WO2015097727A1 - 摩擦攪拌点接合装置および摩擦攪拌点接合方法、並びに、摩擦攪拌点接合の面直検出装置 - Google Patents
摩擦攪拌点接合装置および摩擦攪拌点接合方法、並びに、摩擦攪拌点接合の面直検出装置 Download PDFInfo
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- WO2015097727A1 WO2015097727A1 PCT/JP2013/007674 JP2013007674W WO2015097727A1 WO 2015097727 A1 WO2015097727 A1 WO 2015097727A1 JP 2013007674 W JP2013007674 W JP 2013007674W WO 2015097727 A1 WO2015097727 A1 WO 2015097727A1
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- friction stir
- rotary tool
- stir spot
- spot welding
- unit
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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
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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
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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
- B23K20/12—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
- B23K20/126—Workpiece support, i.e. backing or clamping
Definitions
- the present invention relates to a friction stir spot welding device, a friction stir spot welding method, and a surface straightness detection device used for friction stir spot welding, and in particular, a friction stir spot welding rotary tool is attached to a joining portion of an object to be joined.
- the present invention relates to a friction stir spot welding device and a friction stir spot welding method that enable detection of being in a straight state, and a straightness detection device used for this detection.
- a cylindrical rotary tool (joining tool) is used for friction stir spot welding.
- the rotary tool is configured to be movable back and forth toward the object to be bonded, and is pushed (press-fitted) into the object (metal material) while rotating at a high speed. 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.
- Patent Document 1 an amount of insertion of a friction stir welding tool (rotary tool) into a laminated portion (formed by laminating a plurality of members) is measured, and the measured value matches a target value. Furthermore, a technique for controlling the amount of displacement of the friction stir welding tool is disclosed. Further, in Patent Document 2, in the double-acting friction stir spot welding, when a clamp member is provided outside the shoulder member, the tip of the clamp member and the tip of the rotary tool (pin member or shoulder member) Control for adjusting the press-fitting depth of the rotary tool by calculating the distance is disclosed.
- JP 2006-289477 A Japanese Patent Application Laid-Open No. 2012-196681
- the rotating tool be defined so as to be perpendicular to the joining portion of the objects to be joined at the time of joining.
- the state in which the rotary tool is perpendicular to the joining site is a normal to the tangential plane (tangent surface) that contacts the surface at the joining site (point), regardless of whether the joining site is a flat surface or a curved surface. In this state, the rotary tool is positioned along the direction.
- a very strict face-to-face may be required depending on the type of parts to be joined or the joining position. Therefore, for example, when using a friction stir spot welding device attached to the arm part of an industrial robot, teaching the industrial robot to set the surface straightness for each type of part or for each joining position, It is necessary to check the setting of face-to-face. As a result, the point joining operation becomes complicated and requires a long time.
- Patent Document 1 a technique for measuring and controlling the displacement amount (advance and retreat movement amount) of a rotating tool at the time of joining with a contact sensor or the like, or patent As disclosed in Document 2, although a technique for adjusting the amount of displacement (pressing depth) with the tip of the clamp member as a reference is known, it is known about a technique for strictly setting the straightness of the rotary tool at the time of joining. It was not done.
- the present invention has been made to solve such a problem, and provides a technique capable of easily and concisely setting the straightness state with respect to the joining portion of the rotary tool in the friction stir spot joining. With the goal.
- a friction stir spot welding apparatus includes a rotary tool that moves forward and backward along a rotation axis, and presses the tip of the rotary tool against an object to be joined.
- a friction stir spot welding device that softens the object to be joined by frictional heat by rotating a contact portion with the object, and agitates and joins the object to be joined, wherein the position of the rotary tool is the object to be joined Including a surface straightness detection unit that detects whether or not the joint portion is in a state of surface straightness, the surface straightness detection unit is disposed on a reference plane whose normal direction is the advancing and retreating direction of the rotary tool, It has a position sensor that measures distances to at least three measurement positions set in the vicinity of the joint part, and is configured to detect that the surface is in a straight state based on the distances to the measurement positions. .
- the straightness state can be easily detected with a simple configuration, the workability of the friction stir spot welding can be improved. Furthermore, if the friction stir spot welding device is applied to, for example, a robot device, the robot tool is controlled so that the face straightness state is detected by the face straightness detection unit, thereby automatically adjusting the face straightness state of the rotary tool. It becomes possible.
- the object moved by the robot apparatus may be a rotary tool or a workpiece.
- the rotating tool is used for joining after the face-to-face state is realized, the face-to-face state setting and the friction stir spot joining can be performed continuously. Further, even during the joining with the rotary tool, the straightness state can be maintained while correcting the deviation between the rotary tool and the joining portion. Therefore, it is possible to improve the quality of joining and improve the efficiency of joining work.
- the surface straightness detection unit includes at least three position sensors, and the plurality of position sensors are on the reference plane from the center of the advancing / retreating track of the rotary tool, etc.
- positioned in the position used as distance may be sufficient.
- a backing portion that is provided at a position that is an advancing direction of the rotary tool and is in contact with the back surface of the joining portion, the backing portion, and the rotary tool
- the frame straightness detection unit may be configured to be provided integrally with the backing unit or replaceable at the position of the backing unit.
- an arm unit capable of three-dimensional operation and an arm control unit that controls the operation of the arm unit are provided, and the rotary tool and the backing unit include:
- the arm control unit is attached to the arm unit via the frame unit, and the arm control unit controls the operation of the arm unit so that the distances to the measurement positions measured by the surface straightness detection unit are all equal. It may be a configuration.
- the friction stir spot welding device having the above-described configuration includes a contact sensor provided so as to be integrated with the backing portion or replaceable with the position of the backing portion, and the arm control unit is based on the contact sensor. It may be configured to control the operation of the arm unit until contact is detected.
- the friction stir spot welding apparatus having the above configuration includes a base portion that is placed on the floor surface, and the rotating tool and the backing portion are provided on the base portion via the frame portion. It may be a configuration.
- the friction stir spot welding apparatus having the above configuration includes an arm unit that can perform a three-dimensional operation and holds the workpiece, and an arm control unit that controls the operation of the arm unit,
- the arm control unit may be configured to control the operation of the arm unit so that the distances to the measurement positions measured by the surface straightness detection unit are all equal.
- the friction stir spot welding device includes a rotary tool that moves forward and backward along the rotation axis, presses the tip of the rotary tool against the workpiece, and rotates the contact portion with the workpiece.
- a friction stir spot welding device that softens the workpieces by frictional heat and stirs them to join the workpieces, and is provided at a position that is an advancing direction of the rotary tool.
- a surface straightness detecting unit that detects whether or not the contacted surface of the backing portion is disposed on a reference plane having a normal line as a normal direction, and the bonding Measures the distance to at least three measurement positions set around the part Includes a sensor, when the distance to the measuring position are all equal, may be configured to detect that there on the surface a straight state.
- the position sensor provided in the surface straightness detection unit may be configured to measure distances to four measurement positions set around the joining site. .
- the position sensor may be configured in a non-contact manner.
- the friction stir spot welding method according to the present invention includes a rotary tool that moves forward and backward along the rotation axis, presses the tip of the rotary tool against the workpiece, and rotates the contact portion with the workpiece.
- a friction stir spot welding method for softening the workpiece with frictional heat and stirring to join the workpiece on a reference plane whose normal direction is the advancing and retreating direction of the rotary tool, Measure the distance to at least three measurement positions set around the joint part, and measure the distance to the measurement position before or during joining the joint part with the rotary tool. It is the structure which detects that the position of the said rotary tool exists in a surface state with respect to the joining site
- the surface straightness detection device for friction stir spot welding includes a rotary tool that moves forward and backward along the rotation axis, presses the tip of the rotary tool against the workpiece, and contacts the workpiece. By rotating the contact portion, the object to be joined is softened by frictional heat, and is provided in a friction stir spot welding device that agitates and joins the object to be joined.
- FIG. 1A is an example of a friction stir spot welding apparatus according to Embodiment 1 of the present invention, and is a schematic diagram showing a configuration in which a friction stir spot joining part is attached to an arm part of a robot apparatus. These are the schematic diagrams which show the structure of the surface straightness detection part with which the friction stir spot junction part shown to FIG. 1A is provided. It is a block diagram which shows an example of the control structure of the friction stir spot welding apparatus shown to FIG. 1A.
- FIG. 3 is a schematic perspective view schematically showing a positional relationship between a rotary tool and four position sensors provided in a surface straightness detection unit in the friction stir spot welding device shown in FIGS. 1A and 2.
- FIG. 3 is a schematic perspective view schematically showing a positional relationship between a rotary tool and four position sensors provided in a surface straightness detection unit in the friction stir spot welding device shown in FIGS. 1A and 2.
