Friction stirring bonding method, manufacturing method of automotive parts, machine tools and storage media

Abstract

A first workpiece and a second workpiece are friction-stirred together, having recesses defined by a plurality of surfaces including a first surface whose height gradually decreases in a first direction and a second surface whose height gradually increases in the first direction. The friction-stirring joining method includes: when the depth direction of the recess is defined as the second direction, moving the friction-stirring joining tool in the first direction while simultaneously moving the tool in the second direction to follow a change in the height of the first surface; and when the direction opposite to the second direction is defined as the third direction, moving the tool in the first direction while simultaneously moving the tool in the third direction to follow a change in the height of the second surface. Furthermore, in the friction-stirring joining method, the position of the friction-stirring joining tool is controlled to suppress variations in the axial load on the tool from the first and second workpieces.

Description

Technical Field

[0001] This invention relates to a friction stirring bonding method, a method for manufacturing automotive parts, a machine tool, and a program. Background Technology

[0002] Friction stirring bonding methods are known.

[0003] As a related technology, Patent Document 1 discloses a friction stirring joining method. The friction stirring joining method described in Patent Document 1 is performed using a joining device, which includes a support body and a probe configured to move freely forward and backward relative to the support body in the axial direction. In the friction stirring joining method described in Patent Document 1, the amount of protrusion of the probe relative to the support body varies according to the depth of the joining portion.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 10-71478 Summary of the Invention

[0007] The problem that the invention aims to solve

[0008] The object of this invention is to provide a friction stir joining method, a method for manufacturing automotive parts, a machine tool, and a program that can smoothly friction stir join a first workpiece having a recess and a second workpiece overlapping the first workpiece. Furthermore, any additional object of this invention is to provide a technique for manufacturing automotive parts such as battery housings, inverter housings, or motor housings by friction stir joining a first workpiece having a recess and a second workpiece.

[0009] Methods for solving problems

[0010] Several embodiments of the friction stir joining method include: a step of preparing a first workpiece having a recess defined by a plurality of surfaces including a first surface whose height gradually decreases in a first direction and a second surface whose height gradually increases in the first direction; a step of preparing a second workpiece; a step of overlapping the first workpiece and the second workpiece to form a first region where the first workpiece and the second workpiece contact each other, a second region where the gap between the first surface and the second workpiece gradually increases from zero in the first direction, and a third region where the gap between the second surface and the second workpiece gradually decreases to zero in the first direction; and a step of friction stir joining the first workpiece and the second workpiece using a friction stir joining tool. The process of friction-stirring the first workpiece and the second workpiece includes: moving the friction-stirring tool in a first direction such that the probe of the friction-stirring tool traverses at least a portion of the first region; when the depth direction of the recess is defined as a second direction, moving the friction-stirring tool in the first direction such that the probe traverses the second region while simultaneously moving the friction-stirring tool in the second direction to follow changes in the height of the first surface; and when the direction opposite to the second direction is defined as a third direction, moving the friction-stirring tool in the first direction such that the probe traverses the third region while simultaneously moving the friction-stirring tool upwards in the third direction to follow changes in the height of the second surface. During each movement of the probe traversing the second region and the third region in the first direction, the position of the friction-stirring tool is controlled to suppress variations in the axial load on the friction-stirring tool from the first workpiece and the second workpiece.

[0011] A method for manufacturing an automotive component according to several embodiments includes: a step of preparing a first component having a recess defined by a plurality of surfaces including a first surface whose height gradually decreases in a first direction and a second surface whose height gradually increases in the first direction; a step of preparing a second component; a step of overlapping the first component and the second component to form a first region where the first component and the second component contact, a second region where the gap between the first surface and the second component gradually increases from zero in the first direction, and a third region where the gap between the second surface and the second component gradually decreases to zero in the first direction; and a step of frictionally stirring and joining the first component and the second component using a friction stirring joining tool. The process of frictionally stirring and joining the first component and the second component includes: moving the frictionally stirring and joining tool in a first direction such that the probe of the frictionally stirring and joining tool traverses at least a portion of the first region; when the depth direction of the recess is defined as a second direction, moving the frictionally stirring and joining tool in the first direction such that the probe traverses the second region while simultaneously moving the frictionally stirring and joining tool in the second direction to follow changes in the height of the first surface; and when the direction opposite to the second direction is defined as a third direction, moving the frictionally stirring and joining tool in the first direction such that the probe traverses the third region while simultaneously moving the frictionally stirring and joining tool upwards in the third direction to follow changes in the height of the second surface. During each movement of the probe traversing the second region and the third region in the first direction, the position of the frictionally stirring and joining tool is controlled to suppress variations in the axial load on the frictionally stirring and joining tool from the first component and the second component.

[0012] Several embodiments of the machine tool include: a workpiece support member supporting a first workpiece and a second workpiece; a machining head supporting a probe of a friction stir joining tool so as to be rotatable about a rotation axis; a rotary drive device for rotating the probe about the rotation axis; a moving device for moving the machining head relative to the workpiece support member; and a control device for controlling the rotary drive device and the moving device. The control device is capable of executing a friction stir joining mode in which the first workpiece and the second workpiece are frictionally stirred joined while the second workpiece is overlapped on the first workpiece, the first workpiece having a recess defined by a plurality of surfaces including a first surface whose height gradually decreases in a first direction and a second surface whose height gradually increases in the first direction. The friction stir joining mode includes: moving the friction stir joining tool in a first direction such that the probe traverses at least a portion of a first region where the first workpiece and the second workpiece contact; when the depth direction of the recess is defined as a second direction, moving the friction stir joining tool in the first direction such that the probe traverses a second region where the gap between the first surface and the second workpiece gradually increases from zero in the first direction, while simultaneously moving the friction stir joining tool in the second direction to follow changes in the height of the first surface; and when the direction opposite to the second direction is defined as a third direction, moving the friction stir joining tool in the first direction such that the probe traverses a third region where the gap between the second surface and the second workpiece gradually decreases to zero in the first direction, while simultaneously moving the friction stir joining tool upwards in the third direction to follow changes in the height of the second surface. During each movement of the probe in the first direction through the second region and the third region, the control device controls the position of the friction stir joining tool to suppress variations in the axial load on the friction stir joining tool from the first workpiece and the second workpiece.

[0013] Several embodiments of the procedure are used to cause a machine tool to perform a friction stir joining method, the friction stir joining method comprising: a step of preparing a first workpiece having a recess defined by a plurality of surfaces including a first surface whose height gradually decreases in a first direction and a second surface whose height gradually increases in the first direction; and a step of friction stir joining the first workpiece and the second workpiece using a friction stir joining tool while the first workpiece and the second workpiece are overlapped. The step of preparing the first workpiece includes: forming the recess using a cutting tool. The process of frictionally stirring and joining the first workpiece and the second workpiece includes: moving the frictionally stirring and joining tool in a first direction such that the probe of the frictionally stirring and joining tool traverses at least a portion of a first region where the first workpiece and the second workpiece contact; when the depth direction of the recess is defined as a second direction, moving the frictionally stirring and joining tool in the first direction such that the probe traverses a second region where the gap between the first surface and the second workpiece gradually increases from zero in the first direction, while moving the frictionally stirring and joining tool in the second direction to follow the change in height of the first surface; and when the direction opposite to the second direction is defined as a third direction, moving the frictionally stirring and joining tool in the first direction such that the probe traverses a third region where the gap between the second surface and the second workpiece gradually decreases to zero in the first direction, while moving the frictionally stirring and joining tool upward in the third direction to follow the change in height of the second surface. The process of frictionally stirring and joining the first workpiece and the second workpiece includes: controlling the position of the frictionally stirring and joining tool to suppress variations in the axial load on the frictionally stirring and joining tool from the first workpiece and the second workpiece as the probe moves in the first direction traverses the second region and the third region.

[0014] Invention Effects

[0015] According to the present invention, a friction stir joining method, a method for manufacturing automotive parts, a machine tool, and a program are provided that can smoothly friction stir join a first workpiece having a recess and a second workpiece overlapping the first workpiece. Attached Figure Description

[0016] Figure 1 This is a schematic outline sectional view representing an example of the first workpiece.

[0017] Figure 2 This is a schematic outline sectional view representing another example of the first workpiece.

[0018] Figure 3 This is a schematic sectional view illustrating an example of a second workpiece.

[0019] Figure 4 It is a schematic outline cross-sectional view showing the overlapping state of the first workpiece and the second workpiece.

[0020] Figure 5 It is a schematic outline cross-sectional view showing how the probe moves across at least a portion of the first region in a first direction.

[0021] Figure 6 It is a schematic outline cross-sectional view showing how the probe moves across the second region in the first direction.

[0022] Figure 7 It is a schematic outline cross-sectional view showing how the probe moves across the fourth region in the first direction.

[0023] Figure 8 It is a schematic outline cross-sectional view showing how the probe moves across the third region in the first direction.

[0024] Figure 9 It is a schematic cross-sectional view showing how the probe moves across at least a portion of the fifth region in the first direction.

[0025] Figure 10 This is a schematic outline cross-sectional view illustrating an example of a joined article formed by frictional stirring.

[0026] Figure 11 This is a flowchart illustrating the friction stirring bonding method of the embodiment.

[0027] Figure 12 It is a schematic perspective view showing how the plate overlaps with the main body of the shell.

[0028] Figure 13 This is a schematic perspective view illustrating an example of an automotive component formed by frictional stirring.

[0029] Figure 14 It is a schematic perspective view showing how the plate overlaps with the main body of the shell.

[0030] Figure 15 This is a schematic perspective view illustrating another example of an automotive component formed by frictional stirring.

[0031] Figure 16 A schematic perspective view illustrating yet another example of an automotive component formed by frictional stirring.

[0032] Figure 17 This is a schematic diagram of a machine tool according to the first embodiment.

[0033] Figure 18This is a schematic diagram of a machine tool representing a first variation of the first embodiment.

[0034] Figure 19 This is a schematic diagram of a machine tool representing a second variation of the first embodiment.

[0035] Figure 20 This is a schematic diagram of a machine tool representing a third variation of the first embodiment.

[0036] Figure 21 This is a schematic outline cross-sectional view illustrating an example of a first workpiece including a welded section.

[0037] Figure 22 It is a schematic outline cross-sectional view showing the appearance of a recess formed by cutting the welded part and the part adjacent to the welded part.

[0038] Figure 23 It is a schematic diagram showing the appearance of a first surface whose height gradually decreases in the first direction by cutting the first step portion.

[0039] Figure 24 It is a schematic diagram showing how a second surface is formed by cutting the second step portion, resulting in a surface whose height gradually increases in the first direction.

[0040] Figure 25 This is a schematic cross-sectional view illustrating the friction stirring bonding method of the first comparative example.

[0041] Figure 26 This is a schematic cross-sectional view illustrating the friction stirring bonding method of the second comparative example.

[0042] Figure 27 It is a schematic cross-sectional view showing the first surface directly formed by cutting the welded part and the part adjacent to the welded part.

[0043] Figure 28 It is a schematic cross-sectional view showing the appearance of a recess including a first surface and a second surface directly formed by cutting the welded part and the part adjacent to the welded part.

[0044] Figure 29 It is a schematic three-dimensional diagram showing how the concave portion extends along the fourth direction.

[0045] Figure 30 It is a schematic perspective view showing the opening of the fourth-direction side end of the recess when the first workpiece and the second workpiece are overlapping.

[0046] Figure 31This is a schematic perspective view illustrating an example of a probe moving along a curved path.

[0047] Figure 32 This is a schematic diagram of a machine tool representing a fourth variation of the first embodiment.

[0048] Figure 33 It is a schematic diagram showing how a device can be controlled via a control device.

[0049] Figure 34 It is a schematic outline cross-sectional view showing the first movement path across the recess.

[0050] Figure 35 This is a schematic diagram of a machine tool according to the second embodiment.

[0051] Figure 36 This is a schematic perspective view showing a portion of the machine tool according to the second embodiment.

[0052] Figure 37 This is a schematic diagram of a machine tool according to the second embodiment.

[0053] Figure 38 This is a schematic diagram illustrating an example of a storage medium on which a program is recorded.

[0054] Figure 39 This is a diagram of a machine tool that schematically illustrates a modified example of the implementation method.

[0055] Figure 40 This is a diagram of a machine tool that schematically illustrates other variations of the implementation method. Detailed Implementation

[0056] Hereinafter, the friction stirring joining method, the manufacturing method of the automobile part, the machine tool 1, and the program according to the embodiments will be described with reference to the accompanying drawings. Furthermore, in the following description of the embodiments, parts and components with the same function will be labeled with the same reference numerals, and repeated descriptions of parts and components labeled with the same reference numerals will be omitted.

