Method for controlling friction stir welding device, and friction stir welding device
In a state where a shoulder member is in contact with a contact surface, a pin member is brought into contact with the contact surface to specify a pin movement amount, which is a distance from an initial position of the pin member to the contact surface, and specify a shoulder displacement amount, which is a displacement amount when the shoulder member is retreated as a result of the contact of the pin member. When both a first condition that the pin movement amount is included in a first range and a second condition that the shoulder displacement amount is included in a second range are satisfied, the pin member is retreated from the contact surface by a predetermined return amount, and furthermore, origin point alignment of the pin member and the shoulder member is performed on the basis of positions of the pin member and the shoulder member.
1. A method for controlling a friction stir welding device that includes a pin member that rotates around an axis and moves forward and backward along the axis, and a shoulder member that is on an outer peripheral side of the pin member, and rotates around the axis and moves forward and backward along the axis, and that welds a workpiece by press-fitting the pin member and the shoulder member into the workpiece while rotating the pin member and the shoulder member, the method comprising:
a first step of storing, in a storage unit, as a first shoulder position, a position of the shoulder member in the axial direction in a state where a distal end of the shoulder member is in contact with a predetermined contact surface;
a second step of storing, in the storage unit, as a first pin position, an initial position of the pin member in the axial direction;
a third step of causing the pin member to advance toward the contact surface and storing, in the storage unit, as a second pin position, a position of the pin member in the axial direction when a distal end of the pin member contacts the contact surface;
a fourth step of storing, in the storage unit, as a second shoulder position, a position in the axial direction of the shoulder member retreated as the pin member contacts the contact surface;
a fifth step of determining that a first condition is satisfied in which a pin movement amount, which is a distance between the first pin position and the second pin position, is included in a predetermined first range, and that a second condition is satisfied in which a shoulder displacement amount, which is a distance between the first shoulder position and the second shoulder position, is included in a predetermined second range;
a sixth step of causing the pin member to retreat from the contact surface by a predetermined return amount responsive to the first condition and the second condition being satisfied, and performing origin point alignment of the pin member and the shoulder member with reference to positions of the pin member and the shoulder member in the axial direction after the retreat;
a seventh step of determining that the first condition is not satisfied; and
an eighth step of causing the pin member to retreat to a restart position farther from the contact surface than the first pin position responsive to the first condition not being satisfied,
wherein after the eighth step, with the position of the pin member retreated to the restart position as a new first pin position, procedures of the second step and subsequent steps are re-executed.
2. The method for controlling a friction stir welding device according to claim 1 , wherein
the first range is equal to or larger than a predetermined reference movement amount,
the second range is equal to or smaller than a predetermined reference displacement amount, and
the restart position is away from the contact surface by a distance equal to or larger than the reference movement amount.
3. The method for controlling a friction stir welding device according to claim 2 , wherein
in the third step, the pin member is driven so that the pin member accelerates until reaching a predetermined target speed and then moves at a constant speed, and
the reference movement amount is a distance or more that is necessary for increasing a moving speed of the pin member to the target speed.
