WO2016021538A1 - Dispositif de soudage par friction-malaxage - Google Patents

Dispositif de soudage par friction-malaxage Download PDF

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Publication number
WO2016021538A1
WO2016021538A1 PCT/JP2015/071929 JP2015071929W WO2016021538A1 WO 2016021538 A1 WO2016021538 A1 WO 2016021538A1 JP 2015071929 W JP2015071929 W JP 2015071929W WO 2016021538 A1 WO2016021538 A1 WO 2016021538A1
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WO
WIPO (PCT)
Prior art keywords
rotating body
actuator
load
friction stir
stir welding
Prior art date
Application number
PCT/JP2015/071929
Other languages
English (en)
Japanese (ja)
Inventor
眞実 安齋
佐山　満
佳佑 蔦
亮二 北村
Original Assignee
本田技研工業株式会社
ファナック株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 本田技研工業株式会社, ファナック株式会社 filed Critical 本田技研工業株式会社
Publication of WO2016021538A1 publication Critical patent/WO2016021538A1/fr

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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

Definitions

  • the present invention relates to a friction stir welding apparatus having an upper rotating body and a lower rotating body.
  • Friction stir welding in which a rotating body that rotates at high speed is applied to a workpiece to generate frictional heat and promote stirring. Furthermore, a joining technique in which a workpiece is sandwiched between an upper rotating body and a lower rotating body is known (for example, Patent Document 1).
  • the friction stir welding apparatus disclosed in Patent Document 1 includes an upper rotating body, an upper actuator that presses the upper rotating body against a workpiece with a predetermined load, a lower rotating body, and the lower rotating body with another predetermined load.
  • a lower actuator that presses against the workpiece and a rotation actuator that rotates the upper and lower rotating bodies are provided.
  • the apparatus according to Patent Document 1 requires three actuators, that is, an upper actuator, a lower actuator, and a rotation actuator.
  • robots have been introduced as part of productivity improvements. Considering attaching the upper rotating body and the lower rotating body to the tip of the robot, further reduction in weight and size of the friction stir welding apparatus is required in order to reduce the burden on the robot.
  • An object of the present invention is to provide a lightweight and compact friction stir welding apparatus in a friction stir welding apparatus including an upper rotating body and a lower rotating body.
  • the invention according to claim 1 is provided integrally with the upper rotating body disposed on the workpiece, the lower rotating body disposed below the workpiece, and the lower rotating body, and inside the upper rotating body.
  • a rotating main shaft that passes through the first rotating shaft, a first actuator that applies a rotational force to the rotating main shaft, a second actuator that moves the upper rotating body in the axial direction, and a load that detects an axial load applied to the second actuator.
  • a sensor a load control unit that controls a load applied to the workpiece by the upper rotating body based on load information obtained from the load sensor, a position sensor that detects a position of the lower rotating body, and a position sensor And a controller for controlling the position of the lower rotating body based on the position information.
  • the rotation spindle moves up and down by a robot controlled by a controller.
  • the axis of the first actuator, the axis of the second actuator, and the rotation main axis are supported by the robot while being arranged in parallel.
  • the lower side rotary body does not have the actuator for load control.
  • the present invention can be accomplished with two actuators. Therefore, according to the present invention, a lightweight and compact friction stir welding apparatus provided with an upper rotating body and a lower rotating body is provided.
  • the axis of the first actuator and the axis of the second actuator are arranged in parallel on the rotation main shaft.
  • FIG. 1 is a front view of a friction stir welding apparatus according to the present invention. It is an effect
  • the friction stir welding apparatus 10 includes a substrate 11 that extends downward, a rotary spindle 14 that is rotatably supported on the substrate 11 by a pair of bearings 12 and 13, and a rotary spindle 14 that extends downward.
  • a lower rotary body 15 formed integrally with the lower end of the first actuator 16, a first actuator 16 attached to the substrate 11, and a first drive pulley 18 attached to the rotary shaft 17 of the first actuator 16.
