WO2020032141A1 - Dispositif de soudage par friction-malaxage et procédé d'exploitation associé - Google Patents

Dispositif de soudage par friction-malaxage et procédé d'exploitation associé Download PDF

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Publication number
WO2020032141A1
WO2020032141A1 PCT/JP2019/031254 JP2019031254W WO2020032141A1 WO 2020032141 A1 WO2020032141 A1 WO 2020032141A1 JP 2019031254 W JP2019031254 W JP 2019031254W WO 2020032141 A1 WO2020032141 A1 WO 2020032141A1
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WO
WIPO (PCT)
Prior art keywords
pin member
stir welding
friction stir
shoulder
pin
Prior art date
Application number
PCT/JP2019/031254
Other languages
English (en)
Japanese (ja)
Inventor
良司 大橋
良崇 村松
正樹 武岡
拓也 福田
Original Assignee
川崎重工業株式会社
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 川崎重工業株式会社 filed Critical 川崎重工業株式会社
Priority to KR1020217005822A priority Critical patent/KR20210038641A/ko
Priority to CN201980047312.9A priority patent/CN112423929A/zh
Priority to JP2020535855A priority patent/JPWO2020032141A1/ja
Publication of WO2020032141A1 publication Critical patent/WO2020032141A1/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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating the heat being generated by friction; Friction welding
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
    • B23K20/00—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating
    • B23K20/12—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
    • B23K20/1225—Particular aspects of welding with a non-consumable tool
    • 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
    • B23K20/22—Non-electric welding by applying impact or other pressure, with or without the application of heat, e.g. cladding or plating taking account of the properties of the materials to be welded
    • 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
    • B23K2103/00—Materials to be soldered, welded or cut
    • B23K2103/18—Dissimilar materials

