Friction stir spot welding device and its operation method

Abstract

A friction stir spot welding device includes a needle component (11), a shoulder component (12), a rotary driver (57), a forward / backward driver (53), and a controller (51). When the axial speed of the shoulder component (12) or the needle component (11) in the rotating state reaches a predetermined first speed, after a predetermined first time has elapsed, the controller (51) determines that the front end of the shoulder component (12) or the front end of the needle component (11) has reached the contact surface (62a) between the second component (62) and the first component (61).

Description

Technical Field

[0001] This specification discloses a friction stir spot welding device and its operation method. Background Technology

[0002] A method for joining dissimilar metals is known, the purpose of which is to join the first metal material and the second metal material with high quality regardless of the deviation of the thickness dimensions of the plates of the first and second metal materials (for example, see Patent Document 1).

[0003] In the dissimilar metal joining method disclosed in Patent Document 1, the load on the drive source (motor) that rotates or moves axially on the needle component increases sharply after a through hole is formed in the second metal material using a needle component, when the needle component is embedded in the first metal material. Furthermore, when the load on the drive source (motor) that rotates or moves the needle component axially increases sharply, the current applied to the drive source (motor) also increases sharply.

[0004] Therefore, in the dissimilar metal bonding method disclosed in Patent Document 1, when the change in current applied to these driving sources is greater than a predetermined threshold, it can be determined that the needle component is embedded in the first metal material.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2020-127954 Summary of the Invention

[0008] The technical problem that the invention aims to solve

[0009] However, since the increase in the amount of change of current applied to the driving source is instantaneous, it may be difficult to determine that even the dissimilar metal bonding method disclosed in Patent Document 1 still has room for improvement.

[0010] The applicant intends to provide a friction stir spot welding device and its operating method, which, compared with the dissimilar metal joining method disclosed in the aforementioned Patent Document 1, can more clearly determine whether the front end of the shoulder component or the front end of the needle component reaches the contact surface between the second component and the first component.

[0011] Technical solutions for solving the problem

[0012] To address the aforementioned problems, a preferred friction stir spot welding apparatus is one having a first component and a second component, which joins the workpiece by softening it using frictional heat. The friction stir spot welding apparatus comprises: a needle component formed in a cylindrical shape; a shoulder component formed in a cylindrical shape and inserted into the needle component; a rotary actuator that rotates the needle component and the shoulder component about an axis aligned with the axis of the needle component; a forward / backward actuator that moves the needle component and the shoulder component forward and backward along the axis; and a controller, wherein the first component is configured to face the needle component and the shoulder component and is made of a material with a melting point lower than that of the second component.

[0013] The controller activates the rotary driver and the forward / backward driver to cause the needle component and the shoulder component to press the joined portion of the workpiece in a rotating state, and activates the rotary driver and the forward / backward driver to cause the needle component and the shoulder component to stir the workpiece. When the rotating shoulder component or the rotating needle component has been in a state where the speed in the axial direction is a predetermined first speed for a predetermined first time, it is determined that the front end of the shoulder component or the front end of the needle component has reached the contact surface between the second component and the first component.

[0014] Therefore, it is possible to more clearly determine whether the front end of the shoulder component or the front end of the needle component reaches the contact surface between the second component and the first component.

[0015] Furthermore, the operation method of the friction stir spot welding apparatus is a method of operating a friction stir spot welding apparatus having a first component and a second component, and joining by using frictional heat to soften the workpiece, wherein the friction stir spot welding apparatus comprises: a needle component formed in a cylindrical shape; a shoulder component formed in a cylindrical shape and inserted into the interior by the needle component; a rotary drive that rotates the needle component and the shoulder component about an axis aligned with the axis of the needle component; a forward and backward drive that moves the needle component and the shoulder component forward and backward along the axis respectively; and a controller, wherein the first component is configured to face the needle component and the shoulder component and is made of a material with a melting point lower than that of the second component.

[0016] The controller activates the rotary driver and the forward / backward driver to cause the needle component and the shoulder component to press the joined portion of the workpiece in a rotating state, and activates the rotary driver and the forward / backward driver to cause the needle component and the shoulder component to stir the workpiece. When the rotating shoulder component or the rotating needle component has been in a state where the speed in the axial direction is a predetermined first speed for a predetermined first time, it is determined that the front end of the shoulder component or the front end of the needle component has reached the contact surface between the second component and the first component.

[0017] Therefore, it is possible to more clearly determine whether the front end of the shoulder component or the front end of the needle component reaches the contact surface between the second component and the first component.

[0018] The preferred friction stir spot welding apparatus and its operating method are clarified in the following detailed description of the preferred embodiments, based on the accompanying drawings.

[0019] The effects of the invention

[0020] Based on the friction stir spot welding device and its operating method, it is possible to more clearly determine whether the front end of the shoulder component or the front end of the needle component reaches the contact surface between the second component and the first component. Attached Figure Description

[0021] Figure 1 This is a schematic diagram illustrating the general structure of the friction stir spot welding apparatus according to Embodiment 1.

[0022] Figure 2 For illustrative purposes Figure 1 The diagram shows the block diagram of the control structure of the friction stir spot welding device.

[0023] Figure 3A This is a flowchart illustrating an example of the operation of the friction stir spot welding apparatus according to Embodiment 1.

[0024] Figure 3B This is a flowchart illustrating an example of the operation of the friction stir spot welding apparatus according to Embodiment 1.

[0025] Figure 4A For illustrative purposes only. Figure 1 The process diagram of an example of friction stir spot welding using the friction stir spot welding apparatus shown is illustrated.

[0026] Figure 4B For illustrative purposes only. Figure 1 The process diagram of an example of friction stir spot welding using the friction stir spot welding apparatus shown is illustrated.

[0027] Figure 5AThis is a flowchart illustrating an example of the operation of the friction stir spot welding apparatus according to Embodiment 2.

[0028] Figure 5B This is a flowchart illustrating an example of the operation of the friction stir spot welding apparatus according to Embodiment 2.

[0029] Figure 6A This is a process diagram illustrating an example of the steps of friction stir spot welding in the friction stir spot welding apparatus according to Embodiment 2.

[0030] Figure 6B This is a process diagram illustrating an example of the steps of friction stir spot welding in the friction stir spot welding apparatus according to Embodiment 2.

[0031] Figure 7 To plot the curve of the front end position of the shoulder component relative to the bonding time during friction stir spot welding under bonding condition 1 using the friction stir spot welding apparatus of Experimental Example 1.

[0032] Figure 8 To plot the axial velocity of the shoulder component relative to the bonding time during friction stir spot welding under bonding condition 1 using the friction stir spot welding apparatus of Experimental Example 1.

[0033] Figure 9 To plot the current value flowing in the rotary actuator versus the bonding time during friction stir spot welding under bonding condition 1 using the friction stir spot welding apparatus of Experimental Example 1.

[0034] Figure 10 A graph was plotted to show the current flowing in the rotary actuator versus the bonding time during friction stir spot welding under bonding condition 2 using the friction stir spot welding apparatus of Comparative Example 1.

[0035] Figure 11 This is an explanatory diagram for friction stir spot welding using the friction stir spot welding apparatus according to Embodiment 3.

[0036] Figure 12A This is an explanatory diagram showing the use state of the shoulder component of the friction stir spot welding apparatus according to Embodiment 3, which is pressed into the workpiece.

[0037] Figure 12B The shoulder component of the friction stir spot welding apparatus according to Embodiment 3 is compared to Figure 12A A diagram illustrating the usage state of being pressed into the mating object.

[0038] Figure 12C This diagram illustrates the usage state of the shoulder component of the friction stir spot welding apparatus according to Embodiment 3, where it reaches the contact surface of the second component.

[0039] Figure 13 To illustrate, a graph was plotted showing the position of the front end of the shoulder component relative to the bonding time during friction stir spot welding in Experiments 2 and 3.

[0040] Figure 14 To illustrate the axial velocity of the shoulder component relative to the bonding time during friction stir spot welding in Experiments 2, 3 and 4, we plotted graphs.

[0041] Figure 15 To illustrate the relationship between the front end position of the shoulder component and the bonding time during friction stir spot welding in Experiments 5, 6 and 7, we plotted graphs. Detailed Implementation

[0042] Preferred embodiments will now be described with reference to the accompanying drawings. Furthermore, in all the drawings, the same or equivalent components are labeled with the same reference numerals, and repeated descriptions are omitted. Additionally, in all the drawings, essential structural components are illustrated for the purpose of illustrating the embodiments; other structural components may sometimes be omitted from the illustration. Moreover, the scope of this specification is not limited to the embodiments described below.

[0043] (Implementation Method 1)

[0044] The friction stir spot welding apparatus according to Embodiment 1 is a friction stir spot welding apparatus having a first component and a second component, and joining by softening the workpiece using frictional heat. The friction stir spot welding apparatus includes: a needle component formed in a cylindrical shape; a shoulder component formed in a cylindrical shape and inserted into the needle component; a rotary driver that rotates the needle component and the shoulder component about an axis that coincides with the axis of the needle component; a forward and backward driver that moves the needle component and the shoulder component forward and backward along the axis respectively; and a controller, wherein the first component is configured to face the needle component and the shoulder component and is made of a material with a melting point lower than that of the second component.

[0045] The controller activates the rotary drive and the forward / backward drive to make the needle component and the shoulder component press the joined portion of the workpiece in a rotating state, and activates the rotary drive and the forward / backward drive to make the needle component and the shoulder component stir the workpiece. When the axial speed of the rotating shoulder component or the rotating needle component reaches a predetermined first speed for a predetermined first time, it is determined that the front end of the shoulder component or the front end of the needle component has reached the contact surface between the second component and the first component.

[0046] Furthermore, in the friction stir spot welding apparatus according to Embodiment 1, when the speed of the rotating shoulder component in the axial direction has passed a predetermined first time at a predetermined first speed, the controller can also determine that the front end of the shoulder component has reached the contact surface between the second component and the first component.

[0047] Here, the first speed, which is the state of a predetermined first speed, means a range of speeds. In other words, the state of reaching this first speed refers to the state where the speed in the axial direction of the shoulder component is within the speed range of the first speed. In the friction stir spot welding apparatus according to Embodiment 1, the first speed can be more than -0.5 mm / s and less than +0.5 mm / s.

