Welding device, bonding device

Abstract

To provide a welding device that successfully welds an object to be welded (workpiece) by arranging an extendible compression spring in loading means and controlling the moving speed of moving means (compression plate) that compresses or extends the compression spring based on a measured value of a pressing force by the compression spring, and a joining device.SOLUTION: A welding device comprises: welding means for welding a welding object by pressing an object to be welded; a compression spring for pressing the welding means; moving means for compressing or extending the compression spring; drive means for moving the moving means; a load cell for measuring the pressing force by which the compression spring presses the welding means; and control means for controlling the driving of the drive means and the oscillation of ultrasonic vibration of ultrasonic vibration means. The control means instructs the drive means so that the pressing force measured by the load cell becomes a first pressing force based on a measured value measured by the load cell since the welding of the object to be welded has started.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a welding device and a bonding device capable of changing a plurality of pressing forces applied to an object (workpiece) during welding or bonding.

Background Art

[0002] In order to weld a welding object (workpiece) well, an ultrasonic welding device is known that can perform a welding process by changing the pressing force applied to the welding object (workpiece) in multiple stages during welding (during ultrasonic oscillation). In these ultrasonic welding devices, there are those that have a plurality of preset pressing forces applied step by step and change the pressing force according to the setting, and those that have means for measuring the pressing force and sequentially change the pressing force based on the measured value of the pressing force by the measuring means.

[0003] When a pressing force is applied to the welding object (workpiece) during welding, the welding object (workpiece) melts and sinking due to melting occurs. Due to the occurrence of this sinking of the welding object (workpiece) due to melting, there are problems such as the pressing force applied to the welding object (workpiece) fluctuating or the welding object (workpiece) and the tool horn instantaneously separating.

[0004] Therefore, in order to weld well, it has been required to minimize the fluctuation of the pressing force applied to the welding object (workpiece) by the horn and improve the followability of the tool horn to the welding object (workpiece) with respect to the sinking of the welding object (workpiece) due to melting.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] In order to perform better welding, in a welding device or a joining device capable of arbitrarily setting the pressing force applied to an object (workpiece) during welding or joining, a compressible spring that can expand and contract is arranged in a load means, and based on the measured value of the pressing force by the compressible spring, by controlling the moving speed of a moving means (compression plate) that compresses or extends the compressible spring, it is an object to provide a welding device or a joining device that can weld an object (workpiece) well.

Means for Solving the Problems

[0007] The present disclosure is in a welding device capable of arbitrarily setting the pressing force applied to a welding object, welding means for pressing and welding the welding object, a compression spring for pressing the welding means, moving means for compressing or extending the compression spring, driving means for moving the moving means, a load cell for measuring the pressing force with which the compression spring presses the welding means, control means for controlling the driving of the driving means and the welding operation of the welding means, comprising The control means drives the driving means to move the moving means, compresses or extends the compression spring by a predetermined amount to press the welding means with a first pressing force, and after starting the welding of the welding object, based on the measured value measured by the load cell, so that the pressing force measured by the load cell becomes the value of the first pressing force, it is a welding device characterized by instructing the driving means.

Effects of the Invention

[0008] In a welding device or a joining device capable of arbitrarily setting the pressing force applied to an object (workpiece) during welding or joining, a compressible spring that can expand and contract is arranged in a load means, and by controlling the moving speed of a moving means (compression plate) that compresses or expands the compressible spring based on the measured value of the pressing force by the compressible spring, it becomes possible to provide a welding device or a joining device that can weld an object (workpiece) well.

Brief Description of the Drawings

[0009]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Figure 9

Figure 10

Figure 11

Embodiments for Carrying Out the Invention

[0010] Hereinafter, embodiments of the welding apparatus and the bonding apparatus according to the present disclosure will be described with reference to the drawings.

[0011] (First Embodiment of the Present Disclosure) In the first embodiment of the present disclosure, the case where ultrasonic vibration welding is used as the welding means will be taken as an example, and the case of welding a welding object (workpiece) which is a thermoplastic resin will be described. Note that the welding means is not limited to ultrasonic vibration welding. The welding means may be, for example, vibration welding, thermal welding or spin welding. Alternatively, the welding means may be used as ultrasonic vibration cutting which is used for cutting by melting an object (workpiece).

[0012] FIG. 1 shows an example of the overall configuration of an ultrasonic welding apparatus 1 which is a welding apparatus according to the first embodiment of the present disclosure.

[0013] The ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure includes a frame 2 which is a device main body, a moving means 3 which can move in the vertical direction (± directions of the Z axis) with respect to the frame 2, a driving means 4 which is a power source for moving the moving means 3, a load means 5 which is attached to the moving means 3 and applies a load to a welding object (workpiece) by a tool horn 6c, an ultrasonic vibration means 6 which is a welding means for applying ultrasonic vibration to a welding object (workpiece) by oscillating ultrasonic vibration and causing the tool horn 6c to vibrate ultrasonically, an anvil 7 which is disposed at a position facing downward the tool horn 6c and sandwiches a welding object (workpiece) between the anvil 7 and the tool horn 6c, and a control means 8 which controls the entire ultrasonic welding apparatus 1.

[0014] The frame 2 includes a horizontal portion 2a extending in the horizontal direction and a vertical portion 2b standing upright with respect to the horizontal portion 2a.

[0015] The moving means 3 includes a holding portion 3a, a guide rail 3b, a ball screw 3c, a vertically moving portion 3d, a compression plate 3e, and a housing 3f.

[0016] The holding portion 3a consists of a T-shaped holding base 3a1 disposed on the front surface of the vertical portion 2b of the frame 2 and a holding upper portion 3a2 located above the holding base 3a1 and in contact with the holding base 3a1.

[0017] Mounted on the holding upper portion 3a2 are a first lever 4b1 connected to the rotating shaft of the servo motor 4a and a second lever 4b2 connected to the rotating shaft of the ball screw 3c. The holding upper portion 3a2 rotatably supports the upper end of the rotating shaft of the servo motor 4a, the first lever 4b1, the second lever 4b2, and the upper end of the ball screw 3c. The rotation of the servo motor 4a is transmitted to the ball screw 3c via a gear belt 4c, causing the ball screw 3c to rotate. The guide rail 3b is attached to the front surface of the holding base 3a1.

[0018] The vertically moving portion 3d consists of a first vertically moving portion 3d1 that supports the movement of the compression plate 3e and a second vertically moving portion 3d2 that supports the movement of the housing 6a2 of the vibrating portion 6a. The vertically moving portion 3d has grooves formed in the vertical direction on its surface, and these grooves are inserted into the guide rail 3b. The vertically moving portion 3d further has the ball screw 3c inserted therethrough, and as the ball screw 3c rotates, the vertically moving portion 3d moves in the vertical direction along the guide rail 3b into which it is inserted. The compression plate 3e extends horizontally from the first vertically moving portion 3d1 and is disposed such that the upper end of the compression spring 5a is connected via the housing 3f. The housing 3f is connected to the lower surface of the compression plate 3e and covers the upper end of the compression spring 5a so that the compression spring 5a can expand and contract freely.

[0019] The driving means 4 includes a servo motor 4a, a first lever 4b1, a second lever 4b2, and a gear belt 4c.

