Friction stir welding device and friction stir welding method
A friction stir welding device includes: a control device which causes a pin part to be inserted into members to be joined while causing a joining tool to rotate and which causes a joining head to move along a joint line via a robot main body; and an image pickup device which detects a junction deviation that is a deviation between the joining head and a direction along the joint line. Also, when a junction deviation is generated, this control device causes the joining head to move in a direction toward the joint line and thus resolves the junction deviation.
1. A friction stir welding device comprising:
a joining head attached to a wrist head of a robot main body having multi-axis degrees of freedom;
a drive device having the robot main body and capable of moving the joining head along a joint line where two members to be joined are joined together;
a control device which supplies a motor drive current to an electric motor provided for the joining head, thus inserts a pin part of a joining tool into the members to be joined while rotating the joining tool, and also controls the drive device in such a way that the joining head moves along the joint line, thus performing friction stir welding of the two members to be joined; and
a deviation detection device which detects a junction deviation which is a deviation between the joining head that is moving and a direction along the joint line,
wherein the control device is configured to output to the drive device a position correction signal with a different polarity according to a difference in direction of misalignment between the joining head and the joint line, for moving the joining head in a direction toward the joint line and resolving the junction deviation, and thus moves the joining head toward the joint line, until a time the junction deviation becomes zero, said control device to output when the junction deviation exceeds a deviation limit value which is a predetermined maximum deviation at the time of the friction stir welding, and
wherein the control device is configured to stop outputting the position correction signal to the drive device until the next time the junction deviation exceeds the deviation limit value, said control device to stop outputting when the junction deviation becomes zero.
2. The friction stir welding device according to claim 1 , wherein
the drive device is configured to be able to move the joining head in directions toward and away from the members to be joined, and
the control device performs friction stir welding of the members to be joined, while controlling the drive device in such a way as to maintain the amount of insertion of the pint part into the members to be joined, within a predetermined proper range of insertion.
3. The friction stir welding device according to claim 2 , wherein
the control device maintains the amount of insertion of the pin part within the proper range of insertion, based on the motor drive current.
4. The friction stir welding device according to claim 3 , wherein
the control device determines that the amount of insertion of the pin part is smaller than a predetermined proper range of insertion when the motor drive current is smaller than a predetermined proper range of current, and determines that the amount of insertion of the pin part is greater than the proper range of insertion when the motor drive current is greater than the predetermined proper range of current, and thus maintains the amount of insertion of the pin part within the proper range of insertion.
5. The friction stir welding device according to claim 2 , comprising
a distance measuring device which outputs a distance signal obtained by measuring a distance from the joining head to the members to be joined,
wherein the control device maintains the amount of insertion of the pin part within the predetermined proper range of insertion, based on the distance signal.
6. The friction stir welding device according to claim 1 , wherein
the robot main body is configured to be able to move the joining head in a direction along the joint line.
7. The friction stir welding device according to claim 2 , wherein
the drive device is configured by having a lift device capable of moving the joining head in directions toward and away from the members to be joined, attached to the robot main body,
the robot main body is configured to be able to move the joining head in a direction along the joint line, and
the control device controls the lift device to move the joining head in the case of moving the joining head in the directions toward and away from the member to be joined.
8. The friction stir welding device according to claim 2 , wherein
the robot main body is configured to be able to move the joining head in a direction along the joint line and to move the joining head in directions toward and away from the members to be joined.
9. The friction stir welding device according to claim 1 , wherein
the robot main body holds the joining head with six-axis degrees of freedom.
10. The friction stir welding device according to claim 1 , wherein the deviation detection device comprises:
an image pickup device which is arranged forward in a direction of movement of the joining head and picks up an image of a boundary between the two members to be joined or an edge of one of the two members to be joined that is ahead of the joining head in the direction of movement, as the joint line; and
an image processing unit which inputs the joint line whose image is picked up by the image pickup device, as a video signal, and
the image processing unit aligns the joint line with a center of an image pickup range of the image pickup device when the junction deviation is zero before the joining head starts moving, and detects misalignment between the joint line and the center of the image pickup range as the junction deviation after the joining head starts moving.
11. A friction stir welding method at the time when a friction stir welding device performs friction stir welding of the members to be joined, the friction stir welding comprising a joining head attached to a wrist head of a robot main body having multi-axis degrees of freedom, a drive device having the robot main body and capable of moving the joining head along a joint line where two members to be joined are joined together, and a control device which controls the drive device, the method comprising:
a procedure of detecting, by a deviation detection device, a junction deviation which is a deviation between the joining head that is moving and a direction along the joint line; and
a procedure of configuring the control device to output to the drive device a position correction signal with a different polarity according to a difference in direction of misalignment between the joining head and the joint line, for resolving the junction deviation, and thus moving the joining head toward the joint line, until a time the junction deviation becomes zero, said control device to output when the junction deviation exceeds a deviation limit value which is a predetermined maximum deviation at the time of the friction stir welding, and
a procedure of configuring the control device to stop outputting the position correction signal to the drive device until the next time the junction deviation exceeds the deviation limit value, and thus performing friction stir welding of the members to be joined while moving the joining head in a direction toward the joining line, said control device to stop outputting when the junction deviation becomes zero.
12. The friction stir welding method according to claim 11 , comprising
a procedure of maintaining, by the control device, the amount of insertion into the members to be joined of a pin part of a joining tool attached to the joining head, within a predetermined proper range of insertion at the time of friction stir welding.
13. The friction stir welding method according to claim 12 , wherein
the procedure of maintaining the amount of insertion of the pin part within the predetermined proper range of insertion is a procedure of maintaining, by the control device, the amount of insertion of the pin part within the proper range of insertion, based on a motor drive current supplied to an electric motor which rotates the joining tool.
14. The friction stir welding method according to claim 12 , wherein
the procedure of maintaining the amount of insertion of the pin part within the proper range of insertion is a procedure of maintaining, by the control device, the amount of insertion of the pin part within the predetermined proper range of insertion, based on a distance signal obtained by measuring a distance from the joining head to the members to be joined, by a distance measuring device provided in the joining head.