[0057] (First Implementation)

[0058] Reference Figures 1 to 34 The friction stirring bonding method of the first embodiment, the manufacturing method of automobile parts, and the machine tool 1A will be described. Figure 1 This is a schematic outline sectional view illustrating an example of the first workpiece 8. Figure 2 This is a schematic outline sectional view representing another example of the first workpiece 8. Figure 3 This is a schematic outline sectional view illustrating an example of the second workpiece 9. Figure 4It is a schematic outline cross-sectional view showing the state in which the first workpiece 8 and the second workpiece 9 are overlapped. Figure 5 It is a schematic cross-sectional view showing how the probe 21 moves across at least a portion of the first region RG1 in the first direction DR1. Figure 6 It is a schematic outline cross-sectional view showing how the probe 21 moves across the second region RG2 in the first direction DR1. Figure 7 This is a schematic outline cross-sectional view showing how probe 21 moves across the fourth region RG4 in the first direction DR1. Figure 8 This is a schematic outline cross-sectional view showing how probe 21 moves across the third region RG3 in the first direction DR1. Figure 9 It is a schematic cross-sectional view showing how probe 21 moves across at least a portion of the fifth region RG5 in the first direction DR1. Figure 10 This is a schematic outline cross-sectional view illustrating an example of a joined article D formed by frictional stirring. Figure 11 This is a flowchart illustrating the friction stirring bonding method of the embodiment.

[0059] Figure 12 It is a schematic perspective view showing the overlap of plate 9b and shell body 8b.

[0060] Figure 13 This is a schematic perspective view illustrating an example of an automotive component formed by frictional stirring. Figure 14 It is a schematic perspective view showing the overlap of plate 9c and shell body 8c. Figure 15 This is a schematic perspective view illustrating another example of an automotive component formed by frictional stirring. Figure 16 This is a schematic perspective view illustrating yet another example of an automotive component formed by frictional stirring. Figure 17 This is a schematic diagram of machine tool 1A according to the first embodiment. Figure 18 This is a schematic diagram of machine tool 1A of a first modified example of the first embodiment. Figure 19 This is a schematic diagram of a machine tool 1A representing a second variation of the first embodiment. Figure 20 This is a schematic diagram of machine tool 1A, representing a third variation of the first embodiment. Figure 21 This is a schematic outline cross-sectional view of an example of a first workpiece 8 including a welded portion 87. Figure 22 It is a schematic outline cross-sectional view showing how the recess 85 is formed by cutting the welded portion 87 and the portion adjacent to the welded portion 87. Figure 23 The diagram schematically illustrates how a first surface 82a, whose height gradually decreases in the first direction DR1, is formed by cutting the first step portion 84a. Figure 24 The diagram schematically illustrates how a second surface 82b, whose height gradually increases in the first direction DR1, is formed by cutting the second step portion 84b. Figure 25 This is a schematic cross-sectional view illustrating the friction stirring bonding method of the first comparative example. Figure 26 This is a schematic cross-sectional view illustrating the friction stirring bonding method of the second comparative example. Figure 27 It is a schematic cross-sectional view showing the first surface 82a being directly formed by cutting the welded portion 87 and the portion adjacent to the welded portion 87. Figure 28 It is a schematic cross-sectional view showing the appearance of the recess 81, including the first surface 82a and the second surface 82b, directly formed by cutting the welded portion 87 and the portion adjacent to the welded portion 87. Figure 29 This is a schematic perspective view showing how the recess 81 extends along the fourth direction DR4. Figure 30 This is a schematic perspective view showing the opening of the end 81e on the fourth direction DR4 side of the recess 81 when the first workpiece 8 and the second workpiece 9 are overlapped. Figure 31 This is a schematic perspective view illustrating an example of probe 21 moving along a curved path PA2. Furthermore, in Figure 30 as well as Figure 31 In order to easily grasp the state of the recess 81 located below the second workpiece 9, an opening is made in a part of the second workpiece 9. Figure 32 This is a schematic diagram of machine tool 1A, representing a fourth variation of the first embodiment. Figure 33 This diagram schematically illustrates how the controlled device 7 can be controlled. Figure 34 It is a schematic outline cross-sectional view showing the first movement path PA that crosses the recess 81.

[0061] like Figure 1 As illustrated, in the first step ST1, a first workpiece 8 is prepared. The first step ST1 is a first preparation process. The first workpiece 8 prepared in the first preparation process has a recess 81. The recess 81 is defined by a plurality of surfaces 82, including a first surface 82a whose height gradually decreases in the first direction DR1 and a second surface 82b whose height gradually increases in the first direction DR1.

[0062] Furthermore, in this specification, "height" refers to the height with the deepest part of the recess 81 as a reference. In other words, when the depth direction of the recess 81 is defined as the second direction DR2 and the direction opposite to the second direction DR2 is defined as the third direction DR3, the "height" in this specification refers to the distance from the deepest part of the recess 81 along the third direction DR3. This "height" does not change according to the posture of the first workpiece 8.

[0063] exist Figure 1 In the example described, the first surface 82a is a planar inclined surface PS1. Alternatively, as... Figure 2 As illustrated, the first surface 82a can also be a curved inclined surface CS1 (e.g., an arc-shaped inclined surface). Figure 1 In the example described, the second surface 82b is a planar inclined surface PS2. Alternatively, as... Figure 2 As illustrated, the second surface 82b can also be a curved inclined surface CS2 (e.g., an arc-shaped inclined surface).

[0064] exist Figure 1 In the example described, a third surface 82c is disposed between the first surface 82a and the second surface 82b. Alternatively, the third surface 82c may be omitted. When the third surface 82c is omitted, each of the first surface 82a and the second surface 82b may be a planar inclined surface or a curved inclined surface (e.g., an arc-shaped inclined surface).

[0065] like Figure 3 As illustrated, in the second step ST2, the second workpiece 9 is prepared. The second step ST2 is the second preparation process.

[0066] like Figure 4 As illustrated, in the third step ST3, the first workpiece 8 and the second workpiece 9 are overlapped. The third step ST3 is an overlap process. In the overlap process, the first workpiece 8 and the second workpiece 9 are overlapped to form a first region RG1 where the first workpiece 8 and the second workpiece 9 contact, a second region RG2 where the gap G2 between the first surface 82a and the second workpiece 9 gradually increases from zero in the first direction DR1, and a third region RG3 where the gap G3 between the second surface 82b and the second workpiece 9 gradually decreases to zero in the first direction DR1.

[0067] In this specification, "gradual increase" means a continuous, gradual increase. Furthermore, in this specification, "gradual increase" includes a substantial, gradual increase. In other words, even a slight deviation from a completely gradual increase due to factors such as the surface roughness of the first workpiece 8 or the machining accuracy of the recess 81 is considered a "gradual increase."

[0068] In this specification, "gradual reduction" means a continuous gradual reduction. Furthermore, in this specification, "gradual reduction" includes a substantial gradual reduction. In other words, a situation where the reduction slightly deviates from a completely gradual reduction due to factors such as the surface roughness of the first workpiece 8 or the machining accuracy of the recess 81 is also considered "gradual reduction."

[0069] exist Figure 4In the described example, with the first workpiece 8 and the second workpiece 9 overlapping, the first region RG1, the second region RG2, the fourth region RG4, the third region RG3, and the fifth region RG5 are sequentially formed along the first direction DR1. In the fourth region RG4, the first workpiece 8 and the second workpiece 9 are separated, and in the fifth region RG5, the first workpiece 8 and the second workpiece 9 are in contact. Furthermore, the fourth region RG4 is omitted when the third surface 82c of the first workpiece 8 is omitted.

[0070] exist Figure 4 In the described example, the second direction DR2 (in other words, the depth direction of the recess 81) coincides with the direction from the second workpiece 9 toward the first workpiece 8. Furthermore, the third direction DR3 coincides with the direction from the first workpiece 8 toward the second workpiece 9.

[0071] like Figures 5 to 9 As illustrated, in step ST4, the first workpiece 8 and the second workpiece 9 are frictionally stirred and joined. Step ST4 is the joining process. The joining process is performed using a friction-stirring joining tool 2. Through the execution of the joining process, a joined article D (see reference) is manufactured, which joins the first workpiece 8 and the second workpiece 9. Figure 10 ).

[0072] like Figure 5 As illustrated, the joining process (fourth step ST4) includes: moving the friction stir joining tool 2 in a first direction DR1 such that the probe 21 of the friction stir joining tool 2 traverses at least a portion of the first region RG1. Through this movement, the first workpiece 8 and the second workpiece 9 are frictionally stirred and joined in the portion of the first region RG1 through which the probe 21 passes.

[0073] like Figure 6 As illustrated, the joining process (fourth step ST4) includes: moving the friction-stirring joining tool 2 in the first direction DR1 so that the probe 21 traverses the second region RG2, while gradually moving the friction-stirring joining tool 2 in the second direction DR2 to follow the change in height of the first surface 82a. Through this movement, the first workpiece 8 and the second workpiece 9 are friction-stirred and joined in the portion of the second region RG2 through which the probe 21 passes.

[0074] exist Figure 7 In the described example, the joining process (fourth step ST4) includes: moving the friction-stirring joining tool 2 in the first direction DR1 so that the probe 21 traverses the aforementioned fourth region RG4. Through this movement, the first workpiece 8 and the second workpiece 9 are friction-stirred and joined in the portion of the fourth region RG4 through which the probe 21 passes. Furthermore, if the third surface 82c of the first workpiece 8 is omitted, the step of the probe 21 traversing the fourth region RG4 is also omitted.

[0075] like Figure 8 As illustrated, the joining process (fourth step ST4) includes: moving the friction-stirring joining tool 2 in the first direction DR1 so that the probe 21 traverses the third region RG3, while gradually moving the friction-stirring joining tool 2 in the third direction DR3 to follow the change in height of the second surface 82b. Through this movement, the first workpiece 8 and the second workpiece 9 are friction-stirred and joined in the portion of the third region RG3 through which the probe 21 passes.

[0076] like Figure 9 As illustrated, the joining process (fourth step ST4) includes: moving the friction stir joining tool 2 in a first direction DR1 such that the probe 21 of the friction stir joining tool 2 traverses at least a portion of the fifth region RG5. Through this movement, the first workpiece 8 and the second workpiece 9 are frictionally stirred and joined in the portion of the fifth region RG5 through which the probe 21 passes.

[0077] exist Figures 5 to 9 In the described example, the probe 21, rotating about the rotation axis AX, sequentially traverses the first region RG1, the second region RG2, the fourth region RG4, the third region RG3, and the fifth region RG5, thereby frictionally stirring and joining the first workpiece 8 and the second workpiece 9. In this manner, a joined article D (see reference) is manufactured, which joins the first workpiece 8 and the second workpiece 9. Figure 10 ).

[0078] exist Figure 6 as well as Figure 8 In the described example, as the probe 21 moves across each of the second region RG2 and the third region RG3 in the first direction DR1, the position of the friction stir joint tool 2 is controlled to suppress the variation of the axial load F (in other words, the load along the rotation axis AX of the probe 21) on the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9.

[0079] In the friction stirring joining method of the first embodiment, the first surface 82a is a surface whose height gradually decreases in the first direction DR1, and the second surface 82b is a surface whose height gradually increases in the first direction DR1. Therefore, compared with the case where each of the first surface 82a and the second surface 82b is a clearly defined stepped surface, it is less likely for defects (more specifically, voids) to occur in the joint portion between the first workpiece 8 and the second workpiece 9.

[0080] In the friction stir joining method of the first embodiment, the method includes moving the friction stir joining tool 2 in a first direction DR1 while simultaneously moving the friction stir joining tool 2 to follow the height changes of the first surface 82a and the second surface 82b. Therefore, compared to the case where the friction stir joining tool 2 does not follow the height changes of the first surface 82a and the second surface 82b (for example, compared to the case where the friction stir joining tool 2 moves entirely in the horizontal direction), defects (more specifically, pores) are less likely to occur at the joint between the first workpiece 8 and the second workpiece 9.

[0081] In the friction stir joining method of the first embodiment, as the probe 21 moves across each of the second region RG2 and the third region RG3 in the first direction DR1, the position of the friction stir joining tool 2 is controlled to suppress variations in the axial load on the friction stir joining tool 2 from the first workpiece 8 and the second workpiece 9. Therefore, it is possible to prevent the probe 21, which moves simultaneously in the first direction DR1 and the second direction DR2 or the third direction DR3, from pressing against the first workpiece 8 and the second workpiece 9 with either too little or too much force. In this way, it is possible to suppress the formation of pores caused by too little pressing force or the formation of burrs caused by too much pressing force.