[0020] The servo motor 4a is controlled by the control means 8. The rotating shaft of the first lever 4b1 is connected to the rotating shaft of the servo motor 4a and rotates corresponding to the rotation of the servo motor 4a. The rotating shaft of the second lever 4b2 is connected to the rotating shaft of the ball screw 3c and rotates the ball screw 3c corresponding to the rotation of the rotating shaft. A gear belt 4c is wound around the first lever 4b1 and the second lever 4b2. The gear belt 4c moves corresponding to the rotation of the first lever 4b1, and the second lever 4b2 rotates corresponding to the movement.

[0021] As described above, by driving the servo motor 4a, the driving means 4 transmits the rotational force from the first lever 4b1 to the second lever 4b2 via the gear belt 4c, and rotates the ball screw 3c to move the vertically moving part 3d inserted into the guide rail 3b in the vertical direction. The speed at which the vertically moving part 3d moves in the vertical direction depends on the rotational speed of the ball screw 3c, and the rotational speed of the ball screw 3c depends on the rotational speed of the servo motor 4a transmitted via the gear belt 4c. That is, the speed at which the vertically moving part 3d moves in the vertical direction can be controlled by controlling the rotational speed of the servo motor 4a.

[0022] The load means 5 includes a compression spring 5a, a load cell 5b, and a linear encoder 5c.

[0023] The upper end of the compression spring 5a is connected to the compression plate 3e and the lower end is connected to the load cell 5b, respectively, and is arranged to be stretchable and contractible as the compression plate 3e moves with the movement of the vertically moving part 3d. The pressing force of the compression spring 5a is applied to the ultrasonic vibration means 6, and the magnitude of the pressing force is measured by the load cell 5b.

[0024] The load cell 5b is placed on the ultrasonic vibration means 6, connected to the lower end of the compression spring 5a, and can measure the pressing force with which the compression spring 5a presses the ultrasonic vibration means 6.

[0025] The linear encoder 5c is used to measure the amount of sinkage due to the melting of the object to be welded (workpiece). The amount of sinkage refers to the amount by which the object to be welded (workpiece) in contact with the tip of the tool horn 6c vibrating ultrasonically sinks from its original height due to melting by the ultrasonic vibration at the horn tip. This amount of sinkage can be measured by the linear encoder 5c as the amount by which the tool horn 6c moves corresponding to the amount of sinkage of the object to be welded (workpiece).

[0026] The ultrasonic vibration means 6, which is a welding means, includes a vibrating part 6a, a booster 6b, and a tool horn 6c.

[0027] The vibrating part 6a includes an oscillation part 6a1 that performs ultrasonic oscillation and a housing 6a2 that covers it. The housing 6a2 is clamped by the second vertical movement part 3d2, and enables the ultrasonic vibration means 6 to move together with the load means 5 as the second vertical movement part 3d2 moves.

[0028] When the ultrasonic vibration means 6 moves downward, for example, from a standby position to a predetermined position, the downward movement stops. The predetermined position is, for example, the position where the tip of the tool horn 6c contacts the surface of the object to be welded (workpiece). In this state, when the vertical movement part 3d moves further downward, the compression spring 5a is compressed by the downward movement of the compression plate 3e, the accumulated pressure increases, and a downward load is applied to the tool horn 6c. The magnitude of the applied load is related to the characteristics and the amount of compression of the compression spring 5a, and the control of the amount of compression of the compression spring 5a is performed by the control means 8 that controls the vertical movement of the compression plate 3e.

[0029] The anvil 7 is a jig for placing the object to be welded (workpiece) thereon, clamping the object to be welded (workpiece) with the tool horn 6c, and performing welding by ultrasonic vibration.

[0030] The control means 8 controls the overall operation of the ultrasonic welding apparatus 1, such as the operation of the servo motor 4a of the drive means 4, the detection of the measured value of the load cell 5b of the load means 5, and the control of the vibrating part 6a of the ultrasonic vibration means 6.

[0031] Fig. 2 shows an example of the temporal transition of the compression spring 5a, the tool horn 6c, and the object to be welded (workpiece) W1 when welding is performed using the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure.

[0032] Note that h1, h2, and h3 shown in Fig. 2 are the heights from the surface of the object to be welded (workpiece) W1 to the upper end of the compression spring 5a (the lower surface of the compression plate 3e), and h11 and h12 indicate the heights from the reference position to the lower end of the compression spring 5a (the upper surface of the load cell 5b).

[0033] Fig. 2(A) shows a state in which the tool horn 6c moves downward from the standby position as the compression plate 3e moves downward, and the tip of the tool horn 6c abuts against the surface of the object to be welded (workpiece) W1. For the protection of the object to be welded (workpiece) W1 and the tool horn 6c, it is desirable that the speed at which the tool horn 6c moves downward when abutting against the surface of the object to be welded (workpiece) W1 is low. The length from the upper end to the lower end of the compression spring 5a in this state is h1 - h11.

[0034] Fig. 2(B) shows a state in which the compression plate 3e is further moved downward with respect to the state shown in Fig. 2(A). As the compression plate 3e moves downward, the compression spring 5a starts to be compressed and the accumulated pressure increases. By pressing the load cell 5b and the tool horn 6c located below it, the tool horn 6c presses the object to be welded (workpiece) W1. The pressing force at this time is defined as pressing force 1. The length from the upper end to the lower end of the compression spring 5a in this state is h2 - h11, which means that the compression spring 5a has been compressed by h1 - h2 from the state shown in Fig. 2(A). In this state, ultrasonic vibration is applied to the tool horn 6c to start the welding process.

[0035] Fig. 2(C) shows a state in which ultrasonic vibration welding is being performed by applying ultrasonic vibration to the tool horn 6c with respect to the state shown in Fig. 2(B).

[0036] By ultrasonically vibrating the tool horn 6c, it shows the state where the welding object (workpiece) W1 in contact with the tip of the horn is melted and there is a sinking into the welding object (workpiece) W1. The tip of the tool horn 6c can follow the sinking of the welding object (workpiece) W1 due to the pressing force caused by the compression of the compression spring 5a. On the other hand, the compression spring 5a follows the sinking of the welding object (workpiece) W1 due to the pressing force caused by compression, so the length from the upper end to the lower end is h2 - h12, which means it has extended by h11 - h12 from the state shown in Fig. 2(B). Due to this extension, the pressing force of the compression spring 5a decreases, and as a result, the pressing force with which the tool horn 6c presses the welding object (workpiece) W1 decreases.

[0037] Fig. 2(D) shows the state where the compression plate 3e is moved downward again to compress the compression spring 5a again with respect to the state shown in Fig. 2(C).

[0038] Thereby, when transitioning from the state shown in Fig. 2(B) to the state shown in Fig. 2(C), the pressing force that decreased due to the extension of the compression spring 5a when pressing the welding object (workpiece) W1 is complemented in the shortest time, and the position of the compression plate 3e is controlled so that the pressing force = pressing force 1 in the state shown in Fig. 2(B) can be maintained.