- FIG. 4A is a side view of a main part of a friction stir spot joining portion schematically showing the position of a rotary tool that is not in a face straight state in a friction stir spot joining device that does not include a face straightness detection unit.
- FIG. 3 is a side view of a main part of a friction stir spot joint, schematically showing the position of a rotary tool and a face straightness detection unit when a face straight state is detected in the friction stir spot joining apparatus shown in FIGS. 1A and 2.
- 4C is a perspective view schematically showing a positional relationship between the four position sensors and the back surface of the joined portion in the surface straightness detection unit in the state shown in FIG. 4B.
- 5A is a plan view showing a configuration of the surface straightness detection unit shown in FIGS.
- FIG. 5B is a plan view showing a modification of the surface straightness detection unit.
- Friction stir spot joint that indicates the X-axis direction, the Y-axis direction, and the Z-axis direction, and the RX direction, the RY direction, and the RZ direction, which are the rotation directions of each axis, set in the surface straightness detection unit illustrated in FIG. 5A
- FIG. 5 It is a schematic diagram which shows the position change of the friction stir spot junction part to RX direction and RY direction shown in FIG. 5 is a flowchart illustrating an example of detection control of a straightness state by a straightness detection unit illustrated in FIGS. 4B and 4C.
- FIG. 5 is a flowchart illustrating an example of detection control of a straightness state by a straightness detection unit illustrated in FIGS. 4B and 4C.
- FIG. 9A is an example of a friction stir spot welding apparatus according to Embodiment 2 of the present invention, and is a schematic diagram showing a surface straightness detection unit that can be replaced with a backing part of the friction stir spot joining part.
- FIG. 9 is a schematic diagram illustrating a state in which the surface straightness detection unit is replaced with a backing unit
- FIG. 9C is a schematic diagram illustrating a configuration of the surface straightness detection unit illustrated in FIG. 9A.
- It is a block diagram which shows an example of the control structure of the friction stir spot welding apparatus shown in FIG.
- FIG. 11 is a flowchart showing an example of a face straightness state detection control by a face straightness detection unit provided in the friction stir spot welding device shown in FIGS. 9A to 9C and FIG. 10.
- FIG. 10 is a flowchart showing an example of a face straightness state detection control by a face straightness detection unit provided in the friction stir spot welding device shown in FIGS. 9A to 9C and FIG. 10.
- FIG. It is a block diagram which shows the other structural example of the friction stir spot welding apparatus shown in FIG. It is a block diagram which shows an example of a structure of the friction stir spot welding apparatus which concerns on Embodiment 3 of this invention. It is a block diagram which shows an example of a structure of the friction stir spot welding apparatus which concerns on Embodiment 4 of this invention. It is a block diagram which shows an example of a structure of the surface straightness detection apparatus of the friction stir spot joining which concerns on Embodiment 5 of this invention. It is a block diagram which shows an example of a structure of the friction stir spot welding apparatus which concerns on Embodiment 6 of this invention.
- FIG. 7 It is a block diagram which is an example of a structure of the friction stir spot welding apparatus concerning Embodiment 7 of this invention, Comprising: A structure provided with a stationary friction stir spot joining part. It is a schematic diagram which shows an example of a structure of the friction stir spot welding apparatus which concerns on Embodiment 8 of this invention.
- the friction stir spot joining portion 30A for performing the friction stir spot joining is attached to the tip of the arm portion 41 of the robot apparatus 40. It is the composition which was made.
- the friction stir spot joining portion 30A includes a rotary tool 10A, a surface straightness detection portion 20A, a backing portion 31, a frame portion 32, a rotary tool drive portion 33, and a joining sensor portion 34 (see FIG. 2 is shown).
- the frame portion 32 is formed of a C-shaped frame, and a rotary tool driving portion 33 is attached to the upper portion thereof, and a backing portion 31 is attached to the lower portion thereof.
- the rotary tool 10A is attached to the rotary tool drive unit 33, and the rotary tool drive unit 33 moves forward and backward (in the direction of the bidirectional block arrow Dp in the figure) and rotational drive (for example, in the direction of the block arrow Dr in the figure, May be in the opposite direction).
- the rotary tool 10A and the backing portion 31 are disposed at positions facing each other. That is, the frame part 32 has the rotary tool driving part 33 and the backing part 31 arranged so that the backing part 31 is positioned at an opposing position on the forward / backward direction Dp (bidirectional block arrow in the drawing) of the rotary tool 10A. It is fixed. And the to-be-joined object 50 is distribute
- the rotary tool 10A is a substantially cylindrical or substantially columnar pin member, can rotate around the rotation axis with respect to the rotary tool drive unit 33, and can move forward and backward along the rotation axis. It is configured to be possible.
- the backing portion 31 is provided at a position facing the rotary tool 10 ⁇ / b> A, that is, a position in the advance direction of the rotary tool 10 ⁇ / b> A, and has a contact surface that contacts the back surface of the workpiece 50.
- the contact surface is a flat surface.
- the present invention is not limited to this, and the back surface of the article 50 to be bonded is provided. Various known configurations can be adopted as long as the configuration can contact the surface.
- the rotating tool 10A moves forward so as to protrude while rotating by the rotating tool driving unit 33, and comes into contact with the surface of the workpiece 50 (for example, a metal plate).
- the tip portion of the rotary tool 10A presses the workpiece 50 and rotates the contact portion with the workpiece 50.
- the workpiece 50 is softened by frictional heat.
- the rotary tool 10A is pushed (press-fitted) into the surface of the workpiece 50 while the rotary tool 10A is rotated. Thereafter, when the rotary tool 10A is drawn (retracted) by the rotary tool driving unit 33, the softened metal material is hardened to become a joint portion.
- the to-be-joined object 50 is a plate-shaped member comprised with the material in which friction stir spot joining is possible
- the specific structure will not be specifically limited.
- the object 50 may be a metal flat plate as schematically shown in FIG. 2, or a curved plate that is curved only in one direction, such as a shape obtained by dividing a cylinder along the axial direction. It may be a curved plate curved in a spherical shape.
- the frame portion 32 is a frame (frame) that fixes the rotating tool 10A (and the rotating tool driving portion 33 and the like) and fixes the backing portion 31 at a position that is the advance direction of the rotating tool 10A.
- the frame portion 32 is formed of a C-shaped frame, but may be any other known configuration as long as the rotary tool 10A and the backing portion 31 can be fixedly arranged.
- the rotary tool driving unit 33 includes a motor and a gear mechanism that are well known in the field of friction stir spot welding, and rotates and advances and retracts the rotary tool 10A that is a pin member.
- the specific configuration of the rotary tool driving unit 33 is not particularly limited, and a configuration widely known in the field of friction stir spot welding can be suitably used.
- the joining sensor unit 34 is composed of various sensors such as a pressure sensor and a stroke sensor, and is provided in the friction stir spot joining unit 30A as schematically shown in the block diagram of FIG. Further, the bonding sensor unit 34 outputs, as control data, results detected or measured by various sensors to an arm drive control unit 421 described later.
- the surface straightness detection unit 20A detects that the position of the rotary tool 10A (or the posture of the rotary tool 10A) is in a straight state with respect to the joining portion of the workpiece 50.
- the joining part 51 is a part that is spot-joined by the rotary tool 10A in the workpiece 50 (a dotted-line part in FIG. 2), and a plurality of measurement positions to be described later are set around the joining part.
- the surface straightness detection unit 20A includes a total of four position sensors 21 to measure the distance to the measurement position, as shown in FIG. 1B. These position sensors 21 are arranged at equal intervals around the backing portion 31 by the position sensor fixing member 23.
- the position sensor fixing member 23 is a square frame attached to the side surface of the columnar trapezoidal backing portion 31 in a state like a flange.
- Position sensors 21 are fixed in the vicinity of each corner of the square. The specific configuration of the position sensor 21 and the surface straightness detection unit 20A including the position sensor 21 will be described later together with a method for detecting a surface straightness state.
- the robot apparatus 40 provided with the friction stir spot joining portion 30A is an articulated robot as schematically shown in FIG. 1A, and includes a known arm portion 41, arm control portion 42A, pedestal portion 43, and the like. It becomes the composition of.
- FIG. 1A is a schematic diagram until tired, and for convenience of describing the friction stir spot joining portion 30A, the illustration of the arm portion 41 or the arm control portion 42A does not correspond to the actual dimensions.
