-fit) into the metal plate 61 as necessary.
- the shoulder member 12 is gradually retracted after the step shown in FIG. 3C
- the pin member 11 is gradually retracted after the step shown in FIG. 3D.
- the recessed part produced by the press-fitting of the shoulder member 12 or the pin member 11 is refilled.
- the stage shown in FIG. 2A or FIG. 3A is referred to as a “preparation stage” of friction stir spot welding, and the stage shown in FIG. 2B or FIG. 3B is referred to as a “preheating stage”.
- the pin member 11 is controlled by controlling the relative position of the pin member 11 with respect to the shoulder member 12 (or the relative position of the shoulder member 12 with respect to the pin member 11). Or it is a step which controls the press-fitting depth of the shoulder member 12. Therefore, these stages are referred to as “tool control stages”.
- the stage shown in FIG. 2F or FIG. 3F is referred to as “end stage” of friction stir spot welding.
- the “tool control stage” a total of three stages including the stage shown in FIG. 2C or FIG. 3C, the stage shown in FIG. 2D or FIG. 3D, and the stage shown in FIG. 2E or FIG. 3E are executed. . Therefore, for convenience of explanation, specific stage names are also referred to for these stages. Specifically, the stage shown in FIG. 2C or FIG. 3C is referred to as “press-in stage”, the stage shown in FIG. 2D or FIG. 3D is referred to as “backfill stage”, and the stage shown in FIG. 2E or FIG. ".
- the press-fitting stage, the backfilling stage, and the shaping stage are exemplified as the tool control stage.
- the tool control stage is only at least the press-fitting stage and the shaping stage. Good. Since the backfilling step is a tool control step that is performed as necessary, it may not be performed if not necessary. Furthermore, you may perform a tool control step 4 steps or more as needed.
- the friction stir spot welding device 50A includes the pin member 11 and the shoulder member 12 as the rotary tool 51, and the rotary tool 51 partially moves the workpiece 60 (the metal plates 61 and 62 in the above example).
- the object to be joined 60 is joined by stirring. Since the two rotary tools 51 are provided, the steps shown in FIGS. 2A to 2F or 3A to 3F can be continuously performed. It is possible to make the unevenness of the surface 60c of the workpiece 60 as small as possible by backfilling.
- the friction stir spot welding device 50A further includes a tool drive control unit 21, a storage unit 31, an input unit 32, and a pressure detection unit 33.
- the tool drive control unit 21 controls the tool drive unit 53. That is, by switching the pin drive unit 531, the shoulder drive unit 532, and the rotation drive unit 533 that constitute the tool drive unit 53, the pin member 11 and the shoulder member 12 are switched to advance or retract movement, and the pins at the time of advance and retreat movement Control of the tip positions of the member 11 and the shoulder member 12, the moving speed, the moving direction, and the like are controlled.
- the tool drive control unit 21 controls the tool drive unit 53 based on the relational expression between the cross-sectional area of the tip surface of the rotary tool 51 and the press-fitting depth, whereby the pin member 11 and the shoulder member 12 are controlled. It is the structure which controls the position of the front-end
- the specific configuration of the tool drive control unit 21 is not particularly limited.
- the tool drive control unit 21 is configured by a CPU of a microcomputer, and is configured to perform calculations related to the operation of the tool drive unit 53. ing.
- the storage unit 31 stores various data in a readable manner.
- the pressurizing / motor current databases Db1 to Db3 are stored.
- the pressurizing force / motor current databases Db1 to Db3 are used for controlling the tool driving unit 53 by the tool driving control unit 21.
- the storage unit 31 includes a known memory, a storage device such as a hard disk, and the like.
- the storage unit 31 does not have to be single, and may be configured as a plurality of storage devices (for example, a random access memory and a hard disk drive).
- the tool drive control unit 21 or the like is configured by a microcomputer, at least a part of the storage unit 31 may be configured as an internal memory of the microcomputer or may be configured as an independent memory.
- data other than the database may be stored in the storage unit 31, and data may be read from other than the tool drive control unit 21, or data can be written from the tool drive control unit 21 or the like. Needless to say, it may be.
- the input unit 32 allows the tool drive control unit 21 to input various parameters related to the control of the friction stir spot joining, or other data, and is a known input such as a keyboard, a touch panel, a button switch group, or the like. It consists of devices.
- a known input such as a keyboard, a touch panel, a button switch group, or the like. It consists of devices.
- at least the joining conditions of the article to be joined 60, for example, data such as the thickness and material of the article to be joined 60 can be input by the input unit 32.
- the pressurizing force detection unit 33 is applied to the workpiece 60 by the rotary tool 51 when the rotary tool 51 (the pin member 11 and / or the shoulder member 12 or both) abuts or press-fits the workpiece 60. Detect pressure.
- a load cell is used as the pressure detection unit 33, but the present invention is not limited to this, and a known pressure detection unit can be used.
- the pressurizing force detection unit 33 is not an essential component, but to acquire the pressurizing force / motor current databases Db1 to Db3 stored in the storage unit 31.
- the convenience of drive control of the rotary tool 51 can be improved by using it.
- the tool drive control unit 21 can be used for feedback control from the pressurizing force detection unit 33 instead of the pressurizing force / motor current databases Db1 to Db3.
