MECHANICAL FRICTION POINT WELDING DEVICE AND METHOD

专利摘要:
Spot welding device and method. Friction and Mechanical Mixing ”comprises a tool drive section of a mechanical friction and mixing spot welding device (50a, 50b, 50c, 50d) is configured to advance and retract a pin element (11) and a support element (12); The tool drive control section is configured to control the tool drive section so that an absolute value of an average position tx of a tool is defined by the following equation: ap × pp + as × ps = tx, where ap is a cross-sectional area of the front end surface of the pin element (11), as is a cross-sectional area of the front end surface of the support element (12), pp is the pressing depth of the pin element (11) pressed-in from the front surface of an object to be welded (60), and ps is the pressing-in depth of the support member (12) pressed-in from the front surface of the object to be welded (60), be small; In this way, especially in friction spot welding and double acting mechanical mixing, excellent welding quality can be obtained accurately according to the welding conditions, and internal cavity defects can be prevented or suppressed.
公开号:BR112013023923B1
申请号:R112013023923-9
申请日:2012-03-16
公开日:2019-02-12
发明作者:Hideki Okada；Hajime Kashiki；Kazumi Fukuhara；Mitsuo Fujimoto
申请人:Kawasaki Jukogyo Kabushiki Kaisha；
IPC主号:

专利说明:

DEVICE AND METHOD OF WELDING BY FRICTION AND MECHANICAL MIXING
FIELD OF APPLICATION [0001] The present patent application relates to a friction welding and mechanical mixing device and a friction welding and mechanical mixing method, and in particular to a welding device friction spot and mechanical mixing and a friction spot welding and mechanical mixing method preferably capable of controlling the advance and retraction of a rotary tool for friction spot welding and mechanical mixing. STATE OF THE TECHNIQUE [0002] In means of transport, such as automobiles, railway vehicles and airplanes, resistance spot welding or riveting have been used to join metallic materials. However, in recent years, spot welding by friction and mechanical mixing has received attention, as disclosed in Patent Documents 1 or 2. As a result of spot welding by friction and mechanical mixing, metallic materials are welded together by frictional heat by means of a cylindrical rotary tool (welding tool) equipped with a pin element at its front end. The rotary tool is configured to move forward and backward, with respect to an object to be welded, and to advance at a certain pressure or speed, within a predetermined range, while rotating at high speed, so as to be pushed in the direction (engaged by pressing) to the object to be welded (metallic materials). The metallic materials are softened in a place where the tool
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2/61 swivel is fitted by pressing, and the softened metallic materials are stirred to weld the object to be welded.
[0003] Friction spot welding and mechanical mixing disclosed in Patent Document 1 uses only the pin element as a rotary tool and therefore, for convenience of description, it will be referred to as friction spot welding and simple-acting mechanical mixing . On the other hand, friction spot welding and mechanical mixing disclosed in Patent Document 2 uses a substantially cylindrical pin element and a substantially tubular support element containing a cavity for inserting the pin element as a rotary tool, and where the element pin and the support element can rotate independently and move forward and backward. For convenience of description, friction spot welding and mechanical mixing of the referred configuration will be called friction spot welding and double acting mechanical mixing (replacement friction point joining). In accordance with friction spot welding and double-acting mechanical mixing, the recess formed by the pressing fit of the pin element can be filled by adjusting the lead and retract times of the pin element and the support element. PREVIOUS TECHNICAL DOCUMENTS
PATENT DOCUMENT [0004] Patent Document 1: Patent Publication No. 4252403 Patent Document 2: Japanese Patent Publication Submitted to Public Inspection No. 2007-30017 SUMMARY
PROBLEMS TO BE SOLVED [0005] As a result of spot welding
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3/61 by friction and double-acting mechanical mixing, the rotary tool consists of a plurality of elements: the pin element and the support element. Thus, compared to friction spot welding and single-acting mechanical mixing, friction spot welding and double-acting mechanical mixing requires more execution considerations, making it more difficult to select the items to be controlled during execution and furthermore, if selection is possible, it is more difficult to specifically determine the items to be controlled. For this reason, a method for controlling single point friction welding and mechanical mixing, as disclosed in Patent Document 1 cannot be applied, as presented, to friction point welding and mechanical mixing of double acting.
[0006] Patent Document 2 describes friction spot welding and mechanical mixing of double acting capable of effectively preventing or suppressing irregular burrs, but does not disclose the aforementioned control, necessary to obtain an excellent welding quality, capable of meet welding conditions with high precision.
[0007] Studies by the present inventor show that, in friction spot welding and mechanical mixing of double acting, when the recess formed by the pressing fit of the pin element or the supporting element is filled, there is a defect in the cavity internal. The determination of the occurrence or not of defects in the internal cavity requires ultrasonic failure detection tests, cross-sectional observation, etc., which can reduce the efficiency of welding operations, as well as increase costs. However, no technique to effectively prevent or suppress
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4/61 efficient the defect of the internal cavity became known.
[0008] The present application for a patent aims to solve such a problem, and its objective is to provide a control technique capable of achieving excellent welding quality, at an appropriate precision, in accordance with the welding conditions, and prevent or suppress the internal cavity defect, especially in friction spot welding and double-acting mechanical mixing. SOLUTIONS TO THE PROBLEMS [0009] In order to achieve the objective described above, the mechanical friction and mixing point welding device, according to the present patent application, is a friction and mixing point welding device mechanics that weld an object to be welded by partially shaking a rotating tool, such a device including: a cylindrical pin element as a rotary tool, the pin element configured to rotate about an axis and be able to move forward and backward in the axial direction; a tubular support element configured to surround the pin element, rotate coaxially with the pin element, and be able to advance and retract in the axial direction; a tool drive section configured to move the pin element and the support element forward and backward along the axis; and a tool drive control section configured to control the action of the tool drive section, in which the tool drive control section controls the tool drive section so that the absolute value of an average position Tx of a tool, defined as the following equation:
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Αρ · Ρρ + As-Ps = Τχ, where Αρ is a cross-sectional area of the front end surface of the pin element, As is a cross-sectional area of the surface of the front end of the bearing element, Pp is the depth of pressing fit of the pin element fitted by pressing from the front surface of the object to be welded, and Ps is the press fit depth of the supporting element pressed by pressing from the front surface of the object to be welded, be small .