[0039] As described above, the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure enhances the followability to the sinking due to the melting of the welding object (workpiece) W1 by pressing the tool horn 6c with the pressing force caused by the compression of the compression spring 5a, and for the extension of the compression spring 5a due to the sinking of the welding object (workpiece) W1 caused by melting, the compression plate 3e is moved downward again to compress the compression spring 5a again, thereby complementing the variation in the pressing force in the shortest time and minimizing the variation range of the pressing force. Regarding the control of moving the compression plate 3e downward to complement the variation in the pressing force in the shortest time and minimize the variation range of the pressing force, it will be described with reference to Fig. 4.

[0040] Fig. 3 shows another example of the temporal transition of the states of the compression spring 5a, the tool horn 6c, and the welding object (workpiece) W1 when welding using the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure.

[0041] Note that h3, h4, and h5 shown in FIG. 3 are the heights from the surface of the object to be welded (workpiece) W1 to the upper end of the compression spring 5a (the lower surface of the compression plate 3e), and h12 and h13 indicate the heights from the reference position to the lower end of the compression spring 5a (the upper surface of the load cell 5b). Also, h3 shown in FIG. 2 and h3 shown in FIG. 3 indicate the same height.

[0042] FIG. 3 is an example in which, following the state shown in FIG. 2(D), during the welding process, the pressing force with which the tool horn 6c presses the object to be welded (workpiece) W1 is changed from pressing force 1 to pressing force 2 (magnitude of pressing force: pressing force 1 < pressing force 2).

[0043] FIG. 3(A) shows a state in which, with respect to the state shown in FIG. 2(D), the compression plate 3e is further moved downward to further compress the compression spring 5a and increase the accumulated pressure, so that the tool horn 6c presses the object to be welded (workpiece) W1 with a pressing force 2 greater than the pressing force 1 shown in the state of FIG. 2(B).

[0044] The length from the upper end to the lower end of the compression spring 5a in this state is h4 - h12, and the compression spring 5a has been compressed by h3 - h4 from the state shown in FIG. 2(D).

[0045] Note that since the welding process is continued even in the process of transitioning from the state shown in FIG. 2(D) to the state shown in FIG. 3(A), sinking of the object to be welded (workpiece) W1 also occurs in this transition process. However, similar to FIG. 2(C), the tip of the tool horn 6c can always follow the sinking of the object to be welded (workpiece) W1 due to the pressing force caused by the compression of the compression spring 5a.

[0046] FIG. 3(B) shows a state in which, with respect to the state shown in FIG. 3(A), by continuing the welding process with a pressing force 2 greater than the pressing force 1, further sinking due to further melting of the object to be welded (workpiece) W1 is increasing.

[0047] The tip of the tool horn 6c can follow the sinking of the welding object (work) W1 due to the compressive force of the compression spring 5a, similar to Figure 2(C). On the other hand, due to following the sinking of this welding object (work) W1, the length of the compression spring 5a from the upper end to the lower end becomes h4 - h13, which means it has extended by h12 - h13 from the state shown in Figure 3(A). Due to this extension, the pressing force of the compression spring 5a decreases, and as a result, the pressing force with which the tool horn 6c presses the welding object (work) W1 decreases.

[0048] Figure 3(C) shows a state where the compression plate 3e is moved downward again with respect to the state shown in Figure 3(B), and the compression spring 5a is compressed again.

[0049] Thereby, when transitioning from the state shown in Figure 3(A) to the state shown in Figure 3(B), the pressing force that decreased due to the extension of the compression spring 5a when pressing the welding object (work) W1 is complemented in the shortest time, and the position of the compression plate 3e is controlled so that the pressing force = pressing force 2 in the state shown in Figure 3(A) can be maintained.

[0050] As described above, in the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure, when changing the pressing force applied to the welding object (work) W1 in multiple stages during welding (during ultrasonic oscillation), even during the process of changing the pressing force and after changing the pressing force, the follow-up to the sinking of the welding object (work) W1 and the accompanying fluctuation of the pressing force are complemented in the shortest time, and the fluctuation range of the pressing force is minimized, so that the pressing force at each stage applied to the welding object (work) W1 can be kept constant.

[0051] Note that the downward movement of the compression plate 3e for complementing the pressing force shown in FIG. 2(D), the downward movement of the compression plate 3e for pressing with a new pressing force shown in FIG. 3(A), and the downward movement of the compression plate 3e for complementing the pressing force shown in FIG. 3(C) are shown as examples of cases where they move while ultrasonic vibration is being performed after the start of ultrasonic vibration of the tool horn 6c shown in FIG. 2(B), but are not limited thereto. The movement of the compression plate 3e may be performed at any timing after the start of ultrasonic vibration of the tool horn 6c shown in FIG. 2(B), either while the tool horn 6c has stopped ultrasonic vibration or while it has restarted.

[0052] FIG. 4 shows an example of a functional block of the control of the pressing force of the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure.

[0053] The control of the pressing force with which the tool horn 6c presses the welding object (workpiece) W1 is performed by the control means 8 based on the measured value of the pressing force measured by the load cell 5b.

[0054] The control means 8 sets the rotation speed of the servo motor 4a using the pressing force measured by the load cell 5b. The servo motor 4a with the set rotation speed rotates the motor at the set rotation speed, thereby moving the vertically moving part 3d through which the ball screw 3c is inserted up and down at a predetermined speed. The vertically moving part 3d moves up and down at a predetermined speed, thereby moving the compression plate 3e up and down at a predetermined speed and compressing or extending the compression spring 5a. By changing the accumulated pressure by compressing or extending the compression spring 5a, the measured value of the pressing force measured by the load cell 5b changes sequentially. The control means 8 detects the change in the measured value by sequentially receiving the changed measured value from the load cell 5b, and sets the rotation speed of the servo motor 4a again based on the detection result.

[0055] In this way, the control means 8 performs feedback control on the rotation speed set for the servomotor 4a based on the measured value of the pressing force of the load cell 5b, so that, as shown in FIGS. 2(D) and 3(C), the movement of the compression plate 3e to an appropriate position is realized in the shortest time, the variation in the pressing force accompanying the extension of the compression spring 5a due to the sinking of the welding object (work) W1 is compensated in the shortest time, and the variation range of the pressing force with which the tool horn 6c presses the welding object (work) W1 is minimized.

[0056] In order to realize the time transition of the vertical moving part 3d (compression plate 3e) shown in FIGS. 2 to 4, an example of the processing flow for controlling the pressing performed by the control means 8 of the ultrasonic welding apparatus 1 will be described with reference to FIGS. 5 and 6.

[0057] FIG. 5 shows an example of the processing flow for controlling the pressing performed by the control means 8 of the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure.

[0058] The point in time when the pressing process on the welding object (work) W1 shown in FIG. 5 starts indicates a state where the tip of the tool horn 6c shown in FIG. 2(A) is in contact with the surface of the welding object (work) W1.

[0059] The control means 8 instructs the start of driving (Step 1) so as to drive the servomotor 4a in a predetermined direction at a predetermined rotation speed in order to start pressing the welding object (work) W1.

[0060] Upon receiving the instruction to start driving, the servomotor 4a starts rotating in a predetermined direction at a predetermined speed. When the servomotor 4a starts rotating in a predetermined direction at a predetermined speed, the ball screw 3c rotates corresponding to the rotation speed, and the compression plate 3e arranged in the vertical moving part 3d moves downward at a predetermined speed along with the rotation speed of the ball screw 3c. As the compression plate 3e moves downward, the compression spring 5a starts to be compressed and the accumulated pressure increases, whereby the downward load on the load cell 5b increases.