Definitions

  • the present invention relates to a friction stir welding apparatus and an operation method thereof.
  • a friction point joining apparatus for joining an aluminum material and a galvanized steel sheet is known (for example, see Patent Document 1).
  • a tool temperature measuring device for measuring a temperature of a rotating tool and a material temperature measuring device for measuring a temperature of a joining portion between an aluminum material and a galvanized steel sheet are disclosed.
  • a feedback device performs feedback control on a servomotor that rotates the rotary tool based on temperature information of the tool temperature measuring device and the material temperature measuring device.
  • the distance of the tip of the tool is maintained in the range of 0.1 to 0.3 mm on the aluminum material side, and the aluminum material and the galvanized steel sheet are used.
  • the temperature of the joint is set in the range of 320 to 350 ° C., the joint is made a new surface, and friction point welding is performed while generating an intermetallic compound of Fe and Al at the joint.
  • the friction point joining device disclosed in Patent Document 1 needs to be provided with two temperature measuring devices, which increases the manufacturing cost of the device. Further, in the friction point welding device disclosed in Patent Document 1, it is necessary to perform feedback control based on temperature information from a temperature measuring device, and the position of the tip of the tool must be maintained within a predetermined range. Because of this, the control program became complicated and there was still room for improvement.
  • the present invention has been made in order to solve the above-described problems, and has a simple configuration and a friction stir welding apparatus and a method of operating the same that can join an aluminum member and a galvanized steel member with high strength.
  • the purpose is to provide.
  • a friction stir welding apparatus is a friction stir welding apparatus that is made of an aluminum member and a galvanized steel member and joins by softening an object to be welded by friction heat.
  • a pin member formed in a columnar shape and configured to be capable of rotating around an axis and moving forward and backward in a direction along the axis, and a cylindrical member, and the pin member is inserted therein.
  • a shoulder member configured to be able to advance and retreat in a direction along the axis, and a configuration in which the pin member is rotated around the axis, and the shoulder member is not rotated around the axis.
  • a linear drive for moving the pin member and the shoulder member forward and backward along the axis, wherein the aluminum member faces the pin member. Are sea urchin placed.
  • the amount of heat input from the shoulder member to the galvanized steel member via the aluminum member can be reduced, and the melting of zinc can be suppressed. For this reason, it is possible to suppress the molten zinc from entering the aluminum member, and it is possible to suppress the occurrence of liquefaction cracks due to the reaction between zinc and aluminum. Therefore, the aluminum member and the galvanized steel member can be joined with high strength.
  • the operation method of the friction stir welding apparatus is an operation method of the friction stir welding apparatus, which comprises an aluminum member and a galvanized steel member, and joins by softening an object to be joined by frictional heat
  • the friction stir welding apparatus has a pin member formed in a columnar shape and configured to be rotatable around an axis and to advance and retreat in a direction along the axis, and a pin member formed in a cylindrical shape, Is inserted therein, and a shoulder member configured to be able to advance and retreat in a direction along the axis, and the pin member is rotated around the axis, and the shoulder member is rotated around the axis.
  • a rotary driver configured not to rotate, and a linear drive that moves the pin member and the shoulder member forward and backward along the axis, and the aluminum member includes: The pin member is arranged so as to face the pin member, and the pin member is rotated, and in a state where the shoulder member is not rotated, the tip end of the pin member presses the joined portion of the article to be joined.
  • the linear drive and the rotary drive operate (A)
  • the linear drive and the rotary drive operate to cause the softened galvanized steel member to pierce the softened aluminum member.
  • the tip of the pin member reaches the predetermined first position (B), after the (B), the tip of the pin member is rotated while the pin member is rotated.
  • C operating the linear drive and the rotary drive so as to pull out the part from the part to be joined.
  • the amount of heat input from the shoulder member to the galvanized steel member via the aluminum member can be reduced, and the melting of zinc can be suppressed. For this reason, it is possible to suppress the molten zinc from entering the aluminum member, and it is possible to suppress the occurrence of liquefaction cracks due to the reaction between zinc and aluminum. Therefore, the aluminum member and the galvanized steel member can be joined with high strength.
  • the softened galvanized steel member pierces the softened aluminum member, an anchor effect can be obtained and the tensile strength of the article to be joined can be improved.
  • FIG. 1 is a schematic diagram showing a schematic configuration of the friction stir welding apparatus according to the first embodiment.
  • FIG. 2 is a flowchart showing an example of the operation of the friction stir welding apparatus according to the first embodiment.
  • FIG. 3 is a schematic diagram illustrating a main part of the friction stir welding apparatus according to the first embodiment.
  • FIG. 4 is a schematic diagram showing a schematic configuration of the friction stir welding apparatus according to the second embodiment.
  • the friction stir welding apparatus is a friction stir welding apparatus that is made of an aluminum member and a galvanized steel member and is joined by softening an object to be joined by frictional heat, and is formed in a columnar shape.
  • a pin member configured to be capable of rotation about an axis and advancing and retreating in a direction along the axis; and a cylindrical member formed with the pin member inserted therein and a direction along the axis.
  • a rotation driver configured to rotate the pin member around the axis and not to rotate the shoulder member around the axis, a pin member, and a shoulder member.
  • a linear drive unit for moving the actuator forward and backward along the axis.
  • the aluminum member is disposed so as to face the pin member.
  • the tip of the pin member may be formed so as to protrude beyond the tip of the shoulder member.
  • the tip of the pin member presses the portion to be welded of the workpiece.
  • A controlling the linear drive and the rotary drive, and controlling the linear drive and the rotary drive so that the softened galvanized steel member penetrates the softened aluminum member so as to pierce the softened aluminum member.
  • B controlling the linear drive and the rotary drive.
  • the control device may further include a control device.