[0010] In the friction spot welding and mechanical mixing device having the configuration described above, the tool drive control section controls the tool drive section, so that the average position Tx of the tool is substantially 0.
[0011] The friction spot welding and mechanical mixing device having the configuration described above, also including a section for setting the press fit reference point configured to define a position where the support element contacts the object to be welded , as a press fit reference point, and the tool drive control section can be configured to control the press fit depth of the support element or pin element, based on the press fit reference point press defined by the press fit reference point definition section.
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6/61 [0012] The friction welding and mechanical mixing device having the configuration described above also includes a displacement calculation section configured to calculate the amount of displacement of the front end of the pin element or the support element, and the tool drive control section can be configured to correct the groove depth, through the amount of displacement.
[0013] In order to achieve the objective described above, the friction welding and mechanical mixing method, according to the present patent application, is a friction welding and mechanical mixing method that uses a cylindrical pin element as a rotary tool, the pin element configured to rotate about an axis and being able to move back and forth in the axial direction, and a tubular support element configured to surround the pin element, rotate coaxially with the pin element , and be able to move forward and backward in the axial direction, in a state where the pin element and the supporting element can move forward and backward, to weld an object to be welded that has a front surface facing the pin element and the element support, by partial mixing, where the advance and retraction of the pin element and the support element is controlled so that the absolute value of an average position Tx of a tool, defined as the following equation:
Ap-Pp + As-Ps = Tx, where Ap is a cross-sectional area of the front end surface of the pin element, As is a cross-sectional area of the front end surface of the support element, Pp is the depth of press fit
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7/61 of the pin element pressed by pressing from the front surface of the object to be welded, and Ps is the press fit depth of the supporting element pressed by press from the front surface of the object to be welded, whether small .
[0014] In the friction spot welding and mechanical mixing method having the configuration described above, the advance and retraction of the pin element and the support element can be controlled, so that the average tool position Tx is substantially 0, through the tool drive control section.
[0015] In the friction spot welding and mechanical mixing method presenting the configuration described above, in which the position where the support element contacts the object to be welded can be defined as a press fit fitting reference point, and the The press fit depth of the support element or pin element can be controlled based on the press fit reference point.
[0016] In the friction spot welding and mechanical mixing method having the configuration described above, the amount of displacement of the front end of the pin element or the supporting element can be calculated, and the press-fit depth can be corrected through the amount of displacement.
[0017] The objects, characteristics and advantages of the present patent application, both the above and others, will become apparent from the following detailed description of the Preferred Configurations, with reference to the attached figures.
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EFFECTS OF THE INVENTION [0018] As described above, the present patent application advantageously provides the control technique capable of achieving excellent welding quality, at a suitable precision, in accordance with the welding conditions, and preventing or suppressing the defect of internal cavity, especially in friction spot welding and mechanical mixing of double acting.
BRIEF DESCRIPTION OF THE DRAWINGS [0019] Figure 1 is a schematic side view showing an exemplary configuration of a spot welding device by friction and mechanical mixing according to Configuration 1 of the present patent application;
[0020] Figure 2A to figure 2F are process graphs showing schematically an example of each stage of friction spot welding and mechanical mixing by the friction spot welding device of figure 1;
[0021] Figure 3A to Figure 3F are process graphs showing schematically another example of each stage of friction spot welding and mechanical mixing by the friction spot welding device of figure 1;
[0022] Figure 4 is a block diagram showing the functional configuration of the spot welding device by friction and mechanical mixing of figure 1;
[0023] Figure 5 is a schematic view showing a typical example of positional control of a pin element and a support element in the control device.
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9/61 friction spot welding and mechanical mixing of figure 1, and a representative example of a failure;
[0024] Figure 6 is a flow chart showing an example of friction welding and mechanical mixing control by the friction welding and mechanical mixing device of figure 4;
[0025] Figure 7 is a flow chart showing another example of control of spot welding by friction and mechanical mixing by the spot welding device by friction and mechanical mixing of figure 4;
[0026] Figure 8 is a flowchart showing yet another example of friction welding and mechanical mixing control by the friction welding and mechanical mixing device of figure 4;
[0027] Figure 9 is a block diagram showing the functional configuration of a friction welding and mechanical mixing device according to Configuration 2 of the present application for an invention patent;
[0028] Figure 10A and Figure 10B are schematic views for describing the definition of a press fit reference point in the friction spot welding machine of figure 7;
[0029] Figure 11 is a block diagram showing the functional configuration of a friction welding and mechanical mixing device according to Configuration 3 of the present application for an invention patent; and [0030] Figure 12 is a block diagram showing the functional configuration of a friction welding and mechanical mixing device according to Configuration 4 of the present application.
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CONFIGURATIONS [0031] Preferred configurations of the present patent application will be described below, with reference to the figures. Throughout the figures, equal or equivalent elements will receive the same reference signs, and the corresponding coincident descriptions will be omitted. CONFIGURATION 1
Mechanical friction spot welding device [0032] A basic configuration of a mechanical friction spot welding device according to Configuration 1 of the present application will be described with reference to figure 1.
[0033] As shown in figure 1, a friction welding and mechanical mixing device 50A according to this configuration includes a rotary tool 51, a tool clamp section 52, a tool drive section 53, an clamp 54, a cladding section 55, and a cladding element 56.
[0034] The rotary tool 51 is supported by the tool clamp section 52, and driven to move forward and back and rotate through the tool drive section 53. The rotary tool 51, the tool clamp section 52, the tool drive section 53, and the fastening element 54 are provided above the cladding section 55 constituted as a C-gun (structure type C), and the cladding element 56 is provided below the cladding section 55. Likewise , the rotary tool 51 and the liner 56 are attached to the liner support section 55 in opposition to each other, and
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11/61 an object to be welded 60 is installed between the coating element 56 and the rotary tool 51.