- the tool drive control unit 21 is configured so that the cross-sectional areas and the press-fit depths of the front end surfaces of the pin member 11 and the shoulder member 12 while the pin member 11 and the shoulder member 12 are in contact with the workpiece 60. It is more preferable to control the tool driving unit 53 so that a certain relational expression is established between the two. Specifically, the cross-sectional area of the tip surface of the pin member 11 is Ap, the cross-sectional area of the tip surface of the shoulder member 12 is As, the press-fit depth of the pin member 11 is Pp, and the press-fit depth of the shoulder member 12 is Ps.
- the tool driving unit 53 is controlled so as to reduce the absolute value of the tool average position Tx defined in (1).
- a predetermined position from the support surface 56a of the backing member 56 can be set as a reference point for the press-fit depth.
- a predetermined position based on the thickness information of the workpiece 60 input as a joining condition from the input unit 32 shown in FIG. 4 is set as a reference point of the press-fit depth, or the thickness of the workpiece 60 is measured.
- a predetermined position based on the actually measured value obtained in this way can be set as a reference point of the press-fit depth.
- the present invention is not limited to the example in which the reference point of the press-fit depth is set to a predetermined position from the surface 56a of the backing member 56, and the position where the load of the pin member 11 or the shoulder member 12 becomes a predetermined value
- the position at the time when the rotary tool 51 contacts the workpiece 60 may be set as a reference point (see the second embodiment described later).
- the cross-sectional area Ap of the tip surface of the pin member 11, the cross-sectional area As of the tip surface of the shoulder member 12, the press-fit depth Pp of the pin member 11, and the press-fit depth Ps of the shoulder member 12 At least one of them may be replaced with another numerical value or parameter.
- the above formula (I) is changed to a formula in which the press-fitting depth is replaced with the position from the surface 56a of the backing member 56, and the tool drive control unit 21 may drive-control the rotary tool 51 so as to reduce the absolute value of the tool average position Tx defined by the formula (I).
- the tool drive control unit 21 controls the stage in which the pin member 11 and the shoulder member 12 are in contact with the workpiece 60, in other words, the press-fitting depth and / or the pressurizing force as described above.
- the tool driving unit 53 is controlled so as to reduce the absolute value of the tool average position Tx. This effectively suppresses or prevents various problems such as cavities, burrs in the bonded portion, bumps around the bonded portion, or gaps between the bonded objects 60 inside the bonded portion of the bonded object 60. Can do.
- the pin member 11 or the shoulder member 12 (or both) is press-fitted into the workpiece 60 with a suitable press-fitting depth, and the advancing / retreating position of the pin member 11 or the shoulder member 12 (or both) is suitably controlled.
- the object 60 can be appropriately bonded without causing defects in the object 60.
- the backfilling step shown in FIG. 2D or FIG. 3D is given as an example, and the press-fitting depth of the pin member 11 or the shoulder member 12 is further emphasized. It is shown.
- the pin member 11 or the shoulder member 12 (or both) is in a predetermined position. It will be in the state over-pressed (over-press-fit state). In this over-pressed state, the workpiece 60 has escaped to the periphery of the rotary tool 51, that is, to the clamp member 54 side, so that the rotary tool 51 is pressed deeper than a predetermined position. Therefore, various defects, for example, the depression of the joined portion (not clearly shown in FIG. 5), the protrusion K4 of the portion of the surface 60c where the clamp member 54 abuts, or between the joined objects 60. In this embodiment, a gap K5 between the metal plates 61 and 62 is generated.
- the rotary tool is set so as to reduce the absolute value of the tool average position Tx defined by the above formula (I).
- the tool drive control unit 21 may control the tool drive unit 53 so as to keep at least the absolute value of the tool average position Tx as small as possible, and particularly preferably as shown on the left side in FIG.
- the press-fitting direction (downward direction in FIG. 5) of the pin member 11 and the shoulder member 12 is defined as a “positive direction” (plus direction)
- the tool average position Tx in the floating state shown in the center in FIG. Becomes negative (Tx ⁇ 0).
- a1 The load (pressing force) of the shoulder member 12 (or the pin member 11) which reduces the advancing / retreating speed of the pin member 11 (or the shoulder member 12) is set.
- Control such as increasing or a3: changing the rotation speed of the rotary tool can be mentioned.
- the tool average position Tx is positive (Tx> 0).
- a part of the fluidized material (plastic fluid portion 60a) of the material to be joined 60 has escaped to the clamp member 54 side, so if the escape of this material is suppressed or avoided. It will be good.
- the control for reducing the heat input is not particularly limited.
- b1 Increase the forward / backward moving speed of the pin member 11 (or the shoulder member 12)
- b2 Load (pressing force) of the shoulder member 12 (or the pin member 11)
- b3 control such as reducing the rotational speed of the rotary tool 51.
- the method for suppressing or avoiding the escape of the material is not limited to the control method as described above, and a physical response is possible in which the clamping force by the clamp member 54 is increased so that the material does not escape. .
- c1 control for adjusting the forward / backward moving speeds of the pin member 11 and the shoulder member 12 (the a1 and b1).
- C2 control for adjusting the load (pressing force) of the pin member 11 and the shoulder member 12 (a2 and b2), or
- c3 control for adjusting the rotational speed of the rotary tool 51, or a combination of two or more of these Control.
