Solid phase bonding device and solid phase bonding system

Abstract

To facilitate positioning for preventing bonding failure in solid phase bonding.SOLUTION: A first pressurizing shaft 11 is movable relative to a second pressurizing shaft 12. Furthermore, a solid phase bonding device 1 comprises a detection device that detects that the second pressurizing shaft 12 has come into contact with a second workpiece W20. A control device 30, after the detection device detects that the second pressurizing shaft 12 has come into contact with the second workpiece W20, initiates movement of the first pressurizing shaft 11.SELECTED DRAWING: Figure 6

Description

[Technical Field]

[0001] The present disclosure relates to a solid state bonding apparatus and a solid state bonding system including the solid state bonding apparatus. [Background technology]

[0002] Japanese Patent No. 7242112 (Patent Document 1) discloses a solid-state spot joining apparatus including a pressure mechanism including a pressing unit and an energization mechanism including a pair of welding electrodes. The solid-state spot joining apparatus disclosed in Japanese Patent No. 7242112 (Patent Document 1) is configured to energize two metal plates with a pair of welding electrodes to heat each metal plate, and then press the two metal plates together in a direction perpendicular to the metal plates using a pressing unit. When a joining method such as that disclosed in Japanese Patent No. 7242112 (Patent Document 1), which joins metals in a solid state at a low temperature without melting them (hereinafter also referred to as "solid-state joining"), is applied to a system equipped with a robot arm, positioning when starting the joining process is important to prevent poor joining.

[0003] Japanese Patent Laid-Open Publication No. 2008-307595 (Patent Document 2) discloses a method for positioning a spot welding robot. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 7242112 [Patent Document 2] Japanese Patent Application Laid-Open No. 2008-307595 Summary of the Invention [Problem to be solved by the invention]

[0005] In Japanese Patent Laid-Open No. 2008-307595 (Patent Document 2), the current value of the servo motor that drives the movable electrode tip is monitored, and when the current value exceeds a predetermined value, the tip of the movable electrode tip is deemed to have come into contact with the workpiece, thereby performing positioning. However, because the electrode tip wears due to current flow, correction or other processing is required to ensure accurate positioning.

[0006] An object of the present disclosure is to provide a technology for easily performing positioning to prevent bonding defects in solid-state bonding. [Means for solving the problem]

[0007] The present disclosure relates to a solid-state joining apparatus that joins conductive first and second workpieces overlapping in a thickness direction in a solid state. The solid-state joining apparatus includes a pair of pressure shafts that press the first and second workpieces from both sides in the thickness direction, a pair of electrodes respectively disposed around the pair of pressure shafts, and a control device. The pair of pressure shafts includes a first pressure shaft that presses the first workpiece and a second pressure shaft that presses the second workpiece. The first pressure shaft is movable relative to the second pressure shaft. The solid-state joining apparatus further includes a detection device that detects contact of the second pressure shaft with the second workpiece. The control device starts moving the first pressure shaft after the detection device detects contact of the second pressure shaft with the second workpiece.

[0008] A solid-state joining system according to the present disclosure includes the above-described solid-state joining apparatus and a robot having a robot arm. The control device moves the robot arm to a first workpiece and a second workpiece, and then moves the robot arm in a direction in which the second pressurizing shaft contacts the second workpiece. [Effects of the Invention]

[0009] According to the present disclosure, after the detection device detects contact of the second pressure shaft with the second workpiece, the first pressure shaft starts moving, which allows positioning based on the second pressure shaft, facilitating positioning to prevent poor welding during solid-state welding. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram schematically showing a solid-state joining system according to a first embodiment. [Figure 2] 1 is a diagram schematically showing a solid-state joining apparatus according to a first embodiment. [Figure 3] FIG. 10 is a diagram showing the structure around the second pressurizing shaft. [Figure 4] FIG. 10 is a diagram for explaining a state in which positioning is incorrect. [Figure 5] FIG. 10 is a diagram for explaining a joining step. [Figure 6] 4 is a flowchart showing the control content executed by the control device. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the drawings, the same or corresponding parts are designated by the same reference numerals, and description thereof will not be repeated.