[0035] The rotary tool 51 consists of a pin element 11 and a supporting element 12. The tool clamp section 52 consists of a rotary tool clamp section 521 and a clamp clamp section 522, and the clamp section Tool drive 53 consists of a pin drive section 531, a support actuation section 532, a swivel drive section 533, and a clamp actuation section 41. Fixing element 54 is attached to the clamp fixing section 522 through the actuation section of the clamp 41. The actuation section of the clamp 41 is formed by a spring.
[0036] The pin element 11 will be substantially tubular or cylindrical, and although not shown in detail, it is supported by the rotating tool clamping section 521. The pin element 11 is rotated about an Xr axis (a rotary axis represented by a line of dashes and dots in the figure) through the rotary drive section 533, and can move forward or backward along the dotted arrow Pl or the axis Xr (in the vertical direction of figure 1) through the drive section of pin 531. The support 12 is substantially shaped like a hollow tube, and the pin element 11 is inserted into the hollow tube, so that the rotating tool clamping section 521 supports the support element 12 outside the pin element 11, in order to surround the pin element 11. The support element 12 is rotated about the same axis Xr as the rotary axis of the pin element 11, by the rotary drive section 533, and can be moved forward or backward along the dotted arrow to P2 or Xr axis through the actuation section
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Support 12/61 532.
[0037] In this way, the pin element 11 and the support element 12 are supported by the rotating tool clamping section 521 in this configuration, and are integrally rotated about the Xr axis by the rotary drive section 533. In addition, the pin element 11 and the support element 12 can be advanced and retracted along the Xr axis by the pin drive section 531 and by the actuation section of the support 532. With the configuration shown in figure 1, the pin element 11 can advance and retreat alone and with advance and retraction of the support element 12; however, the pin element 11 and the support element 12 can move forward and back independently.
[0038] The fixing element 54 is provided outside the support element 12, and like the support element 12, it is substantially shaped like a hollow tube, and the support element 12 is inserted into the cavity. Likewise, the substantially tubular support element 12 is located on the periphery of the pin element 11, and the substantially tubular fixture 54 is located on the periphery of the support element 12. In other words, the fixation element 54, the support element 12, and pin element 11 are coaxially nested.
[0039] The fastening element 54 presses the object to be welded 60 from a surface (front surface), and in this configuration, it is supported by the clamp fixing section 522 through the clamp 41 actuation section. Likewise , the fixing element 54 is angled towards the cladding element 56. The clamp fixing section 522 supports the fixing section of
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13/61 rotary tool 521 via rotary drive section 533. Clamp fixing section 522 can be moved forward or backward along the dotted arrow P3 (having the same directions as the dotted arrows PI and P2) through the actuation section of the support 532. The actuation section of the clamp 41 is not limited to the spring, it can be any means that holds or presses the fastening element 54, such as, for example, a mechanism that uses gas pressure, hydraulic pressure or a servomotor . The actuation section of the clamp 41 can be advanced and retracted by the actuation section of the support 532 as shown in figure 1, or it can be independently advanced and retracted, independent of the actuation section of the support 532.
[0040] As described above, the rotary tool 51, the tool clamp section 52, the tool drive section 53, and the clamping element 54 are provided in the cladding section 55, as opposed to the cladding element 56 The pin element 11 and the support element 12, which make up the rotary tool 51, and the fixing element 54 include a contact surface 11a, a contact surface 12a, and a contact surface 54a, respectively, and these contact surfaces 11a, 12a, 54a can be advanced and retracted by the tool drive section 53, and contact the front surface (first surface, one surface) of the object to be welded 60, installed between the contact surfaces and the contact element cladding 56. The cladding element 56 is opposite the pin element 11 and the supporting element 12, and the fastening element 54, and contacts the rear surface of the object to be welded 60. In fig. 1, coating element 56 has a flat surface that conforms to the rear surface of the
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14/61 flat plate object to be welded 60.
[0041] The coating element 56 is located on the side, against which the pin element 11 and the support element 12 advance, and the support surface 56a of the coating element 56 supports the rear surface of the object to be welded 60 , in the state where the front surface of the object to be welded 60 faces the pin element 11 and the support element 12. The cladding element 56 can be configured in any way, as long as it can adequately support the object to be welded 60 by spot welding by friction and mechanical mixing. The covering element 56 is generally a flat plate containing the support surface 56a, capable of stably supporting the plate-shaped object to be welded 60, but it may have any other configuration, in addition to the flat plate, according to shape of the object to be welded 60. For example, the coating elements 56 of various different shapes can be prepared separately, and the coating element 56 can be removable from the coating support section 55 to be replaced by one of the coating elements 56 prepared, depending on the type of object to be welded 60.
[0042] Specific configurations of the rotary tool 51, the tool clamp section 52, and the tool drive section 53 in this configuration are not limited to the aforementioned configurations, and may be any well-known configuration in the area of friction spot welding and mechanical mixing. For example, the pin drive section 531, the support actuation section 532, and the rotary drive section 533, which make up the tool drive section 53 in this configuration, are each
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15/61 of them, formed by a well-known motor and gear mechanism in the area of friction spot welding and mechanical mixing. In the 50A mechanical mix and friction spot welding device, the fixture 54 can be omitted, or it can be removable from the coating support section 55 as needed. Other elements not shown in figure 1 can be included.
[0043] The cladding support section 55 is formed by a C-gun in this configuration, but is not limited to it, as long as it can support the pin element 11 and the support element 12, in order to allow them to advance and receding, as well as supporting the coating element 56 in a position opposite to that of the rotary tool 51.