- the control of c3 can be combined with the control of at least one of c1 and c2.
- control example 1 control for adjusting the forward / backward movement speed of one rotary tool 51 and adjusting the load of the other rotary tool 51, specifically Control for adjusting the forward / backward movement speed of the pin member 11 and adjusting the load of the shoulder member 12, and adjusting the forward / backward movement speed of the shoulder member 12 and adjusting the load of the pin member 11 (see the above c1 and control combination c2)
- control example 2 control for adjusting the advance movement speed in both the pin member 11 and the shoulder member 12 (control of c1)
- control example 3 any of the pin member 11 and the shoulder member 12
- FIG. 5 a total of three controls for adjusting the load (the control of c2) are exemplified to make the absolute value of the tool average position Tx as small as possible. Control will be described in detail.
- the absolute value of Tx may be as small as possible.
- control example 1 First, an example of the control example 1 will be specifically described with reference to FIG.
- the load (pressing force) of the other (for example, the shoulder member 12) of the rotary tool 51 is adjusted.
- the rotational speed of the rotary tool 51 can be adjusted. Therefore, the adjustable items in the control are not limited to any one of the advance / retreat movement speed, the load, and the rotation speed, as described above, and may be plural. Therefore, in FIG. 6, in order to show that at least one item can be adjusted, the adjustment of the rotational speed or the load is also described in parentheses after illustrating the adjustment of the forward / backward movement speed of the pin member 11.
- the tool drive control unit 21 controls the tool drive unit 53 to move the rotary tool 51 toward the surface 60 c of the workpiece 60 supported by the backing member 56 ( Step S101). Since this stage corresponds to the preparation stage (see FIG. 2A), the clamp member 54 comes into contact with the surface 60c.
- the tool drive control unit 21 brings the shoulder member 12 and the pin member 11 into contact with the surface 60c of the workpiece 60, starts pressing (pressing) the workpiece 60, and applies a load (pressing force). ) Is increased to a predetermined value set in advance (step S102). At this time, the shoulder member 12 abuts while rotating, but rotation may be started after the shoulder member 12 abuts without rotating.
- the tool drive control unit 21 moves the pin member 11 to a predetermined position in the shaping stage and, along with this movement, moves the shoulder member 12 to a predetermined position with a predetermined load (step S105).
- this stage is a shaping stage (see FIG. 2E)
- the forward / backward moving speed (or rotational speed or load) of the member 11 is adjusted.
- the tool drive control unit 21 controls the tool drive unit 53 so that the absolute value of the tool average position Tx is always kept small in steps S103 to S105 surrounded by the broken line Ct in FIG. It is the composition to do. Thereafter, the tool drive control unit 21 releases the pin member 11 and the shoulder member 12 from contact with the workpiece 60 (step S106), and ends the series of controls for friction stir spot welding.
- Control Example 2 Next, an example of the control example 2 will be specifically described with reference to FIG. 7 as well, the adjustment of the forward / backward movement speed and the adjustment of the rotational speed are also shown in parentheses.
- the tool drive control unit 21 controls the tool drive unit 53 to move the rotary tool 51 toward the surface 60c of the workpiece 60 (step S201), and the rotary tool 51 is moved to the surface 60c.
- the contact (pressing) is started, and the load (pressing force) is increased to a predetermined value (step S202).
- the tool drive control unit 21 moves the pin member 11 and the shoulder member 12 to predetermined positions in the press-fitting stage (step S203), and then moves the pin member 11 and the shoulder member 12 in the backfill stage, respectively.
- the pin member 11 and the shoulder member 12 are moved to predetermined positions in the shaping stage (step S205).
- the tool drive control unit 21 controls the tool drive unit 53 to move the rotary tool 51 toward the surface 60c of the workpiece 60 (step S301), and the rotary tool 51 is moved to the surface 60c. Pressing (pressing) is started, and a load (pressing force) is set so that the rotary tool 51 is press-fitted into the workpiece 60 (step S302).
- the tool drive control unit 21 changes the pin member 11 and the shoulder member 12 to a predetermined load in the press-fitting stage (step S303), and then changes the pin member 11 and the shoulder member 12 in the backfill stage, respectively.
- the load is changed to a predetermined load (step S304), and then the pin member 11 and the shoulder member 12 are changed to a predetermined load at the shaping stage, respectively (step S305).
- the predetermined value of the applied pressure, the predetermined position of the pin member 11 or the shoulder member 12 and the predetermined load (pressurized force) in the control examples 1 to 3 are the specific configuration of the friction stir spot welding device 50A, the workpiece 60 It is set according to various conditions such as material, thickness, or shape.
- the predetermined value, the predetermined position, the predetermined load, and the like are input to the tool drive control unit 21 by the input unit 32 and stored in the storage unit 31.
- the tool drive control unit 21 reads out this information from the storage unit 31 and uses it for control according to the stage of control.
- the forward / backward movement of the shoulder member 12 and the pin member 11 to a predetermined position is controlled by the current value (motor current value) applied to the motor included in the tool driving unit 53.
- the shoulder member 12 is controlled by the motor current value, and the advancing / retreating movement is terminated when reaching a predetermined position. Therefore, the forward / backward moving speed is controlled by adjusting the motor current value. The same applies to the rotation speed.