[0082] (arbitrarily added components)

[0083] Next, refer to Figures 1 to 34 The friction stirring bonding method of the first embodiment, the manufacturing method of automobile parts, and any additional configurations that can be used in machine tool 1A will be described.

[0084] (Second Direction DR2 and Third Direction DR3)

[0085] exist Figures 5 to 9 In the example described, during the joining process (fourth step ST4), the second direction DR2 (in other words, the depth direction of the recess 81) coincides with the downward direction (more specifically, the vertical downward direction). Furthermore, the third direction DR3 coincides with the upward direction (more specifically, the vertical upward direction).

[0086] Instead, such as Figure 39 As illustrated, each of the second direction DR2 and the third direction DR3 can also be a direction parallel to the horizontal plane. Furthermore, alternatively, each of the second direction DR2 and the third direction DR3 can also be a direction inclined relative to both the vertical and horizontal planes.

[0087] (First workpiece 8 and second workpiece 9)

[0088] exist Figure 1 as well as Figure 2In the example described, the first workpiece 8 is block 8a. Additionally, in Figure 3 In the described example, the second workpiece 9 is a plate 9a. The thickness of the plate 9a can be, for example, less than 10 mm or less than 5 mm. Furthermore, the shapes of the first workpiece 8 and the second workpiece 9 can be arbitrary, as long as they can be overlapped and joined by the friction stirring joining tool 2. In other words, the first workpiece 8 is not limited to a block 8a, and the second workpiece 9 is not limited to a plate 9a. For example, the first workpiece 8 can also be a housing body or a frame.

[0089] like Figure 4 As illustrated, after the overlapping process (third step ST3) and before the joining process (fourth step ST4), in the state where the first workpiece 8 and the second workpiece 9 are overlapping, the upper surface of the portion 91 of the second workpiece 9 opposite to the recess 81 of the first workpiece 8 can be a flat surface 91u. Furthermore, as... Figures 5 to 10 As illustrated in the example, the process of frictionally stirring and joining the first workpiece 8 and the second workpiece 9 may also include forming the flat surface 91u into a concave surface 91v (see reference). Figure 10 ).

[0090] exist Figures 5 to 10 In the described example, the upper surface 8u of the first workpiece 8 and the lower surface 9s of the second workpiece 9 are joined by friction stirring. Alternatively, the upper surface 8u of the first workpiece 8 and the lower surface of the outer edge of the second workpiece 9 can be joined by friction stirring.

[0091] The joined article D is manufactured by frictionally stirring and joining the first workpiece 8 and the second workpiece 9. Therefore, the term "frictionally stirring and joining method" in this specification can also be replaced with "method of manufacturing joined article".

[0092] (Manufacturing methods for automotive parts)

[0093] The article formed by frictionally stirring and joining the first workpiece 8 and the second workpiece 9 can be an automotive part (e.g., an electric vehicle part). In this case, the terms "friction stirring and joining method," "first workpiece," and "second workpiece" in this specification can be replaced with "manufacturing method of automotive part," "first part," and "second part," respectively.

[0094] like Figure 12 As illustrated, the first workpiece 8 can be a battery housing body 8b (more specifically, a battery housing frame). Additionally, the second workpiece 9 can be a plate 9b (e.g., a bottom plate or top plate) covering the opening OP of the housing body 8b. The joined article D manufactured by performing the first steps ST1 to the fourth steps ST4 described above can be a battery housing D2 where the housing body 8b and the plate 9b are joined (see Figure 1). Figure 13The battery housed in the battery casing D2 can be a lithium-ion battery or other types of batteries. Furthermore, the battery casing D2 can be a casing that already houses the battery, or a casing that is not yet housing the battery.

[0095] Instead, such as Figure 14 As illustrated, the first workpiece 8 can also be a housing body 8c that houses the inverter (in other words, a DC / AC converter). Additionally, the second workpiece 9 can also be a plate 9c that covers the opening OP of the housing body 8c. The joined article D manufactured by performing the first steps ST1 to the fourth steps ST4 described above can be an inverter housing D3 (see reference) where the housing body 8c and the plate 9c are joined. Figure 15 Additionally, the inverter housing D3 can be either the housing that already houses the inverter or the housing before housing the inverter.

[0096] Further alternatives, such as Figure 16 As illustrated, the first workpiece 8 can also be a housing body 8d that houses the motor. Additionally, the second workpiece 9 can be a plate 9d (e.g., an end plate) that covers the opening of the housing body 8d. Furthermore, the mating article D manufactured by performing the first steps ST1 to the fourth steps ST4 described above can also be a motor housing D4 where the housing body 8d and the plate 9d are mated. Moreover, the inverter housing D3 (or the motor housing D4) can also be a housing that houses both the inverter and the motor.

[0097] (Control of the position of the friction stirring joint tool 2)

[0098] exist Figure 6 as well as Figure 8 In the described example, as the probe 21 moves across each of the second region RG2 and the third region RG3 in the first direction DR1, the position of the friction stir joint tool 2 (more specifically, the position of the friction stir joint tool 2 along the direction of the rotation axis AX of the probe 21) is controlled to suppress the variation of the axial load F on the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9.

[0099] exist Figure 6 as well as Figure 8 In the described example, as the probe 21 moves across each of the second region RG2 and the third region RG3 in the first direction DR1, the position of the friction stir joining tool 2 (more specifically, the position of the friction stir joining tool 2 along the rotation axis AX of the probe 21) can also be controlled to maintain the axial load F on the friction stir joining tool 2 from the first workpiece 8 and the second workpiece 9 as constant.

[0100] Furthermore, in this specification, one method of maintaining the axial load F constant includes maintaining the axial load F at a predetermined value. In this case, if the axial load F is lower than the predetermined value, the position of the friction stir joint tool 2 is corrected in the second direction DR2 to maintain the axial load F at the predetermined value. Conversely, if the axial load F is higher than the predetermined value, the position of the friction stir joint tool 2 is corrected in the third direction DR3 to maintain the axial load F at the predetermined value.

[0101] Furthermore, in this specification, one method of maintaining the axial load F constant includes maintaining the axial load F within a specified range. In this case, if the axial load F is lower than the lower limit of the specified range, the position of the friction stir joint tool 2 is corrected in the second direction DR2 to maintain the axial load F within the specified range. Conversely, if the axial load F is higher than the upper limit of the specified range, the position of the friction stir joint tool 2 is corrected in the third direction DR3 to maintain the axial load F within the specified range.

[0102] Alternatively, the control device can correct the position of the friction stirring joint tool 2 based on signal data from sensors that directly or indirectly measure the axial load F, thereby performing the above control (or the above position correction).

[0103] Alternatively, when the axial load F is a function of a specific control command value or a specific physical quantity, the control device can also correct the position of the friction stirring and joining cutter 2 based on the specific control command value or the specific physical quantity, thereby performing the aforementioned control (or position correction). For example, the axial load F is a function of the load applied by the motor that drives the probe 21 to rotate around the rotation axis AX. Therefore, the control device can also correct the position of the friction stirring and joining cutter 2 based on the load applied by the motor that drives the probe 21 to rotate around the rotation axis AX, thereby performing the aforementioned control (or position correction). Furthermore, for example, the load applied by the motor that drives the probe 21 to rotate around the rotation axis AX can also be calculated or determined based on the drive current command value or the drive current value of the motor.

[0104] Furthermore, the maximum value of the correction amount (in other words, the correction limit value) when the position of the friction stir joint tool 2 is corrected in the second direction DR2 according to the axial load F received by the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9 can be, for example, less than 5 mm, less than 3 mm, or less than 2 mm. In other words, it can also be configured such that even when the position of the friction stir joint tool 2 is corrected in the second direction DR2 according to the axial load F, the position of the friction stir joint tool 2 will not be corrected in the second direction DR2 by more than 5 mm.

[0105] By correcting the position of the friction stirrer tool 2 in the second direction DR2 by no more than 5 mm, malfunctions of the machine tool 1 can be prevented when there are defects such as in the shape of the recess 81. In this case, even if the depth of the recess 81 exceeds 5 mm, the position of the friction stirrer tool 2 will not be corrected in the second direction DR2 by more than 5 mm. Furthermore, in this embodiment, the maximum value of the correction amount (in other words, the correction limit value) is not limited to a value less than 5 mm. Alternatively, in this embodiment, a correction limit value may not be set.

[0106] Furthermore, the depth L1 of the recess 81 of the first workpiece 8 (refer to...) Figure 1 For example, it is 0.1mm or more and 3mm or less.

[0107] (First example of position control for friction stirring engagement tool 2)

[0108] A first example of controlling the position of the friction-stirring joint tool 2 will be described. Figure 17 In the described example, machine tool 1A includes sensor 12 and control device 7. Sensor 12 detects the axial load F exerted by the friction stir joint tool 2 on the first workpiece 8 and the second workpiece 9. Control device 7 receives signal data S1 representing the axial load F from sensor 12, and based on this signal data S1, corrects the position of the friction stir joint tool 2 along the rotation axis AX of probe 21. Furthermore, signal data S1 can be raw signal data or data obtained by processing raw signal data.

[0109] exist Figure 6 In the described example, as probe 21 moves across the second region RG2 in the first direction DR1, the axial load F detected by sensor 12 decreases. Based on the decrease in axial load F as probe 21 traverses the second region RG2, control device 7 corrects the position of the friction stir joint tool 2 along the rotation axis AX of probe 21 towards the second direction DR2. In this way, variations in the axial load F experienced by the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9 can be suppressed.

[0110] exist Figure 8 In the described example, as probe 21 moves across the third region RG3 in the first direction DR1, the axial load F detected by sensor 12 increases. Based on the increase in axial load F when probe 21 crosses the third region RG3, control device 7 corrects the position of the friction stir joint tool 2 along the rotation axis AX of probe 21 towards the third direction DR3. In this way, variations in the axial load F experienced by the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9 can be suppressed.

[0111] exist Figure 6 as well as Figure 17 In the example described, when the probe 21 moves across the second region RG2 in the first direction DR1, based on the signal data S1 received by the control device 7 from the sensor 12, the control device 7 can correct the position of the friction stir joint tool 2 in the direction of the rotation axis AX of the probe 21 to the second direction DR2, so as to maintain the axial load F of the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9 as constant.

[0112] exist Figure 8 as well as Figure 17 In the example described, when the probe 21 moves across the third region RG3 in the first direction DR1, based on the signal data S1 received by the control device 7 from the sensor 12, the control device 7 can correct the position of the friction stir joint tool 2 in the direction of the rotation axis AX of the probe 21 to the third direction DR3, so as to maintain the axial load F of the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9 as constant.

[0113] exist Figure 5 , Figure 7 , Figure 9 as well as Figure 17 In the example described, when the probe 21 moves across each of the first region RG1, the fourth region RG4 and the fifth region RG5 in the first direction DR1, the control device 7 can correct the position of the friction stirring engagement tool 2 along the rotation axis AX of the probe 21 based on the signal data S1 received by the control device 7 from the sensor 12, so as to suppress the variation of the axial load F (more specifically, to keep the axial load F constant).

[0114] exist Figure 17 In the example described, a sensor 12a that detects the axial load F on the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9 is disposed in a probe holder HD that holds the probe 21 of the friction stir joint tool 2.

[0115] Instead, such as Figure 18 As illustrated, the sensor 12b that detects the axial load F exerted by the friction stirring joint tool 2 on the first workpiece 8 and the second workpiece 9 can also be configured on the rotating body 42 (in other words, the tool spindle) on which the probe holder HD is mounted.

[0116] Alternatively, a detector that detects the load acting on the drive system can be used as the aforementioned sensor 12. Figure 19In the described example, the machine tool 1A includes a moving device 5 (e.g., a first drive device 51b that moves the machining head 4 in a direction parallel to the vertical) that moves the machining head 4 equipped with the aforementioned rotating body 42 (in other words, a tool spindle). Furthermore, the machine tool 1A is capable of detecting the load acting on the moving device 5 (e.g., the first drive device 51b that moves the machining head 4 in a direction parallel to the vertical). In this case, the detector that detects the load acting on the moving device 5 (e.g., the first drive device 51b) can be used as a sensor 12c that detects the aforementioned axial load F.