[0044] In this configuration, the cladding support section 55 is attached to the front end of an arm not shown. The arm is included in the friction welding robot and mechanical mixing, not shown in figure 1. In this way, the coating support section 55 can be included in a friction welding robot and mechanical mixing. The configuration of a friction welding robot and mechanical mixing, including the coating support section 55 and the arm, is not specifically limited, and any well-known configuration in the area of friction welding and mechanical mixing, such as as a multi-jointed robot, it can preferably be used.
[0045] The 50A friction and mechanical mixing spot welding device, including cladding support section 55, is not only applicable to a friction and mechanical mixing spot welding robot. For example, the friction spot welding device and
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16/61 50A mechanical mixing can preferably be applied to well-known processing machines such as CN (numerical control) machining machines, large C frames and automatic riveting machines. Two pairs or more of robots can be used, so that the friction welding device and mechanical mixing can confront the coating element 56. As long as the object to be welded 60 can be subjected to spot welding in a stable manner by friction and mechanical mixing, a point welding device by friction and mechanical mixing can be applied as a portable configuration, in contrast to the stationary friction welding device and mechanical mixing 50A stationary in this configuration, or a robot can be used as positioner for the object to be welded 60.
Friction spot welding and mechanical mixing method [0046] Hereinafter, a specific process of a friction spot welding and mechanical mixing method using the above mentioned 50A friction spot and mechanical mixing device will be described with reference figures 2A to 2F and figures 3A to 3F. In figures 2A to 2F and figures 3A to 3F, two metal plates 61, 62 are used as the object to be welded 60, and such metal plates 61, 62 are stacked and coupled together by spot welding.
[0047] In figures 2A to 2F and figures 3A to 3F, an arrow p represents the direction in which the rotary tool 51 is moved (corresponding to the direction represented by the dotted arrows Pl to P2 in figure 1), an arrow r represents the direction in which the rotating elements (the pin element 11 and the supporting element 12) are rotated, and
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17/61 a block arrow F represents the direction in which the force is applied on the metal plates 61, 62. In figures 2A to 3F and figures 3A to 3F, for a clear description of the position of the constituents in each stage and the welding location of the metal plates 61, 62, with respect to the arrow p and the block arrow F, the reference numerals p and F are expressed only in figure 2A, and as for the arrow r, the reference numeral r is expressed only in the figure 2B. Although a force is also exerted from the cladding element 56, on the metal plates 61, 62, for convenience of description such force is not shown in figures 2A to 2F. In addition, to distinguish the supporting element 12 from the pin element 11 and the fixing element 54, the supporting element 12 is hatched in half-paint.
[0048] First, a series of steps in figures 2A to 2F will be described. In the series of steps, the pin element 11 is pressed into metal plates 61, 62 before the supporting element 12 is pressed.
[0049] Specifically, as shown in figure 2A, the rotary tool 51 is approached to the metal plates 61, 62 (the arrow p, in this figure) to place the contact surface 54a (not shown in figures 2A to 2F) of the element fastening 54 in contact with the front surface 60c of the upper metal plate 61, and for placing the cladding element 56 in contact with the rear surface 60d of the lower metal plate 62. As a result, the fastener 54 and the liner 56 compress the metal plates 61, 62 together, and pressure from the fastener 54 (the block arrow F in this figure) generates a gripping force .
[0050] Next, as shown in the figure
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2Β, the rotating elements of the rotary tool 51 approach the metal plates 61, 62, placing the contact surface 11a (not shown in figures 2A to 2F) of the pin element 11 and the contact surface 12a (not shown in the figures 2A to 2F) of the support element 12 in contact with the front surface 60c of the metal plate 61. In this state, the contraction of the actuation section of the clamp 41 formed by the spring generates the gripping force of the fastening element 54. Then , the pin element 11 and the support element 12 are brought into contact with the front surface 60c of the metal plate 61, and are rotated (around the arrow r in this figure).
[0051] In this state, since neither the pin element 11 nor the support element 12 advance or recede, the front surface 60c of the metal plate 61 is preheated. In this way, the metallic material in the contact area of the metal plate 61 is softened by the heat generated by the friction, forming a fluid plastic part 60a close to the front surface 60c of the metal plate 61.
[0052] Next, as shown in figure 2C, the pin element 11 is projected from the support element 12 by the pin drive section 531, not shown, advancing (pressing), in addition, the pin element 11 inwards, from the front surface 60c of the metal plate 61. At this time, the softened region of the metal material varies from the upper metal plate 61 to the lower metal plate 62, to increase the plastic fluid part 60a. Since the softened metallic material of the plastic fluid part 60a is further pushed aside by the pin element 11 and flows from the pin element 11 immediately below to the support element 12 immediately below, the support element 12 retracts and flows
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19/61 upwards, when viewed from the pin element 11.
[0053] Then, as necessary, as shown in figure 2D, a step can be performed where the pin element 11 designed by the pin drive section 531, not shown, is gradually retracted (drawn) and, with the element retraction of pin 11, the support element 12 is advanced (engaged by pressing) in the metal plate 61. In a step mentioned below in figure 2E, the front surface 60c of the metal plate 61 is shaped. However, if the front surface 60c is not sufficiently shaped on this occasion, the step shown in figure 2D can be performed.
[0054] After that, after the step of figure 2C, the pin element 11 is gradually retracted, and after the step of figure 2D, the support element 12 is gradually retracted. On this occasion, as represented by the block arrows of figure 2C and figure 2D, even during the retraction of the pin element 11 or the supporting element 12, the pressurizing force from its front end is maintained. In the previous case, since the rotation and pressure of the support element 12 are maintained while the pin element 11 is retracted, the softened metallic material of the plastic fluid part 60a flows from the support element 12 immediately below to the pin element 11 immediately below, filling the recess. In the latter case, since rotation and pressure by the pin element 11 are maintained while the support element 12 is retracted, the recess caused by the pressing fit of the support element 12 is filled.