  • the rotary cylinder 35 surrounds the rotary spindle 14.
  • the rotary cylinder 35 is connected to the rotary main shaft 14 via a spline 34.
  • the first actuator 16 is controlled by the rotation control unit 38.
  • a load sensor 39 is attached to the rotary shaft 28 of the second actuator 27.
  • the load sensor 39 is, for example, a strain gauge that replaces the mechanical strain amount with an electrical signal.
  • the load sensor 39 may detect a current and convert the current into a load.
  • the second actuator 27 is controlled by a load control unit 41 that controls the downward load of the upper rotating body 36 based on information from the load sensor 39.
  • the rotating shaft 17 of the first actuator 16, the rotating shaft 28 of the second actuator 27, and the rotating main shaft 14 are arranged in parallel to each other.
  • the distance between the rotation main shaft 14 and the rotation shafts 17 and 28 can be set arbitrarily. This can be done by adjusting the length of the belts 21 and 32. By reducing the distance between the shafts as much as possible, the friction stir welding apparatus 10 can be made compact, particularly the width in the horizontal direction can be reduced.
  • the robot 42 has a position sensor 43 that monitors the coordinates of the tip and a controller 44 that controls the robot 42 while feeding back information from the position sensor 43.
  • the substrate 11 is carried to an arbitrary position by the robot 42. Since the rotation main shaft 14 is attached to the substrate 11 via the bearings 12 and 13, the position (particularly the height position) of the lower rotating body 15 at the lower end of the rotation main shaft 14 is controlled by the controller 44.
  • the rotating cylinder 35 is connected to the rotating main shaft 14 by a spline 34 and is movable along the rotating main shaft 14. Therefore, when the ball screw 26 is rotated by the second actuator 27, the slider 23 is raised or lowered along the rails 22 and 22. Then, the rotating cylinder 35 and the upper rotating body 36 move together with the slider 23. Therefore, the upper rotating body 36 is moved to an arbitrary position independently of the lower rotating body 15 using the second actuator 27 as a drive source, and the load control unit 41 performs load control.
  • the friction stir welding apparatus 10 includes a first actuator 16 that applies a rotational force to the rotary main shaft 14, a second actuator 27 that moves the upper rotating body 36 in the axial direction (moves in the axial direction), and a lower rotation.
  • the controller 44 that controls the position of the body 15 is provided.
  • the second actuator 27 performs load control based on the load obtained from the load sensor 39, and the controller 44 detects the position of the lower rotating body 15. Based on the information from the position sensor 43, the position of the lower rotating body 15 is controlled.
  • the position sensor 43 may be built in the controller 44.
  • the driving pulleys 18 and 29 and the driven pulleys 19 and 31 may be gears.
  • the rotation main shaft 14 may be directly rotated by the first actuator 16 via a coupling.
  • the ball screw 26 may be directly rotated by the second actuator 27 via a coupling. Therefore, the configuration of the friction stir welding apparatus 10 shown in FIG. 1 can be changed as appropriate.
  • the operation of the friction stir welding apparatus 10 having the above configuration will be described.
  • the workpieces 46 and 47 which are metal plates are brought into contact with each other.
  • the workpieces 46 and 47 may be overlapped with each other.
  • two or more workpieces can be superposed and joined.
  • the upper rotator 36 and the lower rotator 15 are brought close to one end of the joint portion 48.
  • FIG. 2C which is a CC arrow view of FIG. 2B
  • the lower rotating body 15 is applied to the lower surface of the work 46 and is held at that height.
  • the upper rotating body 36 is lowered and the upper surface of the work 46 is pressed with a predetermined load.
  • FIG. 2D the upper rotating body 36 and the lower rotating body 15 are rotated at a predetermined rotation speed. Then, frictional heat is generated and fluidization occurs. In this state, it moves like an arrow.
  • FIG. 2 (e) the workpieces 46 and 47 were joined together by the bead 49.
  • the technology of the present invention is compared with the conventional technology.
  • the position of the lower rotator 15 is controlled and the load of the upper rotator 36 is controlled.
  • the lower rotating body 101 is pressed against the workpiece 103 with the upward load Fg2.