- the arm unit 41 includes an arm driving unit 411 configured by a plurality of driving shafts and the like, as schematically shown in FIG. Since the arm portion 41 is an articulated arm mechanism as shown in FIG. 1A, a three-dimensional operation is possible in a state where the arm portion 41 is installed at the work place by the pedestal portion 43. Although the rotary tool 10A (and the rotary tool drive unit 33) and the backing unit 31 are fixed to the frame portion 32 as described above, the arm portion 41 has the frame portion 32 attached to the tip, so the arm portion The three-dimensional position of the rotary tool 10A can be moved by the three-dimensional operation 41.
- the arm control unit 42A controls the operation of the arm unit 41.
- the position (posture) of the rotary tool 10A with respect to the joining portion 51 is determined based on the detection result of the surface straightness detection unit 20A.
- the arm part 41 can be controlled to adjust.
- the arm control unit 42A is configured as a housing independent of the arm unit 41 as schematically shown in FIG. 1A, and is connected to the arm unit 41 via a cable 44 or the like.
- the arm control unit 42A includes an arm drive control unit 421, a displacement amount comparison unit 422, a surface straightness adjustment data generation unit 423, and the like.
- the arm drive control unit 421 performs various types of data based on various data (detection results or measurement results of various sensors) acquired from the bonding sensor unit 34 and “surface adjustment data” acquired from the surface adjustment data generation unit 423. Is generated and output to the arm drive unit 411. Thereby, since operation
- the displacement amount comparison unit 422 and the surface straightness adjustment data generation unit 423 are a control configuration of the arm control unit 42A and a control configuration of the surface straightness detection unit 20A.
- the plurality of position sensors 21 included in the surface straightness detection unit 20 ⁇ / b> A measure the distance between the position sensor 21 and the measurement position (that is, the distance to the measurement position) as a displacement amount, and these displacement amounts are supplied to the displacement amount comparison unit 422. Is output.
- the displacement amount comparison unit 422 compares a plurality of displacement amounts (distances) and outputs them to the surface straightness adjustment data generation unit 423.
- the surface straightness adjustment data generation unit 423 generates “surface straightness adjustment data” used for control of the arm drive control unit 421 using the comparison result of the displacement amount (distance), and outputs it to the arm drive control unit 421.
- the displacement amount comparison unit 422 and the surface straightness adjustment data generation unit 423 are viewed as the control configuration of the surface straightness detection unit 20A, the displacement amount comparison unit 422 and the surface straightness adjustment data generation unit 423 are substantially It functions as a “straightness state determination unit” that determines whether or not it is in a straightness state.
- the comparison amount displacement unit 422 takes in the distances to the measurement positions respectively measured by the plurality of position sensors 21 as a plurality of displacement amounts, and compares whether these displacement amounts are equal.
- the straightness adjustment data generation unit 423 does not generate the straightness adjustment data if it is determined from the comparison result of the displacement amount, and generates the straightness adjustment data if it is determined that it is not in the straightness state. To do.
- the displacement amount comparison unit 422 generates displacement amount comparison data
- the surface adjustment data generation unit 423 determines (detects) whether or not the surface is in a state of surface alignment from the displacement amount comparison data. When it is not in the state, the “surface adjustment data” is generated.
- the arm control unit 42A is constituted by a microcomputer or a CPU of a microcontroller.
- the CPU operates according to a program stored in a storage unit (not shown), thereby realizing the functional configurations of the arm drive control unit 421, the displacement amount comparison unit 422, and the surface straightness adjustment data generation unit 423.
- the specific configuration of the arm control unit 42A is not limited to this, and at least a part thereof may be a logic circuit configured by using a known switching element, a production reducer, a comparator, and the like.
- the control configuration of the arm control unit 42A is not limited to the example shown in FIG. 2, and may be various known control configurations.
- the surface straightness detection unit 20A includes four position sensors 21 as shown in FIG. 1B, and these position sensors 21 move in and out of the rotary tool 10A as shown in FIG. Arranged on a plane with Dp (two-way block arrow in the figure) as a normal direction so as to be equidistant with the forward / backward trajectory of the rotary tool 10A (the trajectory that can be taken when the rotary tool 10A moves forward / backward) as the center.
- Dp two-way block arrow in the figure
- a plane whose normal direction is the forward / backward direction Dp of the rotary tool 10A is referred to as a “reference plane” for convenience of explanation.
- FIG. 3 also illustrates the rotational direction Dr of the rotary tool 10A.
- the four position sensors 21 are arranged in the order from the upper right in the clockwise direction in FIG. 3, the first position sensor 21-1, the second position sensor 21-2, the third position sensor 21-3, and the fourth position sensor.
- the first position sensor 21-1 to the fourth position sensor 21-4 are on the reference plane F, and , It is located on the circumference centering on the intersection C0.
- the distance between the first position sensor 21-1 and the second position sensor 21-2 is Ds1
- the distance between the second position sensor 21-2 and the third position sensor 21-3 is Ds2
- the position sensor 21 measures the distance from the reference position to a measurement position set around the joint part 51 as a displacement, with the tip (measurement part) of the position sensor 21 as a reference position.
- This measurement position is assumed when a virtual line extending in parallel with the advance / retreat trajectory (advance direction Dp) of the rotary tool 10A from the front end of the position sensor 21 toward the surface straightness detection surface of the workpiece 50 is assumed. It is set as the intersection of the line and the surface straightness detection surface.
- the surface straightness detection unit 20 ⁇ / b> A detects that the rotary tool 10 ⁇ / b> A is in a surface straightness state with respect to the joining portion 51. .
- the workpiece 50 has a flat plate shape, and the friction stir spot joining portion 30A does not include the surface straightness detection portion 20A.
- the rotary tool 10A faces the surface 51a of the workpiece 50, and the backing portion 31 is It opposes the back surface 51b of the article 50 to be joined.
- part of the dotted line is a junction site
- a straight line Lt connecting the rotary tool 10A and the backing portion 31 that is, a straight line corresponding to the advance / retreat trajectory of the rotary tool 10A
- the rotary tool 10A faces the flat surface 51a. If it is in the straight state, the tool advance / retreat line Lt and the normal line Ln of the surface 51a coincide.
- 4A shows a state where the tool advance / retreat line Lt is inclined with respect to the normal line Ln, the rotary tool 10A is not in a face-to-face state.
- a bonding site 51 (shown by a dotted line in FIG. 4C) is located at the center of the back surface 51 b (shown by a dotted line in FIG. 4C) of the workpiece 50, Assume that the measurement position P is set.
- the distance Dh from the tip of the first position sensor 21-1 (reference position for distance measurement) to the measurement position P is defined as the first measurement distance Dh1
- the distance Dh from the second position sensor 21-2 to the measurement position P is defined as the distance Dh.
- the second measurement distance Dh2 is set, the distance Dh from the third position sensor 21-3 to the measurement position P is set as the third measurement distance Dh3, and the distance Dh from the fourth position sensor 21-4 to the measurement position P is set as the fourth measurement distance. Dh4.
- the surface straightness detection unit 20A and the back surface 51b of the workpiece 50 are in a parallel state. Is in a state.
- the surface straightness detection unit 20A is provided integrally with the backing unit 31, and the backing unit 31 is positioned by the frame unit 32 at a position facing the tool advancement / retraction line Lt as viewed from the rotary tool 10A. It is fixed. Therefore, the fact that the face straightness detection unit 20A is in a face-to-face state with respect to the joining part 51 means that the backing part 31 and the rotary tool 10A are in a face-to-face state with respect to the joining part 51. 20A can detect the straightness state of the rotary tool 10A.
- the distance Dh measured by the position sensor 21 is equal” is not limited to the case where the numerical values of the distance Dh completely match, but within a predetermined range (for convenience of explanation, “equivalent” The case where the distance Dh is included in the “distance range” is also included.
- the distances Dh measured by the respective position sensors 21 may not completely match.
- the rotating tool 10A is in a face-to-face state even if the measured distance Dh does not completely match. Therefore, in the present invention, if the measured distance Dh is within the “equivalent distance range”, it may be determined that they are substantially equivalent (or substantially coincident).
- a specific numerical range of the “equivalent distance range” can be appropriately set according to various conditions such as the measurement accuracy of the position sensor 21, the application field of the bonding, the shape of the workpiece 50, and the like. Further, when the measurement positions P are sufficiently close to each other, it is possible to detect the straightness even if the periphery of the bonding portion 51 of the workpiece 50 is formed in a curved surface.
- the specific type of the position sensor 21 used in the surface straightness detection unit 20A is not particularly limited, and a known sensor in the field of distance measurement can be suitably used.
- a typical position sensor 21 for example, an eddy current sensor can be cited.
- the eddy current sensor can measure the distance in a non-contact manner, is relatively small compared to other sensors, and is advantageous in that it can be easily attached to the friction stir spot joining portion 30A such as the backing portion 31. There is.
- Examples of other sensors that can be used as the position sensor 21 include a laser sensor and a linear variable differential transformer (LVDT).