[0012] [Embodiment 1] 1 is a diagram schematically illustrating a solid-state welding system 100 according to embodiment 1. The solid-state welding system 100 includes a robot 200, a solid-state welding apparatus 10, a control device 30, and a power supply device 35. Note that the robot 200 is illustrated smaller than the actual size of the solid-state welding apparatus 10.

[0013] The robot 200 includes a robot arm 210. The robot arm 210 is a multi-joint arm, for example, a six-axis multi-joint arm. The robot arm 210 is controlled by a control device 30 so as to execute a set operation. Note that the robot arm 210 may be configured to be controlled by a separate control device that controls the robot 200, rather than the control device 30.

[0014] The solid-state welding equipment 10 includes a driving device 13, a C-gun 14, and a pair of electrodes 21 and 22. The solid-state welding equipment 10 is attached to the tip of a robot arm 210. The driving of the driving device 13 is controlled by a control device 30. A voltage and current are supplied to the pair of electrodes 21 and 22 from a power supply device 35. The C-gun 14 is movable to a position where it sandwiches the first workpiece W10 and the second workpiece W20 fixed to a jig 60 in the thickness direction. The control device 30 controls a motor (not shown) to move the robot arm 210 to the first workpiece W10 and the second workpiece W20.

[0015] Next, the solid-state joining apparatus 1 according to the embodiment 1 will be specifically described. Fig. 2 is a diagram schematically showing the solid-state joining apparatus 1 according to the embodiment 1. The solid-state joining apparatus 1 is an apparatus that forms softened regions at the interfaces of the workpieces W10, W20 by passing an electric current through the workpieces W10, W20 that are stacked on top of each other, and then plastically deforms the softened regions to join the workpieces W10, W20 together in a solid state without melting them.

[0016] The multiple workpieces W10, W20 include a first workpiece W10 and a second workpiece W20. Each workpiece W10, W20 is made of a metal such as iron or aluminum. Each workpiece W10, W20 is formed, for example, in a flat plate shape. Note that each workpiece W10, W20 may be made of a material other than metal, as long as it is electrically conductive and suitable for solid-state welding.

[0017] 2, the solid-state bonding apparatus 1 includes a solid-state bonding device 10, a control device 30, a power supply device 35, and a drive device 13. The solid-state bonding device 10 includes a pair of pressure shafts 11 and 12, a pair of electrodes 21 and 22, and a sensor 40.

[0018] The pair of pressure applying shafts 11, 12 includes a first pressure applying shaft 11 and a second pressure applying shaft 12. The pair of pressure applying shafts 11, 12 are capable of applying pressure to the first workpiece W10 and the second workpiece W20 from both sides in the thickness direction of the stacked plate-shaped workpieces. The first pressure applying shaft 11 is movably disposed at one end of the C gun 14 shown in FIG. 1 and is driven by a driving device 13. The second pressure applying shaft 12 is fixed to the other end of the C gun 14 shown in FIG. 1. The first pressure applying shaft 11 is movable relative to the second pressure applying shaft 12.

[0019] The first pressure shaft 11 is capable of pressing the first workpiece W10 so as to plastically deform the first workpiece W10. Specifically, the first pressure shaft 11 is capable of pressing the first workpiece W10 so as to form a protrusion W11 on the first workpiece W10. The first pressure shaft 11 is made of, for example, tungsten carbide. In this embodiment, the first pressure shaft 11 is formed in the shape of an elongated cylinder. The first pressure shaft 11 has a pressing surface 11a that presses the first workpiece W10. The pressing surface 11a is an end surface of the first pressure shaft 11. The pressing surface 11a is formed in a circular shape.

[0020] The second pressure applying shaft 12 has the same configuration as the first pressure applying shaft 11. The second pressure applying shaft 12 is disposed in such a position that the central axis of the second pressure applying shaft 12 is located on an extension of the central axis of the first pressure applying shaft 11, and the pressing surface 12a of the second pressure applying shaft 12 faces the pressing surface 11a of the first pressure applying shaft 11. Note that the first pressure applying shaft 11 and the second pressure applying shaft 12 may have a shape other than a cylindrical shape.