[0048] Furthermore, in the friction stir spot welding apparatus described in Embodiment 1, the first time may be more than 0.01 seconds and less than 0.5 seconds.

[0049] Furthermore, in the friction stir spot welding apparatus according to Embodiment 1, after the controller determines that the front end of the shoulder component has reached the contact surface between the second component and the first component, it can also activate the advance drive and the rotation drive to make the front end of the shoulder component reach a predetermined first position within the second component.

[0050] Furthermore, in the friction stir spot welding apparatus according to Embodiment 1, the first position can also be a position less than 0.3 mm away from the contact surface between the second component and the first component.

[0051] The operation method of the friction stir spot welding apparatus according to Embodiment 1 is an operation method of a friction stir spot welding apparatus having a first component and a second component, and joining by using frictional heat to soften the workpiece. The friction stir spot welding apparatus includes: a needle component formed in a cylindrical shape; a shoulder component formed in a cylindrical shape and inserted into the needle component; a rotary driver that rotates the needle component and the shoulder component about an axis that coincides with the axis of the needle component; a forward and backward driver that moves the needle component and the shoulder component forward and backward along the axis respectively; and a controller, wherein the first component is configured to face the needle component and the shoulder component and is made of a material with a melting point lower than that of the second component.

[0052] The controller activates the rotary drive and the forward / backward drive to make the needle component and the shoulder component press the joined portion of the workpiece in a rotating state, and activates the rotary drive and the forward / backward drive to make the needle component and the shoulder component stir the workpiece. When the axial speed of the rotating shoulder component or the rotating needle component reaches a predetermined first speed for a predetermined first time, it is determined that the front end of the shoulder component or the front end of the needle component has reached the contact surface between the second component and the first component.

[0053] Furthermore, in the operation method of the friction stir spot welding apparatus according to Embodiment 1, when the speed of the rotating shoulder component in the axial direction has passed a predetermined first time at a predetermined first speed, the controller can also determine that the front end of the shoulder component has reached the contact surface between the second component and the first component.

[0054] Furthermore, in the operation method of the friction stir spot welding apparatus according to Embodiment 1, the first speed may also be -0.5 mm / s or more and +0.5 mm / s or less.

[0055] Furthermore, in the operation method of the friction stir spot welding apparatus according to Embodiment 1, the first time may be more than 0.01 seconds and less than 0.5 seconds.

[0056] Furthermore, in the operation method of the friction stir spot welding apparatus according to Embodiment 1, after the controller determines that the front end of the shoulder component has reached the contact surface between the second component and the first component, it can also activate the advance drive and the rotation drive to make the front end of the shoulder component reach a predetermined first position within the second component.

[0057] Furthermore, in the operation method of the friction stir spot welding apparatus according to Embodiment 1, the first position can also be a position less than 0.3 mm away from the contact surface between the second component and the first component.

[0058] Hereinafter, an example of the friction stir spot welding apparatus according to Embodiment 1 will be described in detail with reference to the accompanying drawings.

[0059] [Structure of the friction stir spot welding device]

[0060] Figure 1 This is a schematic diagram illustrating the general structure of the friction stir spot welding apparatus 50 according to Embodiment 1. Furthermore, Figure 1 The up and down directions in the figure represent the up and down directions in the friction stir spot welding device 50.

[0061] like Figure 1 As shown, the friction stir spot welding apparatus 50 according to Embodiment 1 includes a needle component 11, a shoulder component 12, a tool holder 52, a forward / backward driver 53, a clamping component 13, a backing support 55, a backing component 56, and a rotary driver 57.

[0062] The needle component 11, shoulder component 12, tool retainer 52, advance / retract drive 53, clamping component 13, and rotation drive 57 are disposed at the upper end of the backing support 55, which is composed of a C-type gun (C-type frame). Furthermore, a backing component 56 is provided at the lower end of the backing support 55. The needle component 11, shoulder component 12, clamping component 13, and backing component 56 are mounted on the backing support 55 in opposing positions. Additionally, a coupling element 60 is disposed between the needle component 11, shoulder component 12, and clamping component 13 and the backing component 56.

[0063] The needle component 11, shoulder component 12, and clamping component 13 are fixed to a tool holder 52, which is composed of a rotary tool holder 521 and a clamping holder 522. Specifically, the needle component 11 and shoulder component 12 are fixed to the rotary tool holder 521, and the clamping component 13 is fixed to the clamping holder 522 via a clamping driver 41. Furthermore, the rotary tool holder 521 is supported by the clamping holder 522 via a rotary driver 57. In addition, the clamping driver 41 is composed of a spring.

[0064] Furthermore, the needle component 11, shoulder component 12, and clamping component 13 are driven to move forward and backward in the vertical direction by the forward and backward drive 53, which is composed of needle driver 531 and shoulder driver 532.

[0065] The needle component 11 is formed into a cylindrical shape, although in Figure 1 Not shown in detail, but supported by a rotating tool holder 521. Furthermore, the needle component 11 is configured to rotate about an axis Xr (rotation axis) aligned with the axis of the needle component 11 via a rotation driver 57, and is capable of rotating in the direction of arrow P1, i.e., the direction of axis Xr, via a needle driver 531. Figure 1 (The center represents the vertical direction) for forward and backward movement.

[0066] Furthermore, the needle driver 531 may also be configured as a direct-acting actuator, for example. A direct-acting actuator may also be configured as a servo motor and rack and pinion, a servo motor and ball screw, or a cylinder, for example.

[0067] The shoulder member 12 is formed as a hollow cylinder and is supported by a rotating tool holder 521. The needle member 11 is inserted into the hollow of the shoulder member 12. In other words, the shoulder member 12 is configured to surround the outer peripheral surface of the needle member 11.

[0068] Furthermore, the shoulder component 12 is configured to rotate about the same axis Xr as the needle component 11 via the rotary driver 57, and to move forward and backward in the direction of arrow P2, i.e., the direction of axis Xr, via the shoulder driver 532.

[0069] Furthermore, the shoulder actuator 532 may also be configured as a direct-acting actuator, for example. A direct-acting actuator may also be configured as a servo motor and rack and pinion, a servo motor and ball screw, or a cylinder, for example.

[0070] Thus, in this embodiment, both the needle component 11 and the shoulder component 12 (rotating tool) are supported by the same rotating tool holder 521, and both rotate integrally around the axis Xr via the rotating driver 57. Furthermore, the needle component 11 and the shoulder component 12 are configured to move forward and backward along the axis Xr via the needle driver 531 and the shoulder driver 532, respectively.

[0071] Furthermore, in this embodiment 1, although the needle component 11 can move forward and backward independently, and can also move forward and backward along with the shoulder component 12, the needle component 11 and the shoulder component 12 can also be configured to move forward and backward independently.

[0072] The clamping member 13, like the shoulder member 12, is formed into a hollow cylindrical shape and is configured such that its axis coincides with the axis Xr. The shoulder member 12 is inserted into the hollow of the clamping member 13.

[0073] That is, the cylindrical shoulder member 12 is configured to surround the outer peripheral surface of the needle member 11, and the cylindrical clamping member 13 is configured to surround the outer peripheral surface of the shoulder member 12. In other words, the clamping member 13, the shoulder member 12, and the needle member 11 are all coaxial nested structures.

[0074] Furthermore, the clamping member 13 is configured to press the joined object 60 from one surface (surface 60c). As described above, in this embodiment 1, the clamping member 13 is supported by the clamping retainer 522 via the clamping driver 41. The clamping driver 41 is configured to apply force to the clamping member 13 toward the backing member 56. Moreover, the clamping member 13 (including the clamping driver 41 and the clamping retainer 522) is configured to be able to move forward and backward in the direction of arrow P3 (the same direction as arrows P1 and P2) via the shoulder driver 532.

[0075] Furthermore, although the clamping actuator 41 is made of a spring in this embodiment 1, it is not limited to this. The clamping actuator 41 can be any structure that applies force or welding pressure to the clamping member 13, and for example, a mechanism using pneumatic pressure, hydraulic pressure, servo motor, etc. is also preferred.

[0076] The needle component 11, shoulder component 12, and clamping component 13 each have a front end face 11a, a front end face 12a, and a front end face 13a. Furthermore, the needle component 11, shoulder component 12, and clamping component 13 move forward and backward via the forward and backward drive 53, thereby causing the front end face 11a, front end face 12a, and front end face 13a to abut against the surface 60c (the part to be joined of the workpiece 60) of the workpiece 60 and press the workpiece 60.

[0077] In this embodiment 1, the backing member 56 is configured to be supported by a flat surface (support surface 56a) in a manner that abuts against the back of the flat substrate 60. Its structure is not particularly limited as long as the backing member 56 can adequately support the substrate 60 in a manner suitable for friction stir welding. The backing member 56 may also be configured, for example, to have multiple different shapes, and can be removed from the backing support 55 for replacement depending on the type of substrate 60.

[0078] The joined parts 60 have two plate-shaped first parts 61 and second parts 62. The first parts 61 are configured to face the needle parts 11 and the shoulder parts 12 and are made of a material with a lower melting point than the second parts 62.

[0079] Alternatively, a sealant material may be applied to the contact portion of the overlapping first component 61 and second component 62 of the joined parts 60. The sealant material can be a sealant or an adhesive. Examples of sealant materials include polysulfide synthetic rubber, natural rubber, silicone rubber, fluororubber, and synthetic resins such as ethylene tetrafluoride rubber resin.

[0080] The first component 61 can be made of at least one of the following materials: metallic materials (e.g., aluminum, aluminum alloys, magnesium alloys, etc.), thermoplastics (e.g., polyamides, etc.), and fiber-reinforced plastics (e.g., carbon fiber reinforced plastics, etc.). Various aluminum alloys can be used as the aluminum alloy, such as Al-Mg-Si alloys (A6061) or Al-Si-Mg alloys (AC4C).

[0081] Furthermore, metallic materials (such as steel, titanium, stainless steel, copper, etc.) can also be used as the second component 62. Various types of steel can be used, including mild steel and high-tensile steel. Additionally, an oxide film can be formed on the surface of the steel, or a coating (such as galvanization) can be formed. The galvanized steel sheet can be hot-dip galvanized steel sheet (GI steel sheet), alloyed hot-dip galvanized steel sheet (GA steel sheet), high-aluminum zinc-coated steel sheet (registered trademark), or aluminized silicon hot-stamped steel sheet. Furthermore, the coating thickness can be from 2 μm to 50 μm.