[0055] After that, as shown in figure 2E, the contact surface 11a of the pin element 11 is aligned (left flat) with the contact surface 12a of the
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20/61 supporting element 12, without any substantial step between them. In this way, the front surface 60c of the metal plate 61 is shaped to obtain an almost flat surface, without any substantial recess.
[0056] Finally, as shown in figure 2F, the rotary tool 51 and the cladding element 56 are separated from the metal plates 61, 62 to end the series of spot welding by friction and mechanical mixing. On this occasion, no rotation (and pressure) caused by contract with the rotary tool 51 is transmitted to the metal plates 61, 62. In this way, the plastic flow of the plastic fluid part 60a that extends over both metal plates 61, 62 is stopped, and becomes a welded part 60b. As a result, the two metal plates 61, 62 are coupled together, with the welded part 60b.
[0057] Next, a series of steps from figure 3A to figure 3F will be described. In the series of steps, the support element 12 is pressed into metal plates 61, 62 before the pin element 11 is. In the figures. 3A to 3F, the coating element 56 also exerts a force on the metal plates 61, 62, but for convenience of description, the force is not shown.
[0058] Since the steps in figure 3A and figure 3B are the same as the steps in figure 2A and figure 2B, their description is omitted. Next, as shown in figure 3C, projecting the support element 12 beyond the pin element 11 by the actuation section of the support 532, not shown, the support element 12 is advanced further in (press fit) , from the front surface 60c of the metal plate 61. In this way, the plastic fluid part 60a
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21/61 varies from the upper metal plate 61 to the lower metal plate 62, the softened metallic material of the plastic fluid part 60a is pushed aside by the support element 12 to flow from the support element 12 immediately below to the support element pin 11 immediately below, causing the pin element 11 to retract and flow upwards when viewed from the support element 12.
[0059] Next, as necessary, as shown in figure 3D, a step can be performed where the projected support element 12 is gradually retracted (drawn out) and, with the retraction, the pin element 11 is advanced (fitted by pressing) ) on metal plate 61. Then, after the step of figure 3C, the supporting element 12 is gradually retracted, and after the step of figure 3D, the pin element 11 is gradually retracted. This fills the recess generated by the press fit of the support element 12 or the pin element 11.
[0060] Thereafter, as shown in figure 3E, the contact surface 11a of the pin element 11 is aligned (left flat) with the contact surface 12a of the supporting element 12, without any substantial steps between them. Finally, as shown in figure 3F, the rotary tool 51 and the cladding element 56 are separated from the metal plates 61, 62 to end the friction welding and mechanical mixing series.
[0061] In this configuration, the stage shown in figure 2A or figure 3A is referred to as the preparatory stage of spot welding by friction and mechanical mixing, the stage in figure 2B or figure 3B is referred to as the preheating stage. At the stage shown in figure 2C
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22/61 figure 2E or figure 3C figure 3E, the pressing depth of the pin element 11 or the supporting element 12 is regulated by controlling the relative position of the pin element 11 with respect to the supporting element 12 (or the relative position of the support element 12 with respect to the pin element 11). Likewise, these stages are referred to as the tool control stage. The stage shown in figure 2F or figure 3F is referred to as the friction welding and mechanical mixing completion stage.
[0062] In this configuration, as tool control stages, we find three stages in total: a stage in figure 2C or figure 3C, a stage in figure 2D or figure 3D, and a stage in figure 2E or figure 3E are performed. For convenience of description, a specific stage name is given for each of these stages. Specifically, the stage of figure 2C or figure 3C is referred to as the press fit stage, the stage of figure 2D or figure 3D is referred to as the filling stage, and the stage of figure 2E or figure 3E is referred to as forming stage.
[0063] In this configuration, the press fit stage, the fill stage, and the forming stage are illustrated as a tool control stage and however, as described above, the tool control stage can be at least the stage press-fit and forming stage. The fill stage is the tool control stage performed as needed and can therefore be omitted. A tool control stage that includes four or more stages is possible.
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23/61 [0064] As described above, the friction welding and mechanical mixing device 50A includes the pin element 11 and the support element 12 as a rotary tool 51, and the rotary tool 51 partially shakes the object to be welded 60 (the metal plates 61, 62, in this example) to weld the object to be welded 60. Since the two elements of the rotary tool 51 can consecutively perform the stages shown in figures 2A to 2F or figures 3A to 3F, in compared to friction spot welding and mechanical mixing of simple action, irregularities in the front surface 60c of the object to be welded 60 can be reduced as much as possible, by filling the recess.
Control configuration of the friction spot welding device and mechanical mixing [0065] The following is the control configuration of the friction spot welding device and mechanical mixture 50A, which is used to execute the series of spot welding stages by friction and mechanical mixing, will be specifically described with reference to figure 4.
[0066] As shown in figure 4, the friction welding and mechanical mixing device 50A includes, in addition, a tool drive control section 21, a memory section 31, an input section 32, and a pressurizing force detection section 33.
[0067] The tool drive control section 21 controls the tool drive section 53. That is, the tool drive control section 21 controls the pin drive section 531, the actuation section of the support 532, and the rotary drive section 533, which
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24/61 constitute the tool drive section 53, thus controlling the switching between the advance and retraction of the pin element 11 and the support element 12, and the position of the front ends, the speed of movement, and the direction of movement of pin element 11 and supporting element 12 during forward and retract.
[0068] In this configuration, the tool drive control section 21 controls tool drive section 53 based on the relational expression of the cross section area (basal area) of the front end surface of the rotary tool 51 and the depth of press / remove or push / pull depth of the rotary tool 51, thereby controlling the position of the front ends of the pin element 11 and the supporting element 12. The specific configuration of the tool drive control section 21 is not especially limited and, in this configuration, the tool drive control section 21 is formed by a CPU, in a microcomputer, and calculates the operation of the tool drive section 53.
[0069] The memory section 31 stores several types of data legibly, and in this configuration, as shown in figure 4, it stores the pressurizing force / current databases of the Dbl to Db3 motor. The tool drive control section 21 uses the pressurizing force / current databases of the Dbl to Db3 motor to control the tool drive section 53.