  • the upper rotating body 102 is pressed against the workpiece 103 with the downward load Fg1. That is, both the lower rotator 101 and the upper rotator 102 are subjected to load control.
  • the workpiece 103 becomes soft due to the frictional heat.
  • the lower rotating body 101 or the upper rotating body 102 bites into the work 103 excessively.
  • reduce the load according to softening reduce the load according to softening.
  • the downward load Fg1 of the upper rotating body 102 the workpiece 103 may be lifted if the upward load Fg2 of the lower rotating body 101 is constant. Therefore, the upward load Fg2 of the lower rotating body 101 is reduced.
  • the spline 34 described in FIG. 1 can be deleted. That is, as shown in FIG. 4, the third actuator 51 is mounted on the extension 23 a of the slider 23, and the third drive pulley 52 is provided on the rotation shaft of the third actuator 51. Further, a third driven pulley 53 is provided on the rotating cylinder 35. The belt 54 is transferred to the third driven pulley 53 and the third drive pulley 52.
  • the other components are the same as those in FIG.
  • the rotation control unit 38 controls the rotation speeds of the first actuator 16 and the third actuator 51. In addition to synchronizing the rotation speeds of the first actuator 16 and the third actuator 51, it is possible to make a difference. It is possible to change the heat input for each material in the case of dissimilar material overlapping joining by changing the vertical rotation speed.
  • the third actuator 51 described with reference to FIG. 4 can be deleted.
  • a first drive gear 56 and a third drive gear 57 are provided on the rotating shaft 17 of the first actuator 16.
  • a first driven gear 58 is provided on the rotation main shaft 14, and a first intermediate gear 59 is provided between the first driven gear 58 and the first drive gear 56.
  • the first intermediate gear 59 is rotatably supported by the substrate 11 and plays a role of transmitting the rotation of the first drive gear 56 to the first driven gear 58.
  • a wide third driven gear 61 is provided on the upper portion of the rotary cylinder 35, and a third intermediate gear 62 is provided between the third driven gear 61 and the third drive gear 57.
  • the third intermediate gear 62 is rotatably supported by the substrate 11 and plays a role of transmitting the rotation of the third drive gear 57 to the third driven gear 61.
  • the third driven gear 61 moves in the axial direction together with the slider 23. Since the third driven gear 61 is sufficiently wide, there is no fear that the third driven gear 61 will come off the third intermediate gear 62 even if it moves in the axial direction.
  • the first drive gear 56 and the third drive gear 57 are rotated by the rotating shaft 17.
  • the lower rotating body 15 and the upper rotating body 36 can be rotated by the first actuator 16.
  • the other components are the same as those in FIG.
  • gears 56, 57, 58 and 61 shown in FIG. 5 can be replaced with pulleys, and the gears 59 and 62 can be changed to belts.
  • a specific example will be described with reference to FIG.
  • the slider 23 extends to the vicinity of the first actuator 16. Then, the first drive pulley 18 is fixed to the distal end side of the rotary shaft 17 of the first actuator 16, and the third drive pulley 52 is attached to the rotary shaft 17 through the spline 66.
  • the third drive pulley 52 is rotatably supported by the slider 23 by bearings 67 and 67.
  • a first driven pulley 19 is attached to the rotation main shaft 14 in the center of the drawing, and a first belt 21 is passed to the first driven pulley 19 and the first drive pulley 18. Further, a third driven pulley 53 is attached to the rotating cylinder 35, and the third belt 54 is passed to the third driven pulley 53 and the third drive pulley 52.
  • Other configurations are the same as those in FIG.
  • the structure shown in FIG. 7 can be adopted. That is, as shown in FIG. 7, the support cylinder 64 is fixed to the slider 23, and the upper disk 65 is integrally formed at the tip of the support cylinder 64. Although the upper disk 65 corresponds to the upper rotating member 36 but is a non-rotating member, the name and the code are changed. Since only the lower rotating body 15 is rotated, a bead can be formed only on the lower side.
  • the other components are the same as those in FIG.
  • the present invention is suitable for a friction stir welding apparatus that joins two or more metal plates by a friction stir welding method.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)

