Friction stir welding method and friction stir welding system

Abstract

To provide a friction stir welding method and a friction stir welding system for always performing friction stir welding at an accurate aiming position by accurately performing feedback control of error information of an aiming position.SOLUTION: A friction stir welding method includes pressing a joint tool 23 supported by a tip shaft part 21 of a manipulator 15 while rotating against joining target members 11, 13 to perform friction stir welding. At least, the tip shift part 21 is provided with a plurality of markers 25. It calculates the position and the posture of the joint tool corresponding to marker position information obtained by detecting the positions of the plurality of markers 25, compares the calculated position and posture of the joint tool with an estimated position and an estimated posture outputted by the manipulator, and calculates a correction amount for correcting the position and posture of the joint tool in the friction stir welding. It drives the manipulator on the basis of a command signal corrected by using the correction amount, and corrects the position and posture of the joint tool.SELECTED DRAWING: Figure 1

Claims

1. A friction stir welding method for frictionally stirring members to be joined together, The method includes friction stir welding by rotating and pressing a joining tool, supported on the tip shaft of a manipulator, onto the member to be joined, At least the tip shaft portion is provided with multiple markers, In the friction stir welding described above, The positions of the plurality of markers are detected, and the position and orientation of the joining tool corresponding to the marker position information of the markers obtained are calculated. The calculated position and orientation of the joining tool are compared with the estimated position and orientation of the joining tool based on the position and orientation information output from the manipulator, and a correction amount is determined to correct the position and orientation of the joining tool. The manipulator is driven based on the command signal corrected using the correction amount to correct the position and orientation of the joining tool. Friction stir welding method.

2. A corresponding position table is obtained in advance, relating the position of the marker in the marker position information to the position and orientation of the joining tool. The position and orientation of the joining tool corresponding to the marker position information are calculated by referring to the corresponding position table. The friction stir welding method according to claim 1.

3. The position and orientation of the joining tool are calculated based on a triangulation method using the positions of any three of the markers in the marker position information. The friction stir welding method according to claim 1.

4. The marker position information includes the position information of the markers displayed in the captured image obtained by capturing the plurality of markers, The friction stir welding method according to claim 3.

5. A friction stir welding system for frictionally stirring members to be joined together, A manipulator having a tip shaft that supports and rotates a joining tool, and capable of changing the position and orientation of the joining tool, A control device that drives the manipulator and rotates and presses the joining tool against the members to be joined to perform friction stir bonding between the members to be joined, Multiple markers provided on the tip shaft portion, A marker detection device having multiple detection units that detect the multiple markers from different directions, Equipped with, The control device is A planning position estimation unit calculates the estimated position and estimated orientation of the joining tool based on the position and orientation information output from the manipulator, A position and orientation calculation unit calculates the position and orientation of the joining tool using the marker position information of the plurality of markers detected by the marker detection device, A correction amount calculation unit calculates a correction amount for the position and orientation of the joining tool by comparing the calculated estimated position and orientation of the joining tool with the calculated position and orientation of the joining tool. A control unit that drives the manipulator based on the command signal corrected using the correction amount to correct the position and orientation of the joining tool, A friction stir welding system including a Friction Stir Welding System.

6. The control device includes a storage unit that stores a corresponding position table relating the position of the marker in the marker position information to the position and orientation of the joining tool. The position and orientation calculation unit calculates the position and orientation of the joining tool corresponding to the marker position information by referring to the corresponding position table. The friction stir welding system according to claim 5.

7. The friction stir welding system according to claim 5, wherein the position and orientation calculation unit calculates based on a triangulation method using the positions of any three of the markers in the marker position information.

8. The plurality of detection units are a plurality of cameras arranged to capture images of the plurality of markers from different directions. The friction stir welding system according to claim 6.

9. The marker detection device includes an infrared irradiating unit mounted on each of the multiple cameras, Each of the aforementioned cameras outputs an image captured from the reflected light of infrared light emitted from an infrared irradiator mounted on it, which is reflected by the marker. The friction stir welding system according to claim 8.

10. The aforementioned manipulator is a multi-axis robot. A friction stir welding system according to any one of claims 5 to 9.

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