[0021] The sensor 40 is provided, for example, on the first pressure applying shaft 11. In this embodiment, a load cell is used as the sensor 40. The location where the sensor 40 is installed is not limited to the first pressure applying shaft 11, and the sensor 40 may be installed on the drive device 13 or the like.

[0022] The pair of electrodes 21, 22 includes a first electrode 21 and a second electrode 22. The pair of electrodes 21, 22 can pass electricity through the first workpiece W10 and the second workpiece W20 while in contact with the first workpiece W10 and the second workpiece W20. When a voltage is applied to the pair of electrodes 21, 22 while the pair of electrodes 21, 22 are in contact with the first workpiece W10 and the second workpiece W20, power is supplied to the first electrode 21, the first workpiece W10, the second workpiece W20, and the second electrode 22.

[0023] The first electrode 21 can come into contact with a portion of the first workpiece W10 surrounding the portion that is pressed by the first pressing shaft 11. In this embodiment, the first electrode 21 is formed in a cylindrical shape that surrounds the first pressing shaft 11. A gap is provided between the inner peripheral surface of the first electrode 21 and the outer peripheral surface of the first pressing shaft 11. The first electrode 21 is made of, for example, copper. The first electrode 21 has a contact surface 21a that comes into contact with the first workpiece W10. The contact surface 21a is formed in an annular shape. However, the shape of the contact surface 21a is not limited to an annular shape.

[0024] The second electrode 22 has the same configuration as the first electrode 21. The second electrode 22 can come into contact with a portion of the second workpiece W20 surrounding a portion that is pressed by the second pressure shaft 12. The second electrode 22 is disposed in such a position that the central axis of the second electrode 22 is located on an extension of the central axis of the first electrode 21, and the contact surface 22a of the second electrode 22 faces the contact surface 21a of the first electrode 21.

[0025] The control device 30 includes an arithmetic unit 31, a memory 32, a storage device 33, and an input / output interface 34. These components are connected via a bus.

[0026] The arithmetic device 31 is a computing entity (computer) that executes predetermined processing. The arithmetic device 31 is configured with a processor such as a CPU (Central Processing Unit), an MPU (Micro-Processing Unit), a TPU (Tensor Processing Unit), or a GPU (Graphics Processing Unit). A processor, which is an example of the arithmetic device 31, has the function of executing predetermined processing by executing a predetermined program. However, some or all of these functions may be implemented using dedicated hardware circuits such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field-Programmable Gate Array). The term "processor" is not limited to processors in the narrow sense that execute processing using a stored program, such as a CPU, MPU, TPU, or GPU, but may also include hardwired circuits such as an ASIC or FPGA. Furthermore, the arithmetic device 31 is not limited to von Neumann computers such as a CPU or GPU, but may also be configured with a non-von Neumann computer such as a quantum computer or an optical computer. The arithmetic device 31 described above may also be interpreted as a processing circuitry that executes predetermined processing. The computing device 31 may be configured as a single chip or multiple chips. Furthermore, the processor and related processing circuits may be configured as multiple computers interconnected by wire or wirelessly via a local area network or a wireless network. The processor and related processing circuits may be configured as a cloud computer that performs remote calculations based on input data and outputs the calculation results to other devices in remote locations.

[0027] The memory 32 includes a storage area (for example, a working area) for storing program code or work memory when the arithmetic unit 31 executes various programs. Examples of the memory 32 include volatile memories such as DRAM and SRAM, and non-volatile memories such as ROM and flash memory.

[0028] The storage device 33 stores various programs and various data executed by the arithmetic device 31. For example, the storage device 33 stores a control program 330 that controls various devices executed by the arithmetic device 31. The storage device 33 may be one or more non-transitory computer readable media, or one or more computer readable storage media. Examples of the storage device 33 include a hard disk drive (HDD) and a solid state drive (SSD).

[0029] Values acquired by an acquisition unit such as a sensor 40 are input to the input / output interface .