[0082] Furthermore, in this embodiment 1, the joined object 60 is constructed from a plate-shaped first component 61 and a plate-shaped second component 62. However, it is not limited to this; the shape of the joined object 60 (first component 61 and second component 62) is arbitrary, for example, it can be a cuboid or an arc shape. In addition, the joined object 60 may have more than three components.

[0083] Furthermore, the specific structures of the needle component 11, shoulder component 12, tool holder 52, advance / retreat driver 53, clamping component 13, backing support 55, and rotary driver 57 in Embodiment 1 are not limited to the structures described above, and known structures can be widely used in the field of friction stir welding. For example, the needle driver 531 and shoulder driver 532 can also be composed of electric motors and gear mechanisms known in the field of friction stir welding.

[0084] Furthermore, although the backing support 55 is constructed as a C-type gun in this embodiment 1, it is not limited thereto. The backing support 55 can be constructed in any manner as long as it can move back and forth to support the needle member 11, the shoulder member 12, and the clamping member 13, and can support the backing member 56 in a position opposite to the needle member 11, the shoulder member 12, and the clamping member 13.

[0085] Furthermore, although this embodiment 1 employs a structure with clamping member 13, it is not limited to this and a structure without clamping member 13 may also be used. In this case, for example, the clamping member 13 may also be detachably constructed from the backing support portion 55 as needed.

[0086] Furthermore, the friction stir spot welding apparatus 50 according to Embodiment 1 is mounted on a friction stir spot welding robot (not shown). Specifically, the backing support 55 is mounted on the front end of the robot arm.

[0087] Therefore, it can be assumed that the backing support 55 is also included in the robot device for friction stir welding. The specific structure of the robot device for friction stir welding, including the backing support 55 and the arm, is not particularly limited, and structures known in the field of friction stir welding, such as multi-joint robots, are preferred.

[0088] Furthermore, the friction stir spot welding apparatus 50 (including the backing support 55) is not limited to applications for robotic devices used in friction stir spot welding; for example, it can also be applied to known processing equipment such as NC machine tools, large C-frames, and automatic riveting machines.

[0089] Furthermore, the friction stir spot welding apparatus 50 according to Embodiment 1 can also be configured such that two or more pairs of robots face each other, except for the backing member 56. Moreover, as long as the friction stir spot welding apparatus 50 can stably perform friction stir spot welding on the workpiece 60, the workpiece 60 can be made into a handheld type, or the robot can be used as a positioner for the workpiece 60.

[0090] [Control structure of friction stir spot welding device]

[0091] Next, refer to Figure 2 This section provides a detailed description of the control structure of the friction stir spot welding device 50 described in Embodiment 1.

[0092] Figure 2 For illustrative purposes Figure 1 The block diagram of the control structure of the friction stir spot welding device 50 is shown.

[0093] like Figure 2 As shown, the friction stir spot welding device 50 includes a controller 51, a memory 31, an input device 32, a welding pressure detector 33, a position detector 34, a speed detector 35, and a timer 36.

[0094] The controller 51 controls the various components (devices) that constitute the friction stir spot welding apparatus 50. Specifically, the controller 51 controls the pin driver 531, shoulder driver 532, and rotary driver 57 that constitute the advance / retract driver 53 by reading and executing software such as the basic program stored in the memory 31.

[0095] Therefore, it is possible to control the switching of forward / backward movement of the needle component 11 and the shoulder component 12, the control of the front end position of the needle component 11 and the shoulder component 12 during forward / backward movement, the movement speed, and the movement direction. Furthermore, it is possible to control the pressing force used to press the needle component 11, the shoulder component 12, and the object 60 to be joined with the clamping component 13. Moreover, it is possible to control the rotational speed of the needle component 11 and the shoulder component 12.

[0096] Furthermore, the controller 51 can be composed of a single controller 51 with centralized control, or it can be composed of multiple controllers 51 with distributed control that cooperate with each other. In addition, the controller 51 can be composed of a microcomputer, or it can be composed of an MPU, a PLC (Programmable Logic Controller), logic circuits, etc.

[0097] The memory 31 stores basic programs and various data in a readable manner. The memory 31 can be constructed from known storage devices such as memory or hard disks. The memory 31 can be configured as multiple storage devices (e.g., random access memory and hard disk drives), and does not have to be a single device. When the controller 51 or the like is configured as a microcomputer, at least a portion of the memory 31 can be configured as the microcomputer's internal memory, or it can be configured as a separate memory.

[0098] Furthermore, data is stored in memory 31, and data can be read from outside the controller 51, and data can also be written from the controller 51, etc.

[0099] The input device 32 can input various parameters or other data related to the control of friction stir spot welding to the controller 51, and is composed of known input devices such as a keyboard, touch panel, and button switch group. In this embodiment 1, at least the joining conditions of the workpiece 60 can be input through the input device 32, such as the thickness and material of the workpiece 60.

[0100] The welding pressure detector 33 is configured to detect the welding pressure (pressing force) applied by the needle member 11 or the shoulder member 12 to the workpiece 60 when they abut or press against it, and output the detected pressing force to the controller 51. Furthermore, although a force sensor is used as the welding pressure detector 33 in this embodiment 1, it is not limited to this and a known welding pressure detection device can be used.

[0101] The position detector 34 is configured to detect the position information of the front end (front end face 12a) of the shoulder member 12 and output the detected position information to the controller 51. For example, a displacement sensor, LVDT, encoder, etc., can be used as the position detector 34. When using an encoder as the position detector 34, the encoder can also be configured to detect the rotation angle of the forward / backward drive 53 (shoulder drive 532) that drives the shoulder member 12 forward / backward. Furthermore, the position detector 34 can also be a current meter used to detect the current value supplied to the forward / backward drive 53 (shoulder drive 532) that drives the shoulder member 12 forward / backward.

[0102] The speed detector 35 is configured to detect the speed in the axial direction of the shoulder member 12 and output the detected speed information to the controller 51. As the speed detector 35, for example, an encoder used to detect the rotation angle of the forward / backward drive 53 (shoulder drive 532) that drives the shoulder member 12 forward / backward can also be used.

[0103] The timer 36 has a clock function and / or a calendar function. Furthermore, the timer 36 is configured to measure time and output the measured time information to the controller 51.

[0104] [Operation Method of Friction Stir Spot Welding Device]

[0105] Next, refer to Figures 3A to 4B The operation of the friction stir spot welding apparatus 50 according to Embodiment 1 will be explained in detail. Furthermore, the following operations are executed by the controller 51 reading the program stored in the memory 31.

[0106] Figure 3A and Figure 3B This is a flowchart illustrating an example of the operation of the friction stir spot welding apparatus 50 according to Embodiment 1. Figure 4A and Figure 4B For illustrative purposes Figure 1 A process diagram illustrating an example of the steps involved in friction stir spot welding using the friction stir spot welding apparatus 50 shown.

[0107] also, Figure 4A and Figure 4B Take, for example, the case where the first component 61 and the second component 62 are overlapped as joints 60 and connected by spot welding. Furthermore, in Figure 4A and Figure 4B In the figure, a part of the friction stir spot welding device 50 is omitted. Arrow r indicates the rotation direction of the needle component 11 and the shoulder component 12, and hollow arrow F indicates the direction of the force applied to the first component 61 and the second component 62.

[0108] Furthermore, although forces are also applied to the first component 61 and the second component 62 from the backing component 56, for ease of explanation, in Figure 4A and Figure 4B Not shown in the image. Furthermore, in Figure 4A and Figure 4B In order to clearly distinguish it from the needle component 11 and the clamping component 13, the shoulder component 12 is shaded.

[0109] First, the operator places the object to be joined 60 on the support surface 56a of the backing member 56. Then, the operator operates the input device 32 to input the engagement execution of the object to be joined 60 into the controller 51. Alternatively, a robot can also place the object to be joined 60 on the support surface 56a of the backing member 56.

[0110] Therefore, as Figure 3A As shown, the controller 51 drives the rotary driver 57 to rotate the needle component 11 and the shoulder component 12 at a predetermined first rotational speed (e.g., 200-3000 rpm) (refer to step S101). Figure 4A Process (1)).

[0111] Next, the controller 51 drives the advance / retreat driver 53 (shoulder driver 532) to bring the needle component 11, shoulder component 12, and clamping member 13 close to the workpiece 60 while the needle component 11 and shoulder component 12 are rotating. Then, the front end face 11a of the needle component 11, the front end face 12a of the shoulder component 12, and the front end face 13a of the clamping member 13 are brought closer together. Figure 4A and Figure 4B (Not shown in the figure) abuts against the surface 60c (the part to be joined of the object 60) of the object to be joined (refer to step S102, Figure 4A Process (2)).

[0112] At this time, the controller 51 controls the forward and backward drive 53 (shoulder drive 532) to cause the needle component 11, shoulder component 12 and clamping component 13 to press the object to be joined 60 with a predetermined pressing force (e.g., a predetermined value within the range of 3kN to 15kN).

[0113] Therefore, the controller 51 determines whether the welding pressure detector 33 has detected a specified pressure (e.g., 3kN to 15kN) (step S103). Thus, it can be determined whether the front end face 11a of the needle member 11, the front end face 12a of the shoulder member 12, and the front end face 13a of the clamping member 13 are in contact with the surface 60c of the object to be joined 60.

[0114] When the controller 51 determines that the welding pressure detector 33 has not detected the specified pressure (in step S103, it is "No"), the process of steps S102 and S103 is repeated until the welding pressure detector 33 detects the specified pressure.

[0115] On the other hand, when the controller 51 determines that the welding pressure detector 33 has detected the specified pressure ("yes" in step S103), the processing in step S104 is executed.

[0116] When the front end face 11a of the needle component 11, the front end face 12a of the shoulder component 12, and the front end face 13a of the clamping component 13 abut against the surface 60c of the object to be joined 60, the first component 61 and the second component 62 are clamped by the clamping component 13 and the backing component 56. Moreover, by the contraction of the clamping driver 41, the clamping component 13 is forced toward the surface 60c of the object to be joined 60, generating a clamping force.