- LVDT linear variable differential transformer
- the distance Dh can be measured more accurately without contact.
- the distance Dh can be measured with the position sensor 21 in contact with the workpiece 50 (contact type).
- the number of position sensors 21 included in the surface straightness detection unit 20A is not particularly limited.
- the surface straightness detection unit 20A includes four position sensors 21, which form a square.
- the surface straightness detection unit 20 ⁇ / b> A may include five or more position sensors 21 as necessary. Note that the number of position sensors 21 is not particularly limited, and the number of measurement positions P set on the surface straightness detection surface (back surface 51b) is not particularly limited.
- the surface straightness detection unit 20A includes four position sensors 21.
- the detection result of the surface straightness detection unit 20A can be used as two-dimensional surface straightness adjustment data for the X-axis and the Y-axis. Therefore, the arm control unit 42A can perform such two-dimensional surface straightness adjustment.
- the operation of the arm unit 41 can be controlled based on the data. This point will be specifically described with reference to FIGS.
- the four position sensors 21 can be divided into two pairs that face each other diagonally.
- the first position sensor 21-1 and the third position sensor 21-3 are “first set”
- the second position sensor 21-2 and the fourth position sensor 21-4 are “second set”.
- a line passing through the first set of position sensors 21 on the reference plane F is defined as FX (broken line in the figure).
- the direction along is taken as the X-axis direction.
- a line passing through the second set of position sensors 21 on the reference plane F is defined as FY (broken line in the figure), and a direction along the FY is defined as a Y-axis direction.
- the X-axis direction, the Y-axis direction, and the Z-axis direction are all orthogonal to each other.
- the rotation direction of the X axis is the RX direction
- the rotation direction of the Y axis is the RY direction.
- the position change in the RX direction is as shown in the upper part of FIG.
- the back-and-forth swing of the friction stir spot joint 30A and as shown in the lower part of FIG. 7, the change in position in the RY direction is described as the left and right swing of the friction stir spot joint 30A.
- the friction stir spot joining portion 30A indicated by a broken line in FIG. 7 indicates a position where the advancing / retreating direction Dp (Z-axis direction) of the rotary tool 10A coincides with the normal direction of the workpiece 50, and this position is indicated for convenience.
- FIG. 6 also illustrates the rotational direction Dr of the rotary tool 10A.
- FIG. 7 shows a state where the upper part (rotary tool driving part 33) of the friction stir spot joining part 30A has moved forward and the lower part (part including the surface straightness detection part 20A) has moved rearward. 7 shows a state where the upper part of the friction stir spot joining portion 30A has moved backward and the lower part has moved forward.
- Each of these states shown is a change in position in the RX direction, and the change in position is, for example, a first set of position sensors 21 (first position sensor 21-1 and third position sensor 21-3). Can be detected.
- the direction along the line FY (the left-right direction on the paper surface) is the Y-axis direction, and the direction orthogonal to this (normal direction to the paper surface) is the X-axis direction.
- the upper left side of FIG. 7 is an example of the position change in the + RX direction
- the upper right side is an example of the position change in the ⁇ RX direction.
- the lower left side of FIG. 7 shows a state in which the upper part of the friction stir spot joining portion 30A is moved rightward from the front and the lower part is moved leftward.
- the lower right side of FIG. The upper part of stirring point junction part 30A has moved to the left, and the lower part has moved to the right.
- Each of these states shown is a change in position in the RY direction, and these change in position are, for example, a second set of position sensors 21 (second position sensor 21-2 and fourth position sensor 21-4). Can be detected.
- the direction along the line FX (the left-right direction on the paper surface) is the X-axis direction
- the direction orthogonal to this is the normal direction to the paper surface
- the lower left side of FIG. 7 is an example of a position change in the -RY direction
- the upper right side is an example of a position change in the + RY direction.
- the surface straightness detection unit 20A uses the one of the two sets (the first set, the first position sensor 21-1, and the third position sensor 21-3) to set the two distances Dh along the RX direction.
- Two distances Dh along the RY direction can be measured by the other (second group, second position sensor 21-2 and fourth position sensor 21-4).
- the displacement amount comparison unit 422 not only compares the distances Dh measured by the four position sensors 21, but also compares the distances Dh in the RX direction and also compares the distances Dh in the RY direction. it can.
- the surface straight adjustment data generation unit 423 can generate the surface straight adjustment data in the X-axis direction and the surface straight adjustment data in the Y-axis direction using the comparison result of the change amount comparison unit 422.
- the arm control unit 42A operates the arm unit 41 based on the two-dimensional surface alignment data of the X-axis and the Y-axis to realize the surface-rectified state of the rotary tool 10A (friction stir spot joint 30A). Can do. Further, since the detection of the face-to-face state only needs to have the measurement results of at least three position sensors 21, the remaining one position sensor 21 contributes to the redundancy of the detection of the face-to-face state. Therefore, it is possible to improve the reliability of detection of the straight state.
- the plurality of position sensors 21 included in the surface straightness detection unit 20A do not need to form a regular polygon as illustrated in FIGS. 5A and 5B, and are arranged so as to form a polygon on at least the reference plane F. It only has to be done.
- the plurality of position sensors 21 are: It is preferable to arrange so that a regular polygon is formed at a position equidistant from the center of the advancing / retreating track of the rotary tool 10A.
- the plurality of position sensors 21 do not necessarily have to form a regular polygon centered on the forward / backward trajectory.
- the surface straightness detection unit 20A is arranged on the reference plane F having the normal direction as the advancing / retreating direction of the rotary tool 10A and up to at least three measurement positions set around the joining portion 51. It is only necessary to have a position sensor for measuring the distance, and the specific configuration of the position sensor is not particularly limited. Therefore, the surface straightness detection unit 20A is not limited to a configuration in which one position sensor 21 is used as one distance measurement unit, as illustrated in FIGS. 5A and 5B.
- the surface straightness detection unit 20A may include one position sensor having three or more distance measurement means.
- a configuration including two position sensors having two distance measuring means may be used. At this time, the distance measuring means only needs to form a polygon (preferably a regular polygon) on the reference plane F.
- the surface straightness detection unit 20A can detect whether or not the rotary tool 10A is in a state of straightness, when the rotary tool 10A is not in a state of straightness, By controlling the operation, the position of the rotary tool 10 ⁇ / b> A can be adjusted until the surface becomes straight.
- the detection of the straight state and the adjustment of the position of the rotary tool 10A will be specifically described with reference to FIGS.
- each position sensor 21 of the surface straightness detection unit 20A starts measurement, and as shown in FIG. 8, the measured displacement amount (that is, the measurement result of the distance Dh). Is taken into the displacement amount comparison unit 422 (step S101).
- the displacement amount comparison unit 422 determines whether or not all the captured displacement amounts are equal (step S102).
- the surface straightness detection unit 20A includes the four position sensors 21, so the four displacement amounts (first measurement distance Dh1 to fourth measurement distance Dh4) are compared, and these are substantially equal. It is determined whether or not they match (that is, whether or not they are in the “equivalent distance range”).
- the displacement amount comparison unit 422 determines whether there is a displacement amount that is out of a predetermined allowable range among the plurality of displacement amounts. (Step S103).
- the allowable range is a range excluding the case where the surface straightness detection unit 20A is far away from the surface straightness detection surface, or the case where the surface straightness detection unit 20A is excessively close to the surface straightness detection surface.
- the surface straightness detection unit 20 ⁇ / b> A and the surface straightness detection surface indicate a range where they are separated at an appropriate interval.
- the surface straightness detection unit 20 ⁇ / b> A is far away, the measurement range of the distance of the position sensor 21 is exceeded, and appropriate measurement cannot be performed. Further, if the surface straightness detection unit 20A is excessively close, the surface straightness detection unit 20A or the backing unit 31 may be used for the back surface 51b ( The rotating tool 10A may contact or collide with the surface 51a of the workpiece 50.
- the arm control unit 42A ends the series of automatic adjustment control, and sets an appropriate interval between the surface straightness detection unit 20A and the measurement position P. Adjust manually to the range and redo automatic adjustment control.
- the displacement amount comparison unit 422 outputs the displacement amount comparison result to the surface straight adjustment data generation unit 423, and the surface straight adjustment data generation unit 423. Calculates position data for making all the displacement amounts equal (step S104).
- the surface straightness detection unit 20A includes four position sensors 21, and as shown in FIGS. 6 and 7, it is possible to measure the distance Dh along the RX direction and the RY direction. . Therefore, the surface straightness adjustment data generation unit 423 calculates position data in the X-axis direction (X position data) and position data in the Y-axis direction (Y position data) from the four displacement amounts.