- the forward / backward movement of the shoulder member 12 and the pin member 11 to a predetermined position may be a method that does not depend on a motor, and may be, for example, control by air pressure.
- the adjustment of the load is performed by the tool drive control unit 21 reading out the pressing force adjustment data described below from the storage unit 31.
- the pressurizing force adjustment data may be any data as long as it can be used for the control of the tool driving unit 53, but at least when the rotary tool 51 is press-fitted into the workpiece 60.
- the data is preferably data for adjusting the pressure.
- the motor current value described above are stored in a database (or in a table) so as to correspond to changes in the applied pressure, and are stored in the storage unit 31 as the applied pressure / motor current databases Db1 to Db3 as described above. .
- the tool drive control unit 21 controls the pressure applied to the pin member 11 and the shoulder member 12 by adjusting the motor current value by reading the current value.
- the database (or table) of the motor current values stored in the storage unit 31 is not one but three.
- the pressure / motor current database Db1 is composed of motor current values for moving the shoulder member 12 forward and backward when the forward / backward movement of the pin member 11 is stopped
- the pressure / motor current database Db2 is
- the pin member 11 is composed of a motor current value for moving the shoulder member 12 forward and backward when the pin member 11 is press-fitted into the workpiece 60 (pressed)
- the pressure / motor current database Db3 is a pin It is composed of a motor current value for moving the shoulder member 12 forward and backward when the member 11 is pulled out from the article to be joined 60.
- the tool drive control unit 21 determines whether the operation of the pin member 11 is a press-fitting operation, a pulling-out operation, or whether the pin member 11 is in a stopped state without being pressed or pulled out.
- the motor current value in the corresponding operation is read out from the three pressurizing / motor current databases Db1 to Db3, and the tool driving unit 53 is controlled. This is because the pressurizing force changes according to the operation of the pin member 11 as long as the object 60 is being pressurized, and by adjusting the pressurizing force according to the operation of the pin member 11, The applied pressure can be controlled more appropriately.
- the tool drive control unit 21 determines the type of operation of the pin member 11 from the moving speed and moving direction of the pin member 11, reads out the motor current value corresponding to the determined operation, and adjusts the pressurizing force.
- the specific values of the motor current values stored in the applied pressure / motor current databases Db1 to Db3 are not particularly limited, and the type of motor provided in the tool driving unit 53, the amount of change in applied pressure, and the rotational drive of the motor.
- a suitable value may be derived experimentally and stored in a database (table) according to the type of gear mechanism that transmits force. Further, only two databases may be stored, or four or more databases may be stored as necessary.
- the moving speed and moving direction of the pin member 11 are used as an index for determining the type of operation of the pin member 11.
- the present invention is not limited to this. Any known parameter can be used as long as it can appropriately determine the operation.
- a speed range that becomes a dead zone can be set when switching between the press-fitting operation and the pull-out operation.
- the boundary for determining whether it is a press-fit operation or a pull-out operation is not a pinpoint threshold value, so that the database to be read out is frequently changed due to a speed change, or the risk that the adjustment of the applied pressure fluctuates is suppressed or It can be avoided.
- Embodiment 2 The configuration of the friction stir spot welding device according to Embodiment 2 of the present invention will be specifically described with reference to FIGS. 9 and 10 (a) and 10 (b).
- the basic configuration of the friction stir spot welding device 50B according to the present embodiment is the same as that of the friction stir spot welding device 50A according to the first embodiment, but the press-fitting reference point setting is performed. The difference is that a portion 22 is provided.
- the press-fit reference point setting unit 22 sets the position at the time when the pin member 11 or the shoulder member 12 contacts the workpiece 60 as a reference point for press-fitting (pushing) the pin member 11 or the shoulder member 12. .
- the pin member 11 or the shoulder member 12 stays on the surface 60c of the article 60 to be bonded for a short time until the material is softened. Therefore, taking the shoulder member 12 as an example, the press-fitting reference point setting unit 22 uses the position information (movement speed obtained by the encoder, etc.) of the shoulder member 12 obtained from the tool drive control unit 21 so that the shoulder member 12 is covered.
- the position at which the bonded object 60 contacts and stays for a certain period of time is set as a press-fitting reference point.
- This press-fitting reference point is a reference point for the press-fitting depth when the pin member 11 and the shoulder member 12 are press-fitted into the workpiece 60.
- the setting of the press-fitting reference point by the pin member 11 is the same.
- the press-fit reference point setting unit 22 may set a position offset from the surface 56a of the backing member 56 by the nominal plate thickness of the workpiece 60 or a plate thickness measured in advance as the press-fit reference point. In this case, it is necessary to perform thickness measurement work and input work. In the case where the position offset from the surface 56a of the backing member 56 by the nominal plate thickness of the workpiece 60 or a plate thickness measured in advance is used as the press-fitting reference point, the pin member 11 or the shoulder member 12 has a considerable amount of added force. In order to abut in the material by pressure, it is necessary to consider the amount of friction stir spot welding device 50A that has been bent by the applied pressure.
- a deviation in the length of the thermal expansion of the pin member 11 and the shoulder member 12 during the preheating may occur as an error.
- the shoulder member 12 the rotary tool 51
- the position where the shoulder member 12 (the rotary tool 51) stays for a certain period of time is set as the press-fitting reference point. It becomes possible to eliminate the deviation of the length due to the deflection of the bonded product 60 and the thermal expansion of the pin member 11 and the shoulder member 12.