[0117] Furthermore, in this state, since neither the needle member 11 nor the shoulder member 12 moves forward or backward, the surface 60c of the object to be joined is "prepared to be heated". As a result, the material constituting the contact area of ​​the first member 61 softens due to heat generated by friction, and a plastic flow portion 60a is generated near the surface 60c of the object to be joined.

[0118] In step S104, the controller 51 drives the advance / retraction driver 53 to cause the front end face 11a of the needle member 11 to sink into the front end face 12a of the shoulder member 12. At this time, the controller 51 can also drive the advance / retraction driver 53 (needle driver 531) to cause the needle member 11 to move away from the workpiece 60. In addition, the controller 51 can also drive the advance / retraction driver 53 (shoulder driver 532) to press the shoulder member 12 into the workpiece 60.

[0119] As a result, the front end of the shoulder member 12 is pressed into the joint portion of the jointed object 60 while rotating.

[0120] Next, the controller 51 obtains the speed information of the shoulder member 12 in the axial direction detected by the speed detector 35 (step S105). Then, the controller 51 determines whether the speed information (speed) obtained in step S105 is a predetermined first speed (step S106).

[0121] Here, the first component 61 and the second component 62 are made of different metals, and the second component 62 is made of a material with a higher melting point than the first component 61 (a hard material). Therefore, when the front end (front end face 12a) of the shoulder component 12 reaches the contact surface 62a between the second component 62 and the first component 61, the axial velocity of the shoulder component 12 decreases.

[0122] Therefore, the first speed can be preset through experiments, etc., and appropriately set according to the composition of the second component 62, etc. From the perspective of the detection accuracy of the speed detector 35, the first speed can be above -0.5 mm / s and below +0.5 mm / s.

[0123] When the controller 51 determines that the speed information obtained in step S105 is not the first speed (no in step S106), it returns to step S105 and repeats the processing of steps S105 and S106 until the speed information obtained in step S105 becomes the first speed.

[0124] On the other hand, when the controller 51 determines that the speed information obtained in step S105 is the first speed ("yes" in step S106), it obtains time information from the timer 36 (step S107). Specifically, the controller 51 obtains from the timer 36 the time elapsed after the speed information obtained in step S105 is determined to be the first speed.

[0125] The controller 51 determines whether the time information obtained in step S107 (determined to be the time elapsed since the first speed) has passed the preset first time (step S108).

[0126] Here, in the friction stir spot welding apparatus 50 according to Embodiment 1, the time elapsed from the moment the speed in the axial direction of the shoulder member 12 reaches the first speed is measured for the following reason. That is, when the front end (front end face 12a) of the shoulder member 12 reaches the contact surface 62a between the second member 62 and the first member 61, the front end of the shoulder member 12 will not be immediately pressed into the second member 62.

[0127] Therefore, by measuring the time elapsed after the axial velocity of the shoulder member 12 reaches the first velocity, false detections can be avoided. Furthermore, it is possible to more clearly (accurately) determine when the front end (front end face 12a) of the shoulder member 12 reaches the contact surface 62a between the second member 62 and the first member 61.

[0128] The initial time can be preset through experiments, etc. When the difference in melting point (hardness) between the first component 61 and the second component 62 is small, the initial time can be, for example, 0.01 seconds or more, 0.05 seconds or more, 0.1 seconds or more, or 0.2 seconds or more. Conversely, when the difference in melting point (hardness) between the first component 61 and the second component 62 is large, the initial time can be, for example, less than 0.5 seconds or less than 0.4 seconds.

[0129] When the controller 51 determines that the time information obtained in step S107 has not passed the first time (the result is "No" in step S108), it returns to step S107 and repeats the processing of steps S107 and S108 before the time information obtained in step S107 passes the first time.

[0130] On the other hand, when the controller 51 determines that the time information obtained in step S107 has passed the first time ("yes" in step S108), it obtains the position information of the front end of the shoulder member 12 from the position detector 34 (step S109; see reference). Figure 3B Next, the controller 51 determines whether the position information of the front end of the shoulder member 12 obtained in step S109 has reached the predetermined first position (step S110).

[0131] Here, the first position can be set in advance through experiments, etc., and can be any position between the contact surface 62a of the second component 62 and the first component 61 and less than 0.3 mm.

[0132] From the perspective of removing the plating (coating) or oxide film formed on the second component 62 to form a new surface, the first position can be a position 0.008 mm or more from the abutment surface 62a, or a position 0.01 mm or more from the abutment surface 62a. Furthermore, from the perspective of suppressing wear (damage) of the shoulder component 12, the first position can be a position 0.25 mm or less from the abutment surface 62a, a position 0.20 mm or less from the abutment surface 62a, or a position 0.10 mm or less from the abutment surface 62a.

[0133] Furthermore, from the perspective of removing the plating (coating) or oxide film formed on the second component 62 to form a new surface, the first position may be a position less than 0.20 mm away from the plating (coating) or oxide film formed on the second component 62, or a position less than 0.10 mm away from the plating (coating) or oxide film formed on the second component 62.

[0134] Thus, the front end face 12a of the shoulder member 12 can reach any position (i.e., the first position) less than 0.3 mm from the abutment surface 62a of the second member 62. Moreover, a new surface can be formed at the portion where the second member 62 abuts against the shoulder member 12 and / or the portion where the second member 62 abuts against the plastic flow portion 60a.

[0135] Furthermore, as the softened material in the plastic flow section 60a is pushed aside by the shoulder member 12 and flows from directly below the shoulder member 12 towards directly below the needle member 11, the needle member 11 retracts and floats relative to the shoulder member 12 (see reference). Figure 4A Process (3)).

[0136] Furthermore, the plating (film) formed on the surface of the second component 62 or the impurities forming the oxide film (e.g., zinc, iron oxide, etc.) also flow directly below the needle component 11. Moreover, a portion of the aforementioned impurities flows outward further from the outer peripheral surface of the front end of the shoulder component 12.

[0137] When the controller 51 determines that the position information of the front end of the shoulder component 12 obtained in step S109 has not reached the first position (no in step S110), it returns to step S109 and repeats the processing of steps S109 and S110 until it determines that the position information of the front end of the shoulder component 12 obtained in step S109 has reached the first position.

[0138] On the other hand, when the controller 51 determines that the position information of the front end of the shoulder member 12 obtained in step S109 has reached the first position (yes in step S110), the processing of step S111 is executed.

[0139] In step S111, controller 51 drives advance driver 53 (needle driver 531) to advance needle member 11 toward object 60, and / or controller 51 drives advance driver 53 (shoulder driver 532) to move shoulder member 12 away from object 60.

[0140] Specifically, the controller 51 controls the advance / retreat driver 53 to align the front end face 11a of the needle member 11 and the front end face 12a of the shoulder member 12 to the point that they hardly create any steps between them (becoming the same face).

[0141] As a result, the needle component 11 gradually moves forward toward the first component 61, while the shoulder component 12 moves backward from the first component 61. At this time, the softened portion of the plastic flow section 60a flows from directly below the needle component 11 toward directly below the shoulder component 12 (the recess created by the pressing of the shoulder component 12).

[0142] Furthermore, the front end face 11a of the pin member 11 and the front end face 12a of the shoulder member 12 move to the vicinity of the surface 60c of the workpiece 60. As a result, the surface 60c of the workpiece 60 is shaped to obtain a substantially flat surface that does not substantially produce recesses (see reference). Figure 4B Process (4)).

[0143] Furthermore, in the processing of step S104 and / or step S111, when the controller 51 sets the area of ​​the front end face of the needle component 11 to Ap, the area of ​​the front end face of the shoulder component 12 to As, the pressing depth of the needle component 11 to Pp, and the pressing depth of the shoulder component 12 to Ps, it is preferable to control the advance / retreat driver 53 in order to reduce the pressure caused by the following formula (I).

[0144] Ap·Pp + As·Ps = Tx···(I)

[0145] The absolute value of the defined tool average position Tx is preferably controlled by the forward / backward drive 53 to make the tool average position Tx = 0. Furthermore, since Japanese Patent Application Publication No. 2012-196682 discloses in detail the specific control for reducing the absolute value of the tool average position Tx, its description is omitted here.

[0146] Furthermore, the controller 51 can also control the advance / retreat driver 53 during the processing in step S111 to position the front end face 11a of the needle component 11 in the first position. At this time, the controller 51 can also control the advance / retreat driver 53 after the front end face 11a of the needle component 11 is in the first position to make the front end face 11a of the needle component 11 and the front end face 12a of the shoulder component 12 the same surface.

[0147] Next, the controller 51 drives the advance / retreat driver 53 to disengage the needle component 11, shoulder component 12, and clamping component 13 from the object being joined 60 (step S112). Then, the controller 51 controls the rotation driver 57 to stop the needle component 11 and shoulder component 12 from rotating (see step S113). Figure 4B The process (5) is completed, and the process (joining process of the joined objects 60) is ended.

[0148] Therefore, since the rotation (and pressing) caused by the contact between the needle component 11 and the shoulder component 12 is not applied to the first component 61 and the second component 62, the plastic flow stops in the plastic flow section 60a, and the new surface of the plastic flow section 60a engages with the second component 62.

[0149] In the friction stir spot welding apparatus 50 of this embodiment 1, the controller 51 is configured to determine whether a first time has elapsed when the speed of the rotating shoulder member 12 in the axial direction is a first speed.

[0150] Therefore, regardless of the thickness deviation of the first component 61, it can be more clearly (more accurately) determined that the front end of the shoulder component 12 reaches the contact surface 62a between the second component 62 and the first component 61.

[0151] Furthermore, in the friction stir spot welding apparatus 50 according to Embodiment 1, the controller 51 is configured to actuate the advance / retreat driver 53 so that the front end of the shoulder member 12 moves from the contact surface 62a between the second member 62 and the first member 61 to any position (i.e., the first position) less than 0.3 mm.

[0152] Thus, the plating (coating) or oxide film formed on the surface (abutment surface 62a) of the second component 62 can be removed through the front end of the shoulder component 12, and a new surface is formed.

[0153] Furthermore, impurities (such as zinc) used to form the removed plating (film) or oxide film flow directly below the needle member 11. Moreover, a portion of these impurities flows outward further from the outer peripheral surface of the front end of the shoulder member 12.