[0117] (Second example of controlling the position of the friction stirring joint tool 2)

[0118] exist Figure 20 In the example described, machine tool 1A is equipped with a motor 44m that drives probe 21 to rotate about the rotation axis AX. Figure 20 In the described example, the friction stirring bonding method (more specifically, the fourth step ST4 above) includes: the control device 7 acquiring a load applied to the motor 44m, the motor 44m driving the probe 21 to rotate about the rotation axis AX.

[0119] The load applied to the motor 44m can also be obtained by acquiring data representing the drive current command value of the motor 44m or data S2 representing the drive current value of the motor 44m. For example, when the motor 44m causes the probe 21 to rotate at a constant speed around the rotation axis AX, the control device 7 can calculate or determine the load on the motor 44m based on the data representing the drive current command value of the motor 44m (in addition, if the motor is an AC induction motor, this drive current command value is, for example, the q-axis current command value) or data S2 representing the drive current value of the motor 44m. The drive current command value of the motor 44m itself or the drive current value of the motor 44m itself can also be used as the load on the motor 44m. Alternatively, the time average of the drive current command value of the motor 44m, the time average of the drive current of the motor 44m, the standardized value of the drive current command value of the motor 44m (in other words, the value expressed as a ratio relative to a reference value), or the standardized value of the drive current of the motor 44m (in other words, the value expressed as a ratio relative to a reference value) can also be used as the load on the motor 44m.

[0120] exist Figure 6 as well as Figure 20 In the described example, the control device 7 corrects the position of the friction stir joint tool 2 in the second direction DR2 along the rotation axis AX of the probe 21, based on the reduction of the load on the motor 44m when the probe 21 traverses the second region RG2. In this way, it is possible to suppress the variation of the axial load F on the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9.

[0121] exist Figure 8 as well as Figure 20 In the described example, the control device 7 corrects the position of the friction stir joint tool 2 in the direction of the rotation axis AX of the probe 21 towards the third direction DR3 based on the increase in load on the motor 44m when the probe 21 traverses the third region RG3. In this way, it is possible to suppress the variation of the axial load F on the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9.

[0122] exist Figure 6 as well as Figure 20 In the described example, when the probe 21 moves across the second region RG2 in the first direction DR1, the control device 7 can also correct the position of the friction stir bonding tool 2 along the rotation axis AX of the probe 21 in the second direction DR2, so as to maintain the drive current command value or the drive current value of the motor 44m obtained by the control device 7 as constant. By maintaining the drive current command value or the drive current value of the motor 44m as constant, the axial load F on the friction stir bonding tool 2 from the first workpiece 8 and the second workpiece 9 can be maintained as constant.

[0123] exist Figure 8 as well as Figure 20 In the described example, when probe 21 moves across the third region RG3 in the first direction DR1, control device 7 can also correct the position of the friction stir bonding tool 2 along the rotation axis AX of probe 21 towards the third direction DR3, so as to maintain the drive current command value or drive current value of motor 44m obtained by control device 7 as constant. By maintaining the drive current command value or drive current value of motor 44m as constant, the axial load F on friction stir bonding tool 2 from the first workpiece 8 and the second workpiece 9 can be maintained as constant.

[0124] exist Figure 5 , Figure 7 , Figure 9 as well as Figure 20 In the example described, when the probe 21 moves across each of the first region RG1, the fourth region RG4 and the fifth region RG5 in the first direction DR1, the control device 7 can also correct the position of the friction stirring engagement tool 2 along the rotation axis AX of the probe 21, so as to keep the drive current command value of the motor 44m or the drive current value of the motor 44m obtained by the control device 7 constant.

[0125] (Page 3, 82c)

[0126] exist Figure 4In the described example, the recess 81 of the first workpiece 8 is specified to have a plurality of surfaces 82, in addition to a first surface 82a and a second surface 82b, a third surface 82c disposed between the first surface 82a and the second surface 82b. Figure 1 In the example described, the third surface 82c is a surface with a constant height. Furthermore, in this specification, "constant height" includes substantially constant height. In other words, even if there is a slight variation in height due to factors such as the surface roughness of the first workpiece 8 or the machining accuracy of the recess 81, it is considered to be "constant height".

[0127] exist Figure 4 In the described example, the overlapping process (third step ST3) includes forming a fourth region RG4 disposed between the second region RG2 and the third region RG3. Figure 4 In the example described, in the fourth region RG4, the gap G4 between the third surface 82c and the second workpiece 9 is approximately constant along the first direction DR1.

[0128] exist Figures 6 to 8 In the example described, the joining process (fourth step ST4) includes: moving the probe 21 so that the probe 21 sequentially traverses the second region RG2, the fourth region RG4 and the third region RG3.

[0129] exist Figures 6 to 8 In the described example, as the probe 21 moves across each of the second region RG2, the fourth region RG4, and the third region RG3 in the first direction DR1, the position of the friction stir joining tool 2 is controlled to suppress changes in the axial load F exerted on the friction stir joining tool 2 from the first workpiece 8 and the second workpiece 9. Furthermore, with the height of the third surface 82c constant along the first direction DR1, the position of the friction stir joining tool 2 along the rotation axis AX of the probe 21 is maintained approximately constant as the probe 21 moves across the fourth region RG4 in the first direction DR1.

[0130] (The process of preparing the first workpiece 8)

[0131] exist Figure 23 In the example described, the process of preparing the first workpiece 8 (first step ST1) includes: preparing the first step portion 84a between the first portion 83 of the first workpiece 8 and the recess 85 of the first workpiece 8 (see reference). Figure 22 The first surface 82a is formed by cutting. Additionally, in Figure 24 In the example described, the process of preparing the first workpiece 8 (first step ST1) includes: preparing the second step portion 84b between the second part 86 of the first workpiece 8 and the recess 85 of the first workpiece 8 (refer to...). Figure 23The second surface 82b is formed by cutting.

[0132] like Figure 25 As illustrated, consider a scenario where a first workpiece 8 and a second workpiece 9 are joined by friction stirring in the presence of a first stepped portion 84a and a second stepped portion 84b. In this case, due to the presence of the stepped portions (84a, 84b), pores are easily generated at the joint between the first workpiece 8 and the second workpiece 9. Figure 25 In the described example, if the moving speed of probe 21 in the first direction DR1 is reduced when probe 21 traverses recess 85, the formation of the pore can be suppressed. However, the reduction in the moving speed of probe 21 becomes the main reason for the increase in processing time. In addition, the reduction in the moving speed of probe 21 may also lead to the formation of larger burrs.

[0133] In contrast, in such Figure 23 as well as Figure 24 As illustrated in the example, the first step portion 84a and the second step portion 84b are cut, and then as follows: Figures 5 to 9 In the case of friction stirring and joining as illustrated, the moving speed of probe 21 in the first direction DR1 will not decrease, and the generation of pores in the joint between the first workpiece 8 and the second workpiece 9 can be prevented or suppressed.

[0134] In addition, Figure 22 In the described example, the recess 85 having a first stepped portion 84a and a second stepped portion 84b is formed by machining. However, the recess 85 can also be formed by methods other than machining. For example, the recess 85 can be formed by striking a part of the casting with a hammer or the like. Alternatively, the recess 85 can be formed by welding the cut portion of the first piece 88a of the first workpiece 8 to the cut portion of the second piece 88b of the first workpiece 8.

[0135] like Figure 21 As illustrated, the first workpiece 8 may include a welding portion 87 (more specifically, the first workpiece 8 may be a workpiece formed by welding a first piece 88a and a second piece 88b together at the welding portion 87). Additionally, as... Figure 22 As illustrated, the process of preparing the first workpiece 8 (first step ST1) may also include forming the recess 85 by cutting the welded portion 87 and the portion adjacent to the welded portion 87.

[0136] like Figure 26 As illustrated, imagine a scenario where the first workpiece 8 and the second workpiece 9 are joined by friction stirring with the weld portion 87 protruding from the surface of the first workpiece 8. In this case, due to the presence of the protruding weld portion 87, pores are easily generated at the joint between the first workpiece 8 and the second workpiece 9.

[0137] In contrast, in such Figure 22 As illustrated in the example, the weld portion 87 is cut, such as... Figure 23 as well as Figure 24 As illustrated in the example, the first step portion 84a and the second step portion 84b are cut, and then as shown in the example... Figures 5 to 9 In the case of friction stirring and joining as illustrated, the moving speed of probe 21 in the first direction DR1 will not decrease, and the generation of pores in the joint between the first workpiece 8 and the second workpiece 9 can be prevented or suppressed.

[0138] exist Figures 22 to 24 In the example described, the first surface 82a and the second surface 82b are formed by cutting the welded portion 87 and then cutting the first step portion 84a and the second step portion 84b.

[0139] like Figures 22 to 24 or Figure 27 as well as Figure 28 As illustrated, the first surface 82a and the second surface 82b can be formed by cutting the welded portion 87 and the portion adjacent to the welded portion 87. Figures 22 to 24 In the described example, a first stepped portion 84a and a second stepped portion 84b are formed by cutting the welded portion 87 and the portion adjacent to the welded portion 87. Then, the first surface 82a and the second surface 82b are formed by cutting the first stepped portion 84a and the second stepped portion 84b. Alternatively, it can be done as follows... Figure 27 as well as Figure 28 As illustrated, the first surface 82a and the second surface 82b are formed directly (in other words, without the formation of the step portion) by cutting the weld portion 87 and the portion adjacent to the weld portion 87.

[0140] (recessed portion 81)

[0141] exist Figure 29 In the described example, the recess 81 of the first workpiece 8 extends in a fourth direction DR4 perpendicular to the second direction DR2. The recess 81 can be a straight recess extending in the fourth direction DR4. Figure 29 In the example described, the weld portion 87 also extends in the fourth direction DR4. The weld portion 87 can be a straight weld portion extending in the fourth direction DR4.

[0142] The direction opposite to the fourth direction DR4 is defined as the fifth direction DR5. Figure 29 In the described example, the end 81e of the recess 81 on the fourth direction DR4 side is open. Additionally, the end 81f of the recess 81 on the fifth direction DR5 side is open.

[0143] In the overlapping process (third step ST3), the second workpiece 9 is overlapped with the first workpiece 8 in such a way that the upper surface of the first workpiece 8 contacts the lower surface of the second workpiece 9.

[0144] exist Figure 30 In the described example, when the second workpiece 9 is overlapped with the first workpiece 8, the end 81e on the fourth direction DR4 side of the recess 81 is open. Alternatively or additionally, when the second workpiece 9 is overlapped with the first workpiece 8, the end 81f on the fifth direction DR5 side of the recess 81 (see reference) Figure 29 It can also be opened.

[0145] When the second workpiece 9 is overlapped with the first workpiece 8, and at least one of the end portion 81e on the fourth direction DR4 side and the end portion 81f on the fifth direction DR5 side of the recess 81 is open, the open end portion (81e, 81f) functions as an exhaust port.

[0146] More specifically, as the probe 21 moves across the recess 81 in the first direction DR1, material from the second workpiece 9 enters the space within the recess 81. At this time, with the entry of material, at least a portion of the air present in the space within the recess 81 is discharged out of the recess 81 via the open ends (81e, 81f). In this way, pores can be prevented at the joint between the first workpiece 8 and the second workpiece 9, and the first workpiece 8 and the second workpiece 9 can be frictionally stirred and joined.

[0147] (Movement path of probe 21)

[0148] As by Figure 30 As shown by the dashed arrow, in the joining process (fourth step ST4), when the probe 21 traverses the recess 81, the probe 21 can move along a straight path PA1. In other words, the aforementioned first direction DR1 can be the direction along the straight path PA1. Furthermore, the first direction DR1 can be a direction perpendicular to the extension direction of the recess 81 (in other words, the fourth direction DR4), or it can be a direction inclined relative to the extension direction of the recess 81.

[0149] Instead, such as by Figure 31 As shown by the dashed arrow, in the joining process (fourth step ST4), when probe 21 traverses the recess 81, probe 21 can also move along the curved path PA2. In other words, the aforementioned first direction DR1 can also be the direction along the curved path PA2.

[0150] like Figure 16As illustrated, imagine a scenario where the second workpiece 9 is plate-shaped and the outer periphery of the first workpiece 8 and the second workpiece 9 are joined by friction stirring. In this case, the probe 21 can move along a circular path or an arc-shaped path PA3. In other words, the aforementioned first direction DR1 can be the direction along a circular path or an arc-shaped path PA3.