[0061] Further, the control means 8 instructs (Step 1) to start notifying the measured value of the pressing force measured by the load cell 5b. As a result, the load cell 5b starts notifying the control means 8 of the measured value of the pressing force at a predetermined timing.

[0062] Each time the control means 8 acquires (Step 2) the measured value of the downward load received from the compression spring 5a from the load cell 5b, it determines (Step 3) whether the acquired measured value has reached a predetermined set value (referred to as set value 1).

[0063] As a result of the determination, if the notified measured value has not reached the predetermined set value (set value 1), the control means 8 continues to drive the servo motor 4a.

[0064] As a result of the determination, if the notified measured value has reached the predetermined set value (set value 1), the control means 8 instructs (Step 4) the servo motor 4a to end the drive. As a result, as shown in Fig. 2(B), the compression spring 5a presses the load cell 5b and the tool horn 6c located thereunder with a predetermined set value (corresponding to the pressing force 1 shown in Fig. 2(B), set value 1), and the tool horn 6c presses the welding object (workpiece) W1 with a predetermined set value (set value 1).

[0065] Next, the control means 8 instructs (Step 5) the oscillation unit 6a1 that performs ultrasonic oscillation to start ultrasonic oscillation. As a result, as shown in Fig. 2(B), the oscillation unit 6a1 starts ultrasonic oscillation, and starts the welding process of the welding object (workpiece) W1 by ultrasonically vibrating the tool horn 6c.

[0066] When the welding process starts, as shown in Fig. 2(C), the welding object (workpiece) W1 with which the tip of the tool horn 6c is in contact melts, and the welding object (workpiece) W1 sinks, so the compression spring 5a extends and the pressing force decreases. Therefore, each time the control means 8 acquires (Step 6) the measured value of the pressing force from the load cell 5b, it determines (Step 7) whether the acquired measured value has reached the pressing force (set value 1) set in Steps 1 to 5.

[0067] As a result of the determination, if the notified measured value has reached the set value (set value 1), the control means 8 instructs the servo motor 4a to end the drive (Step 9) (if the servo motor 4a has already ended the drive, it remains in the ended state).

[0068] As a result of the determination, if the notified measured value has not reached the set value (set value 1), the control means 8 instructs the servo motor 4a to start driving (Step 8) (if the servo motor 4a has already started driving, the driving continues). As a result, as shown in FIG. 2(D), as the compression plate 3e moves downward again, the compression spring 5a compresses and the accumulated pressure increases, thereby increasing the downward load on the load cell 5b.

[0069] Each time the control means 8 acquires the measured value from the load cell 5b (Step 6) to determine the state of the increase in the load, it determines (Step 7) whether the acquired measured value has reached the set value (set value 1). The control means 8 instructs the servo motor 4a to start driving until the measured value acquired from the load cell 5b reaches the set value (set value 1) (if the servo motor has already started driving, the driving continues).

[0070] As a result, as shown in FIG. 2(D), the control means 8 can complement, in the minimum time, the pressing force for pressing the welded object (workpiece) W1 that has decreased due to the extension of the compression spring 5a due to the sinking of the welded object (workpiece) W1, and maintain the pressing force of the set value (set value 1) set in Step 3.

[0071] When the notified measured value has reached the set value (set value 1), the control means 8 instructs the servo motor 4a to end the drive (Step 9), and at the same time, instructs the load cell 5b to end the measurement value notification (Step 10) to end the pressing process.

[0072] Thus, after starting the ultrasonic oscillation, the control means 8 always obtains the measured value of the load due to the accumulation of the compression spring 5a from the load cell 5b, and monitors the degree of change in the load, thereby compensating for the fluctuation of the pressing force in the minimum time and minimizing the fluctuation range of the pressing force with which the tool horn 6c presses the welding object (work) W1.

[0073] Note that the control means 8 may instruct to stop and restart the ultrasonic oscillation of the oscillation unit 6a1 at any timing after starting the ultrasonic oscillation of the oscillation unit 6a1 according to the instruction to start the ultrasonic oscillation in Step 5. Also, for the determination in Step 3 and Step 7 of whether the acquired measured value has reached the set value, it may be determined in either case where the acquired measured value matches the set value or reaches within a predetermined range from the set value.

[0074] The processing flow for controlling the pressing shown in FIG. 5 is an example of the processing flow for controlling the pressing when the pressing force is set to a predetermined set value (set value 1) by the processing from Step 1 to Step 4, and the pressing is performed only with the pressing force of the one set value (set value 1) set while the oscillation unit 6a1 is performing ultrasonic oscillation after the instruction to start the ultrasonic oscillation (Step 5). On the other hand, the control means 8 can change the set value of the pressing force for pressing the welding object (work) W1 after giving the instruction to start the ultrasonic oscillation (Step 5). An example of the processing flow when the control means 8 changes the set value of the pressing force is shown in FIG. 6.

[0075] FIG. 6 shows another example of the processing flow for controlling the pressing performed by the control means 8 of the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure. The same Step numbers in FIGS. 5 and 6 indicate the same processing.

[0076] When changing the set value of the pressing force for pressing the welding object (workpiece) W1 after starting the welding process, information including the magnitude (set value) of the pressing force (load) to be set, the time for pressing with that set value, and the order of pressing with the pressing force of that set value is stored in advance in the memory of the control means 8 as a load change table (management table). The control means 8 reads out the magnitude of the pressing force (load) and the pressing time in the order of pressing from the load change table (management table) stored in the memory, and changes the pressing force according to that order. An example of the load change table (management table) will be described with reference to FIG. 8.

[0077] After the oscillation unit 6a1 starts ultrasonic oscillation according to the instruction to start ultrasonic oscillation (Step 5), the control means 8 determines whether the pressing time of the pressing force during pressing has elapsed (Step 20).

[0078] As a result of the determination, if the pressing time has not elapsed, the control means 8 continues with the pressing force of the set value that has already been set.

[0079] As a result of the determination, if the pressing time has elapsed, the control means 8 determines whether there is a set value of the pressing force in the next order by referring to the load change table (Step 21).

[0080] As a result of the determination, if there is a set value of the pressing force in the next order, the control means 8 obtains the pressing force and the pressing time in the next order by referring to the load change table, and gives an instruction to change the pressing force (Step 22) to the servo motor 4a. The processing flow of the instruction to change the pressing force (Step 22) is shown in FIG. 7.

[0081] As a result of the determination, if there is no set value of the pressing force in the next order, the control means 8 instructs the load cell 5b to end the measurement value notification (Step 10) and ends the pressing process.

[0082] Note that the control means 8 may instruct the ultrasonic oscillation of the oscillation unit 6a1 to stop and resume at any timing after the ultrasonic oscillation of the oscillation unit 6a1 is started according to the instruction to start ultrasonic oscillation in Step 5.