[0154] Therefore, when the softened portion of the plastic flow section 60a flows from directly below the needle member 11 to directly below the shoulder member 12 (through the recess created by the pressing of the shoulder member 12), the amount of impurities flowing directly below the shoulder member 12 is reduced accordingly to the amount of impurities flowing out.

[0155] Furthermore, in the friction stir spot welding apparatus 50 of this embodiment 1, although the controller 51 uses a method of actuating the advance / retreat driver 53 so that after determining that a first time has elapsed when the speed in the axial direction of the rotating shoulder member 12 is a first speed, the front end of the shoulder member 12 reaches the first position, it is not limited to this.

[0156] The controller 51 may also be configured such that, when the axial speed of the rotating shoulder member 12 reaches a first speed, after determining that a first time has elapsed, the movement of the shoulder member 12 is paused until a predetermined second time has elapsed. Furthermore, after determining that a second time has elapsed, the controller 51 drives the advance / retraction driver 53 (needle driver 531) in a manner that the needle member 11 moves toward the object to be joined 60, and / or the controller 51 may also be configured to drive the advance / retraction driver 53 (shoulder driver 532) in a manner that causes the shoulder member 12 to move away from the object to be joined 60.

[0157] Here, from the perspective of forming a new surface on the surface of the second component 62, the second time can be 0.1 seconds or more, or 0.2 seconds or more. Furthermore, from the perspective of suppressing excessive heating on the newly formed surface on the surface of the second component 62, the second time can be 0.8 seconds or less, or 0.75 seconds or less.

[0158] (Implementation Method 2)

[0159] In the friction stir spot welding apparatus according to Embodiment 2, when the speed of the rotating needle component in the axial direction reaches a predetermined first speed, the controller of the friction stir spot welding apparatus according to Embodiment 1 determines that the tip of the needle component has reached the contact surface between the second component and the first component after a predetermined first time has elapsed.

[0160] Furthermore, in the friction stir spot welding apparatus according to Embodiment 2, the first speed can be above -0.5 mm / s and below +0.5 mm / s.

[0161] Furthermore, in the friction stir spot welding apparatus described in Embodiment 2, the first time may be more than 0.01 seconds and less than 0.5 seconds.

[0162] Furthermore, in the friction stir spot welding apparatus according to Embodiment 2, after the controller determines that the front end of the needle component has reached the contact surface between the second component and the first component, it can also activate the advance driver and the rotation driver to make the front end of the needle component reach a predetermined first position within the second component.

[0163] Furthermore, in the friction stir spot welding apparatus according to Embodiment 2, the first position can also be a position less than 0.3 mm away from the contact surface between the second component and the first component.

[0164] Regarding the operation method of the friction stir spot welding apparatus according to Embodiment 2, in the operation method of the friction stir spot welding apparatus according to Embodiment 1, when the speed of the rotating needle component in the axial direction reaches a predetermined first speed, and a predetermined first time has elapsed, the controller determines that the front end of the needle component has reached the contact surface between the second component and the first component.

[0165] Furthermore, in the operation method of the friction stir spot welding apparatus according to Embodiment 2, the first speed can be above -0.5 mm / s and below +0.5 mm / s.

[0166] Furthermore, in the operation method of the friction stir spot welding apparatus according to Embodiment 2, the first time can be more than 0.01 seconds and less than 0.5 seconds.

[0167] Furthermore, in the operation method of the friction stir spot welding apparatus according to Embodiment 2, after the controller determines that the front end of the needle component has reached the contact surface between the second component and the first component, it can also activate the advance drive and the rotation drive in such a way that the front end of the needle component reaches a predetermined first position in the second component.

[0168] Furthermore, in the operation method of the friction stir spot welding apparatus according to Embodiment 2, the first position can also be a position less than 0.3 mm away from the contact surface between the second component and the first component.

[0169] Hereinafter, an example of the friction stir spot welding apparatus according to Embodiment 2 will be described in detail with reference to the accompanying drawings.

[0170] Furthermore, although the basic structure of the friction stir spot welding apparatus 50 in Embodiment 2 is the same as that in Embodiment 1, the structures of the position detector 34 and the speed detector 35 are different.

[0171] Specifically, the position detector 34 is configured to detect the position information of the front end (front end face 11a) of the needle component 11 and output the detected position information to the controller 51. As the position detector 34, for example, a displacement sensor, LVDT, encoder, etc. can also be used.

[0172] When using an encoder as the position detector 34, the encoder can also be configured to detect the rotation angle of the advance / retreat driver 53 (needle driver 531) that drives the needle member 11 forward and backward. Alternatively, the position detector 34 can also be a galvanometer for detecting the current value supplied to the advance / retreat driver 53 (needle driver 531) that drives the needle member 11 forward and backward.

[0173] The speed detector 35 is configured to detect the speed in the axial direction of the needle component 11 and output the detected speed information to the controller 51. As the speed detector 35, for example, an encoder used to detect the rotation angle of the forward / backward drive 53 (needle drive 531) that drives the needle component 11 forward / backward can also be used.

[0174] [Action and Effects of Friction Stir Spot Welding Device]

[0175] Reference Figures 5A to 6B The operation of the friction stir spot welding apparatus 50 according to Embodiment 2 will be explained in detail. Furthermore, the following operations are performed by the controller 51 reading the program stored in the memory 31.

[0176] Figure 5A and Figure 5B This is a flowchart illustrating an example of the operation of the friction stir spot welding apparatus 50 according to Embodiment 2. Figure 6A and Figure 6B This is a process diagram illustrating an example of the friction stir spot welding process of the friction stir spot welding apparatus 50 according to Embodiment 2.

[0177] also, Figure 6A and Figure 6B Taking the case where a first component 61 and a second component 62 are used as the joined parts 60, and they are overlapped and connected by spot welding as an example. Furthermore, in Figure 6A and Figure 6B In the figure, a part of the friction stir spot welding device 50 is omitted. Arrow r indicates the rotation direction of the needle component 11 and the shoulder component 12, and hollow arrow F indicates the direction of the force applied to the first component 61 and the second component 62.

[0178] Furthermore, although forces are also applied to the first component 61 and the second component 62 from the backing component 56, for ease of explanation, in Figure 6A and Figure 6B Not shown in the image. Furthermore, in Figure 6A and Figure 6B In order to clearly distinguish it from the needle component 11 and the clamping component 13, the shoulder component 12 is shaded.

[0179] First, the operator places the object to be joined 60 on the support surface 56a of the backing member 56. Then, the operator operates the input device 32 to input the engagement execution of the object to be joined 60 into the controller 51. Alternatively, a robot can also place the object to be joined 60 on the support surface 56a of the backing member 56.

[0180] Therefore, as Figure 5A As shown, the controller 51 drives the rotary driver 57 to rotate the needle component 11 and the shoulder component 12 at a predetermined first rotational speed (e.g., 200 to 3000 rpm) (refer to step S201). Figure 6A Process (1)).

[0181] Next, the controller 51 drives the advance / retreat driver 53 (shoulder driver 532) to bring the needle component 11, shoulder component 12, and clamping member 13 close to the workpiece 60 while the needle component 11 and shoulder component 12 are rotating. Then, the front end face 11a of the needle component 11, the front end face 12a of the shoulder component 12, and the front end face 13a of the clamping member 13 are brought closer together. Figure 6A and Figure 6B (Not shown in the figure) abuts against the surface 60c (the part to be joined of the object 60) of the object to be joined (refer to step S202); Figure 6A Process (2)).

[0182] At this time, the controller 51 controls the forward and backward drive 53 (shoulder drive 532) to cause the needle component 11, shoulder component 12 and clamping component 13 to press the object to be joined 60 with a predetermined pressing force (e.g., a predetermined value within the range of 3kN to 15kN).

[0183] Therefore, the controller 51 determines whether the front end face 11a of the needle member 11, the front end face 12a of the shoulder member 12, and the front end face 13a of the clamping member 13 are in contact with the surface 60c of the object to be joined 60 by determining whether the welding pressure detector 33 detects a specified pressure (e.g., from 3kN to 15kN) (step S203).

[0184] When the controller 51 determines that the welding pressure detector 33 has not detected the specified pressure (in step S203, it is "No"), the process of steps S202 and S203 is repeated until the welding pressure detector 33 detects the specified pressure.

[0185] On the other hand, when the controller 51 determines that the welding pressure detector 33 has detected the specified pressure ("yes" in step S203), the processing in step S204 is executed.

[0186] When the front end face 11a of the needle component 11, the front end face 12a of the shoulder component 12, and the front end face 13a of the clamping component 13 abut against the surface 60c of the object to be joined 60, the first component 61 and the second component 62 are clamped by the clamping component 13 and the backing component 56. Moreover, by the contraction of the clamping driver 41, the clamping component 13 is forced toward the surface 60c of the object to be joined 60, generating a clamping force.

[0187] Furthermore, in this state, since neither the needle member 11 nor the shoulder member 12 moves forward or backward, the surface 60c of the object to be joined is "prepared to be heated". As a result, the material constituting the contact area of ​​the first member 61 is heated by friction and softened, and a plastic flow portion 60a is generated near the surface 60c of the object to be joined.

[0188] In step S204, the controller 51 drives the advance / retraction driver 53 to make the front end face 11a of the needle member 11 protrude relative to the front end face 12a of the shoulder member 12. At this time, the controller 51 can also drive the advance / retraction driver 53 (needle driver 531) to press the needle member 11 into the workpiece 60. In addition, the controller 51 can also drive the advance / retraction driver 53 (shoulder driver 532) to make the shoulder member 12 disengage from the workpiece 60.

[0189] Thus, the front end of the needle component 11 is pressed into the joint portion of the jointed object 60 while rotating.

[0190] Next, the controller 51 obtains the speed information of the needle component 11 in the axial direction detected by the speed detector 35 (step S205). Then, the controller 51 determines whether the speed information (speed) obtained in step S205 is a predetermined first speed (step S206).

[0191] When the controller 51 determines that the speed information obtained in step S205 is not the first speed (no in step S206), it returns to step S205 and repeats the processing of steps S205 and S206 until the speed information obtained in step S205 becomes the first speed.