[0030] The control device 30 controls the drive device 13 to control the stroke of the first pressure shaft 11. The control device 30 controls the power supply device 35 to control the current supplied to the pair of electrodes 21, 22. Specifically, the control device 30 controls the drive device 13 to control the amount of depression of the pair of pressure shafts 11, 12 and the pair of electrodes 21, 22. Furthermore, the control device 30 controls the power supply device 35 to control the current X passed through the pair of electrodes 21, 22.

[0031] The control device 30 causes the drive device 13 to apply a load F (see FIG. 2) from the pair of pressure shafts 11, 12 to the first workpiece W10 and the second workpiece W20 so that protrusions W11, W21 that come into contact with each other are formed on the first workpiece W10 and the second workpiece W20, respectively. The control device 30 causes the power supply device 35 to apply electricity to the first workpiece W10 and the second workpiece W20. Specifically, the control device 30 controls the drive device 13 and the power supply device 35 to apply a load F to the first workpiece W10 and the second workpiece W20 from the pair of pressure shafts 11, 12, and to apply electricity to the first workpiece W10 and the second workpiece W20 while bringing the contact surface 21a of the first electrode 21 into contact with a portion of the first workpiece W10 surrounding a portion of the first workpiece W10 that is pressed by the first pressure shaft 11 and bringing the contact surface 22a of the second electrode 22 into contact with a portion of the second workpiece W20 surrounding a portion of the second workpiece W20 that is pressed by the second pressure shaft 12. The control device 30 controls the power supply device 35 so that a current X, indicated by a dashed line, flows between the pair of electrodes 21, 22 via the protrusions W11, W21.

[0032] Each of the protrusions W11, W21 is softened by passing a current X through them. In this embodiment, the control device 30 applies a load F to the first workpiece W10 and the second workpiece W20 by passing a current X through them to soften them and pressing the first pressure shaft 11 toward the second pressure shaft 12. This allows the first workpiece W10 and the second workpiece W20 to be joined while still in a low-temperature solid phase without changing their materials while applying a high pressure to the softened regions of each of the protrusions W11, W21 (regions including the contact interface between the workpieces W10 and W20).

[0033] Next, the structure around the second pressure applying shaft 12 will be described. Fig. 3 is a diagram showing the structure around the second pressure applying shaft 12. As shown in Fig. 3, second electrodes 22 are arranged around the second pressure applying shaft 12 with a gap therebetween. The second electrodes 22 are fixed to the second pressure applying shaft 12 by springs 50. The biasing force of the springs 50 acts on the second workpiece W20 via the second electrodes 22.

[0034] The second pressure shaft 12 is formed integrally with the base 120 and extends vertically from the center of the base 120. A housing 140 that surrounds the spring 50 is fixed to the base 120 on the second electrode 22 side. A stopping member 220 is fixed to the second electrode 22 in the circumferential direction. A limit switch 55 is disposed between the housing 140 and the stopping member 220.

[0035] The limit switch 55 includes a movable part 56. The movable part 56 is biased by an elastic member (not shown). The limit switch 55 functions as a detection device that detects that the second pressure shaft 12 has come into contact with the second workpiece W20. When the second pressure shaft 12 comes into contact with the second workpiece W20, the movable part 56 is pressed by the stop member 220, switching the contacts provided inside the housing of the limit switch 55. This switches the output signal sent from the limit switch 55 to the control device 30.

[0036] For example, when the second pressure applying shaft 12 comes into contact with the second workpiece W20, the output signal of the limit switch 55 switches from an OFF signal to an ON signal. The control device 30 can determine whether or not the second pressure applying shaft 12 has come into contact with the second workpiece W20 based on the signal switching. Note that a switch that detects mechanical contact other than the limit switch 55 may also be used as the detection device.

[0037] Next, we will explain what happens when the positioning is incorrect. FIG. 4 is a diagram for explaining what happens when the positioning is incorrect. As shown in FIG. 4, there is a possibility that, due to some influence, the joining process will start at a position where the first workpiece W10 and the second workpiece W20 are away from the joining reference position T. If the joining process is started in this state where there is a problem with the positioning, the joining process will not be performed because the second pressurizing shaft 12 is not in contact with the second workpiece W20 even though the first pressurizing shaft 11 is in contact with the first workpiece W10. Therefore, we will explain a technology for easily performing positioning to prevent such poor joining.