[0151] (Moving speed of probe 21)

[0152] The probe 21 (referring to) traverses at least a portion of the first region RG1 and at least a portion of the fifth region RG5 along the direction of the first direction DR1. Figure 34 The moving speed of probe 21 can be the same as the moving speed of probe 21 along the first direction DR1 when it traverses each of the second region RG2 and the third region RG3. Furthermore, the moving speed of probe 21 along the first direction DR1 when it traverses each of the second region RG2 and the third region RG3 can also be the same as the moving speed of probe 21 along the first direction DR1 when it traverses the fourth region RG4. When the moving speed of probe 21 is constant, it is possible to prevent or suppress the formation of large burrs on the surface of the second workpiece 9.

[0153] (Machine Tool 1A)

[0154] like Figures 17 to 20 As illustrated in the example, the machine tool 1A of the first embodiment includes a workpiece support member 3, a processing head 4, a rotary drive device 44, a moving device 5, and a control device 7.

[0155] The workpiece support member 3 supports the first workpiece 8 and the second workpiece 9. The workpiece support member 3 includes, for example, a worktable 31, which fixes the first workpiece 8 and the second workpiece 9. Figures 17 to 20 In the example described, the worktable 31 directly supports the first workpiece 8. Additionally, the worktable 31 supports the second workpiece 9 via the first workpiece 8.

[0156] The machining head 4 supports the probe 21 of the friction-stirring tool 2 so that it can rotate about the rotation axis AX. The machining head 4 includes a rotating body 42 and a frame 43 that supports the rotating body 42 so that it can rotate. Figures 17 to 20 In the example described, the rotating body 42 supports the probe 21 via the probe holder HD.

[0157] The rotary drive device 44 rotates the probe 21 around the rotation axis AX by rotating the rotating body 42 around the first axis AX1. Figures 17 to 20 In the example described, the first axis AX1, which serves as the rotation axis of the rotating body 42, is coaxial with the rotation axis AX of the probe 21.

[0158] The moving device 5 causes the machining head 4 to move relative to the workpiece support member 3. The control device 7 controls the rotary drive device 44 and the moving device 5.

[0159] The control device 7 is capable of executing the friction stirring joining mode M1. The friction stirring joining mode M1 is a mode in which the first workpiece 8 and the second workpiece 9 are joined by friction stirring while the second workpiece 9 is superimposed on the first workpiece 8. The first workpiece 8 has a recess 81 defined by a plurality of surfaces 82, including a first surface 82a whose height gradually decreases in the first direction DR1 and a second surface 82b whose height gradually increases in the first direction DR1.

[0160] like Figure 5 As illustrated, the friction stir engagement mode M1 includes: moving the friction stir engagement tool 2 in a first direction DR1 such that the probe 21 traverses at least a portion of a first region RG1 in which the first workpiece 8 contacts the second workpiece 9.

[0161] like Figure 6 As illustrated, the friction stir bonding mode M1 includes: moving the friction stir bonding tool 2 in a first direction DR1 such that the probe 21 traverses a second region RG2 in the first direction DR1 where the gap between the first surface 82a and the second workpiece 9 gradually increases from zero, while moving the friction stir bonding tool 2 in a second direction DR2 to follow the change in the height of the first surface 82a.

[0162] like Figure 8 As illustrated, the friction stir bonding mode M1 includes: moving the friction stir bonding tool 2 in a first direction DR1 such that the probe 21 traverses a third region RG3 in the first direction DR1 where the gap between the second surface 82b and the second workpiece 9 gradually decreases to zero, while moving the friction stir bonding tool 2 in a third direction DR3 to follow the change in height of the second surface 82b.

[0163] Additionally, such as Figure 7 As illustrated, the friction stirring engagement mode M1 may also include: moving the friction stirring engagement tool 2 in the first direction DR1 so that the probe 21 traverses the fourth region RG4 between the second region RG2 and the third region RG3.

[0164] Additionally, such as Figure 9 As illustrated, the friction stirring engagement mode M1 may also include: moving the friction stirring engagement tool 2 in a first direction DR1 such that the probe 21 traverses at least a portion of the fifth region RG5 located on the first direction DR1 side of the third region RG3.

[0165] As probe 21 moves across each of the second region RG2 and the third region RG3 in the first direction DR1, control device 7 controls the position of the friction stir joining tool 2 (more specifically, the position of the friction stir joining tool 2 along the direction of the rotation axis AX) to suppress variations in the axial load F exerted on the friction stir joining tool 2 from the first workpiece 8 and the second workpiece 9. Control device 7 can also control the position of the friction stir joining tool 2 (more specifically, the position of the friction stir joining tool 2 along the direction of the rotation axis AX) to maintain the axial load F exerted on the friction stir joining tool 2 from the first workpiece 8 and the second workpiece 9 at a constant level.

[0166] Additionally, as the probe 21 moves across each of the first region RG1, the fourth region RG4, and the fifth region RG5 in the first direction DR1, the control device 7 can also control the position of the friction stir joint tool 2 (more specifically, the position of the friction stir joint tool 2 along the direction of the rotation axis AX) to suppress variations in the axial load F exerted on the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9 (more specifically, to maintain the axial load F as constant).

[0167] In the machine tool 1A of the first embodiment, the control device 7 is capable of executing the friction stir joining mode M1. When executing the friction stir joining mode M1, the friction stir joining tool 2 moves in a first direction DR1 and in a second direction DR2 or a third direction DR3 to follow the height changes of the first surface 82a and the second surface 82b, respectively. Therefore, compared with the case where the friction stir joining tool 2 does not follow the height changes of the first surface 82a and the second surface 82b (for example, compared with the case where the friction stir joining tool 2 moves entirely in the horizontal direction), defects (more specifically, pores) are less likely to occur at the joint between the first workpiece 8 and the second workpiece 9.

[0168] In the machine tool 1A of the first embodiment, as the probe 21 moves across each of the second region RG2 and the third region RG3 in the first direction DR1, the control device 7 controls the position of the friction stir joint tool 2 to suppress variations in the axial load F received by the friction stir joint tool 2 from the first workpiece 8 and the second workpiece 9. Therefore, it is possible to prevent the probe 21, which moves simultaneously in the first direction DR1 and the second direction DR2 or the third direction DR3, from pressing against the first workpiece 8 and the second workpiece 9 with either too little or too much force. In this way, it is possible to suppress the formation of pores caused by too little pressing force or the formation of large burrs caused by too much pressing force.

[0169] (arbitrarily added components)

[0170] Next, refer to Figures 1 to 34Any additional configurations that can be used in the machine tool 1A of the first embodiment (or the friction stirring and joining method of the first embodiment) will be described.

[0171] (Friction stirring joint cutter 2)

[0172] exist Figure 5 In the described example, the friction stir joining tool 2 includes a probe 21 and a shoulder 23. The probe 21 is inserted into the second workpiece 9 during the joining process (the fourth step ST4 described above). During the joining process (the fourth step ST4 described above), the tip of the probe 21 can reach the first workpiece 8.

[0173] Shoulder 23 presses against the third-direction DR3 side (i.e., the upper surface) of the second workpiece 9. Figure 5 In the described example, shoulder 23 is a rotating shoulder that rotates together with probe 21 about the rotation axis AX of probe 21. Shoulder 23 (more specifically, the rotating shoulder) and probe 21 can be constructed from a single, integrally formed component. Alternatively, as... Figure 32 As illustrated, shoulder 23 can also be a fixed shoulder that does not rotate with probe 21. In this case, probe 21 rotates relative to the fixed shoulder about the rotation axis AX.

[0174] exist Figure 6 , Figure 8 , Figure 32 In the described example, the shoulder 23 moves together with the probe 21 in the second direction DR2 (or the third direction DR3) when the probe 21 moves in the second direction DR2 (or the third direction DR3). More specifically, during the joining process (fourth step ST4), the probe 21 cannot move relative to the shoulder 23 in a direction parallel to the second direction DR2.

[0175] In this case, such as Figure 6 As illustrated, when probe 21 moves across the second region RG2 in the first direction DR1, both probe 21 and shoulder 23 move in the second direction DR2 to follow the change in height of the first surface 82a. Additionally, as... Figure 8 As illustrated, when probe 21 moves across the third region RG3 in the first direction DR1, both probe 21 and shoulder 23 move in the third direction DR3 to follow the change in height of the second surface 82b.

[0176] (Probe holder HD)

[0177] The probe holder HD holds the probe 21 of the friction stirring engagement tool 2. Figures 17 to 20In the described example, the rotating body 42 of the processing head 4 supports the probe 21 via the probe holder HD. The rotating body 42 of the processing head 4 can support both the probe 21 and the shoulder 23 via the probe holder HD. Alternatively, as... Figure 32 As illustrated in the example, it can also be done in the following manner: the rotating body 42 of the processing head 4 supports the probe 21 via the probe holder HD, and the frame 43 of the processing head 4 supports the shoulder 23.

[0178] like Figure 17 As illustrated, the probe holder HD may include a sensor 12a that detects the axial load F exerted on the friction stirring engagement tool 2 from the first workpiece 8 and the second workpiece 9.

[0179] exist Figure 17 In the described example, shoulder 23 is a rotating shoulder that rotates together with probe 21. The axial load F detected by sensor 12a is the sum of the third-direction DR3 load on probe 21 from the first workpiece 8 and the second workpiece 9, and the third-direction DR3 load on shoulder 23 from the second workpiece 9. In the case where shoulder 23 is a fixed shoulder that does not rotate together with probe 21, the axial load F detected by sensor 12a can be the third-direction DR3 load on probe 21 from the first workpiece 8 and the second workpiece 9.

[0180] Sensor 12a transmits signal data S1, representing the axial load F, directly or indirectly to control device 7 via any repeater. This transmission can be wireless or wired. Figure 17 In the example described, the control device 7 obtains signal data S1 representing the axial load F from the sensor 12a via the data receiver 13 and the communication interface 14.

[0181] (Processing head 4)

[0182] like Figure 18 As illustrated, the processing head 4 may also be equipped with a sensor 12b that detects the axial load F exerted by the friction stirring engagement tool 2 on the first workpiece 8 and the second workpiece 9.

[0183] exist Figure 18In the described example, shoulder 23 is a rotating shoulder that rotates together with probe 21. The axial load F detected by sensor 12b is the sum of the third-direction DR3 load on probe 21 from the first workpiece 8 and the second workpiece 9, and the third-direction DR3 load on shoulder 23 from the second workpiece 9. In the case where shoulder 23 is a fixed shoulder that does not rotate together with probe 21, the axial load F detected by sensor 12b can be either the sum of the above-mentioned load or the third-direction DR3 load on probe 21 from the first workpiece 8 and the second workpiece 9.

[0184] Sensor 12b transmits signal data S1, representing the axial load F, directly or indirectly to control device 7 via any repeater. This transmission can be wireless or wired. Figure 18 In the example described, the control device 7 obtains signal data S1 representing the axial load F from the sensor 12b via the data receiver 13 and the communication interface 14.

[0185] (Mobile device 5)

[0186] The moving device 5 moves the machining head 4 relative to the workpiece support member 3. The moving device 5 includes a first moving device 51 for moving the machining head 4. Alternatively or additionally, the moving device 5 may include a second moving device 58 for moving the workpiece support member 3.

[0187] The first moving device 51 includes: a first moving body 51a supporting the processing head 4; and a first driving device 51b for moving the processing head 4 relative to the first moving body 51a. Figures 17 to 20 , Figure 32 In the described example, the first drive unit 51b moves the machining head 4 in a direction parallel to the second direction DR2 (e.g., the vertical direction). The first drive unit 51b may include a Z-axis motor.

[0188] Additionally, the first moving device 51 may also include: a support body 52a supporting the first moving body 51a; and a second driving device 52b for moving the first moving body 51a relative to the support body 52a in a direction perpendicular to the second direction DR2. The second driving device 52b may be a device capable of moving the first moving body 51a two-dimensionally in a direction parallel to the horizontal plane (for example, the second driving device 52b may include an X-axis motor and a Y-axis motor).

[0189] like Figure 19 or Figure 32 As illustrated, the first drive unit 51b may include a sensor 12c that detects the axial load F exerted by the friction stirring joint tool 2 on the first workpiece 8 and the second workpiece 9.

[0190] exist Figure 19 or Figure 32 In the example described, the axial load F detected by sensor 12c is the sum of the load of probe 21 on the third direction DR3 from the first workpiece 8 and the second workpiece 9 and the load of shoulder 23 on the third direction DR3 from the second workpiece 9.

[0191] Sensor 12c transmits signal data S1, representing the axial load F, directly or indirectly to control device 7 via any repeater. This transmission can be wireless or wired. Figure 19 or Figure 32 In the example described, the control device 7 obtains signal data S1 representing the axial load F from the sensor 12c via the data receiver 13 and the communication interface 14.