[0083] FIG. 7 shows another example of the processing flow of the pressing control performed by the control means 8 of the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure. The processing flow shown in FIG. 7 is a detailed processing flow of the instruction for changing the pressing force (Step 22), and is substantially equivalent to the processing from Step 1 to Step 4 shown in FIG. 5.

[0084] The control means 8 instructs the servo motor 4a to start driving (Step 31) so as to drive in a predetermined direction at a predetermined rotational speed in order to set a new pressing force by compressing or extending the compression spring 5a by moving the compression plate 3e up and down.

[0085] The servo motor 4a that has received the instruction to start driving starts rotating in a predetermined direction at a predetermined speed. When the servo motor 4a starts rotating in a predetermined direction at a predetermined speed, the ball screw 3c rotates corresponding to the rotational speed, and the compression plate 3e arranged in the vertical movement part 3d moves in a predetermined direction at a predetermined speed along with the rotational speed of the ball screw 3c. As the compression plate 3e moves, the compression spring 5a is compressed or extended to change the accumulated pressure, and thereby a new downward load is applied to the load cell 5b.

[0086] Each time the control means 8 acquires (Step 32) the measured value of the downward load received from the compression spring 5a from the load cell 5b, it determines (Step 33) whether or not the acquired measured value has reached the set value of the new pressing force (set value 2). As a result of the determination, when the notified measured value has not reached the set value of the new pressing force (set value 2), the control means 8 continues to drive the servo motor 4a.

[0087] As a result of the determination, when the notified measured value has reached the set value of the new pressing force (set value 2), the control means 8 instructs the servo motor 4a to end driving (Step 34). As a result, as shown in FIG. 3(A), the compression spring 5a presses the load cell 5b and the tool horn 6c located thereunder with the pressing force of the new set value (set value 2), and the tool horn 6c presses the welding object (work) W1 with the pressing force of the new set value (set value 2).

[0088] In Step 33, for the determination of whether the acquired measurement value has reached the set value, it may be determined in any case where the acquired measurement value matches the set value or reaches within a predetermined range from the set value.

[0089] FIG. 8 shows an example of a load change table (management table) held by the control means 8 of the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure.

[0090] The horizontal axis of the load change table (management table) shown in FIG. 8 indicates the value set for the tool horn 6c as the pressing force (load) for pressing the welding object (work) W1 and the time for pressing the welding object (work) W1 with the set value, and the vertical axis indicates the order of pressing. For example, when the order of pressing is No1, the value set for the tool horn 6c as the pressing force (load) for pressing the welding object (work) W1 is 100 (N), and the pressing time is 200 (msec). The example of FIG. 8 is an example where the pressing force increases in the order of pressing, but it is not limited thereto. The pressing force may, for example, turn to decrease after increasing in the order of pressing.

[0091] The load change table (management table) may be rewritable, for example, via the user I / F of the ultrasonic welding apparatus 1, may be storable, or may be input / output capable with the outside via the input / output I / F of the ultrasonic welding apparatus 1. Thereby, the load change table (management table) can be easily and optimally rewritten for the order of pressing, the pressing force, and the pressing time according to the specifications of the welding object (work) W1, enabling efficient welding in a general-purpose manner for welding objects (work) W1 with different specifications.

[0092] (Modification of the First Embodiment of the Present Disclosure) In the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure, when changing the set value of the pressing force set on the tool horn 6c after the oscillation unit 6a1 starts ultrasonic oscillation as shown in the processing flow shown in FIG. 6, the moving speed for moving the moving means 3 (compression plate 3e) to compress or extend the compression spring 5a may not be a predetermined single value, but may be a different value depending on the pressing force to be set. In this case, the load change table (management table) may include information on the moving speed for moving the moving means 3 (compression plate 3e).

[0093] FIG. 9 shows another example of the load change table (management table) held by the control means 8 of the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure.

[0094] The horizontal axis of the load change table (management table) shown in FIG. 9 has information on the moving speed for moving the moving means 3 (compression plate 3e) added to the horizontal axis of the load change table (management table) shown in FIG. 8. The moving speed included in the load change table (management table) may indicate, for example, the maximum value (highest speed) of the moving speed of the moving means 3 (compression plate 3e), or may indicate the value when the moving speed of the moving means 3 (compression plate 3e) reaches a steady state.

[0095] Further, in the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure, the compression spring 5a may be detachable and replaceable. The amount of sinking of the welding object (work) W1 shown in FIGS. 2(C) and 3(B) varies depending on the specifications of the welding object (work) W1. Therefore, it is desirable to select a compression spring having spring specifications such as a spring constant and a spring length that are optimal for the specifications of the welding object (work) W1 as the compression spring 5a. Information on the spring specifications selected as the compression spring 5a may be stored, for example, in a load change table (management table). Also, a load change table (management table) may be stored for each compression spring 5a having different spring specifications.

[0096] In the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure, the upper end of the compression spring 5a connected to the compression plate 3e and the lower end connected to the load cell 5b are each detachable. As a result, the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure can be detachably exchanged for the compression spring 5a that is optimal for the specifications of the welding object (workpiece) W1.

[0097] Also, in the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure, the direction in which the ultrasonic vibration means 6 vibrates is an example of the vertical direction that coincides with the direction (Z-axis direction) in which the load means 5 (compression spring 5a) presses, but is not limited thereto. For example, the direction in which the ultrasonic vibration means 6 vibrates may be the horizontal direction perpendicular to the direction (Z-axis direction) in which the load means 5 presses.

[0098] Based on the above, an example of a series of operations from the start to the end of the welding process when welding the welding object (workpiece) W1 using the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure is shown.

[0099] FIG. 10 shows an example of the time transition of the position of the tool horn 6c, the moving speed of the moving means 3 (compression plate 3e), and the pressing force applied to the tool horn 6c from the start to the end of the welding process of the welding object (workpiece) W1 using the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure.

[0100] FIG. 10(A) shows the moving speed of the moving means 3 (compression plate 3e) on the vertical axis and time on the horizontal axis. FIG. 10(B) shows the position of the tool horn 6c with the standby position set to 0 on the vertical axis and time on the horizontal axis. FIG. 10(C) shows the pressing force with which the tool horn 6c presses the welding object (workpiece) W1 on the vertical axis and time on the horizontal axis. The time on the horizontal axis is divided into sections from t1 to t10 for convenience of explanation.

[0101] The interval from t1 to t3 is the interval in which the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure is activated and waiting for an instruction to start the welding process (standby state). When the instruction to start the welding process is received and the moving means 3 (compression plate 3e) starts to move, the tool horn 6c is moved from the standby position to the position where the tip of the horn abuts on the surface of the welding object (workpiece) W1.

[0102] Among the intervals from t1 to t3, the interval of t1 is the interval in which the moving means 3 (compression plate 3e) starts to move downward according to the instruction of the control means 8 that has received the instruction to start the welding process, and the speed of the downward movement is accelerating. As shown in FIG. 10(A), the speed at which the moving means 3 (compression plate 3e) moves downward is increasing. The instruction to start the welding process received by the control means 8 may be, for example, an instruction by user operation.

[0103] Among the intervals from t1 to t3, the interval of t2 is the interval in which the speed of the downward movement of the moving means 3 (compression plate 3e) is constant (steady state). As shown in FIG. 10(A), the speed at which the moving means 3 (compression plate 3e) moves downward maintains a constant speed (steady state).