[0192] On the other hand, when the controller 51 determines that the speed information obtained in step S205 is the first speed ("yes" in step S206), it obtains time information from the timer 36 (step S207). Specifically, the controller 51 obtains from the timer 36 the time elapsed after the speed information obtained in step S205 is determined to be the first speed.

[0193] When the controller 51 determines whether the time information obtained in step S207 (determined to be the time elapsed after the first speed) has passed the preset first time (step S208).

[0194] When the controller 51 determines that the time information obtained in step S207 has not passed the first time (the result is "No" in step S208), it returns to step S207 and repeats the processing of steps S207 and S208 before the time information obtained in step S207 passes the first time.

[0195] On the other hand, when the controller 51 determines that the time information obtained in step S207 has passed the first time ("yes" in step S208), it obtains the position information of the front end of the needle component 11 from the position detector 34 (step S209; see reference). Figure 6B Next, the controller 51 determines whether the position information of the front end of the needle component 11 obtained in step S209 has reached the predetermined first position (step S210).

[0196] Here, the first position can be set in advance through experiments, etc., and is any position between the contact surface 62a of the second component 62 and the first component 61 and less than 0.3mm.

[0197] As a result, the front end face 11a of the needle component 11 reaches any position (i.e., the first position) less than 0.3 mm from the contact surface 62a of the second component 62. Moreover, a new surface is formed at the portion where the second component 62 contacts the needle component 11 and / or at the portion where the second component 62 contacts the plastic flow portion 60a.

[0198] Furthermore, since the softened material in the plastic flow section 60a is pushed aside by the needle member 11 and flows from directly below the needle member 11 to directly below the shoulder member 12, the shoulder member 12 retracts and floats relative to the needle member 11 (see reference). Figure 6A Process (3A)).

[0199] When the controller 51 determines that the position information of the front end of the needle component 11 obtained in step S209 has not reached the first position (no in step S210), it returns to step S209 and repeats the processing of steps S209 and S210 until it determines that the position information of the front end of the needle component 11 obtained in step S209 has reached the first position.

[0200] On the other hand, when the controller 51 determines that the position information of the front end of the needle component 11 obtained in step S209 has reached the first position ("yes" in step S210), the processing of step S211 is executed.

[0201] In step S211, controller 51 drives advance driver 53 (shoulder driver 532) to advance shoulder member 12 toward object 60, and / or controller 51 drives advance driver 53 (needle driver 531) to disengage needle member 11 from object 60.

[0202] Specifically, the controller 51 controls the advance / retreat driver 53 to align the front end face 11a of the needle member 11 and the front end face 12a of the shoulder member 12 to the point that they hardly create any steps between them (becoming the same face).

[0203] As a result, the shoulder component 12 gradually moves forward toward the first component 61, while the needle component 11 moves backward from the first component 61. At this time, the softened portion of the plastic flow section 60a flows from directly below the shoulder component 12 toward directly below the needle component 11.

[0204] Furthermore, the front end face 11a of the pin member 11 and the front end face 12a of the shoulder member 12 move to the vicinity of the surface 60c of the workpiece 60. As a result, the surface 60c of the workpiece 60 is shaped to obtain a substantially flat surface that does not substantially produce recesses (see reference). Figure 6B Process (4)).

[0205] Furthermore, when the controller 51 sets the area of ​​the front end face of the needle component 11 to Ap, the area of ​​the front end face of the shoulder component 12 to As, the pressing depth of the needle component 11 to Pp, and the pressing depth of the shoulder component 12 to Ps during the processing of step S204 and / or step S211, it is preferable to control the advance / retreat driver 53 in order to reduce the pressure drop caused by the following formula (I).

[0206] Ap·Pp + As·Ps = Tx···(I)

[0207] The absolute value of the defined tool average position Tx is preferably controlled by the forward / backward drive 53 to make the tool average position Tx = 0. Furthermore, since Japanese Patent Application Publication No. 2012-196682 discloses in detail the specific control for reducing the absolute value of the tool average position Tx, its description is omitted here.

[0208] Furthermore, the controller 51 can also control the advance / retreat driver 53 in the processing of step S211 to position the front end face 12a of the shoulder member 12 in the first position. At this time, the controller 51 can also control the advance / retreat driver 53 so that after the front end face 12aa of the shoulder member 12 is in the first position, the front end face 11a of the needle member 11 and the front end face 12a of the shoulder member 12 become the same face.

[0209] Next, the controller 51 drives the advance / retreat driver 53 to disengage the needle component 11, shoulder component 12, and clamping component 13 from the object being joined 60 (step S212). Then, the controller 51 controls the rotation driver 57 to stop the needle component 11 and shoulder component 12 from rotating (see step S213). Figure 6B The process (5) is completed, and the process (joining process of the joined objects 60) is ended.

[0210] Therefore, since the rotation (and pressing) caused by the contact between the needle component 11 and the shoulder component 12 is not applied to the first component 61 and the second component 62, the plastic flow stops in the plastic flow section 60a, and the plastic flow section 60a engages with the new surface of the second component 62.

[0211] In the friction stir spot welding apparatus 50 of this embodiment 2, the controller 51 determines whether a first time has elapsed when the speed of the rotating needle component 11 in the axial direction is a first speed.

[0212] Therefore, it is possible to more clearly (more accurately) determine that the front end of the needle component 11 reaches the contact surface 62a between the second component 62 and the first component 61.

[0213] Furthermore, in the friction stir spot welding apparatus 50 of this embodiment 2, although the controller 51 determines that a first time has elapsed when the speed in the axial direction of the rotating needle component 11 is the first speed, it uses the method of actuating the advance / retreat driver 53 to make the front end of the needle component 11 reach the first position, but it is not limited to this.

[0214] The controller 51 can also, when the speed of the rotating needle component 11 in the axial direction reaches a first speed, after determining that a first time has elapsed, put the movement of the needle component 11 into standby mode until a predetermined second time has elapsed. Furthermore, after determining that a second time has elapsed, the controller 51 drives the advance / retreat driver 53 (shoulder driver 532) to advance the shoulder component 12 toward the object to be joined 60, and / or the controller 51 can also drive the advance / retreat driver 53 (needle driver 531) to move the needle component 11 away from the object to be joined 60.

[0215] [Experimental Example of Embodiment 1]

[0216] Next, the bonding test of the workpieces 60 performed by the friction stir spot welding apparatus 50 according to Embodiment 1 will be described.

[0217] (Experimental Example 1)

[0218] The friction stir spot welding apparatus 50 according to Embodiment 1 was used to perform a bonding test on the workpiece 60, and the position of the front end of the shoulder member 12, the speed of the shoulder member 12 in the axial direction, and the current value flowing through the rotary driver 57 used to drive the shoulder member 12 to rotate were plotted.

[0219] (Joining Condition 1)

[0220] The first component 61 uses a 0.99mm aluminum plate (A6061-T6), and the second component 62 uses a 1.2mm high-strength steel plate of 980MPa grade. Furthermore, the first rotational speed of the needle component 11 and the shoulder component 12 is 2000rpm, and the pressing force of the needle component 11, shoulder component 12, and clamping component 13 is 14.7kN.

[0221] Furthermore, the first position for the target arrival position of the shoulder member 12 is set at a position 0.04 mm below the abutment surface 62a of the second member 62 and the first member 61.

[0222] (Comparative Example 1)

[0223] By using the friction stir spot welding apparatus 50 according to Embodiment 1, a bonding test of the workpieces 60 was performed, and the current value flowing through the driver 57 used to drive the shoulder member 12 to rotate was plotted.

[0224] (Joint Condition 2)

[0225] The first component 61 uses a 0.99mm aluminum plate (A6061-T6), and the second component 62 uses a 1.2mm high-strength steel plate of 980MPa grade. Furthermore, the first rotational speed of the needle component 11 and the shoulder component 12 is 2000rpm, and the pressing force of the needle component 11, shoulder component 12, and clamping component 13 is 14.7kN.

[0226] Furthermore, the first position for the target arrival position of the shoulder member 12 is set at a position 0.06 mm below the contact surface 62a between the second member 62 and the first member 61.

[0227] (Experimental Results)

[0228] Figure 7 A graph was plotted to show the position of the front end of the shoulder component relative to the bonding time during friction stir spot welding under bonding condition 1 using the friction stir spot welding apparatus 50 of Experimental Example 1. Figure 8 A graph was plotted to show the axial velocity of the shoulder component relative to the bonding time during friction stir spot welding under bonding condition 1 using the friction stir spot welding apparatus 50 of Experimental Example 1. Figure 9A graph was plotted showing the current value flowing in the rotary actuator 57 versus the bonding time during friction stir spot welding under bonding condition 1 using the friction stir spot welding apparatus 50 of Experimental Example 1. Figure 10 A graph was plotted showing the current value flowing in the rotary drive 57 versus the bonding time during friction stir spot welding under bonding condition 2 using the friction stir spot welding apparatus 50 of Comparative Example 1.

[0229] In addition, Figures 7 to 10 In this context, engagement time refers to the start time of controller 51. Figure 3A and Figure 3B The time elapsed after the shown joining procedure. Figure 7 In this design, the surface 60c of the joined object 60 is defined as 0, the direction of pressing into the joined object 60 is indicated as positive, and the direction of moving away from the joined object 60 is indicated as negative. Furthermore, in Figure 8 In this context, the side from the upper surface of the first component 61 (the surface 60c of the joined object 60) towards the abutment surface 62a of the second component 62 is negative, and the side from the abutment surface 62a of the second component 62 towards the upper surface of the first component 61 is positive. Furthermore, in... Figures 7 to 9 In the process, each step from step (1) to step (5) corresponds to... Figure 4A and Figure 4B Each step from step (1) to step (5) shown.

[0230] like Figure 8 As shown, in the process (3) where the front end of the shoulder member 12 is pressed into the joint portion of the jointed object 60 in a rotating state, the axial speed of the shoulder member 12 is 0 mm / s between 1.3 seconds and 1.9 seconds.

[0231] And, as Figure 7 As shown, during engagement times of 1.3 to 1.9 seconds, the front end of the shoulder component 12 is positioned at approximately 0.99 mm. Furthermore, the approximately 0.99 mm position of the front end of the shoulder component 12 can be attributed to the deflection of the measured load caused by the pressure applied to the shoulder component 12, resulting in this deviation.