- a specific configuration of the press-fitting reference point setting unit 22 is not particularly limited, and a configuration in which a press-fitting reference point can be set from the motor rotation information (motor rotation angle or rotation speed) generated by the tool drive control unit 21. If so, the functional configuration of the tool drive control unit 21 may be used, or a logic circuit using a known switching element, subtractor, comparator, or the like may be used.
- FIGS. 10A and 10B Control of the press-fit depth of the pin member 11 and the shoulder member 12 by the tool drive control unit 21 will be described with reference to FIGS. 10A and 10B.
- the workpiece 60 is supported by the backing member 56, and the pin member 11 and the shoulder member 12 are aligned so that the tips thereof are at the same position.
- an arbitrary distance De is generated between 60c and the tip positions of the pin member 11 and the shoulder member 12.
- the distance between the tip of the rotary tool 51 (the pin member 11 and the shoulder member 12) and the support surface 56a of the backing member 56 is defined as “tool distance”, in the state shown in FIG.
- the interval De is included in Dt0.
- the interval De is a distance that does not contribute to the control of the press-fit depth d0. Therefore, as shown in FIG. 10B, when the shoulder member 12 is moved forward and brought into contact with the surface 60c of the workpiece 60 and stays for a certain period of time, the press-fitting reference point setting unit 22 has a tool distance Dt1 in FIG. 10B. Set the position as the reference point for press-fitting.
- the forward / backward movement of the pin member 11 (or the shoulder member 12 or both) is controlled.
- the tool drive control unit 21 may press-fit the pin member 11 by d0 from the reference point (position Dt1) without considering the distance De. Therefore, by correcting the zero point of the press-fitting by the press-fitting reference point setting unit 22, it is possible to avoid complication of the control of the press-fitting depth and to perform the control without considering the interval De. Can be controlled.
- the friction stir spot welding device 50B can measure the thickness of the workpiece 60 by making the shoulder member 12 contact the workpiece 60 and correcting the zero point. It becomes.
- Embodiment 3 The configuration of the friction stir spot welding device according to Embodiment 3 of the present invention will be specifically described with reference to FIG.
- the basic configuration of the friction stir spot welding device 50C according to the present embodiment is the same as that of the friction stir spot welding device 50A according to the first embodiment. 23 and a positional deviation amount calculation unit 24, and the difference is that a deflection / strain amount database Db4 is stored in the storage unit 31.
- the tool position acquisition unit 23 acquires the tool position from the pin driving unit 531 and the shoulder driving unit 532.
- the tool position is the position of the tip of the pin member 11 or the tip of the shoulder member 12, and the tool drive control unit 21 can generate a tool distance from the tool position.
- the tool distance is defined as a distance between the tip of the pin member 11 or the tip of the shoulder member 12 and the support surface 56a.
- the positional deviation amount calculation unit 24 calculates various degrees of positional deviation (positional deviation amounts) that affect the forward / backward movement of the rotary tool 51 from the applied pressure detected by the applied pressure detection unit 33.
- the positional deviation amount include, but are not limited to, a rotational tool deviation amount, a deflection amount of the backing support portion 55, a strain amount of the tool fixing portion 52 and the tool driving portion 53, and the like. There are also backlashes.
- the displacement amount calculation unit 24 reads out the displacement amount corresponding to the applied pressure from the deflection / strain amount database Db4 stored in the storage unit 31.
- each of the pin drive unit 531 and the shoulder drive unit 532 is configured by a known motor, but the tool position acquisition unit 23 acquires the tool position by an encoder or the like provided in the motor, and further adds the tool position.
- the tool displacement amount can be calculated by the displacement amount calculation unit 24 from the applied pressure acquired from the pressure detection unit 33 and the deflection / strain amount database Db4 recorded in the storage unit 31.
- the tool drive control unit 21 generates the tool distance from the tool position, and corrects the tool distance based on the tool position deviation amount.
- the amount of rotational tool shift is the thickness of the object to be joined 60 input as a joining condition in a state where the object to be joined 60 (the stacked metal plates 61 and 62) is supported on the support surface 56a of the backing member 56.
- the pin member 11 or the shoulder member 12 is defined as a deviation from the position of the contact surface 12a when the pin member 11 or the shoulder member 12 contacts the surface 60c of the workpiece 60. Note that the tip position of the pin member 11 or the shoulder member 12 when the pin member 11 or the shoulder member 12 abuts on the surface of the workpiece 60 can be acquired from the encoder (shoulder drive unit 532) described above.
- shift amount affects control of the front-end
- the deflection amount of the backing support portion 55 is the degree of deflection of the backing support portion 55 caused by pressing the surface 60c of the workpiece 60 when the rotary tool 51 is pressed against the workpiece 60 and press-fitted. is there.
- the relative position of the support surface 56a of the backing member 56 is displaced according to the amount of deflection. Therefore, the surface 60c of the workpiece 60 supported on the support surface 56a is also displaced, which affects the control of the press-fitting depth of the pin member 11 and the shoulder member 12.
- the strain amount of the tool fixing unit 52 and the tool driving unit 53 is the degree of strain of the members, parts, or mechanisms constituting the tool fixing unit 52 and the tool driving unit 53, and the rotary tool 51 is attached to the workpiece 60. This is caused by the reaction of the force that presses the surface 60c of the article 60 to be bonded when pressed into contact.