[0192] The first moving device 51 can be a device that moves the processing head 4 in three dimensions. For example, the first moving device 51 can also move the processing head 4 in the direction along the X-axis, in the direction along the Y-axis, and in the direction along the Z-axis. Figures 17 to 20 , Figure 32 In the examples described, the Z-axis is an axis parallel to the vertical direction. Additionally, the Z-axis is an axis parallel to the second direction DR2.

[0193] exist Figures 17 to 20 , Figure 32 In the described example, the second moving device 58 includes a third driving device 58b (e.g., a worktable drive device) that moves the workpiece support member 3, such as the worktable 31, relative to the base 30. Figures 17 to 20 , Figure 32 In the example described, the third drive device 58b moves the workpiece support member 3 relative to the base 30 in a direction parallel to the horizontal plane (in other words, in a direction parallel to the XY plane).

[0194] (Rotary drive device 44)

[0195] The rotation drive 44 rotates the probe 21 about the rotation axis AX. The rotation drive 44 can rotate both the probe 21 and the shoulder 23 about the rotation axis AX. Alternatively, the rotation drive 44 can also rotate the probe 21 and the shoulder 23 independently about the rotation axis AX. The rotation drive 44 includes, for example, a motor 44m. The motor 44m can be an AC induction motor, an AC synchronous motor, or a DC motor.

[0196] like Figure 20As illustrated, the rotary drive unit 44 can transmit data S2, representing the drive current value of the motor 44m, directly or indirectly to the control unit 7 via any repeater. This transmission can be wireless or wired. Figure 20 In the described example, the control device 7 obtains data S2, representing the drive current value of the motor 44m, from the rotary drive device 44 via the data receiver 13 and the communication interface 14. Alternatively or additionally, the first control unit 71a of the control moving device 5 can obtain data representing the drive current command value of the motor 44m from the second control unit 71b that controls the motor 44m.

[0197] (Control device 7)

[0198] Control device 7 controls rotary drive device 44 and moving device 5. Figures 17 to 20 , Figure 32 In the example described, the control device 7 includes: a first control unit 71a for controlling the moving device 5; and a second control unit 71b for controlling the rotary drive device 44 (more specifically, the motor 44m).

[0199] When the rotary drive device 44 receives the first rotation command R1 from the control device 7 (more specifically, the second control unit 71b), the rotary drive device 44 causes the probe 21 to rotate around the rotation axis AX.

[0200] When the moving device 5 receives a moving command C from the control device 7 (more specifically, the first control unit 71a), the moving device 5 moves the machining head 4 and / or the workpiece support member 3. For example, when the second drive device 52b receives a first moving command C1 from the control device 7 (more specifically, the first control unit 71a), it moves the machining head 4 in a direction perpendicular to the second direction DR2 (more specifically, a direction parallel to the horizontal plane). Furthermore, when the first drive device 51b receives a second moving command C2 from the control device 7 (more specifically, the first control unit 71a), it moves the machining head 4 in a direction parallel to the second direction DR2 (more specifically, a direction parallel to the vertical direction). Additionally, when the third drive device 58b receives a moving command C4 from the control device 7 (more specifically, the first control unit 71a), it moves the workpiece support member 3 in a direction parallel to the horizontal plane.

[0201] Reference Figure 33 An example of control device 7 will be described in more detail. Figure 33In the described example, the control device 7 includes a hardware processor 70 (hereinafter referred to as "processor"), a memory 72, a communication circuit 74, and an input device 76 (e.g., a display 762 with a touch panel). The processor 70, memory 72, communication circuit 74, and input device 76 are interconnected via a bus 78.

[0202] The memory 72 is a storage medium that can be read by the processor 70 of the control device 7. The memory 72 may be, for example, a non-volatile or volatile semiconductor memory such as RAM, ROM, or flash memory, or a magnetic disk, or other forms of memory.

[0203] Memory 72 stores data and program 722. Figure 33 In the example described, the program 722 stored in memory 72 includes a first program 722a for friction stirring and joining.

[0204] Data required for friction stir bonding using the friction stir bonding tool 2 (e.g., first path data 726a specifying the first movement path that the probe 21 should move, etc.) can be input to the control device 7 via the input device 76, or from another computer via the communication circuit 74. The data required for friction stir bonding is stored in the memory 72.

[0205] The input device 76 is not limited to a display 762 with a touch panel. For example, the control device 7 may also include input devices 76 such as buttons, switches, joysticks, pointing devices, and keyboards; and a display showing the data or other information input to the input device 76. Furthermore, multiple computers can operate collaboratively, functioning as the control device 7. Additionally, the memory 72 can be distributed across multiple locations. For example, a portion of the memory 72 may be contained in cloud storage.

[0206] The control device 7 generates control commands by executing program 722 stored in memory 72 through processor 70. Furthermore, communication circuit 74 sends these control commands to the controlled device (more specifically, the rotary drive device 44, the moving device 5, etc.). In this way, by executing program 722 through processor 70, the control device 7 can control the rotary drive device 44 and the moving device 5.

[0207] (Friction stirring engagement mode M1)

[0208] like Figure 34 As illustrated, the control device 7 is capable of executing a friction stirring engagement mode M1, which involves frictionally stirring and engaging the first workpiece 8 and the second workpiece 9.

[0209] The friction stirring engagement mode M1 includes: the control device 7 sending a first movement command C1 to the moving device 5 (more specifically, the second drive device 52b) to cause the rotating probe 21 to move along a first movement path PA traversing the recess 81 (see reference). Figure 33 Additionally, the friction stirring engagement mode M1 includes: the control device 7 sending a second movement command C2 to the moving device 5 (more specifically, the first drive device 51b) to suppress the variation of the axial load F when the probe 21 traverses the recess 81 (more specifically, to maintain the axial load F as constant).

[0210] For example, the control device 7 executing the first program 722a generates a first rotation command R1 and generates the first movement command C1 based on the first path data 726a stored in the memory 72. Furthermore, the control device 7 sends the generated first rotation command R1 to the rotation drive device 44 and the generated first movement command C1 to the movement device 5 (more specifically, the second drive device 52b). The rotation drive device 44, receiving the first rotation command R1, causes the probe 21 to rotate about the rotation axis AX. Additionally, the movement device 5 (more specifically, the second drive device 52b), receiving the first movement command C1, causes the rotating probe 21 to move along a first movement path PA (more specifically, a first movement path PA that completely traverses the recess 81) traversing the recess 81. Furthermore, the first movement path PA traversing the recess 81 can be a straight path or a curved path PA2 (see reference). Figure 31 ).

[0211] In addition, the control device 7 executing the first procedure 722a generates a second movement command C2 to suppress the variation of the axial load F (more specifically, to maintain the axial load F as constant).

[0212] For example, as probe 21 moves along the first moving path PA, control device 7 receives signal data representing axial load F from sensor 12, or obtains data representing the load of motor 44m. Furthermore, based on the signal data received from sensor 12 or the data representing the load of motor 44m, control device 7 executing the first procedure 722a generates a second moving command C2 to suppress variations in the axial load F (more specifically, to maintain the axial load F at a constant level).

[0213] The control device 7 sends the generated second movement command C2 to the moving device 5 (more specifically, the first drive device 51b). The moving device 5 (more specifically, the first drive device 51b), receiving the second movement command C2, moves the rotating probe 21 in either the second direction DR2 or the third direction DR3. In this way, when the probe 21 traverses the recess 81, the variation of the axial load F can be suppressed (more specifically, the axial load F can be maintained constant).

[0214] The control device 7 can send a first movement command C1 to the moving device 5 (more specifically, the second drive device 52b) to maintain the moving speed of the probe 21, which moves along the first moving path PA, at a constant speed. By maintaining the moving speed of the probe 21 at a constant speed, large burrs can be prevented or suppressed from forming on the surface of the second workpiece 9 when the probe 21 crosses the recess 81.

[0215] (Second Implementation)

[0216] Reference Figures 1 to 37 The friction stirring bonding method of the second embodiment, the manufacturing method of the automobile part, and the machine tool 1B will be described. Figure 35 This is a schematic diagram of machine tool 1B according to the second embodiment. Figure 36 This is a schematic perspective view showing a portion of the machine tool 1B according to the second embodiment. Figure 37 This is a schematic diagram of machine tool 1B according to the second embodiment.

[0217] In the second embodiment, the machine tool 1B differs from the first embodiment in that it is capable of cutting the first workpiece 8 to form the first surface 82a and the second surface 82b. Otherwise, the second embodiment is the same as the first embodiment.

[0218] In the second embodiment, the description focuses on the differences from the first embodiment. Furthermore, in the second embodiment, repetitive descriptions of matters already described in the first embodiment are omitted. Therefore, in the second embodiment, even if not explicitly stated, matters already described in the first embodiment can certainly be applied to the second embodiment. Conversely, all matters described in the second embodiment can be applied to the first embodiment.

[0219] like Figure 37 As illustrated, the machine tool 1B of the second embodiment includes a workpiece support member 3, a machining head 4, a rotary drive device 44, a moving device 5, and a control device 7. The friction-stirring joint cutting tool 2 can be mounted on the machining head 4.

[0220] Since the friction stirring joint tool 2, workpiece support member 3, processing head 4, rotary drive device 44, moving device 5 and control device 7 have already been described in the first embodiment, repeated descriptions of these components are omitted.

[0221] In the second embodiment, the machine tool 1B cuts the first workpiece 8 using a cutting tool 61, forming the first surface 82a and the second surface 82b described in the first embodiment (see reference). Figure 23 as well as Figure 24 or Figure 27 as well as Figure 28 ).

[0222] The second embodiment achieves the same effects as the first embodiment. Furthermore, in the second embodiment, the machine tool 1B can perform both friction stirring and cutting operations. Therefore, the process from the formation of the first surface 82a and the second surface 82b to the joining of the first workpiece 8 and the second workpiece 9 can be performed efficiently and in a short time.

[0223] The friction stirring bonding method of the second embodiment includes a first preparation step (first step ST1), a second preparation step (second step ST2), an overlapping step (third step ST3), and a bonding step (fourth step ST4).

[0224] Since the first preparation step, the second preparation step, the overlapping step, and the joining step have already been described in the first embodiment, repeated descriptions of these steps are omitted.

[0225] (arbitrarily added components)

[0226] Next, refer to Figures 1 to 37 Any additional configurations that can be used in the second embodiment (or the first embodiment described above) will be described.

[0227] (Processing head 4)

[0228] exist Figure 35 as well as Figure 37 In the described example, the machining head 4 is capable of selectively holding the tool holder 62 that holds the cutting tool 61 (see reference). Figure 35 ) and the probe holder HD that holds the probe 21 (see reference) Figure 37 In other words, the processing head 4 functions as part of the friction stirring and bonding device, and also as part of the cutting processing device.

[0229] Alternatively, machine tool 1B may also have a second machining head in addition to the machining head 4 which holds the probe holder HD, and a tool holder 62 which holds the cutting tool 61 is mounted on the second machining head.

[0230] (Probe holder HD)

[0231] like Figure 37 As illustrated, the probe holder HD may include a power receiving unit 18 that receives power from a power supply unit 48 supported by the processing head 4. Additionally, the sensor 12a may be electrically connected to the power receiving unit 18. In this case, the sensor 12a operates using the power received from the power receiving unit 18.

[0232] (Tool changing device 100)

[0233] exist Figure 36 In the described example, machine tool 1B includes a tool changing device 100. The tool changing device 100 can replace the tool holder 62 held in the machining head 4 (more specifically, the rotating body 42 of the machining head 4) with a probe holder HD that holds the probe 21. Additionally, the tool changing device 100 can replace the probe holder HD held in the machining head 4 (more specifically, the rotating body 42 of the machining head 4) with a tool holder 62 that holds the cutting tool 61.

[0234] exist Figure 36 The image shows the state of the tool changing device 100 after it has replaced the tool holder 62 held in the machining head 4 with the probe holder HD that holds the probe 21.

[0235] exist Figure 36 In the described example, the tool changing device 100 includes: a tool changing arm 101; an arm rotating device 104 for rotating the tool changing arm 101; and an arm moving device 106 for moving the tool changing arm 101 linearly. The arm rotating device 104 rotates the tool changing arm 101 about a second axis AX2. Furthermore, the arm moving device 106 moves the tool changing arm 101 in a direction parallel to the second axis AX2.

[0236] exist Figure 36 In the described example, the tool changing arm 101 is capable of simultaneously holding the probe holder HD and the tool holder 62. In other words, the tool changing arm 101 has a first clamping part for clamping the probe holder HD and a second clamping part for clamping the tool holder 62.