[0070] The memory section 31 is formed by any known storage device, such as a memory, hard disk or the like. Memory section 31 does not
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25/61 is necessarily a single element, and can be formed by a plurality of storage devices (for example, a random access memory and a hard disk drive). When the tool drive control section 21 is a microcomputer, at least part of the memory section 31 can be configured as an internal memory of the microcomputer, or as an independent memory. Memory section 31 can store data other than databases, and read data from any section, in addition to the tool drive control section 21. Normally, data can be entered from the control section tool drive 21 etc.
[0071] The input section 32 allows to enter various parameters in the spot welding control by friction and mechanical mixing and other data in the tool drive control section 21, being formed by any known input device, such as a keyboard , a touch panel, or a button panel. In this configuration, at least welding conditions for the object to be welded 60, such as, for example, data on the thickness and material of the object to be welded 60, can be entered through the entry section 32.
[0072] When the rotary tool 51 (the pin element 11, the support element 12, or both) contacts or is pressed into the object to be welded 60, the pressurizing force detection section 33 detects the pressure force pressurization exerted on the object to be welded 60, using the rotary tool 51. In this configuration, a load cell is used as the pressurizing force detection section 33. However, the
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26/61 pressurization 33 is not limited to the load cell, and can be any known pressurizing force detector.
[0073] It should be noted that in the 50A mechanical welding and friction spot welding device according to Configuration 1, the pressurizing force detection section 33 is not an essential item, but can be used to obtain the bases of pressurizing force / motor current data Dbl to Db3 stored in memory section 31, improving convenience in controlling the drive of the rotary tool 51. In the tool drive control section 21, the pressurizing force detection section 33 feedback can be used, from the pressurization detection section 33, instead of those for databases
control in 3 strength in force in
pressurization / motor current Dbl to Db3.
[0074] In this configuration, more preferably, the tool drive control section 21 controls the tool drive section 53 so that a given expression relates between the cross-sectional area of the front end surfaces of pin element 11 and of the support element 12 and the press fit depth of the pin element 11 and the support element 12 is met, while the pin element 11 and the support element 12 contact the object to be welded 60. Specifically, since Ap is the cross-sectional area of the front end surface of the pin element 11, As is the cross-sectional area of the front end surface of the supporting element 12, Pp is the press fit depth of the pin element 11, and Ps is the press fit depth of the
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27/61 support 12, the tool drive control section 21 controls the tool drive section 53 in order to reduce the absolute value of an average tool position Tx, defined according to the following equation (I):
Ap-Pp + As-Ps = Tx ... (I).
[0075] Preferably, the tool drive control section 21 controls the tool drive section 53 so that the average tool position Tx is substantially 0.
[0076] Various information available for the tool drive control section 21 can be used as a reference point (point 0 of the press fit depth) of the press fit depth Pp or Ps in equation (I). For example, a predetermined position from the support surface 56a of the coating element 56 (see tool distance, described below) can be defined as a reference point for the press fit depth. Specifically, a predetermined position based on the thickness of the object to be welded 60, which is entered as a weld condition from the entry section 32 shown in figure 4, can be defined as a reference point for the press-fit depth, or a predetermined position based on the measured value of the thickness of the object to be welded 60 can be defined as a reference point for the press-fit depth.
[0077] According to the present application for the invention, the reference point of the press-fit depth is not limited to the predetermined position from the front surface 56a of the coating element
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28/61
56, and can be a position where a load from the pin element 11 or the support element 12 becomes a predetermined value, a position where the rotary tool 51 contacts the object to be welded 60 (see Configuration 2, described below) , or a position of the front end of the fastener 54 in contact with the object to be welded 60 (see Configuration 3 or 4, described below).
[007 8] In equation (I), at least one, between the cross-sectional area Ap of the front-end surface of the pin element 11, the cross-sectional area As of the front-end surface of the supporting element 12, a pressing depth Pp of pin element 11, and pressing depth Ps of support element 12, can be replaced by another numerical value or a parameter. For example, in this configuration, since the covering element 56 is provided, the press fit depth in equation (I) can be replaced by the position from the front surface 56a of the covering element 56, and the control section of tool drive 21 can control the drive of the rotary tool 51 in order to reduce the absolute value of the average tool position Tx, which is defined by equation (I).
[0079] According to the spot welding by friction and mechanical mixing, the following possible faults are known: cavity of the welded part moved by the rotating tool 51, burrs protruding from part of the material, in the welded part, protrusion in the pressed region by the fixing element 54 (around the welded part), or a gap in the object to be welded 60 stacked (in this configuration, between the plates
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29/61 of metal 61, 62). The tool drive control section 21 can control the tool drive section 53 in order to reduce the average tool position Tx, thereby reducing or avoiding the different faults. Details of the control will be described below.
Control by the tool drive control section [0080] Next, the control of the tool drive section 53 by the tool drive control section 21, in particular, controlling the position of the front ends of the pin element 11 and the support element 12, in order to reduce the absolute value of an average tool position Tx, will be specifically described with reference to figure 5.
[0081] According to the present application for a patent, the tool drive control section 21 can control the tool drive section 53 in order to reduce the absolute value of an average tool position Tx, in the stage at that the pin element 11 and the support element 12 contact the object to be welded 60, that is, the press fit depth, the pressurizing force, or both can be controlled as described above. In this way, the different faults, including the cavity in the welded part of the object to be welded 60, burrs in the welded part, the projection around the welded part, or the gap in the object to be welded 60 can be effectively suppressed or prevented.
[0082] The control will be specifically described with reference to figure 5. As long as the pin element 11 or the supporting element 12 (or both) are pressed into the object to be welded 60 with a depth
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30/61 by preferable pressing, and the advance and retraction of the pin element 11 or the support element 12 (or both) is preferably controlled, as shown on the left of figure 5, when viewed from the front, the object to be being welded 60 can be adequately welded, without causing any failure in the object to be welded 60. In figure 5, to describe the press-fit depth of the rotary tool 51, the filling stage in figure 2D or figure 3D is used as an example , and the pressing depth of the pin element 11 or the supporting element 12 is highlighted.