- the surface straightness adjustment data generation unit 423 adjusts the control gain. That is, the surface straightness adjustment data generation unit 423 calculates the adjustment distance of the rotary tool 10A based on the X position data and the Y position data (step S105). This adjustment distance becomes the surface adjustment data.
- the numerical value of the adjustment distance may be a size that can equalize the four displacement amounts, but may be a size of several tens of percent or a fraction of a size that can be equalized. Good. That is, the surface straightness adjustment data generation unit 423 may be configured to calculate a distance value smaller than the distance value that realizes the surface straightness state by one adjustment.
- the arm control unit 42A repeats the operation of the arm unit 41 for adjusting the position of the rotary tool 10A a plurality of times.
- the rotation can be performed by performing fine adjustments a plurality of times. It becomes easy to realize the straight state of the tool 10A.
- the adjustment distance is preferably calculated with a value of half or less, for example, 1/3 or 1/4.
- the surface adjustment data generation unit 423 If the surface adjustment data generation unit 423 generates the adjustment distance (surface adjustment data), the surface adjustment data generation unit 423 outputs the adjustment distance (surface adjustment data) to the arm drive control unit 421. Therefore, the arm drive control unit 421 performs the connection based on the adjustment distance (if necessary, the bonding The measurement result from the sensor unit 34 may also be used), and the arm unit 41 is operated to adjust the position (X position) in the X-axis direction and the position (Y position) in the Y-axis direction of the rotary tool 10A (step) S106).
- the arm control unit 42A repeats a series of controls (controls from step S101 to step S106) until the displacement amounts from the respective position sensors 21 are all equal. If it is determined that all the displacement amounts are equal (YES in step S102), the face straightness state is detected by the face straightness detection unit 20A. In this state, since the X position and the Y position of the rotary tool 10A have been set so as to be in a perpendicular state, the arm control unit 42A sets the position (Z position) of the rotary tool 10A in the Z-axis direction to a predetermined value. (Step S107). For example, the arm portion 41 is operated, and the Z position may be adjusted so that the distance between the rotary tool 10A and the measurement position P becomes a predetermined interval. When the adjustment of the Z position is completed, a series of control is finished.
- step S102 when determining whether or not the displacement amounts are the same (step S102), it is preferable to determine how many times the series of controls (steps S101 to S106) has been repeated.
- the position of the rotary tool 10A may go back and forth in the vicinity of the convergence point (position where the face is straight) as the arm portion 41 becomes larger. . Therefore, it is possible to avoid the possibility that the convergence operation falls into an infinite loop or the time required for the convergence operation becomes extremely long by determining the number of control repetitions together with the determination of the displacement amount.
- the upper limit of the number of repetitions of control is not particularly limited, and may be set as appropriate according to various conditions.
- the position sensor 21 that measures the distance to the measurement position P of the workpiece 50 is used as the reference plane with the forward / backward direction Dp of the rotary tool 10A as the normal direction.
- the position of the rotary tool 10A detects that it exists in a surface straight state with respect to the junction part 51. Thereby, since the straightness state can be easily detected with a simple configuration, the workability and quality of friction stir spot welding can be improved.
- the arm control unit 42A controls the operation of the arm unit 41 so that the distances measured by the plurality of position sensors 21 are all equal.
- the positional relationship between the rotary tool 10A and the joining portion 51 is appropriately set. Therefore, by controlling the arm unit 41 so that the straightness detection state is detected by the straightness detection unit 20A, the straightness state of the rotary tool 10A can be automatically adjusted.
- the workpiece 50 can be continuously joined by the rotary tool 10A after the face-to-face state is adjusted, the setting of the face-to-face state and the friction stir spot joining can be continuously performed. Therefore, it is possible to improve the quality of the joining and improve the efficiency of the joining work.
- the robot apparatus 40 when teaching the robot apparatus 40 in the friction stir spot welding in the aircraft field, it may take 30 minutes or more to realize the face-to-face state with respect to the one joint portion 51 of the workpiece 50. There is. On the other hand, according to the present invention, it is possible to realize the face-to-face state in less than one minute, for example. Moreover, since the face straightness detection unit 20A is integrated with the backing part 31, it is not necessary to perform teaching separately from the friction stir spot joining, and after the face straight state is realized, the friction stir spot joining is subsequently performed. It becomes possible to do. Therefore, the productivity of the aircraft parts can be greatly improved, and since the bonding is performed after realizing the strict face-to-face state, the quality of the aircraft parts can be improved.
- the present invention is not limited to this.
- the present invention can be suitably applied to the case where the surface of the rotary tool 10A is held during the operation of joining the workpiece 50.
- the arm control unit 42A may control the arm unit 41 so as to maintain the straightness state while correcting the deviation between the workpiece 50 and the rotary tool 10A generated during the bonding.
- the rotary tool 10A is used when the distances measured by the respective position sensors 21 are equal before or during the joining of the joining portion 51 by the rotary tool 10A. It is detected whether or not the position is in a face-to-face state with respect to the joint part 51 of the workpiece 50, and when it is detected that the part is in a face-to-face state, the joint part 51 is joined by the rotary tool 10A. What is necessary is just to be comprised.
- the friction stir spot welding device according to the second embodiment has basically the same configuration as the friction stir spot welding device according to the first embodiment.
- the surface straightness detection unit 20B is not provided integrally with the backing portion 31 of the friction stir spot joining portion 30B. 31 is replaceable.
- the surface straightness detection unit 20B includes four position sensors 21 in the vicinity of each corner of the square position sensor fixing member 23. Although it is the same as that of the part 20A, it is different in that the contact sensor 22 is provided at the position of the backing part 31 in the surface straightness detection part 20A.
- the contact sensor 22 is a sensor that detects that the surface detection unit 20B is in contact with the back surface 51b (surface detection surface) of the workpiece 50.
- an energization contact type touch sensor is used. ing.
- the specific configuration of the contact sensor 22 is not limited to the energization contact type, and other known configurations can be suitably used.
- the basic configuration of the arm control unit 42B is the same as that of the arm control unit 42A of the first embodiment, but differs in that a contact position data acquisition unit 424 is provided. Yes.
- the contact position data acquisition unit 424 acquires position data in the Z-axis direction (Z position data, see FIG. 6) of the rotary tool 10A, and uses this Z position data as an arm. It outputs to the drive control part 421.
- the surface straightness detection unit 20B does not include the backing unit 31 in place of the contact sensor 22 (not integrated with the backing unit 31). Therefore, as shown in FIG. 9A, the surface straightness detection unit 20B is attached to the lower end of the frame portion 32 of the friction stir spot joining portion 30B and teaching of the robot apparatus 40 is performed, and then the surface straightness detection unit 20B is removed and supported. It replaces with the part 31, and friction stir spot welding is implemented after that.
- step S100 the face-to-face state detection control of FIG. 8 described in the first embodiment is performed.
- the Z position is adjusted so that the distance between the rotary tool 10A and the measurement position P becomes a predetermined interval.
- each position sensor 21 of the surface straightness detection unit 20B starts measurement, and as shown in FIG. 10, the measured displacement amount (measurement result of the distance Dh) is taken into the displacement amount comparison unit 422.
- the arm drive control unit 421 controls the arm drive unit 411 to move the contact sensor 22 in the Z direction (step S201).
- Step S202 If a displacement amount that deviates from the equivalent is generated (YES in step S202), the position of the rotary tool 10A has deviated from the face-to-face state. Then, a series of control is finished. On the other hand, if all the displacement amounts are maintained equal (NO in step S202), it is determined whether or not the contact sensor 22 has contacted the back surface 51b of the article 50 (whether or not contact has been detected). (Step S203).
- step S203 If no contact is detected (NO in step S203), the process returns to the movement of the contact sensor 22 in the Z direction (step S201). Then, the arm drive control unit 421 controls the arm drive unit 411 to update the displacement amount captured by the position sensor 21 while moving the contact sensor 22 slightly in the Z direction, thereby determining the displacement amount and detecting the contact. (Steps S202 and S203) are repeated. If a contact by the contact sensor 22 is detected (YES in step S203), a contact detection signal is output from the contact sensor 22 to the contact position data acquisition unit 424. Therefore, the contact position data acquisition unit 424 The Z position data of the rotary tool 10A is captured and output to the arm drive control unit 421 (step S204). The face-to-face state detection control at the time of teaching is completed by taking in the Z position data.
- the surface straightness detection unit 20B is removed from the frame portion 32, and the backing portion 31 is attached instead, and then the friction stir spot welding operation is performed.
- the backing portion 31 is in contact with the back surface 51b of the workpiece 50, the straightness state of the rotary tool 10A is realized. Therefore, if a rotating tool control unit (not shown) performs the joining operation of the workpiece 50 by the rotating tool 10A, the joining efficiency and quality can be improved.