[0232] Therefore, between 1.3 and 1.9 seconds, it can be inferred that the front end of the shoulder component 12 is located at the contact surface 62a between the second component 62 and the first component 61.

[0233] Therefore, by determining whether a first time has elapsed when the shoulder component 12 in the rotating state has a first speed in the axial direction, the controller 51 can determine whether the front end of the shoulder component 12 has reached the contact surface 62a between the second component 62 and the first component 61.

[0234] In addition, such as Figure 8As shown, the axial velocity of the shoulder member 12 is -0.3 mm / s during the engagement time of 1.9 to 1.95 seconds. This is because the front end of the shoulder member 12 is pressed into the second member 62 from the abutment surface 62a of the second member 62 and the first member 61 and reaches the first position.

[0235] On the other hand, such as Figure 9 As shown, when the current value flowing in the rotary driver 57 during friction stir spot welding under bonding condition 1 using the friction stir spot welding apparatus 50 of test example 1 is plotted relative to the bonding time, it is difficult to determine at what moment it is greater than the specified threshold.

[0236] However, as Figure 10 As shown, when the friction stir spot welding apparatus 50 of Comparative Example 1 is used to perform friction stir spot welding under joint condition 2, the current value flowing in the rotary driver 57 is shown relative to the joint time. The current value changes significantly when the joint time is about 1.25 seconds, which is presumably greater than the specified threshold.

[0237] Therefore, in the dissimilar metal joining method disclosed in the aforementioned Patent Document 1, it is sometimes impossible to determine that the front end of the shoulder component 12 or the pin component 11 has reached the contact surface 62a between the second component 62 and the first component 61, indicating that there is still room for improvement.

[0238] (Implementation Method 3)

[0239] Using friction stir spot welding device 50 (reference) Figure 1 This embodiment 3 will be described. The basic structure of this friction stir spot welding apparatus 50 is the same as that of the friction stir spot welding apparatus 50 described in embodiment 1. Here, the structure that is different from that in embodiment 1 will be described for the friction stir spot welding apparatus 50 and its operation method, while the description of the same structure will be omitted.

[0240] [Action and Effects of Friction Stir Spot Welding Device]

[0241] The operation of the friction stir spot welding apparatus 50 according to Embodiment 3 will be described. Furthermore, the following operations are controlled by the controller 51 (see...). Figure 2 Read the data stored in memory 31 (refer to...) Figure 2 The program in ) is used to execute.

[0242] Figure 11This indicates the state in which the front end face 11a of the needle component 11, the front end face 12a of the shoulder component 12, and the front end face 13a of the clamping component 13 abut against the surface 60c of the workpiece 60 in the friction stir spot welding apparatus 50. The double arrow R indicates the detection range including the abutment surface 62a of the second component 62. This detection range R is determined by the controller 51 to determine whether the front end of the shoulder component 12 reaches the abutment surface 62a. The double arrow D indicates the distance from the upper surface of the first component 61 (the surface 60c of the workpiece 60) to the detection range R.

[0243] The operation of this embodiment 3 differs from that of embodiment 1 by setting a detection range R. Therefore, Figure 3A The actions in steps S105 and S106 are different. The other actions in embodiment 3 are the same as those in embodiment 1.

[0244] The operation is the same as that of the friction stir spot welding apparatus 50 described in Embodiment 1 above, such as... Figure 3A As shown, steps S101 to S104 are executed. Then, steps S105 and S106 are further executed. Here, refer to... Figure 12A , Figure 12B as well as Figure 12C Explain steps S105 and S106.

[0245] Figure 12A This indicates that the shoulder member 12 of the workpiece 60 is pressed in during step S105. In step S105, the controller 51 acquires the axial velocity information of the shoulder member 12. Furthermore, the position detector 34 detects the position of the front end of the shoulder member 12. The controller 51 determines whether the front end of the shoulder member 12 is within the detection range R. The controller 51 repeats the process of step S105 until it is determined that the front end of the shoulder member 12 is within the detection range R. Figure 12B As shown, when the controller 51 determines that the front end of the shoulder component 12 is within the detection range R, step S106 is executed.

[0246] In step S106, when the controller 51 determines that the speed information obtained in step S105 is not the first speed, it returns to step S105 and repeats the processing of steps S105 and S106.

[0247] Then, when it is determined that the speed information obtained in step S105 is the first speed, the controller 51 obtains the time information from the timer 36 (step S107). At this time, as... Figure 12C As shown, the front end of the shoulder component 12 reaches the abutment surface 62a of the second component 62. In this step S107, the controller 51 obtains the speed information obtained in step S105 from the timer 36 and determines it as the time elapsed since the first speed.

[0248] The controller 51 determines whether the time information obtained in step S107 (determined to be the time elapsed since the first speed) has passed the preset first time (step S108).

[0249] When the controller 51 determines that the time information obtained in step S107 has not passed the first time, it returns to step S107 and repeats the processing of steps S107 and S108 until the time information obtained in step S107 has passed the first time.

[0250] Then, in step S108, when the controller 51 determines that the time information obtained in step S107 has elapsed beyond the first time interval, then... Figure 3B As shown, proceed with the steps following step S109.

[0251] In this friction stir spot welding apparatus 50, the controller 51 determines whether the front end of the shoulder component 12 reaches the contact surface 62a of the second component 62 within a set detection range R. The detection range R is set to include the contact surface 62a of the second component 62.

[0252] When the first speed is reached in an area deviating from the detection range R, misjudgment by the controller 51 can be prevented. The friction stir spot welding device 50 can determine with high precision whether the front end of the shoulder component 12 has reached the contact surface 62a of the second component 62.

[0253] By setting the detection range R to a smaller value, misjudgments by the controller 51 can be further suppressed. From this perspective, the detection range R is preferably smaller than the thickness of the first component 61. Furthermore, the detection range R is preferably 0.6 mm or less, more preferably 0.4 mm or less, and particularly preferably 0.2 mm or less. Moreover, by reducing the proportion of the thickness of the first component 61 in the detection range R, misjudgments by the controller 51 can be further suppressed. From this perspective, the proportion of the thickness of the first component 61 in the detection range R is preferably 60% or less, more preferably 40% or less, particularly preferably 20% or less, and most preferably 10% or less.

[0254] In this operation, when the first speed is reached in a region deviating from the detection range R and a first time has elapsed, misjudgment by the controller 51 can be prevented. By setting this detection range R, misjudgment can be suppressed even if the first time is set to be short. Therefore, the friction stir spot welding apparatus 50 can set the first time to be short. By setting this detection range R, if the first time is, for example, 0.01 seconds or more, the controller 51 can suppress misjudgment. From the perspective of suppressing misjudgment by the controller 51, the first time is preferably 0.05 seconds or more.

[0255] In this friction stir spot welding apparatus 50, for example, the memory 31 stores the detection range R and distance D corresponding to the workpiece 60 to be joined. Thus, the controller 51 determines whether the front end of the shoulder member 12 has reached the abutment surface 62a of the second member 62 based on the detection range R stored in the memory 31.

[0256] Furthermore, starting from setting the detection range R, which includes the contact surface 62a, to a smaller angle, the controller 51 can also correct the detection range R. For example, the position detector 34 detects the position of the front end of the shoulder member 12 that abuts against the surface 60c of the object being joined 60. The controller 51 obtains the position of the front end of the shoulder member 12 and the surface 60c (see reference). Figure 11 The contact position information and the determination that the contact surface 62a of the second component 62 has been reached (refer to...) Figure 12C The controller 51 can use this location information to make corrections. Figure 11 The distance D and detection range R are shown.

[0257] By making such a correction, the effects caused by the deviation in thickness between the first component 61 and the second component 62 can be suppressed. This correction also allows the detection range R to be set smaller without removing the contact surface 62a.

[0258] Furthermore, although corrections are made here based on the surface 60c of the joined object 60 and the abutment surface 62a of the second component 62, the method is not limited to this. For example, the thickness of the first component 61 can be measured, and the distance D and detection range R can be corrected based on that thickness. Alternatively, the thickness of the joined object 60 can be measured, and the distance D and detection range R can be corrected based on that thickness. Furthermore, the detection range R only needs to be set to include the abutment surface 62a of the second component 62. For example, the detection range R can also be determined without using the distance D, and the abutment surface 62a can be determined as the center value.

[0259] Furthermore, in steps S109 and S110, instead of determining whether the shoulder member 12 has reached the first position, it can be determined whether a predetermined holding time has elapsed. That is, after the front end of the shoulder member 12 reaches the abutment surface 62a of the second member 62, the rotation and pressing force of the shoulder member 12 are maintained. In this state, the controller 51 can also determine whether a predetermined holding time has elapsed. Alternatively, after determining that a predetermined holding time has elapsed, steps after step S111 can be executed.

[0260] Here, although the friction stir spot welding device 50 described in Embodiment 1 is used, the setting of the detection range R is also applicable to the friction stir spot welding device 50 described in Embodiment 2.

[0261] That is, in the friction stir spot welding apparatus 50 according to Embodiment 2, the controller 51 can also be set to a detection range R including the contact surface 62a. Within this detection range R, when the speed in the axial direction of the rotating needle component 11 is a first speed and a first time has elapsed, it can also be determined that the tip of the needle component 11 has reached the contact surface 62a of the second component 62.

[0262] [Experimental Example of Implementation Method 3]

[0263] Next, the bonding test of the workpieces 60 performed by the friction stir spot welding apparatus 50 of this embodiment 3 will be described.

[0264] (Experimental Example 2)

[0265] The bonding test of the workpieces 60 was performed using the friction stir spot welding apparatus 50 according to Embodiment 3. In this test example 2, after step S108, after the front end of the shoulder member 12 reaches the abutment surface 62a of the second member 62, the rotation and pressing force of the shoulder member 12 are maintained. This state is maintained for a predetermined holding time. Then, step S111 is performed. Furthermore, this holding time is 0.2 seconds. Other bonding conditions are the same as bonding condition 1 of test example 1. That is, the rotational speed of the first member 61, the second member 62, the needle member 11, and the shoulder member 12, and the pressing force of the needle member 11, the shoulder member 12, and the clamping member 13 are the same as in bonding condition 1. The detection range R is 0.6 mm. Specifically, the detection range R is set to the center value of the abutment surface 62a ± (positive and negative) 0.3 mm. The first time is 0.10 seconds.