- the tip positions of the pin member 11 and the shoulder member 12 are displaced according to the amount of the distortion, so that the press-fit depth of the pin member 11 and the shoulder member 12 is controlled. Affects.
- the positional deviation amount calculation unit 24 includes joining conditions input from the input unit 32, position information of the rotary tool 51 input from the pin driving unit 531, the shoulder driving unit 532, and the deflection amount stored in the storage unit 31.
- the positional deviation amount is calculated using the strain amount database Db4.
- the tool drive control unit 21 controls the tool drive unit 53 after correcting the tool distance using the positional deviation amount calculated by the positional deviation amount calculation unit 24. Thereby, the press-fit depth of the rotary tool 51 (the pin member 11 or the shoulder member 12 or both) with respect to the workpiece 60 can be suitably controlled.
- the specific configurations of the tool position acquisition unit 23 and the positional deviation amount calculation unit 24 are not particularly limited.
- the tool drive control unit 21 is configured by a CPU of a microcomputer.
- the tool position acquisition unit 23 and the positional deviation amount calculation unit 24 only have to have the functional configuration of the tool drive control unit 21. That is, the tool position acquisition unit 23 and the positional deviation amount calculation unit 24 are realized by the CPU as the tool drive control unit 21 operating according to a program stored in the storage unit 31 or another storage unit. That's fine.
- the tool position acquisition unit 23 and the positional deviation amount calculation unit 24 may be configured as a logic circuit or the like using a known switching element, subtractor, comparator, or the like.
- the friction stir spot welding device 50C is configured such that the press-fit reference point setting unit 22 sets the press-fit reference point as long as the workpiece 60 is supported on the support surface 56a of the backing member 56.
- the press-fit depth of the member 11 and the shoulder member 12 can be controlled well. Further, if the workpiece 60 is not supported, the tool position acquisition unit 23 acquires the tool distance, which is the distance between the tip of the pin member 11 or the shoulder member 12 and the support surface 56a, and further generates a displacement amount. If so, the press-fitting depth of the pin member 11 and the shoulder member 12 can be favorably controlled by calculating the misalignment amount by the misalignment amount calculation unit 24 and correcting the tool distance.
- the position of the tip of the clamp member 54 is detected, the distance between the tip and the tip of the pin member 11 or the shoulder member 12 is calculated, and the press-fit distance is calculated. It may be used for depth control.
- the clamp member 54 is located outside the shoulder member 12 and presses the surface 60c of the workpiece 60. Therefore, as long as the clamp member 54 presses the workpiece 60, the tip position can be regarded as substantially the same position as the surface 60c of the workpiece 60. Therefore, the tool drive control unit 21 can also correct misalignment amounts such as a shoulder misalignment amount and a deflection amount according to the distance between the clamp and the tool.
- a clamp position-rotating tool position detector using a known position sensor or the like that can detect the position of the tip of the clamp member 54, and the clamp position-rotation.
- a configuration including a clamp-tool distance calculation unit that calculates the distance between the tip of the clamp member 54 detected by the tool position detection unit and the tip of the pin member 11 or the shoulder member 12.
- the specific configuration of the clamp-tool distance calculation unit is not particularly limited, and may be a functional configuration of the tool drive control unit 21, or may be configured as a logic circuit using a known switching element, subtractor, comparator, or the like. May be.
- the drive control of the rotary tool 51 by the tool drive control unit 21 includes the output from the press-fitting reference point setting unit 22, the output from the positional deviation amount calculation unit 24, and the pressurizing force of the storage unit 31. It may be performed by reading data from the motor current databases Db1 to Db3, but it may be configured to use the applied pressure from the applied pressure detection unit 33 as indicated by a broken line arrow in FIG.
- the friction stir spot welding device 50C can further control the press-fitting depth of the pin member 11 and the shoulder member 12 by setting the press-fitting reference point by the press-fitting reference point setting unit 22.
- This point is the same as that of the first embodiment, but the rotational tool displacement amount as described above, the deflection amount of the backing support portion 55, the strain amounts of the tool fixing portion 52 and the tool driving portion 53, the tool driving. Even when there is a positional deviation amount such as backlash of the unit 53, it is possible to realize a good press-fitting depth control by correcting the tool distance acquired by the tool position acquisition unit 23 with the positional deviation amount.
- the tool distance is corrected by the rotational tool deviation amount among the positional deviation amounts, it is possible to prevent or suppress the possibility that the rotary tool 51 penetrates the workpiece 60 (perforation).
- the concave portion due to the press-fitting of the rotary tool 51 can be backfilled and shaped, so that it is possible to backfill even if perforation occurs.
- the press-fitting reference point is largely deviated by the amount of deviation of the rotary tool, there is a possibility that a hole will be formed.
- the tool drive control unit 21 may be configured to correct the tool distance by the amount of misalignment. Thus, the occurrence of perforations can be prevented or suppressed.
- Embodiment 4 The configuration of the friction stir spot welding device according to Embodiment 4 of the present invention will be specifically described with reference to FIG.
- the basic configuration of the friction stir spot welding device 50D according to the present embodiment is the same as that of the friction stir spot welding device 50C according to the third embodiment.