Abstract

La présente invention concerne un dispositif léger et compact de soudage par friction-malaxage équipé d'un corps tournant supérieur et d'un corps tournant inférieur. Ce dispositif (10) de soudage par friction-malaxage est configuré de façon à comporter: un corps tournant supérieur (36); un corps tournant inférieur (15); un arbre principal tournant (14) destiné à passer à travers l'intérieur du corps tournant supérieur et installé de manière intégrée avec le corps tournant inférieur; un premier actionneur (16) servant à exercer un effort de rotation sur l'arbre principal tournant; un deuxième actionneur (27) servant à déplacer le corps tournant supérieur dans la direction axiale; un capteur (39) de charge servant à détecter une charge axiale appliquée au deuxième actionneur; une unité (41) de régulation de charge servant à réguler la charge à appliquer à une pièce par le corps tournant supérieur, en fonction d'informations de charge obtenues en provenance du capteur de charge; un capteur (43) de position servant à détecter la position du corps tournant inférieur; et une commande (44) servant à commander la position du corps tournant inférieur en fonction des informations de position en provenance du capteur de position.
PCT/JP2015/071929 2014-08-07 2015-08-03 Dispositif de soudage par friction-malaxage WO2016021538A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014-161404 2014-08-07
JP2014161404 2014-08-07

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WO2016021538A1 true WO2016021538A1 (fr) 2016-02-11

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7002689B1 (ja) 2021-03-31 2022-01-20 株式会社日立パワーソリューションズ ロボット型摩擦攪拌接合装置及びその接合ツールの挿入方法
WO2024091946A1 (fr) * 2022-10-24 2024-05-02 Mazak Corporation Systèmes et procédés de commande de charge dans un traitement par friction-malaxage

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6199745B1 (en) * 1998-07-09 2001-03-13 Mts Systems Corporation Welding head
JP2004298900A (ja) * 2003-03-28 2004-10-28 Mitsubishi Heavy Ind Ltd 摩擦攪拌接合方法とその接合装置およびその摩擦接合体
EP1864747A1 (fr) * 2006-06-07 2007-12-12 Abb Ab Système et méthode de soudage par friction-agitation avec des moyens pour soutenir la pièce durant le soudage se déplaçant de manière synchrone avec l'outil tournant par rapport à la pièce
JP2008093733A (ja) * 2006-10-13 2008-04-24 Alstom Transport Sa 鉄道車両の車体のような、複数の二重スキン要素から形成された、外部および内部を具備してなる構造体を組み立てるための方法、ならびにそれによって得られた構造体

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6199745B1 (en) * 1998-07-09 2001-03-13 Mts Systems Corporation Welding head
JP2004298900A (ja) * 2003-03-28 2004-10-28 Mitsubishi Heavy Ind Ltd 摩擦攪拌接合方法とその接合装置およびその摩擦接合体
EP1864747A1 (fr) * 2006-06-07 2007-12-12 Abb Ab Système et méthode de soudage par friction-agitation avec des moyens pour soutenir la pièce durant le soudage se déplaçant de manière synchrone avec l'outil tournant par rapport à la pièce
JP2008093733A (ja) * 2006-10-13 2008-04-24 Alstom Transport Sa 鉄道車両の車体のような、複数の二重スキン要素から形成された、外部および内部を具備してなる構造体を組み立てるための方法、ならびにそれによって得られた構造体

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7002689B1 (ja) 2021-03-31 2022-01-20 株式会社日立パワーソリューションズ ロボット型摩擦攪拌接合装置及びその接合ツールの挿入方法
JP2022157191A (ja) * 2021-03-31 2022-10-14 株式会社日立パワーソリューションズ ロボット型摩擦攪拌接合装置及びその接合ツールの挿入方法
WO2024091946A1 (fr) * 2022-10-24 2024-05-02 Mazak Corporation Systèmes et procédés de commande de charge dans un traitement par friction-malaxage

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