[0083] However, as shown in the center of figure 5, when the press fit depth of the pin element 11 or the supporting element 12 (or both) is insufficient, the pin element 11 or the supporting element 12 (or both) floats from the predetermined position (floating state). In the floating state, since the rotary tool 51 cannot sufficiently stir the object to be welded 60, the plastic fluid part 60a (see figure 2B figure 2E, figure 3B figure 3E) cannot flow sufficiently according to the feed and the retraction of the pin element 11 or the supporting element 12. Likewise, this can cause several failures such as a gap Kl between the pin element 11 and the object to be welded 60, a cavity K2 in the object to be welded 60, or a recess (depression) K3 on the rear surface 60d of the object to be welded 60.
[0084] As shown on the right of figure 5 when viewed from the front, when the pressing depth of the pin element 11 or the supporting element 12 (or both) is excessive, the pin element 11 or the
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31/61 support element 12 (or both) are pressed excessively beyond the predetermined position (state of excessive pressure). In the state of excessive pressure, since the object to be welded 60 escapes to the periphery of the rotating tool 51, that is, towards the fixing element 54, the rotating tool 51 is fitted by pressing beyond the predetermined position. Likewise, this can cause several failures such as a depression in the welded part (clearly not shown in figure 5), a projection K4 in a region of the front surface 60c in contact with the fixing element 54, and a gap K5 in the object to be be welded 60 (in this configuration, between metal plates 61, 62).
[0085] Although no control method for suppressing or preventing such a failure is known to date, according to the present invention patent application, the failure can be suppressed or prevented by controlling the rotary tool 51, in order to reduce the absolute value of the average tool position Tx, which is defined according to equation (I). The left side (Αρ · Ρρ + As-Ps) of equation (I) represents the addition of a product (a multiplication value) of the cross-sectional area and the pressing depth of the pin element 11 and a product of the cross-sectional area and pressing depth of the support element 12, and is defined as the average tool position Tx (Tx = Ap-Pp + As-Ps) in equation (I). According to the present patent application, the tool drive control section 21 will only need, to control the tool drive section 53 in order to reduce the absolute value of an average tool position Tx, preferably to define the average tool Tx position
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32/61 substantially as 0, as shown on the left of figure 5, when viewed from the front, that is, maintaining the average tool position Tx substantially unchanged.
[0086] Given that the pressing direction of the pin element 11 and the supporting element 12 (the downward direction, in figure 5) is a positive direction (plus direction), in the floating state shown in the center of figure 5 , the average tool position Tx becomes negative (Tx <0). As described above, in the floating state, agitation by the rotary tool 51 is insufficient. In this way, for the tool drive control section 21 to be able to control the rotary tool 51, in order to reach the average position Tx of the tool = 0, some agitation must be promoted, in order to supply the lack of agitation. The control is not specifically limited, with examples of such control being able to include, al: reduction of the advance or retraction speed of the pin element 11 (or of the support element 12), a2: increase of the load (pressurizing force) of the support element 12 (or pin element 11), or a3: change in rotational speed of the rotary tool.
[0087] In the state of excessive pressure shown on the right of figure 5, when viewed from the front, the average tool position Tx becomes positive (Tx> 0). In the state of excessive pressure, as described above, since a part of the fluidized material (the plastic fluid part 60a) of the object to be welded 60 escapes towards the fastening element 54, the escape of the material must be suppressed or avoided. One of the main reasons for the escape of the material is the following: the material is softer than expected, due to the imputation of excessive heat to the object to be welded 60.
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In this way, for the tool drive control section 21 to be able to control the rotary tool 51, in order to reduce the absolute value of the average position Tx of the tool (preferably, to reach the average position Tx of the tool = 0), sending heat should be reduced.
[0088] The control for reducing heat transmission is not specifically limited, and examples of such control include, bl: increasing the forward or retracting speed of pin element 11 (or supporting element 12), b2: reduction of load (pressurizing force) on the support element 12 (or on the pin element 11), or b3: reduction of the rotational speed of the rotary tool 51. The method of suppressing or preventing the escape of material is not limited to the method of control mentioned above, which can be a physical approach to increase the gripping force of the fixing element 54, preventing the escape of the material.
[0089] In summary, specific examples of the method of satisfying the average tool position Tx = 0 by the tool drive control section 21 include, cl: control for adjusting the forward or retracting speed of pin element 11 and element support element 12 (al and bl described above), c2: control for adjusting the loads (pressurizing force) of pin element 11 and support element 12 (a2 and b2 described above), or c3: control for speed adjustment rotational tool 51, or any combination of two or more of them. Control c3 can be combined with at least one, from cl and c2.
[0090] In this configuration, as a specific control by the tool drive control section 21, the following three examples are illustrated: Example of
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34/61
Control 1: the forward or retract speed of one element of the rotary tool 51 is adjusted, while the load of the other rotary tool element 51 is adjusted, specifically, the forward or retract speed of the pin element 11 is adjusted and the load of the support element 12 is adjusted, or the forward or retract speed of the support element 12 is adjusted and the load of the pin element 11 is adjusted (combination of the controls described above cl and c2), Control example 2: a advance speed of the pin element 11 and the support element 12 is adjusted (the control cl described above), and Control example 3: the loads of the pin element 11 and the support element 12 are adjusted (the control c2 above described). Using the three examples, the control to reduce the absolute value of an average tool position Tx will be described in detail.