  • the rotary driver has a motor and a transmission mechanism for transmitting the rotational drive of the motor to the pin member, and the transmission mechanism transmits the rotational drive of the motor to the shoulder member. It may be configured not to transmit.
  • FIG. 1 is a schematic diagram showing a schematic configuration of the friction stir welding apparatus according to the first embodiment.
  • the friction stir welding apparatus 100 includes a pin member 1, a shoulder member 2, a tool fixing device 3, a linear motion drive 4, a rotary drive 5, a backing support member 6, and the like. , A backing member 7, a robot 8, and a control device 110, and are configured to soften a joint portion Wa of a joint object W by frictional heat and join the joints.
  • the workpiece W is composed of a plate-shaped aluminum member W1 and a plate-shaped galvanized steel member W2.
  • a configuration is adopted in which the workpiece W is composed of the plate-shaped aluminum member W1 and the plate-shaped galvanized steel member W2, but the present invention is not limited to this.
  • the shape of W (aluminum member W1 and galvanized steel member W2) is arbitrary, and may be, for example, a rectangular parallelepiped shape or an arc shape.
  • the pin member 1, the shoulder member 2, the tool fixing device 3, the linear motion driving device 4, and the rotation driving device 5 are provided on an upper part of a backing support member 6 composed of a C-type gun (C-type frame). .
  • a backing member 7 is provided below the backing support member 6.
  • the pin member 1 and the shoulder member 2 and the backing member 7 are attached to the backing support member 6 at positions facing each other.
  • the backing support member 6 is attached to the tip of the robot 8.
  • a robot of a horizontal articulated type, a vertical articulated type, or the like can be employed.
  • the friction stir welding apparatus 100 according to the first embodiment is not limited to the case where the apparatus is applied to the robot 8.
  • known processing such as an NC machine tool, a large C frame, and an automatic riveter may be used. It may be applied to equipment for use.
  • the backing support member 6 is configured by a C-shaped gun, but is not limited to this.
  • the backing support member 6 is configured to support the pin member 1 and the shoulder member 2 so as to be able to advance and retreat, and to support the backing member 7 at a position facing the pin member 1 and the shoulder member 2. It may be.
  • the backing member 7 is formed in a flat plate shape, and is configured to support the workpiece W.
  • the configuration of the backing member 7 is not particularly limited as long as it can appropriately support the workpiece W so that friction stir welding can be performed.
  • the backing member 7 may be configured such that, for example, a plurality of backing members having various shapes are separately prepared and can be replaced according to the shape of the workpiece W.
  • the pin member 1 and the shoulder member 2 are supported by a tool fixing device 3, and are configured to be driven up and down in a vertical direction by a linear motion driver 4.
  • a linear motion driver 4 for example, an electric motor (servo motor) and a ball screw or a linear guide may be used, or an air cylinder or the like may be used.
  • the pin member 1 is formed in a substantially columnar shape, and is configured to be rotatable around the axis Xr of the pin member 1 by the rotation driver 5.
  • the rotation driver 5 has a motor 51 and a transmission mechanism 52 that transmits the rotation of the motor 51 to the pin member 1.
  • the motor 51 for example, an electric motor (servo motor) may be used.
  • the transmission mechanism 52 is configured not to transmit the rotation drive of the motor 51 to the shoulder member 2.
  • a rotation transmission mechanism using a known gear or the like may be used.
  • the transmission mechanism 52 mechanically transmits the rotation drive from the motor 51 only to the pin member 1, and transmits the rotation drive from the motor 51 to the shoulder member 2.
  • the present invention is not limited to this.
  • the transmission mechanism 52 employs a configuration in which the rotation drive from the motor 51 is electrically transmitted only to the pin member 1 and the rotation drive from the motor 51 is not transmitted to the shoulder member 2. Is also good.
  • “electrically” may be a mode in which the transmission mechanism 52 does not transmit the rotation drive from the motor 51 to the shoulder member 2 because power (current) is not supplied to the transmission mechanism 52.
  • control device 110 when control device 110 outputs an electric signal (control signal) for inhibiting operation to shoulder member 2 from transmission mechanism 52, transmission mechanism 52 does not transmit the rotation drive from motor 51 to shoulder member 2. It may be.
  • the shoulder member 2 is formed in a substantially cylindrical shape having a hollow, and the pin member 1 is inserted into the hollow of the shoulder member 2. Further, in the first embodiment, pin member 1 and shoulder member 2 are arranged such that tip portion 1a of pin member 1 protrudes beyond tip portion 2a of shoulder member 2. Further, as described above, the shoulder member 2 is configured so as not to rotate around the axis Xr by the rotation driver 5.
  • the pin member 1 and the shoulder member 2 are configured to be movable forward and backward by the linear motion driver 4, but the present invention is not limited to this.
  • a mode in which the pin member 1 and the shoulder member 2 are configured to be able to move forward and backward independently of each other may be adopted.
  • the control device 110 includes a processing unit such as a microprocessor and a CPU, and a storage unit such as a ROM and a RAM (not shown).
  • the storage device stores information such as a basic program and various fixed data.
  • the arithmetic processing unit reads and executes software such as a basic program stored in the storage device, and controls various operations of the linear drive unit 4, the rotation drive unit 5, and the robot 8.
  • the control device 110 may be configured by a single control device 110 that performs centralized control, or may be configured by a plurality of control devices 110 that perform distributed control in cooperation with each other. Further, the control device 110 may be configured by a microcomputer, and may be configured by an MPU, a PLC (Programmable Logic Controller), a logic circuit, or the like.
  • FIG. 2 is a flowchart showing an example of the operation of the friction stir welding apparatus according to the first embodiment.
  • FIG. 3 is a schematic diagram showing a main part of the friction stir welding apparatus according to the first embodiment, and shows a state where friction stir welding is performed.
  • the control device 110 drives the rotation driver 5 to rotate the pin member 1 at a predetermined rotation speed (for example, 500 to 3000 rpm) (step S101).
  • the control device 110 drives the linear motion driver 4 while rotating the pin member 1 and not rotating the shoulder member 2 to advance the pin member 1 and the shoulder member 2, and The tip of the member 1 is brought into contact with the portion Wa to be welded of the workpiece W (Step S102).