- the detection result of the surface straightness detection unit 20B and the control of the arm control unit 42B not only match the surface straightness state of the rotary tool 10A but also support the back surface 51b of the workpiece 50.
- the contact position of the part 31 can be adjusted. Therefore, for example, when teaching the robot apparatus 40, the rotary tool 10A can be automatically adjusted to the face-to-face state only by replacing the backing part 31 with the face-to-face detection part 20B. It is possible to set a state in which the abutting portion 31 is brought into gentle contact with the workpiece 50. As a result, after effectively suppressing the possibility that the backing portion 31 collides with the workpiece 50, the two preparation postures of the rotating tool 10A in the straight state and the contacting state of the backing portion 31 are easily and concise. Can be arranged.
- the surface straightness detection unit 20B is configured as a separate body from the backing unit 31, but the present invention is not limited to this.
- the friction stir spot joint shown in FIG. As in 30 ⁇ / b> C, the surface straightness detection unit 20 ⁇ / b> C may include a backing / contact sensor 35.
- the specific configuration of the backing / contact sensor 35 is not particularly limited. For example, a known configuration that can apply a current for contact detection to a metallic backing portion may be adopted.
- the backing portion 31 also serves as the contact sensor 22, it is not necessary to replace the surface straightness detection portion 20B and the backing portion 31 after teaching. Therefore, the friction stir spot joining portion 30 ⁇ / b> C can be shifted to the friction stir spot joining continuously after the face-to-face contact sensor 35 sets the face straight state.
- the rotary tool 10A includes the single-acting friction stir spot joining portions 30A to 30C each including only a pin member.
- a friction stir spot joint portion 30 ⁇ / b> D including a double-acting rotary tool 10 ⁇ / b> B may be provided.
- the double-acting rotary tool 10B includes a substantially cylindrical shoulder member having a hollow and a pin member inserted into the hollow of the shoulder member.
- the shoulder member rotates around the same rotation axis as the pin member, and is configured to be movable back and forth along the rotation axis in the same manner as the pin member.
- the rotary tool 10B may be provided with a clamp member that presses the workpiece 50 outside the shoulder member.
- a clamp member is provided in the outer side of the shoulder member, and is a cylindrical shape which has a hollow similarly to a shoulder member. Therefore, the shoulder member is inserted in the hollow of the clamp member.
- the rotary tool may be a single-acting type as in the first or second embodiment, or a double-acting type as in the present embodiment. It may be.
- the surface straightness detection unit 20C included in the friction stir spot joining unit 30D according to the present embodiment is configured to include the backing / contact sensor 35 illustrated in the second embodiment (see also FIG. 12).
- the configuration for detecting the surface straightness is not limited to this, and the surface straightness detection unit 20A described in the first embodiment (a configuration including a plurality of position sensors 21 and the backing unit 31) or the second embodiment. Needless to say, it may be the surface straightness detection unit 20 ⁇ / b> B described above (a configuration separate from the backing unit 31) or the like.
- the configuration for detecting the surface straightness (the surface straightness detection units 20A to 20C) is configured to detect the surface straightness state on the back surface 51b of the workpiece 50.
- the present invention is not limited to this, and it may be configured to detect the straightness state on the surface 51a of the article 50 to be bonded. That is, the surface detection surface may be the back surface 51b or the front surface 51a.
- the friction stir spot welding device includes a double-acting rotary tool 10 ⁇ / b> B, as in the third embodiment. Further, it is not provided on the back surface 51b side of the workpiece 50, and is attached to the clamp member located on the outermost periphery of the rotary tool 10B. That is, in the friction stir spot welding device shown in FIG. 14, the surface straightness detection unit 20D is provided integrally with the clamp member (in other words, the rotary tool 10B).
- the friction stir spot joining portion 30E in the present embodiment is basically the friction stir spot joining portion 30D described in the third embodiment except that the surface straightness detection portion 20D is integrated with the rotary tool 10B. It is the same. Further, in the present embodiment, only the backing / contact sensor 35 is provided on the back surface 51b of the workpiece 50, but only the backing portion 31 is provided as in the first embodiment. Alternatively, as in the second embodiment, a surface straightness detection unit 20B configured as a separate body from the backing unit 31 may be provided.
- the detection of the perpendicular state may be performed on either the front surface 51a or the back surface 51b of the workpiece 50. Therefore, even in the friction stir spot joining portion 30A having the configuration described in the first embodiment or the friction stir spot joining portion 30B or 30C described in the second embodiment, the surface straightness detection portions 20A, 20B, or 20C are Alternatively, it may be provided on the surface 51a side of the article 50.
- the surface straightness detection units 20A to 20D are part of the friction stir spot welding device.
- the present invention is not limited to this, and FIG. As shown in FIG. 15, the configuration for detecting the straightness state may be independent of the friction stir spot welding device as the straightness detection device 20E.
- the surface straightness detection device 20E includes a detection unit having the same configuration as the surface straightness detection unit 20B of the second embodiment and a unique surface straightness detection control unit 24. Similar to the arm control unit 42B according to the second or third embodiment, the surface straightness detection control unit 24 includes a displacement amount comparison unit 422, a surface straightness adjustment data generation unit 423, and a contact position data acquisition unit 424. Yes.
- the friction stir spot welding device to which the surface straightness detection device 20E is applied is similar to the configuration shown in FIG. 10 of the second embodiment, and includes a single-acting friction stir spot joining portion 30B.
- the backing part 31 is removable. Therefore, instead of the backing portion 31, the surface straightness detection apparatus 20E according to the present embodiment is attached.
- the surface straightness detection device 20E since the surface straightness detection device 20E has a configuration independent of the friction stir spot welding device, it is necessary to newly design the friction stir spot welding device having the configuration according to the first to third embodiments. And can be applied to existing friction stir spot welding devices.
- the surface detection device 20E can be attached in place of the backing unit 31 after the surface detection control unit 24 and the arm control unit 42C of the surface detection device 20E are connected so as to enable data input / output. In this case, a friction stir spot welding device similar to that of the second embodiment can be realized.
- the surface straightness detection device 20E when applied to an existing friction stir spot welding device, the surface straightness detection device 20E may be detachably fixed to the friction stir spot welding device, or may not be removed (not removable). ) It may be fixed. If there is no particular advantage in making the surface detection device 20E detachable, it is preferable to fix the surface detection device 20E so that it cannot be removed. Thereby, compared to the detachable configuration, it is possible to suppress the occurrence of positional deviation or the like of the surface straightness detection device 20E during attachment / detachment, and thus it is possible to detect the surface straightness stably.
- the surface straightness detection units 20A to 20E include three or more position sensors 21, and these position sensors 21 form a polygon on the reference plane F. It suffices if they are arranged so as to.
- the plurality of position sensors 21 are arranged on the reference plane F not only in a state where the position sensors 21 themselves are on the reference plane F but also by calibrating the measurement distance. It also includes a state that can be regarded as being (positioned) on the plane F.
- the “equivalent distance range” of the “second condition” is narrower than the “first condition”. Therefore, even if the surface straightness detection units 20A to 20E are the same, all the position sensors 21 are not on the reference plane F if the use conditions are different. Therefore, in the present embodiment, even if all the position sensors 21 are not located on the reference plane F, the straight surface is set so that all the position sensors 21 exist substantially on the reference plane F. Calibrate the measurement distance before detection.
- the friction stir spot welding device basically has the same configuration as the friction stir spot welding device according to the first embodiment.
- the arm control unit 42C includes a position sensor calibration unit 425.
- the position sensor calibration unit 425 is configured to take in the distances measured by the plurality of position sensors 21 as displacement amounts.
- the position sensor calibration unit 425 generates calibration data for calibrating the measurement distance of the position sensor 21 based on the acquired displacement amount, and outputs the calibration data to the displacement amount comparison unit 422.
- the calibration of the measurement distance by the position sensor calibration unit 425 may be performed before detecting the surface straightness with respect to the bonded portion 51.
- the position in the direction in which the rotary tool 10A moves backward in the forward / backward direction Dp is defined as “height”, and as schematically shown in FIG. 16, for example, the second position sensor 21- 2 (see FIGS. 3 and 4C) is located higher than the fourth position sensor 21-4 (see FIGS. 3 and 4C) illustrated on the left side.
- the second position sensor 21-2 and the fourth position sensor 21-4 are not on the same plane (reference plane F) (in the example shown in FIG. 16, the second position sensor The difference in height between 21-2 and the fourth position sensor 21-4 is emphasized).
- a calibration plate 61 as shown in FIG. 16 is prepared.
- the calibration flat plate 61 may be a plate-like member having a flat surface, and its specific configuration is not particularly limited. Moreover, even if it is not a plate-shaped member, if it has a plane which can calibrate the measurement distance of the several position sensor 21, another member for calibration can be used.