- the configuration is the same as that for detecting and calculating the distance between the clamp and the tool, except that the backing member 56 is not provided and the pressure detection unit 33 is not provided.
- the friction stir spot welding device 50D includes a clamp position-rotating tool position detection unit 34 and a clamp-tool distance calculation unit 25, but includes a backing member 56 and a pressure detection unit 33. Absent.
- the clamp position-rotating tool position detector 34 detects the position of the tip of the clamp member 54.
- the clamp-tool distance calculation unit 25 calculates a clamp-tool distance Dc indicated by a block arrow in FIG.
- the backing member 56 cannot be used.
- the rigidity of the workpiece 60 can be sufficiently secured, there is a case where the backing is not necessary. Even in these cases, the present invention can be preferably used.
- the friction stir spot welding device 50D has the rotary tool 51 (on the basis of the clamp-to-tool distance Dc by the tool drive control unit 21 with the clamp member 54 in contact with the workpiece 60.
- the forward / backward movement and press-fitting depth of the pin member 11 and the shoulder member 12) are controlled.
- the present invention is particularly suitable for use in various fields using friction stir spot welding, particularly in double-acting friction stir spot welding, because the position of the pin member and shoulder member can be controlled well. be able to.
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Abstract
Description
Ap・Pp+As・Ps=Tx
で定義されるツール平均位置Txの絶対値を小さくするように、前記工具駆動部を制御する構成である。
Ap・Pp+As・Ps=Tx
で定義されるツール平均位置Txの絶対値を小さくするように、前記ピン部材および前記ショルダ部材の進退動作を制御する構成である。
[摩擦攪拌点接合装置]
本発明の実施の形態1に係る摩擦攪拌点接合装置の基本的な構成について、図1を参照して具体的に説明する。
次に、前述した摩擦攪拌点接合装置50Aを用いて実施される摩擦攪拌点接合方法の具体的な工程について、図2A~図2Fおよび図3A~図3Fを参照して具体的に説明する。なお、図2A~図2Fおよび図3A~図3Fにおいては、被接合物60として、2枚の金属板61,62を用い、これらを重ねて点接合にて連結する場合を例に挙げている。
次に、前述した摩擦攪拌点接合装置50Aが、前述した摩擦攪拌点接合の一連の工程を実行するために備えている制御構成について、図4を参照して具体的に説明する。
Ap・Pp+As・Ps=Tx ・・・ (I)
で定義されるツール平均位置Txの絶対値を小さくするように、工具駆動部53を制御する。工具駆動制御部21は、実質的にツール平均位置Tx=0となるように、工具駆動部53を制御することが好ましい。
次に、工具駆動制御部21による工具駆動部53の制御について、特に、前記ツール平均位置Txの絶対値を小さくするようにピン部材11およびショルダ部材12の先端位置を制御する点に関して、図5を参照して具体的に説明する。
まず、図6を参照して前記制御例1の一例を具体的に説明する。なお、本制御例1では、回転工具51のいずれか一方(例えばピン部材11)の進退移動速度の調整に代えて、回転工具51の他方(例えばショルダ部材12)の荷重(加圧力)の調整も可能であり、さらに回転工具51の回転速度の調整も可能である。したがって、制御における調整可能な項目は、前述したように、進退移動速度、荷重、回転速度のいずれか一つに限定されず、複数であってよい。そこで、図6では、少なくとも一つの項目が調整可能であることを示すために、ピン部材11の進退移動速度の調整を例示した上で回転速度または荷重の調整についても括弧書きで併記する。
次に、図7を参照して前記制御例2の一例を具体的に説明する。なお、図7においても、進退移動速度の調整とともに回転速度の調整についても括弧書きで併記する。
次に、図8を参照して前記制御例3の一例を具体的に説明する。なお、図8においても、荷重の調整とともに回転速度の調整についても括弧書きで併記する。
前記制御例1~3において、ショルダ部材12およびピン部材11の所定位置までの進退移動は、工具駆動部53が備えるモータに印加される電流値(モータ電流値)によって制御される。ショルダ部材12を例に挙げれば、ショルダ部材12をモータ電流値によって制御し、所定位置まで達した時点で進退移動を終了する。したがって、進退移動速度はモータ電流値の調整によって制御される。なお、回転速度についても同様である。ショルダ部材12およびピン部材11の所定位置までの進退移動は、モータによらない方法であってもよく、例えばエア圧力による制御等であってもよい。