  • control device 110 drives the linear motion driver 4 so that the distal end of the pin member 1 moves to a predetermined first position set in advance (step S103). At this time, the control device 110 controls the linear motion driver 4 so that the pin member 1 presses the workpiece W with a predetermined pressing force (for example, 4 kN to 70 kN).
  • a predetermined pressing force for example, 4 kN to 70 kN.
  • the predetermined rotation speed and the predetermined pressing force can be appropriately set in advance by experiments and the like.
  • the position information of the tip of the pin member 1 is detected by a position detector (not shown) and output to the control device 110.
  • the first position is defined as 0% when the surface of the galvanized steel member W2 in contact with the aluminum member W1 is 0% and the surface of the galvanized steel member W2 in contact with the backing member 7 is 100%.
  • % Means a position arbitrarily set between 100% and 100%. From the viewpoint of improving the bonding strength, the first position is preferably closer to the surface of the galvanized steel member W2 that contacts the backing member 7, and may be 25% or more, or 50% or more. May be 75% or more, 80% or more, 90% or more, or 95% or more.
  • the pin member 1 comes into contact with the portion Wa to be welded of the workpiece W, and frictional heat is generated by the friction between the distal end portion of the pin member 1 and the portion Wa to be welded.
  • the portion Wa is softened and plastic flow occurs.
  • the second softened portion 42 which is the softened portion of the galvanized steel member W2
  • the first softened portion 41 which is the softened portion of the first portion.
  • the pin member 1 and the shoulder member 2 are configured to rotate. , The amount of heat input to the aluminum member W1 is reduced. Thereby, the amount of heat input from the aluminum member W1 to the galvanized steel member W2 can be reduced, and the melting of zinc can be suppressed.
  • the aluminum member W1 and the galvanized steel member W2 can be joined with high strength.
  • the second softened portion 42 that has entered the first softened portion 41 is referred to as an anchor portion.
  • the control device 110 determines whether or not the distal end of the pin member 1 has reached the first position based on the positional information of the distal end of the pin member 1 detected by a position detector (not shown). (Step S104). When the control device 110 determines that the distal end of the pin member 1 has not reached the first position (No in step S104), the control device 110 continues until the distal end of the pin member 1 reaches the first position. Each processing of steps S103 to S104 is executed. On the other hand, when the control device 110 determines that the tip end of the pin member 1 has reached the first position (Yes in step S104), the control device 110 executes the process of step S105.
  • step S105 the control device 110 pulls out the distal end of the pin member 1 from the portion to be joined Wa while rotating the pin member 1 and not rotating the shoulder member 2 (the pin member 1 and the shoulder member 2). Is moved away from the surface of the workpiece W). Then, when the distal end portion of the pin member 1 is pulled out of the joint Wa, the control device 110 stops the rotation driver 5 so as to stop the rotation of the pin member 1 and ends the program. In the case of joining a plurality of joints Wa, the control device 110 may be configured to start joining of the next joint Wa without stopping the rotation of the pin member 1. .
  • the second softened portion 42 of the galvanized steel member W2 is formed. And the aluminum member W1 enters the first softened portion 41, and the anchor effect such that the strength against tensile shear increases and the peel strength relatively increases.
  • the shoulder member 2 is configured not to rotate. Therefore, the amount of heat input from the shoulder member 2 to the galvanized steel member W2 via the aluminum member W1 can be reduced, and the melting of zinc can be suppressed.
  • the aluminum member W1 and the galvanized steel member W2 can be joined with high strength.
  • the friction stir welding apparatus according to the second embodiment is the friction stir welding apparatus according to the first embodiment, wherein the rotation driver is a motor, and a transmission mechanism that transmits rotation drive of the motor to the pin member and the shoulder member; And a blocking mechanism for blocking transmission of rotation of the motor to the shoulder member.
  • the rotation driver is a motor, and a transmission mechanism that transmits rotation drive of the motor to the pin member and the shoulder member; And a blocking mechanism for blocking transmission of rotation of the motor to the shoulder member.
  • FIG. 4 is a schematic diagram showing a schematic configuration of the friction stir welding apparatus according to the second embodiment.
  • the friction stir welding apparatus 100 according to the second embodiment has the same basic configuration as the friction stir welding apparatus 100 according to the first embodiment, but differs in the configuration of the rotary driver 5. .
  • the rotation driver 5 blocks a motor 51, a transmission mechanism 52 that transmits the rotation of the motor 51 to the pin member 1 and the shoulder member 2, and a transmission of the rotation of the motor 51 to the shoulder member 2. And a block mechanism 53 that performs the operation.
  • the transmission mechanism 52 includes a first transmission mechanism 52a that transmits the rotational drive of the motor 51 to the pin member 1, and a second transmission mechanism 52b that transmits the rotational drive of the motor 51 to the shoulder member 2.
  • the block mechanism 53 may be configured to mechanically or electrically transmit the rotational drive from the motor 51 only to the pin member 1 and not transmit the rotational drive from the motor 51 to the shoulder member 2. .
  • “mechanically” may mean, for example, a mode in which the rotational drive from the motor 51 is not transmitted to the shoulder member 2 by the block mechanism 53 releasing the engagement of the gears or the like. Further, for example, a mode in which the rotation drive from the motor 51 is not transmitted to the shoulder member 2 by the block mechanism 53 stopping the rotation of the gears or the like may be used.
  • the term “electrically” refers to, for example, a mode in which the rotation drive from the motor 51 is not transmitted from the transmission mechanism 52 to the shoulder member 2 because the block mechanism 53 does not supply electric power (current) to the transmission mechanism 52. There may be. Further, for example, when an electrical signal (control signal) for prohibiting the operation of the transmission mechanism 52 to the shoulder member 2 is output from the control device 110 to the transmission mechanism 52, the rotation drive from the motor 51 is transmitted to the shoulder member 2. It may be an aspect that is not performed. In this case, the control device 110 has the function of the block mechanism 53.
  • the friction stir welding apparatus 100 according to the second embodiment configured as described above has the same operation and effect as the friction stir welding apparatus 100 according to the first embodiment.
  • the friction stir welding apparatus and the operation method of the present invention are useful because the aluminum member and the galvanized steel member can be joined with a high strength with a simple configuration.