- the distance to the calibration plate 61 is measured by the straightness detection unit 20A (a plurality of position sensors 21).
- the distances (displacements) measured by the second position sensor 21-2 and the fourth position sensor 21-4 are input to the position sensor calibration unit 425 as different values, so that the position sensor calibration unit 425
- the calibration data is generated so as to cancel out and is output to the displacement comparison unit 422.
- the distance (displacement amount) to the measurement site P is measured by the surface straightness detection unit 20A and output to the displacement amount comparison unit 422.
- the displacement amount comparison unit 422 the displacement amount is calibrated with the calibration data and then compared, and the comparison result is output to the surface adjustment data generation unit 423.
- the surface straightness adjustment data generation unit 423 generates the surface straightness adjustment data using the comparison result of the displacement amount (distance) as described in the first embodiment, and outputs it to the arm drive control unit 421.
- the plurality of position sensors 21 included in the surface straightness detection units 20A to 20E may be arranged on the reference plane F, but this “plurality of position sensors 21 is arranged on the reference plane F”.
- the state of “being done” includes a state in which all the position sensors 21 can be regarded as being arranged on the reference plane F by measuring the distance measured by the position sensor 21 in advance. .
- Embodiment 2 is shown.
- the friction stir spot welding device disclosed in (5) to (5) that is, the configuration including the arm control unit 42B including the contact position data acquisition unit 424) can be suitably applied.
- the friction stir spot welding devices according to the first to sixth embodiments are all configured to be provided in the robot device 40, but the present invention is not limited to this, and is a stationary friction stir spot welding device. May be.
- the friction stir spot welding device is similar to the friction stir spot welding device according to the first embodiment. 20A, the friction stir spot joining portion 30A, and the displacement comparison unit 422, but further includes a base unit 45 and an arm control data generation unit 426.
- the base portion 45 is a structure that is placed on the floor surface, and fixedly supports the friction stir spot joining portion 30A (including the rotary tool 10A). Therefore, the rotary tool 10 ⁇ / b> A and the backing portion 31 are provided on the base portion 45 via the frame portion 32.
- the arm control data generation unit 426 controls the arm unit 41 from the data detected or measured by the bonding sensor unit 34 and the data of the comparison result of the displacement amount (distance) compared by the displacement amount comparison unit 422. Is generated and output to the arm control unit 42D.
- the arm control unit 42D includes an arm drive control unit 421 and the like.
- the workpiece 50 is gripped by a grip portion 412 provided at the tip of the arm portion 41. Therefore, the arm control unit 42D operates the arm unit 41 based on the arm control data acquired from the arm control data generation unit 426 so that the joining portion 51 of the workpiece 50 is perpendicular to the rotary tool 10A.
- the workpiece 50 is fixedly supported and the position of the rotary tool 10A or 10B is adjusted to be in a face-to-face state, but in this embodiment, the rotary tool is adjusted.
- 10A is fixedly supported, and the position of the workpiece 50 is adjusted so as to be in a perpendicular state.
- the specific structure of the holding part 412 is not specifically limited, A well-known structure can be used.
- the arm part 41 should just be the structure which can hold
- the rotary tool 10A or 10B can detect whether or not the rotating tool 10A or 10B is in a perpendicular state with respect to the bonding portion 51 of the workpiece 50, the workpiece 50 is fixedly supported. Then, the position of the rotary tool 10A or 10B may be adjusted, or the position of the workpiece 50 may be adjusted by fixing and supporting the rotary tool 10A or 10B.
- the reference plane F is basically set as a plane whose normal direction is the advance / retreat direction Dp of the rotary tool 10A.
- the reference plane F is the contact surface (backing) of the backing portion 31. Surface) as a reference, it may be set as a plane whose normal direction is the normal line of the contact surface.
- the robot devices 40 according to the first to sixth embodiments and the seventh embodiment are all articulated robots, but the robot device 40 to which the present invention is applicable is not limited to this. It can be suitably applied to a known robot apparatus in the field of friction stir spot welding. In addition to the robot apparatus, for example, a known processing apparatus such as an NC machine tool, a large C frame, an auto riveter, etc. Can also be suitably applied.
- the friction stir spot welding device has a substantially integrated configuration so that the operation of the friction stir spot joining portion 30A and the operation of the robot device 40 are coordinated.
- the present invention is not limited to this.
- the friction stir spot joining portion 30A (friction stir spot joining device) and the robot device 40 are controlled independently, and the friction stir spot joining portion 30A and the robot device 40 are operated by an operator, respectively.
- a configuration in which the friction stir spot joint 30A and the robot apparatus 40 cooperate with each other via a known communication network may be used. Therefore, in the friction stir spot welding device according to the present invention, the robot device 40 may not be provided as an essential component.
- the position of the rotary tool 10A or 10B or the workpiece 50 is adjusted by the operation of the robot device 40, so although it is the structure which implement
- the operator 63 may grasp the workpiece 50 and adjust the position thereof.
- the friction stir spot welding device shown in FIG. 18 is configured to include at least the rotary tool 10A (that is, the friction stir spot joining portion 30F) and the surface straightness detection portion 20F.
- the surface straightness detection unit 20 ⁇ / b> F only needs to be configured to be able to detect that it is in a surface straightness state when all the distances measured by the respective position sensors 21 are equal. Therefore, the friction stir spot welding device according to the present embodiment does not include a configuration for determining whether or not the surface is in the face-to-face state (the face-to-face state determination unit).
- the friction stir spot welding device shown in FIG. 18 is externally connected to a known display device 62.
- the distance (displacement amount) measured by the position sensor 21 of the surface straightness detection unit 20F can be displayed as an image on the display device 62. Therefore, the operator 63 determines whether the rotary tool 10 ⁇ / b> A and the joining portion 51 are in a face-to-face state by adjusting the position of the workpiece 50 while visually checking the display device 62. Can do.
- the straightness state determination unit does not have to be provided as an essential configuration.
- the backing portion 31 is held on the work table 46 in a state where the worker 63 holds the workpiece 50, and the workpiece 50 is placed on the backing portion 31.
- the work table 46 and the backing portion 31 are not a part of the friction stir spot welding device but have an independent configuration.
- the operator 63 may adjust the position of the friction stir spot welding device so as to be in a face-to-face state while viewing the display device 62.
- the display device 62 shown in FIG. 18 has an external configuration provided as a separate body from the friction stir spot welding device, but the present invention is not limited to this, and the friction stir point according to the present embodiment.
- the joining apparatus may include a “display unit” integrated with the friction stir spot joining unit 30A.
- the friction stir spot welding device according to the present embodiment may use an illuminator such as an LED or an alarm that emits sound instead of the display device 62 or the display unit. This illuminator or alarm may be provided integrally with the friction stir spot welding device, or may be an external configuration like the display device 62.
- the friction stir spot welding device may not include the straightness state determination unit.
- the rotating tool 10 ⁇ / b> A and the joining portion 51 are provided with a configuration including an indicator, an illuminator, an alarm device, or the like that allows the operator 63 to confirm that the rotating tool 10 ⁇ / b> A is in a face-to-face state, What is necessary is just to be comprised so that it can connect.
- the position sensor 21 is arranged in a direction parallel to the rotary tool 10A.
- the present invention is not limited to this, and each position sensor 21 faces the joining portion 51. It may be arranged. At this time, each position sensor 21 is arranged facing a point slightly separated from each other.
- the present invention can easily and concisely realize the straightness state between the rotary tool and the workpiece during friction stir spot welding, it can be widely used in the field of friction stir spot welding.