本発明の実施の形態2に係る摩擦攪拌点接合装置の構成について、図9および図10(a),(b)を参照して具体的に説明する。図9に示すように、本実施の形態に係る摩擦攪拌点接合装置50Bは、その基本的な構成は前記実施の形態1に係る摩擦攪拌点接合装置50Aと同様であるが、圧入基準点設定部22を備えている点で異なっている。
本発明の実施の形態3に係る摩擦攪拌点接合装置の構成について、図11を参照して具体的に説明する。図11に示すように、本実施の形態に係る摩擦攪拌点接合装置50Cは、その基本的な構成は前記実施の形態1に係る摩擦攪拌点接合装置50Aと同様であるが、工具位置取得部23および位置ずれ量算出部24を備えているとともに、記憶部31にたわみ量/ひずみ量データベースDb4が記憶されている点で異なっている。
本発明の実施の形態4に係る摩擦攪拌点接合装置の構成について、図12を参照して具体的に説明する。図12に示すように、本実施の形態に係る摩擦攪拌点接合装置50Dは、その基本的な構成は前記実施の形態3に係る摩擦攪拌点接合装置50Cにおいて、クランプ部材54の先端の位置を検出してクランプ-工具間距離を算出する構成と同様であるが、裏当て部材56を備えておらず、また加圧力検出部33も備えていない点で異なっている。
12 ショルダ部材
21 工具駆動制御部
22 圧入基準点設定部
23 工具位置取得部
24 位置ずれ量算出部
31 記憶部
50A,50B,50C,50D 摩擦攪拌点接合装置
51 回転工具
53 工具駆動部
55 裏当て支持部
60 被接合物
Claims (8)
- 回転工具によって被接合物を部分的に攪拌することにより接合する摩擦攪拌点接合装置であって、
前記回転工具として、軸線周りに回転し、かつ、当該軸線方向に進退移動可能に構成されている円柱状のピン部材と、
当該ピン部材の外側を囲うように位置し、当該ピン部材と同一の軸線周りに回転するとともに当該軸線方向に進退移動可能に構成されている円筒状のショルダ部材と、
を備えているとともに、
前記ピン部材および前記ショルダ部材を、それぞれ前記軸線に沿って進退移動するように動作させる工具駆動部と、
前記工具駆動部の動作を制御する工具駆動制御部と、を備え、
前記工具駆動制御部は、前記ピン部材の先端面の断面積をAp、前記ショルダ部材の先端面の断面積をAs、前記ピン部材が前記被接合物の表面から圧入したときの圧入深さをPp、前記ショルダ部材が前記被接合物の表面から圧入したときの圧入深さをPsとしたときに、次式
Ap・Pp+As・Ps=Tx
で定義されるツール平均位置Txの絶対値を小さくするように、前記工具駆動部を制御することを特徴とする、摩擦攪拌点接合装置。 - 前記工具駆動制御部は、実質的に、前記ツール平均位置Tx=0となるように、前記工具駆動部を制御することを特徴とする、摩擦攪拌点接合装置。
- 前記ショルダ部材が前記被接合物に当接した時点の位置を圧入基準点に設定する圧入基準点設定部をさらに備え、
前記工具駆動制御部は、前記圧入基準点設定部で設定された前記圧入基準点に基づいて、前記ショルダ部材または前記ピン部材の圧入深さを制御することを特徴とする、請求項1に記載の摩擦攪拌点接合装置。 - 前記ピン部材または前記ショルダ部材の先端位置のずれである位置ずれ量を算出する位置ずれ量算出部を備え、
前記工具駆動制御部は、当該位置ずれ量により前記圧入深さを補正するよう構成されていることを特徴とする、請求項1に記載の摩擦攪拌点接合装置。 - 軸線周りに回転し、かつ、当該軸線方向に進退移動可能に構成されている円柱状のピン部材と、当該ピン部材の外側を囲うように位置し、当該ピン部材と同一の軸線周りに回転するとともに当該軸線方向に進退移動可能に構成されている円筒状のショルダ部材と、をそれぞれ進退移動可能な状態で用いて、その表面が前記ピン部材および前記ショルダ部材に向けた状態にある被接合物を、部分的に攪拌することにより接合する摩擦攪拌点接合方法であって、
前記ピン部材の先端面の断面積をAp、前記ショルダ部材の先端面の断面積をAs、前記ピン部材が前記被接合物の表面から圧入したときの圧入深さをPp、前記ショルダ部材が前記被接合物の表面から圧入したときの圧入深さをPsとしたときに、次式
Ap・Pp+As・Ps=Tx
で定義されるツール平均位置Txの絶対値を小さくするように、前記ピン部材および前記ショルダ部材の進退動作を制御することを特徴とする、摩擦攪拌点接合方法。 - 実質的に、前記ツール平均位置Tx=0となるように、前記ピン部材および前記ショルダ部材の進退動作を制御することを特徴とする、請求項5に記載の摩擦攪拌点接合方法。
- 前記ショルダ部材が前記被接合物に当接した時点の位置を圧入基準点に設定し、圧入基準点に基づいて、前記ショルダ部材または前記ピン部材の圧入深さを制御することを特徴とする、請求項5に記載の摩擦攪拌点接合方法。
- 前記ピン部材または前記ショルダ部材の先端位置のずれである位置ずれ量を算出し、当該位置ずれ量により前記圧入深さを補正することを特徴とする、請求項5に記載の摩擦攪拌点接合方法。
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US9095926B2 (en) | 2015-08-04 |
US9314870B2 (en) | 2016-04-19 |
CA2829738C (en) | 2015-11-24 |
EP2687314A4 (en) | 2016-04-20 |
CA2829738A1 (en) | 2012-09-27 |
BR112013023923A2 (pt) | 2016-12-13 |
BR112013023923B8 (pt) | 2019-10-08 |
JP5588385B2 (ja) | 2014-09-10 |
EP2687314A1 (en) | 2014-01-22 |
US20140069986A1 (en) | 2014-03-13 |
EP2687314B1 (en) | 2019-05-01 |
JP2012196682A (ja) | 2012-10-18 |
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US20150231734A1 (en) | 2015-08-20 |
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