[0237] (Warehouse Department (stoker) 110)

[0238] exist Figure 36 In the described example, machine tool 1B includes a storage section 110 capable of storing probe holder HD and tool holder 62. The storage section 110 is capable of storing multiple holders, including probe holder HD and tool holder 62.

[0239] The storage unit 110 may be equipped with a holder removal device 114, which moves the probe holder HD or tool holder 62 stored by the storage unit 110 to a standby position P1 that can be accessed by the tool changing device 100.

[0240] (Control device 7)

[0241] The control device 7 controls the rotary drive device 44 and the moving device 5. Additionally, the control device 7 can also control the tool changing device 100 and / or the storage unit 110.

[0242] exist Figure 35 or Figure 37 In the described example, the control device 7 sends a rotation command R to the rotary drive device 44, causing the rotating body 42, which holds the probe holder HD or the tool holder 62, to rotate about the first axis AX1. More specifically, the control device 7 sends a rotation command R to the rotary drive device 44, and the rotary drive device 44, upon receiving the rotation command R, causes the rotating body 42 to rotate about the first axis AX1.

[0243] The control device 7 moves the machining head 4 relative to the workpiece support member 3 by sending a movement command C to the moving device 5. For example, the control device 7 moves the machining head 4 in a direction parallel to the second direction DR2 by sending the movement command C to the first drive device 51b. Additionally, the control device 7 moves the machining head 4 in a direction perpendicular to the second direction DR2 by sending the movement command C to the second drive device 52b. Furthermore, the control device 7 moves the workpiece support member 3 in a direction parallel to the horizontal plane by sending the movement command C to the third drive device 58b.

[0244] The control device 7 sends a tool change command to the tool changer 100, replacing the tool holder 62 (or probe holder HD) held on the machining head 4 with a probe holder HD (or tool holder 62). More specifically, the control device 7 sends a first tool change command to the tool changer 100, and upon receiving the first tool change command, the tool changer 100 replaces the tool holder 62 held on the machining head 4 with a probe holder HD holding the probe 21. Additionally, the control device 7 sends a second tool change command to the tool changer 100, and upon receiving the second tool change command, the tool changer 100 replaces the probe holder HD held on the machining head 4 with a tool holder 62 holding the cutting tool 61.

[0245] The control device 7 can send a retrieval command to the storage unit 110, causing the probe holder HD or tool holder 62 stored in the storage unit 110 to move to a standby position P1 accessible to the tool changing device 100. For example, the control device 7 sends a retrieval command to the storage unit 110 and a first tool changing command to the tool changing device 100. Upon receiving the retrieval command, the storage unit 110 moves the probe holder HD to the standby position P1. Additionally, upon receiving the first tool changing command, the tool changing device 100 replaces the tool holder 62 held in the machining head 4 with the probe holder HD moved to the standby position P1.

[0246] like Figure 35 As illustrated, the control device 7 includes a processor 70, a memory 72, a communication circuit 74, and an input device 76. Since the processor 70, memory 72, communication circuit 74, and input device 76 have already been described in the first embodiment, a repetitive description of these components is omitted.

[0247] The memory 72 stores data and program 722. The program 722 stored in the memory 72 may include a first program 722a for friction stirring and joining, a second program 722b for cutting and machining, and a third program 722c for tool changing.

[0248] Data required for cutting operations using the cutting tool 61 (e.g., shape data of the first workpiece 8, second path data 726b specifying the second movement path that the cutting tool 61 should move to form a recess 81 in the first workpiece 8, etc.) can be input to the control device 7 via the input device 76, or from another computer via the communication circuit 74. The data required for cutting operations is stored in the memory 72.

[0249] Data required for friction stirring and joining using the friction stirring and joining tool 2 (e.g., first path data 726a specifying the first movement path that the probe 21 should move, etc.) can be input to the control device 7 via the input device 76, or from another computer via the communication circuit 74. The data required for friction stirring and joining is stored in the memory 72.

[0250] The control device 7 generates control commands by executing program 722 stored in memory 72 through processor 70. Furthermore, communication circuit 74 sends these control commands to the controlled devices (more specifically, the rotary drive 44, the moving device 5, the tool changing device 100, and the storage unit 110). In this way, by executing program 722 through processor 70, the control device 7 can control the rotary drive 44, the moving device 5, the tool changing device 100, and the storage unit 110.

[0251] (Concave Formation Mode M2)

[0252] exist Figure 35 In the described example, the control device 7 is capable of executing the recess forming mode M2. The recess forming mode M2 ​​involves causing the rotating cutting tool 61 to move along a second travel path PB (see reference as needed). Figure 24 or Figure 28 The movement is such that a recess 81 is formed in the first workpiece 8. By executing the recess forming mode M2, a recess 81 including the first surface 82a and the second surface 82b is formed in the first workpiece 8.

[0253] like Figure 35 As illustrated, when performing the recess forming mode M2, the control device 7 moves the rotating cutting tool 61 along the second movement path PB to form a recess 81 in the first workpiece 8. More specifically, the control device 7 sends a second rotation command R2 to the rotation drive device 44 and a third movement command C3 to the moving device 5 to move the cutting tool 61 along the second movement path PB.

[0254] For example, the control device 7 executing the second program 722b generates a second rotation command R2, and generates the third movement command C3 based on the second path data 726b stored in the memory 72. Furthermore, the control device 7 sends the generated second rotation command R2 to the rotation drive device 44, and sends the generated third movement command C3 to the movement device 5 (more specifically, the first drive device 51b and the second drive device 52b). Upon receiving the second rotation command R2, the rotation drive device 44 rotates the cutting tool 61 about the rotation axis AX. Furthermore, upon receiving the third movement command C3, the movement device 5 (more specifically, the first drive device 51b and the second drive device 52b) moves the rotating cutting tool 61 along the second movement path PB. In this way, a recess 81 is formed in the first workpiece 8 by a plurality of surfaces 82, including a first surface 82a and a second surface 82b.

[0255] (Tool Change Mode M3)

[0256] exist Figure 36 In the example described, the control device 7 is capable of executing tool change mode M3. Tool change mode M3 is a mode in which the tool holder 62 (i.e., the tool holder 62 holding the cutting tool 61) held in the machining head 4 is replaced with the probe holder HD holding the probe 21.

[0257] More specifically, after executing the recess forming mode M2, the control device 7 sends a first tool change command to the tool changing device 100 to replace the tool holder 62 holding the cutting tool 61 held in the machining head 4 with the probe holder HD holding the probe 21.

[0258] For example, the control device 7 executing the third procedure 722c generates a first tool change command. Additionally, the control device 7 sends the first tool change command to the tool change device 100. Upon receiving the first tool change command, the tool change device 100 replaces the tool holder 62 held on the machining head 4 with a probe holder HD holding the probe 21.

[0259] (Friction stirring engagement mode M1)

[0260] like Figure 37 As illustrated, after executing the tool changing mode M3, the control device 7 can execute the friction stirring engagement mode M1. The friction stirring engagement mode M1 involves moving the rotating probe 21 along a first movement path PA that traverses the recess 81 (more specifically, a first movement path PA that completely traverses the recess 81). Since the friction stirring engagement mode M1 has already been described in the first embodiment, a repetition of the description of the friction stirring engagement mode M1 is omitted.

[0261] (Friction stirring bonding method)

[0262] The first preparation step (first step ST1) may include the control device 7 generating the third movement command C3 based on the second path data 726b stored in the memory 72. Additionally, the first preparation step (first step ST1) may include the movement device 5, upon receiving the third movement command C3, moving the rotating cutting tool 61 along the second movement path PB. By moving the rotating cutting tool 61 along the second movement path PB, a recess 81 is formed in the first workpiece 8, defined by a plurality of surfaces 82 including a first surface 82a and a second surface 82b.

[0263] The first preparation process (first step ST1) mentioned above may include a tool changing device 100 that receives a first tool changing command from the control device 7 and replaces the tool holder 62 held on the machining head 4 with a probe holder HD that holds the probe 21.

[0264] The aforementioned joining process (fourth step ST4) may include the control device 7 generating the first movement command C1 based on the first path data 726a stored in the memory 72. Furthermore, the aforementioned joining process (fourth step ST4) may include a moving device 5 (more specifically, a second driving device 52b) receiving the first movement command C1, causing the rotating probe 21 to move along the first movement path PA. By moving the rotating probe 21 along the first movement path PA, the first workpiece 8 and the second workpiece 9 are frictionally stirred and joined.

[0265] In addition, the above-mentioned joining process (fourth step ST4) may include the control device 7 moving the probe 21 in the second direction DR2 when the probe 21 in the rotating state passes through the recess 81, and then moving the probe 21 in the third direction DR3 to suppress the variation of the axial load F from the first workpiece 8 and the second workpiece 9 of the friction stirring joining tool 2 (more specifically, to maintain the axial load F as constant).

[0266] More specifically, the above-mentioned joining process (fourth step ST4) may include: (1) the control device 7 generates a second movement command C2 based on the signal data received from the sensor 12 or the data representing the load of the motor 44m, so as to suppress the variation of the axial load F (more specifically, to maintain the axial load F as constant); (2) the control device 7 sends the second movement command C2 to the moving device 5 (more specifically, the first drive device 51b); and (3) the moving device 5 (more specifically, the first drive device 51b) that receives the second movement command C2 moves the probe 21 in the second direction DR2, and then moves the probe 21 in the third direction DR3.

[0267] (Program 722)

[0268] The procedure 722 of the implementation method (more specifically, the procedure 722 including the first procedure 722a, the second procedure 722b, and the third procedure 722c) is a procedure for causing the machine tool 1 (more specifically, the control device 7 of the machine tool 1) to perform the first preparation step (first step ST1) and the joining step (fourth step ST4) in the above-described friction stirring joining method.

[0269] More specifically, the procedure 722 of the embodiment is a procedure in which the machine tool 1 (more specifically, the control device 7 of the machine tool 1) performs a friction stir joining method, the friction stir joining method comprising: (1) a step of preparing a first workpiece 8 having a recess 81 defined by a plurality of surfaces 82 including a first surface 82a whose height gradually decreases in a first direction DR1 and a second surface 82b whose height gradually increases in the first direction DR1; and (2) a step of friction stir joining the first workpiece 8 and the second workpiece 9 by using a friction stir joining tool 2 in a state in which the first workpiece 8 and the second workpiece 9 are overlapped.

[0270] like Figure 23 as well as Figure 24 or Figure 27 as well as Figure 28As illustrated, the process of preparing the first workpiece 8 (first step ST1) includes forming a recess 81 using a cutting tool 61. Since the details of the process of preparing the first workpiece 8 (first step ST1) have already been described in the first or second embodiment described above, a detailed description of this process is omitted.

[0271] The process of frictionally stirring and joining the first workpiece 8 and the second workpiece 9 (fourth step ST4) includes: (1) moving the frictionally stirring and joining tool 2 in the first direction DR1 so that the probe 21 of the frictionally stirring and joining tool 2 traverses at least a portion of the first region RG1 in which the first workpiece 8 and the second workpiece 9 contact (refer to...). Figure 5 (2) While moving the friction stirring joining tool 2 in the first direction DR1 so that the probe 21 traverses the second region RG2 where the gap between the first surface 82a and the second workpiece 9 gradually increases from zero in the first direction DR1, the friction stirring joining tool 2 is also moved in the second direction DR2 to follow the change in height of the first surface 82a (refer to...). Figure 6 (3) While moving the friction stir joining tool 2 in the first direction DR1 so that the probe 21 traverses the third region RG3 in the first direction DR1 where the gap between the second surface 82b and the second workpiece 9 gradually decreases to zero, the friction stir joining tool 2 is moved in the third direction DR3 to follow the change in height of the second surface 82b (see reference). Figure 8 ).

[0272] In addition, the process of frictionally stirring and joining the first workpiece 8 and the second workpiece 9 (fourth step ST4) includes controlling the position of the frictionally stirring and joining tool 2 as the probe 21 moves across each of the second region RG2 and the third region RG3 in the first direction DR1, so as to suppress the variation of the axial load F on the frictionally stirring and joining tool 2 from the first workpiece 8 and the second workpiece 9.

[0273] The detailed description of the process of frictionally stirring and joining the first workpiece 8 and the second workpiece 9 (fourth step ST4) has already been described in the first embodiment or the second embodiment described above, so the detailed description of this process is omitted.

[0274] The memory 72 in the embodiment can be a non-volatile storage medium recording the program 722 described above (more specifically, program 722 including first program 722a, second program 722b, and third program 722c). For example... Figure 38 As illustrated, the non-volatile storage medium on which the above-described program 722 is recorded can be a removable storage medium 72M.