4. A friction stir welding device comprising:
a pin member that rotates around an axis and moves forward and backward along the axis;
a shoulder member that is on an outer peripheral side of the pin member, and rotates around the axis and moves forward and backward along the axis;
a zeroing control unit configured to control origin point alignment of the pin member and the shoulder member;
a welding control unit configured to control welding of a workpiece by press-fitting the pin member and the shoulder member into the workpiece while rotating the pin member and the shoulder member; and
a storage unit that stores data,
wherein the zeroing control unit includes a controller programmed to execute:
a first processing of causing the storage unit to store, as a first shoulder position, a position of the shoulder member in the axial direction in a state where a distal end of the shoulder member is in contact with a predetermined contact surface;
a second processing of causing the storage unit to store, as a first pin position, an initial position of the pin member in the axial direction;
a third processing of causing the pin member to advance toward the contact surface and causing the storage unit to store, as a second pin position, a position of the pin member in the axial direction when a distal end of the pin member contacts the contact surface;
a fourth processing of causing the storage unit to store, as a second shoulder position, a position in the axial direction of the shoulder member retreated as the pin member contacts the contact surface;
a fifth processing of determining whether or not a first condition is satisfied in which a pin movement amount, which is a distance between the first pin position and the second pin position, is included in a predetermined first range, and whether or not a second condition is satisfied that a shoulder displacement amount, which is a distance between the first shoulder position and the second shoulder position, is included in a predetermined second range;
a sixth processing of causing the pin member to retreat from the contact surface by a predetermined return amount when the first condition and the second condition are satisfied, and performing origin point alignment of the pin member and the shoulder member with reference to positions of the pin member and the shoulder member in the axial direction after the retreat; and
a seventh processing of causing the pin member to retreat to a restart position farther from the contact surface than the first pin position when at least the first condition is not satisfied, and
after the seventh processing, with the position of the pin member retreated to the restart position as a new first pin position, the zeroing control unit re-executes the second processing and subsequent processing.
5. A method for controlling a friction stir welding device that includes a pin member that rotates around an axis and moves forward and backward along the axis, and a shoulder member that is on an outer peripheral side of the pin member, and rotates around the axis and moves forward and backward along the axis, and that welds a workpiece by press-fitting the pin member and the shoulder member into the workpiece while rotating the pin member and the shoulder member, the method comprising:
a first step of storing, in a storage unit, as a first shoulder position, a position of the shoulder member in the axial direction in a state where a distal end of the shoulder member is in contact with a predetermined contact surface;
a second step of storing, in the storage unit, as a first pin position, an initial position of the pin member in the axial direction;
a third step of causing the pin member to advance toward the contact surface and storing, in the storage unit, as a second pin position, a position of the pin member in the axial direction when a distal end of the pin member contacts the contact surface;
a fourth step of storing, in the storage unit, as a second shoulder position, a position in the axial direction of the shoulder member retreated as the pin member contacts the contact surface;
a fifth step of determining that a first condition is not satisfied in which a pin movement amount, which is a distance between the first pin position and the second pin position, is included in a predetermined first range; and
a sixth step of causing the pin member to retreat to a restart position farther from the contact surface than the first pin position responsive to the first condition not being satisfied,
wherein after the sixth step, with the position of the pin member retreated to the restart position as a new first pin position, procedures of the second step and subsequent steps are re-executed.
6. A method for controlling a friction stir welding device that includes a pin member that rotates around an axis and moves forward and backward along the axis, and a shoulder member that is on an outer peripheral side of the pin member, and rotates around the axis and moves forward and backward along the axis, and that welds a workpiece by press-fitting the pin member and the shoulder member into the workpiece while rotating the pin member and the shoulder member, the method comprising:
a first step of storing, in a storage unit, as a first shoulder position, a position of the shoulder member in the axial direction in a state where a distal end of the shoulder member is in contact with a predetermined contact surface;
a second step of storing, in the storage unit, as a first pin position, an initial position of the pin member in the axial direction;
a third step of causing the pin member to advance toward the contact surface and storing, in the storage unit, as a second pin position, a position of the pin member in the axial direction when a distal end of the pin member contacts the contact surface;
a fourth step of storing, in the storage unit, as a second shoulder position, a position in the axial direction of the shoulder member retreated as the pin member contacts the contact surface;
a fifth step of determining that a first condition is satisfied in which a pin movement amount, which is a distance between the first pin position and the second pin position, is included in a predetermined first range, and that a second condition is satisfied in which a shoulder displacement amount, which is a distance between the first shoulder position and the second shoulder position, is included in a predetermined second range; and
a sixth step of causing the pin member to retreat from the contact surface by a predetermined return amount responsive to the first condition and the second condition being satisfied, and performing origin point alignment of the pin member and the shoulder member with reference to positions of the pin member and the shoulder member in the axial direction after the retreat.