[0038] FIG. 5 is a diagram for explaining the joining process. The control device 30 executes the joining process in the order of FIGS. 5(A) to 5(G). As shown in FIG. 5(A), a pair of electrodes 21, 22 is fixed to a pair of pressure shafts 11, 12 by a spring 50. The biasing force of the spring 50 acts on each of the workpieces W10, W20 via the pair of electrodes 21, 22. The spring 50 is not shown in FIG. 5(B) and subsequent figures.

[0039] As shown in FIG. 5A, the control device 30 moves the robot arm 210 to a position for starting joining of the first workpiece W10 and the second workpiece W20. As shown in FIG. 5A, the ends of the pair of electrodes 21, 22 protrude toward the first workpiece W10 and the second workpiece W20 beyond the ends of the pair of pressure shafts 11, 12 when the first workpiece W10 and the second workpiece W20 are not being pressed. Specifically, the end of the first electrode 21 protrudes toward the first workpiece W10 beyond the end of the first pressure shaft 11 by a distance d1 when the first workpiece W10 and the second workpiece W20 are not being pressed. The end of the second electrode 22 protrudes toward the second workpiece W20 beyond the end of the second pressure shaft 12 by a distance d2 when the first workpiece W10 and the second workpiece W20 are not being pressed. d1 and d2 may be the same length or different lengths.

[0040] Next, as shown in FIG. 5(B), the control device 30 moves the robot arm 210 in a direction in which the second pressure shaft 12 contacts the second workpiece W20. This causes the second electrode 22 to contact the second workpiece W20. Next, as shown in FIG. 5(C), the robot arm 210 is driven to bring the second pressure shaft 12 into contact with the second workpiece W20. Specifically, the distance d2 between the end of the second electrode 22 and the end of the second pressure shaft 12 is set to 0. When the distance d2 becomes 0, the output signal of the limit switch 55 shown in FIG. 3 switches from an OFF signal to an ON signal. The control device 30 determines from the signal switch that the second pressure shaft 12 has contacted the second workpiece W20.

[0041] After the limit switch 55 detects that the second pressure shaft 12 has contacted the second workpiece W20, the control device 30 controls the drive device 13 to start moving the first pressure shaft 11. Next, as shown in FIG. 5(D), the control device 30 controls the drive device 13 so that the first electrode 21 contacts the first workpiece W10. Next, the control device 30 moves the first pressure shaft 11 toward the first workpiece W10 and applies a load to each of the workpieces W10 and W20 to form protrusions. By applying the load to each of the workpieces W10 and W20 to form protrusions, protrusions W11 and W21 shown in FIG. 5(E) are formed on the workpieces W10 and W20.

[0042] Next, the control device 30 energizes each of the protrusions W11, W21 as shown in Fig. 5(F). The control device 30 energizes each of the protrusions W11, W21 formed at the contact portions of the workpieces W10, W20 to soften the contact portions of the protrusions W11, W21. Next, as shown in Fig. 5(G), the control device 30 presses the pair of pressure shafts 11, 12 to the joining position while energizing each of the protrusions W11, W21, thereby joining the workpieces W10, W20 at the contact portions.

[0043] Next, the processing executed by the control device 30 will be described in detail. Fig. 6 is a flowchart showing the control content executed by the control device 30. The processing of the flowchart in Fig. 4 is repeatedly called as a subroutine from the main routine in the control of the control device 30 and executed. First, in step S (hereinafter simply referred to as "S") 11, the control device 30 moves the pair of pressure shafts 11, 12 toward the first workpiece W10 and the second workpiece W20.

[0044] Next, the control contents executed by the control device 30 will be described. Fig. 6 is a flowchart showing the control contents executed by the control device 30. The processing of the flowchart in Fig. 6 is repeatedly called as a subroutine from the main routine in the control of the control device 30 and executed. First, in step S (hereinafter simply referred to as "S") 1, the control device 30 controls the robot arm 210 to move the pair of pressure shafts 11, 12 attached to the robot arm 210 toward the first workpiece W10 and the second workpiece W20.