[0275] This invention is not limited to the above-described embodiments or modifications. It is obvious that within the scope of the technical concept of this invention, the embodiments or modifications can be appropriately modified or changed. Furthermore, various techniques used in the embodiments or modifications can be applied to other embodiments or modifications as long as they do not create technical contradictions. In addition, any additional components in the embodiments or modifications can be appropriately omitted.

[0276] For example, in Figures 17 to 20 , Figure 32 The image shows an example where machine tool 1 is a vertical machining center. Alternatively, as... Figure 39 As illustrated in the example, machine tool 1 in the embodiment can also be a horizontal machining center. Further alternatively, such as... Figure 40 As illustrated in the example, the machine tool 1 in the embodiment can also be a lathe.

[0277] Explanation of reference numerals in the attached figures:

[0278] 1, 1A, 1B: Machine tool; 2: Friction stirring joint cutting tool; 3: Workpiece support component; 4: Machining head; 5: Moving device; 7: Control device; 8: First workpiece; 8a: Block; 8b, 8c, 8d: Housing body; 8u: Upper surface; 9: Second workpiece; 9a, 9b, 9c, 9d: Plate; 9s: Lower surface; 12, 12a, 12b, 12c: Sensor; 13: Data receiver; 14: Communication interface; 18: Power receiving part; 21: Probe; 23: Shoulder; 30: Base; 31: Worktable; 42: Rotating body; 43: Frame; 44: Rotary drive device; 44m: Motor; 48: Power supply part; 51: First moving device; 51a: First moving body; 51b: First drive 52a: Support body; 52b: Second drive device; 58: Second moving device; 58b: Third drive device; 61: Cutting tool; 62: Tool holder; 70: Hardware processor; 71a: First control unit; 71b: Second control unit; 72: Memory; 72M: Storage medium; 74: Communication circuit; 76: Input device; 78: Bus; 81: Recess; 81e: End on the fourth direction side; 81f: End on the fifth direction side; 82: Surface; 82a: First surface; 82b: Second surface; 82c: Third surface; 83: First part; 84a: First step part; 84b: Second step part; 85: Recess; 86: Second part; 87: Welding part; 88a: First 88b: Second piece; 91: Part opposite to the concave portion; 91u: Flat surface; 91v: Concave surface; 100: Tool changing device; 101: Tool changing arm; 104: Arm rotation device; 106: Arm moving device; 110: Storage section; 114: Holder removal device; 722: Program; 722a: First program; 722b: Second program; 722c: Third program; 726a: First path data; 726b: Second path data; 762: Display with touch panel; AX: Rotation axis; AX1: First axis; AX2: Second axis; C: Movement command; C1: First movement command; C2: Second movement command; C3: Third movement command; C4: Movement command; CS1 : Inclined surface; CS2: Inclined surface; D: Joining item; D2: Battery housing; D3: Inverter housing; D4: Motor housing; F: Axial load; G2, G3, G4: Gap; HD: Probe holder; OP: Opening; PA: First movement path; PA1: Straight path; PA2: Curved path; PA3: Arc-shaped path; PB: Second movement path; PS1: Inclined surface; PS2: Inclined surface; R: Rotation command; R1: First rotation command; R2: Second rotation command; RG1: First region; RG2: Second region; RG3: Third region; RG4: Fourth region; RG5: Fifth region; S1: Signal data; S2: Data representing the motor drive current value.

Claims

1. A friction stirring bonding method, wherein, The friction stirring bonding method includes: The process of preparing a first workpiece, the first workpiece having a recess, the recess being defined by a plurality of surfaces including a first surface whose height gradually decreases in a first direction and a second surface whose height gradually increases in the first direction; The process of preparing the second workpiece; The process of overlapping the first workpiece and the second workpiece to form a first region where the first workpiece and the second workpiece contact, a second region where the gap between the first surface and the second workpiece gradually increases from zero in the first direction, and a third region where the gap between the second surface and the second workpiece gradually decreases to zero in the first direction; and The process of using a friction stirring joining tool to join the first workpiece and the second workpiece by friction stirring. The process of frictionally stirring and joining the first workpiece and the second workpiece includes: The friction stir joint tool is moved in the first direction so that the probe of the friction stir joint tool traverses at least a portion of the first region; When the depth direction of the recess is defined as the second direction, the friction stirring and joining tool is moved in the first direction to allow the probe to traverse the second region, while the friction stirring and joining tool is moved in the second direction to follow the change in height of the first surface; and When the direction opposite to the second direction is defined as the third direction, the friction stir bonding tool is moved in the first direction to allow the probe to traverse the third region, while the friction stir bonding tool is moved upward in the third direction to follow the change in height of the second surface. As the probe moves through each of the second and third regions in the first direction, the position of the friction stir joint tool is controlled to suppress variations in the axial load on the friction stir joint tool from the first and second workpieces.

2. The friction stirring bonding method according to claim 1, wherein, As the probe moves through the second region and each of the third region in the first direction, the position of the friction stirring engagement tool is controlled to maintain the axial load at a constant level.

3. The friction stirring bonding method according to claim 1 or 2, wherein, The friction stirring bonding method further includes: The process of the sensor detecting the axial load; and The process by which the control device receives signal data representing the axial load from the sensor. Based on the reduction in axial load as the probe traverses the second region, the control device corrects the position of the friction stirring joint tool in the second direction. Based on the increase in axial load as the probe traverses the third region, the control device corrects the position of the friction stirring engagement tool toward the third direction.

4. The friction stirring bonding method according to claim 1 or 2, wherein, The friction stirring bonding method further includes a step of: a control device acquiring the load applied to a motor that drives the probe to rotate around a rotation axis. The control device adjusts the position of the friction stirring joint tool in the second direction based on the decrease in load as the probe traverses the second region. The control device adjusts the position of the friction stirring joint tool toward the third direction based on the increase in load as the probe traverses the third region.

5. The friction stirring bonding method according to claim 1 or 2, wherein, The recessed portion is defined to have a plurality of surfaces including a first surface, a second surface, and a third surface disposed between the first surface and the second surface and having a constant height. The process of overlapping the first workpiece and the second workpiece includes: forming a fourth region disposed between the second region and the third region. The process of frictionally stirring and joining the first workpiece and the second workpiece includes: moving the probe so that the probe sequentially traverses the second region, the fourth region, and the third region.

6. The friction stirring bonding method according to claim 1 or 2, wherein, The process of preparing the first workpiece includes: The first surface is formed by cutting the first step portion between the first part of the first workpiece and the recess of the first workpiece; and The second surface is formed by cutting the second step portion between the second part of the first workpiece and the recess of the first workpiece.

7. The friction stirring bonding method according to claim 6, wherein, The first workpiece includes a welded part. The process of preparing the first workpiece includes forming the depression by cutting the welded portion and the portion adjacent to the welded portion.

8. The friction stirring bonding method according to claim 1 or 2, wherein, The first workpiece includes a welded part. The process of preparing the first workpiece includes forming the first surface and the second surface by cutting the welded portion and the portion adjacent to the welded portion.

9. The friction stirring bonding method according to claim 1 or 2, wherein, The friction stir joint tool includes a shoulder that presses against the third-direction side surface of the second workpiece. As the probe moves across the second region in the first direction, both the probe and the shoulder move in the second direction to follow the change in height of the first surface.

10. A method for manufacturing an automotive component, wherein, The method for manufacturing the automotive component includes: The process of preparing a first component, the first component having a recess defined by a plurality of surfaces including a first surface whose height gradually decreases in a first direction and a second surface whose height gradually increases in the first direction; The process of preparing the second component; The process of overlapping the first component and the second component to form a first region where the first component and the second component contact, a second region where the gap between the first surface and the second component gradually increases from zero in the first direction, and a third region where the gap between the second surface and the second component gradually decreases to zero in the first direction; and The process of using a friction stirring joining tool to friction stir join the first component and the second component. The process of frictionally stirring and joining the first component and the second component includes: The friction stir joint tool is moved in the first direction so that the probe of the friction stir joint tool traverses at least a portion of the first region; When the depth direction of the recess is defined as the second direction, the friction stirring and joining tool is moved in the first direction to allow the probe to traverse the second region, while the friction stirring and joining tool is moved in the second direction to follow the change in height of the first surface; and When the direction opposite to the second direction is defined as the third direction, the friction stir bonding tool is moved in the first direction to allow the probe to traverse the third region, while the friction stir bonding tool is moved upward in the third direction to follow the change in height of the second surface. As the probe moves through each of the second and third regions in the first direction, the position of the friction stir joint tool is controlled to suppress variations in the axial load on the friction stir joint tool from the first and second components.

11. The method for manufacturing an automotive component according to claim 10, wherein, The first component is the housing body that houses the battery, inverter, or motor. The second component is a plate that covers the opening of the housing body.

12. The method for manufacturing an automotive component according to claim 10 or 11, wherein, The recess extends in a fourth direction perpendicular to the second direction. When the direction opposite to the fourth direction is defined as the fifth direction, in the state where the second component overlaps with the first component, at least one of the end of the recess on the fourth direction side and the end of the recess on the fifth direction side is open.

13. A machine tool, wherein, The machine tool includes: A workpiece support component supports the first workpiece and the second workpiece; The processing head supports the probe of the friction stirring joint tool so that it can rotate about a rotation axis; A rotation drive device causes the probe to rotate around the rotation axis; A moving device that causes the processing head to move relative to the workpiece support member; as well as The control device controls the rotary drive device and the moving device. The control device is capable of executing a friction stirring bonding mode, in which the first workpiece and the second workpiece are frictionally stirred and bonded while the second workpiece is overlapped on the first workpiece. The first workpiece has a recess defined by a plurality of surfaces including a first surface whose height gradually decreases in a first direction and a second surface whose height gradually increases in the first direction. The friction stirring engagement mode includes: The friction stirring joint tool is moved in the first direction so that the probe traverses at least a portion of the first region where the first workpiece and the second workpiece are in contact. When the depth direction of the recess is defined as the second direction, the friction stir joining tool is moved in the first direction so that the probe traverses a second region where the gap between the first surface and the second workpiece gradually increases from zero in the first direction, while the friction stir joining tool is moved in the second direction to follow the change in the height of the first surface; and When the direction opposite to the second direction is defined as the third direction, the friction stir joining tool is moved in the first direction so that the probe traverses a third region in the first direction where the gap between the second surface and the second workpiece gradually decreases to zero, while the friction stir joining tool is moved upward in the third direction to follow the change in height of the second surface. As the probe moves in the first direction through each of the second and third regions, the control device controls the position of the friction stir joint tool to suppress variations in the axial load on the friction stir joint tool from the first and second workpieces.

14. The machine tool according to claim 13, wherein, The control device is capable of executing a recess-forming mode, in which a rotating cutting tool is moved along a second travel path to form the recess in the first workpiece. The friction stirring engagement mode includes: moving the probe in a rotating state along a first moving path that traverses the recess.

15. A storage medium storing a program, wherein, The program is used to enable the machine tool to perform a friction stirring joint method. The friction stirring bonding method includes: A process for preparing a first workpiece, the first workpiece having a recess defined by a plurality of surfaces including a first surface whose height gradually decreases in a first direction and a second surface whose height gradually increases in the first direction; and The process of joining the first workpiece and the second workpiece by friction stirring using a friction stirring joining tool while the first workpiece and the second workpiece are overlapping. The process of preparing the first workpiece includes: forming the recess using a cutting tool. The process of frictionally stirring and joining the first workpiece and the second workpiece includes: The friction stir bonding tool is moved in the first direction so that the probe of the friction stir bonding tool traverses at least a portion of the first region where the first workpiece and the second workpiece are in contact. When the depth direction of the recess is defined as the second direction, the friction stir joining tool is moved in the first direction so that the probe traverses a second region where the gap between the first surface and the second workpiece gradually increases from zero in the first direction, while the friction stir joining tool is moved in the second direction to follow the change in the height of the first surface; and When the direction opposite to the second direction is defined as the third direction, the friction stir joining tool is moved in the first direction so that the probe traverses a third region in the first direction where the gap between the second surface and the second workpiece gradually decreases to zero, while the friction stir joining tool is moved upward in the third direction to follow the change in height of the second surface. The process of frictionally stirring and joining the first workpiece and the second workpiece includes: As the probe moves through each of the second and third regions in the first direction, the position of the friction stir joint tool is controlled to suppress variations in the axial load on the friction stir joint tool from the first and second workpieces.

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