[0266] (Experimental Examples 3-4)

[0267] In Test Example 3, the first time was 0.05 seconds, and in Test Example 4, the first time was 0.01 seconds. Other engagement conditions were the same as in Test Example 2.

[0268] Figure 13 curve Figure 2 Figure 3 shows a graph of the position (press-in amount) of the front end of the shoulder component in Test Example 2 relative to the engagement time. Figure 4 shows a graph of the position (press-in amount) of the front end of the shoulder component in Test Example 3 relative to the engagement time.

[0269] Figure 14 curve Figure 2 Graph 3 shows the velocity along the axial direction of the shoulder component in Test Example 2 as a function of the engagement time. Graph 4 shows the velocity along the axial direction of the shoulder component in Test Example 4 as a function of the engagement time.

[0270] (Experimental Examples 5-7)

[0271] In Test Example 5, in steps S109 and S110, it is determined whether the shoulder component 12 has reached the first position. The detection range R is set to ±(positive or negative) 0.3 mm based on the abutment surface 62a of the second component 62. Furthermore, the first time is 0.05 seconds, and the pressing amount to the first position is 0.10 mm. In Test Example 6, the pressing amount to the first position is 0.08 mm. Other engagement conditions are the same as in Test Example 5. In Test Example 7, the pressing amount to the first position is 0.05 mm. Other engagement conditions are the same as in Test Example 5.

[0272] Figure 15 Figure 5 shows the position (press-in amount) of the front end of the shoulder component in Test Example 5 relative to the engagement time. Figure 6 shows the position (press-in amount) of the front end of the shoulder component in Test Example 6 relative to the engagement time. Figure 7 A graph was plotted showing the position (press-in amount) of the front end of the shoulder component in Experiment Example 7 relative to the engagement time.

[0273] In addition, Figure 13 , 14 In addition, in 15, the engagement time refers to the start of controller 51. Figure 3A and Figure 3B The elapsed time after the shown joining procedure. Figure 13 and Figure 15 The surface 60c of the workpiece 60 is defined as 0, the direction of pressing into the workpiece 60 is indicated as positive, and the direction away from the workpiece 60 is indicated as negative. Furthermore, in Figure 14 In this process, the direction of pressing in from the upper surface of the first component 61 (the surface 60c of the joined object 60) is negative, and the direction of leaving is positive.

[0274] like Figure 14 As shown, in Test Example 2 and Test Example 3, the front end of the shoulder member 12 was pressed into the joint portion of the jointed object 60 in a rotating state, and the axial speed of the shoulder member 12 was 0 mm / s between 1.3 seconds and 1.6 seconds.

[0275] like Figure 13 As shown, in Test Examples 2 and 3, with engagement times between 1.3 and 1.6 seconds, the tip position of the shoulder component 12 was approximately 0.99 mm. Furthermore, the tip position of the shoulder component 12 being approximately 0.99 mm is considered to be due to... Figure 7 For the same reason.

[0276] Therefore, in Test Examples 2 and 3, it can be inferred that the front end of the shoulder member 12 is located at the contact surface 62a between the second member 62 and the first member 61 between 1.3 and 1.6 seconds. In Test Examples 2 and 3, the first member 61 and the second member 62 are engaged by determining the specified holding time. In Test Examples 2 and 3, the engagement of the first member 61 and the second member 62 is not determined by setting an indentation amount based on the first position.

[0277] On the other hand, such as Figure 14 As shown, in Test Example 4, the front end of the shoulder member 12 was pressed into the joint portion of the jointed object 60 while rotating. Between 1.3 and 1.4 seconds, the axial velocity of the shoulder member 12 was 0 mm / s. This was mistakenly assumed to be due to the first time being 0.01 seconds, and based on the velocity at the position of arrow P, it was incorrectly judged that the front end of the shoulder member 12 had reached the abutment surface 62a of the second member 62. However, even with a first time of 0.01 seconds, a re-examination of the distance D and the detection range R confirmed that there was no misjudgment.

[0278] like Figure 15 As shown, the greater the indentation to the first position, the longer the front end of the shoulder component 12 remains at approximately 1 mm. Figure 15 In this experiment, the greater the injection volume, the longer the time required. The set injection volume was confirmed in test examples 5, 6, and 7.

[0279] In this test example 2-7, the controller 51 determines whether a first time has elapsed while the speed of the shoulder component 12 is at a first speed within the detection range R. Through this test example 2-7, it is confirmed that it is possible to correctly determine whether the front end of the shoulder component 12 has reached the contact surface 62a of the second component 62 within a relatively short first time.

[0280] Based on the foregoing description, many modifications or other embodiments of this embodiment will be apparent to those skilled in the art. Therefore, the foregoing description should be interpreted as illustrative only and is provided to teach those skilled in the art the best form. Details of its structure and / or function may be substantially changed without departing from the scope of this specification. Furthermore, various embodiments can be formed through appropriate combinations of the various structural components disclosed in the foregoing embodiments.

[0281] Industrial availability

[0282] These friction stir spot welding devices and their operating methods are useful because they can more clearly determine whether the front end of the shoulder component or the front end of the needle component has reached the contact surface between the second component and the first component.

[0283] Explanation of reference numerals in the attached figures

[0284] 11-pin component

[0285] 11a front face

[0286] 12 shoulder components

[0287] 12a Front end

[0288] 13 Clamping components

[0289] 13a Front end

[0290] 31 Memory

[0291] 32-input device

[0292] 33 Welding pressure detector

[0293] 34 Position Detectors

[0294] 35 Speed ​​Detector

[0295] 36 Timers

[0296] 41 Clamping Driver

[0297] 50 Friction Stir Spot Welding Device

[0298] 51 controller

[0299] 52 Tool Holder

[0300] 53 Forward / Reverse Drive

[0301] 55 Backing support section

[0302] 56 Backing components

[0303] 56a Support Surface

[0304] 57 Rotary Driver

[0305] 60a Plastic Flow Section

[0306] 60 The object to be joined

[0307] 60c surface

[0308] 61 First Component

[0309] 62 Second Component

[0310] 62a mating surface

[0311] 521 Rotary Tool Holder

[0312] 522 Clamping Fixture

[0313] 531-pin driver

[0314] 532 shoulder driver

[0315] Xr axis

Claims

1. A friction stir spot welding apparatus, wherein bonding is achieved by softening a workpiece having a first component and a second component using frictional heat, characterized in that, The friction stir spot welding device includes: The needle component is cylindrical in shape. The shoulder component is formed in a cylindrical shape and is inserted into the interior by the needle component; A rotary driver that causes the needle component and the shoulder component to rotate about an axis that coincides with the axis of the needle component; A forward / backward drive that causes the needle component and the shoulder component to move forward and backward along the axis, respectively; as well as Controller The first component is configured to face the needle component and the shoulder component, and is made of a material with a lower melting point than the second component. The controller actuates the rotary driver and the forward / reverse driver to cause the needle component and the shoulder component to press the engagement portion of the workpiece while rotating. The rotary driver and the forward / reverse driver are then activated to cause the needle component and the shoulder component to agitate the workpiece. When the shoulder component or the needle component in a rotating state has been rotating for a predetermined first time at a predetermined first speed in the axial direction, it is determined that the tip of the shoulder component or the tip of the needle component has reached the contact surface between the second component and the first component. The controller is set to a detection range that includes the contact surface and is smaller than the thickness of the first component. Within the detection range, when the rotating shoulder component or the rotating needle component has been in a state where the speed in the axial direction is a predetermined first speed and a predetermined first time has elapsed, it is determined that the front end of the shoulder component or the front end of the needle component has reached the contact surface between the second component and the first component.

2. The friction stir spot welding apparatus according to claim 1, characterized in that, The first velocity is greater than or equal to -0.5 mm / s and less than or equal to +0.5 mm / s.

3. The friction stir spot welding apparatus according to claim 1 or 2, characterized in that, The first time is between 0.01 seconds and 0.5 seconds.

4. The friction stir spot welding apparatus according to claim 1 or 2, characterized in that, After determining that the front end of the shoulder component or the front end of the needle component has reached the contact surface between the second component and the first component, the controller activates the forward / backward drive and the rotation drive to bring the front end of the shoulder component or the front end of the needle component to a predetermined first position within the second component.

5. The friction stir spot welding apparatus according to claim 4, characterized in that, The first position is a position less than 0.3 mm away from the contact surface between the second component and the first component.

6. The friction stir spot welding apparatus according to claim 1 or 2, characterized in that, The detection range is below 0.6 mm.

7. The friction stir spot welding apparatus according to claim 1 or 2, characterized in that, The thickness of the first component is less than 60% of the proportion within the detection range.

8. A method for operating a friction stir spot welding apparatus, wherein the friction stir spot welding apparatus performs bonding by softening a workpiece having a first component and a second component using frictional heat. The operating method of the friction stir spot welding device is characterized by the following: The friction stir spot welding device includes: The needle component is cylindrical in shape. The shoulder component is formed in a cylindrical shape and is inserted into the interior by the needle component; A rotary driver that causes the needle component and the shoulder component to rotate about an axis that coincides with the axis of the needle component; A forward / backward drive that causes the needle component and the shoulder component to move forward and backward along the axis, respectively; as well as Controller The first component is configured to face the needle component and the shoulder component, and is made of a material with a lower melting point than the second component. The controller actuates the rotary driver and the forward / reverse driver to cause the needle component and the shoulder component to press the engagement portion of the workpiece while rotating. The rotary driver and the forward / reverse driver are then activated to cause the needle component and the shoulder component to agitate the workpiece. When the shoulder component or the needle component in a rotating state has been rotating for a predetermined first time at a predetermined first speed in the axial direction, it is determined that the tip of the shoulder component or the tip of the needle component has reached the contact surface between the second component and the first component. The controller is set to a detection range that includes the contact surface and is smaller than the thickness of the first component. Within the detection range, when the rotating shoulder component or the rotating needle component has been in a state where the speed in the axial direction is a predetermined first speed and a predetermined first time has elapsed, it is determined that the front end of the shoulder component or the front end of the needle component has reached the contact surface between the second component and the first component.

Images