[0045] Next, the control device 30 controls the robot arm 210 to move the fixed-side second pressure applying shaft 12 to a contact position where it comes into contact with the second workpiece W20 (S2). Next, the control device 30 determines whether the fixed-side second pressure applying shaft 12 has come into contact with the second workpiece W20 (S3). The control device 30 determines that the second pressure applying shaft 12 has come into contact with the second workpiece W20 when the output signal of the limit switch 55 switches from an OFF signal to an ON signal.

[0046] If the control device 30 determines that the second pressure shaft 12 is not in contact with the second workpiece W20 (NO in S3), the process returns to S2. If the control device 30 determines that the second pressure shaft 12 is in contact with the second workpiece W20 (YES in S3), the control device 30 temporarily stops the robot arm 210 (S4). The process of S4 allows the reference position for joining to be determined.

[0047] Next, the control device 30 moves the movable first pressure shaft 11 to a contact position where it comes into contact with the first workpiece W10 (S5). Next, the control device 30 executes the protrusion forming process as shown in FIG. 5(E) (S6). In the protrusion forming process, for example, the following control is executed. The control device 30 stores the position where the first pressure shaft 11 comes into contact with the first workpiece W10 as a reference position. The control device 30 controls the drive device 13 to push the pair of pressure shafts 11, 12 to a preset protrusion forming position. As a result, protrusions are formed on the first workpiece W10 and the second workpiece W20.

[0048] Next, the control device 30 executes the joining process as shown in Figures 5(F) and (G) (S7), and returns the process from the subroutine to the main routine. In the joining process, for example, the following control is executed. The control device 30 controls the pair of electrodes 21, 22 to pass current for joining, while pushing the pair of pressure shafts 11, 12 to a preset joining push-in end position (joining position). This joins the first workpiece W10 and the second workpiece W20.

[0049] The solid-state welding apparatus 1 of the first embodiment is equipped with a limit switch 55 that detects that the second pressure shaft 12, which is a fixed shaft, has come into contact with the second workpiece W20. As shown in S3 to S5, the control device 30 starts moving the movable first pressure shaft 11 after the limit switch 55 detects that the second pressure shaft 12 has come into contact with the second workpiece W20. This allows the welding process to be carried out using the time when the second pressure shaft 12 has come into contact with the second workpiece W20 as a reference position, making it easy to perform positioning to prevent poor welding in solid-state welding.

[0050] <Summary> (1) The present disclosure relates to a solid-state joining apparatus 1 that joins a first workpiece W10 and a second workpiece W20 that are electrically conductive and overlap each other in a thickness direction in a solid state. The solid-state joining apparatus 1 includes a pair of pressure shafts 11, 12 that press the first workpiece W10 and the second workpiece W20 from both sides in the thickness direction, a pair of electrodes 21, 22 that are respectively disposed around the pair of pressure shafts 11, 12, and a control device 30. The pair of pressure shafts 11, 12 includes a first pressure shaft 11 that presses the first workpiece W10 and a second pressure shaft 12 that presses the second workpiece W20. The first pressure shaft 11 is movable relative to the second pressure shaft 12. The solid-state joining apparatus 1 further includes a detection device that detects when the second pressure shaft 12 comes into contact with the second workpiece W20. The control device 30 starts moving the first pressure shaft 11 after the detection device detects that the second pressure shaft 12 has come into contact with the second workpiece W20.

[0051] According to the solid-state welding apparatus 1 of the present disclosure, after the detection device detects contact of the second pressure shaft 12 with the second workpiece W20, movement of the first pressure shaft 11 is started. This allows the welding process to be performed using the time when the second pressure shaft 12 contacts the second workpiece W20 as the reference position, making it easy to perform positioning to prevent poor welding in solid-state welding.

[0052] (2) In the solid-state joining apparatus 1 of (1), the ends of the pair of electrodes 21, 22 protrude toward the first workpiece W10 and the second workpiece W20 beyond the ends of the pair of pressure shafts 11, 12 when the first workpiece W10 and the second workpiece W20 are not being pressed.