[0104] Among the intervals from t1 to t3, the interval of t3 is the interval in which the speed of the downward movement of the moving means 3 (compression plate 3e) is decelerating. As shown in FIG. 10(A), the speed at which the moving means 3 (compression plate 3e) moves downward is decreasing.

[0105] The end point of the interval of t3 is the timing when the tip of the tool horn 6c abuts on the welding object (workpiece) W1. When the tip of the tool horn 6c abuts on the welding object (workpiece) W1, the moving means 3 (compression plate 3e) decelerates the speed of the downward movement to a low speed in order to mitigate the impact due to the abutment. The timing when the tip of this tool horn 6c abuts on the welding object (workpiece) W1 corresponds to the state shown in FIG. 2(A).

[0106] The section of t4 is a section where the moving means 3 (compression plate 3e) is further moved downward at a low speed to compress the compression spring 5a to increase the accumulated pressure. As shown in Fig. 10(A), the moving speed of the moving means 3 (compression plate 3e) maintains a constant speed (steady state) in the low-speed state. Thereby, the moving means 3 (compression plate 3e) compresses the compression spring 5a at a low speed to increase the accumulated pressure. The state where the compression spring 5a is compressed to increase the accumulated pressure corresponds to the state shown in the first half of Fig. 2(B).

[0107] When the pressing force for pressing the load cell 5b and the tool horn 6c located below it by moving the moving means 3 (compression plate 3e) downward to compress the compression spring 5a to increase the accumulated pressure reaches a predetermined pressing force (referred to as pressing force 3), the control means 8 instructs the ultrasonic vibration means 6 (oscillation unit 6a1) to start ultrasonic oscillation. The timing at which the control means 8 instructs the ultrasonic vibration means 6 (oscillation unit 6a1) to start ultrasonic oscillation is the end point of the section of t4. The state where the pressing force reaches the predetermined pressing force and ultrasonic oscillation starts corresponds to the state shown in the second half of Fig. 2(B). The section from t5 to t7 is a section where welding is performed by oscillating the ultrasonic vibration means 6 (oscillation unit 6a1).

[0108] Among the sections from t5 to t7, the section of t5 is a section where the tool horn 6c starts ultrasonic oscillation and starts the welding process due to the ultrasonic oscillation of the ultrasonic vibration means 6 (oscillation unit 6a1) starting at the end point of the section of t4 (the start point of the section of t5).

[0109] For the welding object (workpiece) W1, when the tool horn 6c pressing with the pressing force 3 oscillates ultrasonically, the portion where the horn tip is in contact melts and sinkage occurs.

[0110] The tip of the tool horn 6c can follow the sinkage of the welding object (workpiece) W1 due to the pressing force caused by the compression of the compression spring 5a. The follow-up of this compression spring 5a to the sinkage of the welding object (workpiece) W1 corresponds to the state shown in Fig. 2(C). The moving distance of the tool horn 6c at this time becomes the sinkage amount of the welding object (workpiece) W1 shown in Fig. 10(B).

[0111] As the compression spring 5a extends due to following the sinking of the object to be welded (workpiece) W1, the pressing force of the compression spring 5a decreases. To complement the decrease in the pressing force of this compression spring 5a in the minimum time and minimize the fluctuation range of the pressing force with which the tool horn 6c presses the object to be welded (workpiece) W1 and maintain the pressing force = pressing force 3 at the end point of the section of t4 for the object to be welded (workpiece) W1 in the state, the moving means 3 (compression plate 3e) accelerates the downward movement speed. The downward movement of the moving means 3 (compression plate 3e) to maintain this pressing force 3 corresponds to the state shown in Fig. 2(D).

[0112] Among the sections from t5 to t7, the section of t6 is a section where the welding process is continued by pressing with a pressing force greater than the pressing force = pressing force 3 on the workpiece W1 in the section of t5 (referred to as pressing force 4) as shown in Fig. 10(C). The moving means 3 (compression plate 3e) further moves downward to compress the compression spring 5a and further increase the energy storage. As a result, the tool horn 6c presses the object to be welded (workpiece) W1 with a pressing force 4 greater than the pressing force = pressing force 3 in the section of t5. The state where the pressing starts with this new pressing force 4 corresponds to the state shown in Fig. 3(A).

[0113] When the tool horn 6c that presses the object to be welded (workpiece) W1 with a new pressing force 4 greater than the pressing force 3 vibrates ultrasonically, the portion where the tip of the horn is in contact further melts and sinking occurs for the object to be welded (workpiece) W1.

[0114] The tip of the tool horn 6c can follow the sinking of the object to be welded (workpiece) W1 due to the pressing force caused by the compression of the compression spring 5a. This following of the compression spring 5a to the sinking corresponds to the state shown in Fig. 3(B).

[0115] As the compression spring 5a extends due to following the sinking of the object to be welded (workpiece) W1, the pressing force of the compression spring 5a decreases. In order to compensate for the decrease in the pressing force of the compression spring 5a in the shortest time and minimize the variation range of the pressing force on the workpiece W1 to maintain the pressing force 4, the moving means 3 (compression plate 3e) accelerates the downward movement speed. The downward movement of the moving means 3 (compression plate 3e) to maintain the pressing force 4 corresponds to the state shown in Fig. 3(C).

[0116] Among the intervals from t5 to t7, the interval of t7 is the interval in which the welding process is continued by pressing with a pressing force smaller than the pressing force on the workpiece W1 in the interval of t6 (referred to as pressing force 5). The moving means 3 (compression plate 3e) extends the compression spring 5a by moving upward to reduce the accumulated pressure. As a result, the tool horn 6c presses the object to be welded (workpiece) W1 with a pressing force 5 smaller than the pressing force on the workpiece W1 in the interval of t6, which is the pressing force 4.

[0117] In the example shown in Fig. 10, the moving speed of the moving means 3 (compression plate 3e) is different in each interval from t5 to t7. The moving speed in each interval is managed by, for example, the load change table (management table) shown in Fig. 9.

[0118] The welding process can be terminated, for example, when the tool horn 6c stops ultrasonic vibration. The instruction to terminate the welding process may be, for example, an instruction by user operation, or an instruction transmitted at the timing of the elapse of a predetermined time from the instruction to start the welding process, or an instruction transmitted at the timing of the elapse of time managed by the load change table (management table).

[0119] The example shown in Fig. 10 is an example in which the oscillation of the ultrasonic vibration means 6 (oscillation unit 6a1) is stopped at the end of the interval of t7 where the pressing force for pressing the object to be welded (workpiece) W1 is weakened. As a result, the tool horn 6c stops ultrasonic vibration and the welding process ends. The interval from t8 to t10 is the interval in which the moving means 3 (compression plate 3e) is further moved upward with the end of the welding process, and the tool horn 6c is returned to the standby position.

[0120] In the section from t8 to t10, the section of t8 is a section in which the moving means 3 (compression plate 3e) starts to move upward according to the instruction of the control means 8 that has received an instruction to end the welding process, and the speed of upward movement is accelerating. As shown in Fig. 10(A), the speed at which the moving means 3 (compression plate 3e) moves upward is increasing.