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Abstract
Description
[摩擦攪拌点接合装置の構成]
まず、本発明の実施の形態1に係る摩擦攪拌点接合装置の代表的な構成について、図1A、図1Bおよび図2を参照して具体的に説明する。
次に、面直検出部20Aによる面直状態の検出について、図1A、図1Bおよび図2に加えて、図3、図4A~図4Cおよび図5A、図5Bを参照して具体的に説明する。
本実施の形態では、面直検出部20Aによって、回転工具10Aが面直状態にあるか否かを検出することができるので、回転工具10Aが面直状態にない場合には、アーム部41の動作を制御することで、面直状態になるまで回転工具10Aの位置を調整することができる。このような面直状態の検出と回転工具10Aの位置の調整について、図2および図8を参照して具体的に説明する。
前記実施の形態1では、回転工具10Aの面直状態を合わせるために、図6および図7に示すようなX軸方向およびY軸方向について微調整を行っていたが、本実施の形態2では、さらにZ軸方向についても微調整を行うために、面直検出部に接触センサを設ける構成を採用している。この構成について、図9A~図9Cおよび図10を参照して具体的に説明する。
前記実施の形態1および2に係る摩擦攪拌点接合装置は、いずれも回転工具10Aがピン部材のみからなる単動式の摩擦攪拌点接合部30A~30Cを備えていたが、本発明はこれに限定されず、図13に示すように、複動式の回転工具10Bを備える摩擦攪拌点接合部30Dを備えてもよい。
前記実施の形態1~3に係る摩擦攪拌点接合装置では、面直を検出する構成(面直検出部20A~20C)は、被接合物50の裏面51bで面直状態を検出する構成となっていたが、本発明はこれに限定されず被接合物50の表面51aで面直状態を検出するように構成されてもよい。つまり、面直検出面は裏面51bであってもよいし、表面51aであってもよい。
前記実施の形態1~4に係る摩擦攪拌点接合装置は、いずれも面直検出部20A~20Dが摩擦攪拌点接合装置の一部となっていたが、本発明はこれに限定されず、図15に示すように、面直状態の検出を行う構成が面直検出装置20Eとして、摩擦攪拌点接合装置から独立してもよい。
本発明においては、前記実施の形態1で説明したように、面直検出部20A~20Eは、3つ以上の位置センサ21を備え、これら位置センサ21は、基準平面F上で多角形を形成するように配置されていればよい。ここで、複数の位置センサ21が基準平面F上に配置されるとは、位置センサ21そのものが基準平面F上に乗っている状態だけでなく、計測距離を較正(キャリブレーション)することによって基準平面F上に乗っている(位置する)と見なせる状態も含んでいる。
摩擦攪拌点接合装置が「第一条件」で使用される場合に、全ての位置センサ21の高さ(あるいは計測された距離Dh、前記実施の形態1参照)が、「第一条件」下で「同等距離範囲」に入っているとする。このとき、全ての位置センサ21は基準平面F上に乗っていることになる。
前記実施の形態1~6に係る摩擦攪拌点接合装置は、いずれもロボット装置40に設けられる構成となっていたが、本発明はこれに限定されず、定置型の摩擦攪拌点接合装置であってもよい。
前記実施の形態1~7に係る摩擦攪拌点接合装置は、いずれも、回転工具10Aまたは10B、もしくは、被接合物50の位置をロボット装置40の動作によって調整することで、これらの間で面直状態を実現する構成となっているが、前記の通り、本発明に係る摩擦攪拌点接合装置は、ロボット装置40を備えていなくてもよい。具体的には、例えば、図18に示すように、作業者63が被接合物50を把持してその位置を調整してもよい。
20A~20F 面直検出部
21 位置センサ
22 接触センサ
24 面直検出制御部
30A~30F 摩擦攪拌点接合部
31 裏当て部
32 枠部
35 裏当て兼用接触センサ(裏当て部、接触センサ)
40 ロボット装置
41 アーム部
42A~42D アーム制御部
50 被接合物
51 接合部位
Claims (12)
- 回転軸線に沿って進退移動する回転工具を備え、当該回転工具の先端部を被接合物に押圧し、前記被接合物との接触部を回転させることにより、当該被接合物を摩擦熱で軟化させ、攪拌して被接合物を接合する摩擦攪拌点接合装置であって、
当該回転工具の位置が前記被接合物の接合部位に対して面直状態にあるか否かを検出する面直検出部を備え、
当該面直検出部は、
前記回転工具の進退方向を法線方向とする基準平面上に配置され、前記接合部位の周辺に設定される少なくとも3つの計測位置までの距離を計測する位置センサを有し、
前記計測位置までの距離に基づいて、前記面直状態にあると検出するよう構成されていることを特徴とする、
摩擦攪拌点接合装置。 - 前記面直検出部は、少なくとも3つの前記位置センサを備え、
複数の前記位置センサは、前記基準平面上で、前記回転工具の進退軌道の中心から等距離となる位置に配置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。 - 前記回転工具の進出方向となる位置に設けられ、前記接合部位の裏面に当接される裏当て部と、
当該裏当て部と前記回転工具とを互いに対向させて保持する枠部と、
を備え、
前記面直検出部は、前記裏当て部に一体的または前記裏当て部の位置に取り換え可能に設けられていることを特徴とする、
請求項1または2に記載の摩擦攪拌点接合装置。 - 立体的な動作が可能なアーム部と、
当該アーム部の動作を制御するアーム制御部と、を備え、
前記回転工具および前記裏当て部は、前記枠部を介して前記アーム部に取り付けられ、
当該アーム制御部は、前記面直検出部によって計測される前記計測位置までの距離が全て同等となるように、前記アーム部の動作を制御することを特徴とする、
請求項3に記載の摩擦攪拌点接合装置。 - 前記裏当て部に対して一体的または前記裏当て部の位置に取り換え可能に設けられる接触センサを備え、
前記アーム制御部は、前記接触センサによる接触が検出されるまで、前記アーム部の動作を制御することを特徴とする、
請求項4に記載の摩擦攪拌点接合装置。 - 床面に定置される基台部を備え、
前記回転工具および前記裏当て部は、前記枠部を介して前記基台部に設けられていることを特徴とする、
請求項3に記載の摩擦攪拌点接合装置。 - 立体的な動作が可能であって前記被接合物を保持するアーム部と、
前記アーム部の動作を制御するアーム制御部と、を備え、
当該アーム制御部は、前記面直検出部によって計測される前記計測位置までの距離が全て同等となるように、前記アーム部の動作を制御することを特徴とする、
請求項6に記載の摩擦攪拌点接合装置。 - 回転軸線に沿って進退移動する回転工具を備え、当該回転工具の先端部を被接合物に押圧し、前記被接合物との接触部を回転させることにより、当該被接合物を摩擦熱で軟化させ、攪拌して被接合物を接合する摩擦攪拌点接合装置であって、
前記回転工具の進出方向となる位置に設けられ、前記接合部位の裏面に当接される裏当て部と、
当該裏当て部と前記回転工具とを互いに対向させて保持する枠部と、
前記回転工具の位置が前記被接合物の接合部位に対して面直状態にあるか否かを検出する面直検出部と、を備え、
当該面直検出部は、前記裏当て部の当接面の法線を法線方向とする基準平面上に配置され、前記接合部位の周辺に設定される少なくとも3つの計測位置までの距離を計測する位置センサを有し、
前記計測位置までの距離が全て同等であるときに、前記面直状態にあると検出するよう構成されていることを特徴とする、
摩擦攪拌点接合装置。 - 前記面直検出部が備える前記位置センサは、前記接合部位の周辺に設定される4つの計測位置までの距離を計測するよう構成されていることを特徴とする、
請求項1から8のいずれか1項に記載の摩擦攪拌点接合装置。 - 前記位置センサは、非接触で構成されていることを特徴とする、
請求項1から9のいずれか1項に記載の摩擦攪拌点接合装置。 - 回転軸線に沿って進退移動する回転工具を備え、当該回転工具の先端部を被接合物に押圧し、前記被接合物との接触部を回転させることにより、当該被接合物を摩擦熱で軟化させ、攪拌して被接合物を接合する摩擦攪拌点接合方法であって、
前記回転工具の進退方向を法線方向とする基準平面上で、前記接合部位の周辺に設定される少なくとも3つの計測位置までの距離を計測し、
前記回転工具により前記接合部位を接合する前または接合中に計測される、前記計測位置までの距離が全て同等であるときに、前記回転工具の位置が、前記被接合物の接合部位に対して面直状態にあると検出することを特徴とする、
摩擦攪拌点接合方法。 - 回転軸線に沿って進退移動する回転工具を備え、当該回転工具の先端部を被接合物に押圧し、前記被接合物との接触部を回転させることにより、当該被接合物を摩擦熱で軟化させ、攪拌して被接合物を接合する摩擦攪拌点接合装置に設けられ、
前記回転工具の進退方向を法線方向とする基準平面上に配置され、前記接合部位の周辺に設定される少なくとも3つの計測位置までの距離を計測する位置センサを有し、
前記計測位置までの距離が全て同等であるときに、前記回転工具の位置が前記被接合物の接合部位に対して面直状態にあると検出することを特徴とする、
摩擦攪拌点接合の面直検出装置。
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Also Published As
Publication number | Publication date |
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CA2935108C (en) | 2019-02-19 |
EP3090828A4 (en) | 2017-10-04 |
US20160318120A1 (en) | 2016-11-03 |
EP3090828A1 (en) | 2016-11-09 |
CA2935108A1 (en) | 2015-07-02 |
JP6126706B2 (ja) | 2017-05-10 |
JPWO2015097727A1 (ja) | 2017-03-23 |
EP3090828B1 (en) | 2020-03-25 |
US9839973B2 (en) | 2017-12-12 |
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