Friction stirred
welding equipment, developed according to requirements of high reliability, robustness, precision and low cost, weld lap and butt joints in complex surfaces with fixed pin tool under controlled
downforce. Exemplary equipment comprises a
control force orbital spindle, wherein a coaxial sensor measures the
downforce and simultaneously the axial electrical
actuator corrects axial tool position along the
welding, by a direct
axial force system control, in order to maintain controlled
downforce according to previously set parameters. The equipment sets up, monitors and controls the spindle rotation speed,
welding speed, acceleration speed and downforce and can
record in a
database the downforce and tool welding position during the welding. The exemplary equipment may also comprise a
laser system that scans the backing surface before welding and corrects original
tool path, in order to provide an offset
tool path and precision alarm
system to get a safe welding, avoiding tool collision with the backing.