[0121] In the section from t8 to t10, the section of t9 is a section in which the speed at which the moving means 3 (compression plate 3e) moves upward is constant (steady state). As shown in Fig. 10(A), the speed at which the moving means 3 (compression plate 3e) moves upward maintains a constant speed (steady state).

[0122] In the section from t8 to t10, the section of t10 is a section in which the speed at which the moving means 3 (compression plate 3e) moves upward is decelerating. As shown in Fig. 10(A), the speed at which the moving means 3 (compression plate 3e) moves upward is decreasing. The moving means 3 (compression plate 3e) stops moving so that the tool horn 6c reaches the standby position.

[0123] In the example of Fig. 10(A), the moving speed immediately after the start point of the section of t6 accelerates, and then decelerates and maintains a constant speed (steady state). In this case, the moving speed managed by the load change table (management table) may be, for example, the value (maximum speed) at which the moving speed immediately after the start point of the section of t6 accelerates to the maximum value, or the value in the state where it decelerates and then maintains a constant speed (steady state).

[0124] As described above, the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure can perform the welding process by changing the pressing force for pressing the welding object (workpiece) W1 in each section where the welding process from t5 to t7 is being performed. Also, the set value of the pressing force for pressing the welding object (workpiece) W1 in each section, the time for pressing with the set pressing force, and the pressing order can be optimally changed according to the specifications of the welding object (workpiece) W1 by changing the load change table (management table).

[0125] In addition, the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure instantaneously moves the moving means 3 (compression plate 3e) in order to complement, in the shortest time, the follow-up to the sinking of the welding object (work) W1 due to the pressure accumulation of the compression spring 5a and the decrease in the pressing force due to the elongation of the compression spring 5a by following the sinking, so that the fluctuation range of the pressing force with which the tool horn 6c presses the welding object (work) W1 can be minimized in each section where the set pressing force is different.

[0126] In addition, the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure can weaken the pressing force. Even when the welding process is continued by weakening this pressing force, the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure follows the sinking of the welding object (work) W1 according to the melting state of the welding object (work) W1 with which the tip of the horn is in contact, and it is possible to complement, in the shortest time, the decrease in the pressing force due to the elongation of the compression spring 5a by following the sinking.

[0127] As described above, the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure can arbitrarily change the order of pressing the welding object (work) W1 so as to be optimal according to the specifications of the welding object (work) W1, the pressing force to be set, and the time of pressing with the set pressing force during the welding process, and it is possible to keep the pressing force with which the tool horn 6c presses the welding object (work) W1 constant at the pressing force of each changed set value. Thereby, the ultrasonic welding apparatus 1 according to the first embodiment of the present disclosure can perform high-quality welding, and can be generally used for various welding objects (works) W1 by rewriting the load change table (management table) according to the specifications of the welding object (work) W1.

[0128] (Second Embodiment of the Present Disclosure) The control means 8 of the ultrasonic welding apparatus 1, which is a welding apparatus according to the first embodiment of the present disclosure, controls the moving speed of the moving means 3 (compression plate 3e) using the measured value of the pressing force measured by the load cell 5b, but the moving distance of the moving means 3 (compression plate 3e) may be controlled using the measured value of the pressing force measured by the load cell 5b.

[0129] The ultrasonic welding device 11, which is a welding device according to the second embodiment of the present disclosure, is an ultrasonic welding device in which the control means 8 controls the moving distance of the moving means 3 (compression plate 3e) using the pressing force measured by the load cell 5b. The overall configuration of the ultrasonic welding device 11 according to the second embodiment is the same as that of the ultrasonic welding device 1 according to the first embodiment.

[0130] FIG. 11 shows an example of a functional block of the control of the pressing force of the ultrasonic welding device 11, which is a welding device according to the second embodiment of the present disclosure.

[0131] The control means 8 sets the rotational distance of the servo motor 4a using the pressing force measured by the load cell 5b. The servo motor 4a with the set rotational distance rotates the motor according to the set rotational distance, thereby moving the vertical moving part 3d through which the ball screw 3c is inserted up and down by a predetermined distance. The vertical moving part 3d moves the compression plate 3e up and down by a predetermined distance by moving up and down by a predetermined distance, compressing or extending the compression spring 5a. By changing the accumulated pressure by compressing or extending the compression spring 5a, the measured value of the pressing force measured by the load cell 5b changes sequentially. The control means 8 sequentially receives the changed measured value from the load cell 5b, detects the change in the measured value, and sets the rotational distance for the servo motor 4a again based on the detection result.

[0132] In this way, the control means 8 performs feedback control on the rotational distance set for the servo motor 4a with the measured value of the pressing force of the load cell 5b, thereby realizing the movement of the compression plate 3e to an appropriate position in the shortest time, compensating for the fluctuation of the pressing force accompanying the extension of the compression spring 5a with respect to the sinking of the welding object (workpiece) W1 in the shortest time, and minimizing the fluctuation range of the pressing force with which the tool horn 6c presses the welding object (workpiece) W1.

[0133] (Modification of the Second Embodiment of the Present Disclosure) The control means 8 of the ultrasonic welding apparatus 11, which is a welding apparatus according to the second embodiment of the present disclosure, may control both the moving speed and the moving distance of the moving means 3 (compression plate 3e) using the measured value of the pressing force measured by the load cell 5b.

[0134] (Third Embodiment of the Present Disclosure) In the first and second embodiments of the present disclosure, ultrasonic vibration welding is used as the welding means, and the case of welding a welding object (workpiece) made of a thermoplastic resin has been described as an example. However, ultrasonic vibration may be used as the joining means to join a metal as the object (workpiece).

[0135] The joining apparatus according to the third embodiment of the present disclosure is an apparatus that uses ultrasonic vibration as the joining means and performs solid-phase joining by applying ultrasonic vibration to a metal that is a joining object (workpiece). The configuration of the joining apparatus according to the third embodiment is the same as the configuration of the ultrasonic welding apparatus 1 shown in the first and second embodiments. That is, the joining apparatus according to the third embodiment has a joining means that performs ultrasonic vibration corresponding to the welding means of the ultrasonic welding apparatus 1 shown in the first and second embodiments, and applies the ultrasonic vibration performed by the joining means to the metal that is the joining object (workpiece) to perform solid-phase joining.

[0136] Similar to the ultrasonic welding apparatus 1 shown in the first and second embodiments, the joining apparatus according to the third embodiment presses the tool horn 6c by the pressing force caused by the compression of the compression spring 5a, thereby enhancing the followability with respect to the plastic deformation of the joining object (workpiece) generated by performing solid-phase joining. Further, with respect to the elongation of the compression spring 5a due to the plastic deformation of the joining object (workpiece) W1, the compression plate 3e is moved downward again to compress the compression spring 5a again, so that the fluctuation of the pressing force can be compensated in the minimum time and the fluctuation range of the pressing force can be minimized.

[0137] Although some embodiments of the present disclosure have been described, these embodiments are presented by way of example and are not intended to limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the gist of the invention.