[0053] According to the solid-state joining apparatus 1 of the present disclosure, the ends of the pair of electrodes 21, 22 come into contact with the first workpiece W10 and the second workpiece W20 before the ends of the pair of pressure shafts 11, 12 come into contact with the first workpiece W10 and the second workpiece W20. This allows the pair of electrodes 21, 22 to come into contact with the first workpiece W10 and the second workpiece W20 before the pair of pressure shafts 11, 12 do, thereby allowing current to flow appropriately.

[0054] (3) In the solid-state welding apparatus 1 of (1) or (2), the detection device is a limit switch 55 whose output signal switches when the second pressure shaft 12 comes into contact with the second workpiece W20.

[0055] According to the solid-state welding apparatus 1 of the present disclosure, the limit switch 55 having a simple structure makes it possible to easily perform positioning to prevent poor welding.

[0056] (4) In the solid-state welding apparatus 1 of any one of (1) to (3), the solid-state welding apparatus 1 is attached to the tip of a robot arm 210.

[0057] According to the solid-state welding apparatus 1 of the present disclosure, positioning for preventing poor welding in solid-state welding using the robot arm 210 can be easily performed.

[0058] (5) A solid-state joining system 100 of the present disclosure includes a solid-state joining apparatus 1 according to any one of (1) to (4) and a robot 200 having a robot arm 210. The control device 30 moves the robot arm 210 to the first workpiece W10 and the second workpiece W20, and then moves the robot arm 210 in a direction in which the second pressurizing shaft 12 contacts the second workpiece W20.

[0059] According to the solid-state joining system 100 of the present disclosure, by including the solid-state joining apparatus 1 and the robot 200 having the robot arm 210, positioning for preventing poor joining during solid-state joining can be easily performed.

[0060] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present disclosure is defined by the claims, not by the description of the above embodiments, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0061] 1 solid-state welding apparatus, 10 solid-state welding equipment, 11, 12 pressure shaft, 11a, 12a pressure surface, 13 drive unit, 14 C gun, 21, 22 electrode, 21a, 22a contact surface, 30 control unit, 31 calculation unit, 32 memory, 33 storage device, 34 input / output interface, 35 power supply unit, 40 sensor, 50 spring, 55 limit switch, 56 moving part, 60 jig, 100 solid-state welding system, 120 base part, 140 housing, 200 robot, 210 robot arm, 220 stopping member, 330 control program, W10, W20 workpiece, W11, W21 protrusion.

Claims

1. A solid-state joining apparatus for joining, in a solid state, a first workpiece and a second workpiece that are conductive and overlap each other in a thickness direction, comprising: a pair of pressure shafts that press the first workpiece and the second workpiece from both sides in a thickness direction; a pair of electrodes respectively disposed around the pair of pressure shafts; a control device; the pair of pressure applying shafts includes a first pressure applying shaft that applies pressure to the first workpiece and a second pressure applying shaft that applies pressure to the second workpiece, the first pressure applying shaft is movable relative to the second pressure applying shaft, the solid-state joining apparatus further includes a detection device that detects that the second pressurizing shaft has come into contact with the second workpiece, The control device starts moving the first pressure shaft after the detection device detects contact of the second pressure shaft with the second workpiece.

2. 2. The solid-state joining apparatus according to claim 1, wherein the ends of the pair of electrodes protrude toward the first workpiece and the second workpiece beyond the ends of the pair of pressure shafts when the electrodes are not pressing the first workpiece and the second workpiece.

3. 3. The solid-state joining apparatus according to claim 1, wherein the detection device is a limit switch that switches an output signal when the second pressure shaft comes into contact with the second workpiece.

4. 3. The solid-state joining apparatus according to claim 1, wherein the solid-state joining apparatus is attached to a tip of a robot arm.

5. The solid-state bonding apparatus according to claim 1 ; a robot having a robot arm, The control device moves the robot arm to the first workpiece and the second workpiece, and then moves the robot arm in a direction in which the second pressure shaft contacts the second workpiece.

Images