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

Abstract

L'invention porte sur un dispositif de soudage par friction-malaxage qui relie une pièce (W) à assembler en procédant à son ramollissement par frottement thermique, ladite pièce comprenant un élément en aluminium (W1) et un élément en acier galvanisé (W2). Le dispositif de soudage par friction-malaxage comprend : un élément de broche (1) ; un élément d'épaulement (2) qui est formé de manière cylindrique et dans lequel l'élément de broche (10) est inséré, et qui est conçu de façon à pouvoir avancer et se rétracter dans une direction le long de son axe (Xr) ; un dispositif d'entraînement en rotation (5) conçu de façon à faire tourner l'élément de broche (1) autour de l'axe (Xr), mais sans faire tourner l'élément d'épaulement (2) ; et un dispositif d'entraînement de mouvement linéaire (4) qui fait avancer et rétracte l'élément de broche (1) et l'élément d'épaulement (2) le long de l'axe (Xr). L'élément en aluminium (W1) est disposé de façon à faire face à l'élément de broche (1).
PCT/JP2019/031254 2018-08-08 2019-08-07 Dispositif de soudage par friction-malaxage et procédé d'exploitation associé WO2020032141A1 (fr)

Priority Applications (3)

Application Number Priority Date Filing Date Title
KR1020217005822A KR20210038641A (ko) 2018-08-08 2019-08-07 마찰 교반 접합 장치 및 그 운전 방법
CN201980047312.9A CN112423929A (zh) 2018-08-08 2019-08-07 摩擦搅拌接合装置及其运转方法
JP2020535855A JPWO2020032141A1 (ja) 2018-08-08 2019-08-07 摩擦攪拌接合装置及びその運転方法

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JP2018-149653 2018-08-08
JP2018149653 2018-08-08

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