Explanation of Reference Numerals

[0138] 1: First welding device 2: Frame (device main body) 2a: Horizontal part 2b: Vertical part 3: Moving means 3a: Holding part 3a1: Holding base 3a2: Holding upper part 3b: Guide rail 3c: Ball screw 3d: Vertical moving part 3d1: First vertical moving part 3d2: Second vertical moving part 3e: Compression plate 3f: Housing 4: Driving means 4a: Servo motor 4b1: First lever 4b2: Second lever 4c: Gear belt 5: Loading means 5a: Compression spring 5b: Load cell 5c: Linear encoder 6: Ultrasonic vibration means 6a: Vibration part 6a1: Oscillation part 6a2: Housing 6b: Booster 6c: Tool horn 7: Anvil 8: Control means W1: Welding object (workpiece) 11: Second welding device

Claims

1. In a welding apparatus capable of arbitrarily setting the pressing force applied to a welding object, a welding means for pressing and welding the welding object; a compression spring for pressing the welding means; a moving means for compressing or extending the compression spring; a driving means for moving the moving means; a load cell for measuring the pressing force with which the compression spring presses the welding means; a control means for controlling the driving of the driving means and the welding operation of the welding means; comprising: The control means drives the driving means to move the moving means, compresses or extends the compression spring by a predetermined amount to press the welding means with a first pressing force, and after starting the welding of the welding object, based on the measured value measured by the load cell and the measured value notified at a predetermined timing, instructs the driving means so that the pressing force measured by the load cell becomes the value of the first pressing force. The control means When it is determined that the measured value has not reached the first pressing force, starts driving to move the moving means at a speed corresponding to the measured value, and when driving has already started, instructs the driving means to continue driving. When it is determined that the measured value has reached the first pressing force, instructs the driving means to end the driving for moving, and a welding apparatus characterized by this.

2. The welding apparatus according to claim 1, wherein the control means instructs the driving means to control the moving speed of the moving means based on the measured value measured by the load cell.

3. The welding apparatus according to claim 1, wherein the control means instructs the driving means to control the moving speed of the moving means so as to compress or extend the compression spring by a new amount in order to press the welding means with a second pressing force different from the first pressing force after starting the oscillation of the welding means.

4. The control means has a management table including information on a plurality of pressing forces for pressing the welding means, the pressing time for pressing the welding means with each of the plurality of pressing forces, and the order of pressing with each of the plurality of pressing forces. In the order of the information on the pressing order, reads out the information on the pressing force and the pressing time corresponding to the information on the pressing order, and controls the moving speed of the moving means so as to compress or extend the compression spring by a new amount. The welding apparatus according to claim 3.

5. The welding apparatus according to claim 4, wherein the information on the pressing force, the pressing time, and the pressing order in the management table is rewritable.

6. The welding apparatus according to claim 4, wherein the management table further includes information on the moving speed of the moving means.

7. The welding apparatus according to claim 1, wherein the compression spring is detachably provided.

8. In an ultrasonic bonding apparatus capable of arbitrarily setting a pressing force applied to a bonding object, ultrasonic vibration means for generating ultrasonic vibration applied to the bonding object; a compression spring for pressing the ultrasonic vibration means; moving means for compressing or extending the compression spring; driving means for moving the moving means; a load cell for measuring the pressing force with which the compression spring presses the ultrasonic vibration means; control means for controlling the driving of the driving means and the generation of ultrasonic vibration of the ultrasonic vibration means, The control means drives the driving means to move the moving means, compresses or extends the compression spring by a predetermined amount to press the ultrasonic vibration means with a first pressing force, and after starting the oscillation of the ultrasonic vibration means to apply ultrasonic vibration to the bonding object, based on the measured value measured by the load cell and notified at a predetermined timing, the control means instructs the driving means so that the pressing force measured by the load cell becomes the value of the first pressing force. The control means When it is determined that the measured value has not reached the first pressing force, the control means starts driving to move the moving means at a speed corresponding to the measured value, and if driving has already started, instructs the driving means to continue driving. The bonding apparatus, wherein when it is determined that the measured value has reached the first pressing force, the control means instructs the driving means to end the driving for moving.

9. The bonding apparatus according to claim 8, wherein the control means instructs the driving means to control the moving speed of the moving means based on the measured value measured by the load cell.

10. The bonding apparatus according to claim 8, wherein the control means instructs the driving means to control the moving speed of the moving means so as to compress or extend the compression spring by a new amount in order to press the ultrasonic vibration means with a second pressing force different from the first pressing force after starting the oscillation of the ultrasonic vibration means.

11. The control means has a management table including a plurality of pressing forces for pressing the ultrasonic vibration means, a pressing time for pressing the ultrasonic vibration means with each of the plurality of pressing forces, and information on the order of pressing with each of the plurality of pressing forces. In the order of the information on the pressing order, the pressing force corresponding to the information on the pressing order and the information on the pressing time are read out, and the moving speed of the moving means is controlled so as to compress or extend the compression spring by a new amount. The bonding device according to claim 10.

12. The bonding device according to claim 11, wherein the information on the pressing force, the pressing time, and the pressing order in the management table is rewritable.

13. The bonding device according to claim 11, wherein the management table further includes information on the moving speed of the moving means.

14. The bonding device according to claim 8, wherein the compression spring is provided detachably and replaceably.

15. In a welding device capable of arbitrarily setting a pressing force applied to a welding object, a welding means for pressing and welding the welding object; a compression spring for pressing the welding means; a moving means for compressing or extending the compression spring; a driving means for moving the moving means; a load cell for measuring the pressing force with which the compression spring presses the welding means; a control means for controlling the driving of the driving means and the welding operation of the welding means; comprising: The control means drives the driving means to move the moving means, compresses or extends the compression spring by a predetermined amount to press the welding means with a first pressing force, and after starting the welding of the welding object, based on the measured value measured by the load cell and notified at a predetermined timing, instructs the driving means so that the pressing force measured by the load cell becomes the value of the first pressing force. The control means When it is determined that the measured value has not reached the first pressing force, starts driving the moving means to move at a speed corresponding to the measured value, and when driving has already started, instructs the driving means to continue driving. When it is determined that the measured value has reached the first pressing force, a welding method characterized by instructing the driving means to end the driving for moving.

16. In a bonding device capable of arbitrarily setting a pressing force applied to a bonding object, an ultrasonic vibration means for generating ultrasonic vibration applied to the bonding object; a compression spring for pressing the ultrasonic vibration means; a moving means for compressing or extending the compression spring; driving means for moving the moving means; a load cell for measuring the pressing force with which the compression spring presses the ultrasonic vibration means; control means for controlling the driving of the driving means and the oscillation of the ultrasonic vibration of the ultrasonic vibration means, and comprising: The control means drives the driving means to move the moving means, compresses or extends the compression spring by a predetermined amount to press the ultrasonic vibration means with a first pressing force, and after starting the oscillation of the ultrasonic vibration means to apply ultrasonic vibration to the joining object, based on the measured value measured by the load cell and notified at a predetermined timing, instructs the driving means so that the pressing force measured by the load cell becomes the value of the first pressing force; The control means: when it is determined that the measured value has not reached the first pressing force, starts driving to move the moving means at a speed corresponding to the measured value, and instructs the driving means to continue driving if driving has already been started; when it is determined that the measured value has reached the first pressing force, instructs the driving means to end the driving for moving, which is a joining method characterized by this.

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