[0091] The average tool position Tx = 0 as the most preferable control, according to the present patent application refers to the state where the average tool position Tx is substantially ± 0 (Tx ~ 0), or that is, the state where, under control of the tool drive control section 21, Tx can be considered as 0, based on significant unit digits, and other conditions relating to the cross-sectional area Ap of the pin element 11, the cross-sectional area As of the support element 12, the press fit depth Pp of the pin element 11, and the press fit depth Ps of the support element 12. Thus, depending on different conditions, such as the configuration and applications of the 50A mechanical mixing and friction spot welding device, the average tool position Tx need not be so small
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35/61 to 0, and provided that excellent control is possible, the absolute value of the average tool position Tx can be defined as the lowest practicable value, where possible.
Control Example 1 [0092] First, the Control Example will be specifically described with reference to figure 6. In Control Example 1, instead of the forward or retract speed of an element of the rotary tool 51 (for example, the pin 11), the load (pressurizing force) of the other element of the rotary tool 51 (for example, the support element 12) can be adjusted, and in addition, the rotational speed of the rotary tool 51 can be adjusted. In this way, the adjustable item of this control is not limited to one between the forward or retract speed, the load, and the rotational speed as described above, and can be plural. To describe that at least one item is adjustable, Figure 6 shows the adjustment of the forward or retract speed of the pin element 11 as an example, as well as the adjustment of the rotational speed or the load in parentheses.
[0093] First, as shown in figure 6, the tool drive control section 21 controls the tool drive section 53 to cause the rotary tool 51 to move towards the front surface 60c of the object to be welded 60 , supported by the coating element 56 (Step S101). Since this stage corresponds to the preparation stage (see figure 2A), the fastening element 54 contacts the front surface 60c.
[0094] Then, the tool drive control section 21 makes the support element 12 and the pin element 11 contact the front surface 60c of the object
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36/61 to be welded 60 and start pressing (pushing) the object to be welded 60, increasing the load (pressurizing force) to a predetermined value (Step S102). On this occasion, although the support element 12 contacts the front surface 60c while rotating, the support element 12 can contact the front surface 60c without rotating, and then it can begin to rotate after contact.
[0095] Then, the tool drive control section 21 moves the pin element 11 to a predetermined position in the press fit stage and, with this movement, moves the supporting element 12 to a predetermined position, with a predetermined load (Step S103). That is, since this stage corresponds to the press fit stage (see figure 2B and figure 2C), the tool drive control section 21, in the press fit stage, adjusts the forward or retract speed (the speed or the load) of the pin element 11 so that the absolute value of the average tool position Tx is reduced, every time, between the pin element 11 and the support element 12, such as, for example, where Tx is 0, every time.
[0096] Then, the tool drive control section 21 moves the pin element 11 to a predetermined position in the filling stage, and with this movement, moves the support element 12 to a predetermined position, with a predetermined load (Step S104). That is, since this stage corresponds to the filling stage (see figure 2D), the tool drive control section 21 adjusts the forward or retract speed in the filling stage (the speed
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37/61 or the load) of the pin element 11 so that the average tool position Tx is 0, every time, between the pin element 11 and the support element 12. As described above, the padding can be omitted.
[0097] Then, the tool drive control section 21 moves the pin element 11 to a predetermined position in the forming stage, and with this movement, moves the support element 12 to a predetermined position, with a predetermined load (Step S105). That is, since this stage corresponds to the forming stage (see figure 2E), the tool drive control section 21, in the forming stage, adjusts the forward or retract speed (the rotational speed, or the load) of the pin element 11 so that the average tool position Tx is 0, every time, between the pin element 11 and the support element 12.
[0098] As described above, in Steps S103 to S105 surrounded by a broken line Ct, in figure 6, the tool drive control section 21 controls the tool drive section 53 so that the absolute value of the average position Tx tool life is kept low at all times. After that, the tool drive control section 21 releases contact between the pin element 11 and the support element 12 with the object to be welded 60 (Step S106) to end the friction spot welding control series and mechanical mixing.
Control example 2 [0099] Next, Control example 2 will be specifically described with reference to figure 7. Figure 7 shows the adjustment of forward or retract speed,
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38/61 as well as the rotational speed adjustment, in parentheses.
[00100] As shown in figure 7, the tool drive control section 21 controls the tool drive section 53 to cause the rotary tool 51 to move towards the front surface 60c of the object to be welded 60 (Step S201), and the rotary tool 51 contacts the front surface 60c to start pressing (pushing), increasing the load (pressurizing force) to a predetermined value (Step S202).
[00101] Then, the tool drive control section 21 moves the pin element 11 and the support element 12 to the respective predetermined positions in the press fit stage (Step S203), and then moves the pin element 11 and the supporting element 12 to the respective predetermined positions in the filling stage (Step S204), and moves the pin element 11 and the supporting element 12 to the respective predetermined positions in the forming stage (Step S205).
[00102] On this occasion, the tool drive control section 21 adjusts the forward or retract speed (the rotational speed, or both, of the forward or retract speed and the rotational speed) of the pin element 11 or the support 12, so that the absolute value of the average tool position Tx is reduced, every time (for example, Tx = 0, every time) in the press-fit stage, in the filling stage, and in the forming stage (Steps S203 to S205, surrounded by a broken line Ct, in figure 7). After that, the tool drive control section 21 releases contact between the pin element 11 and the support element 12 with the object to be
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39/61 be welded 60 (Step S206) to finish the series of spot welding control by friction and mechanical mixing.
Control example 3 [00103] Next, Control example 3 will be specifically described with reference to figure 8. Figure 8 also shows the load adjustment, as well as the rotation speed adjustment, in parentheses.
[00104] As shown in figure 8, the tool drive control section 21 controls the tool drive section 53 to cause the rotary tool 51 to move towards the front surface 60c of the object to be welded 60 (Step S301), and the rotary tool 51 contacts the front surface 60c to start pressing (pushing), and sets the load (pressurizing force) so that the rotating tool 51 is pressed into the object to be welded 60 (Step S302 ).
[00105] Then, the tool drive control section 21 changes the loads of the pin element 11 and the support element 12 to the respective predetermined loads in the press-fit stage (Step S303), then for the respective loads predetermined in the filling stage (Step S304), and then for the respective predetermined loads in the forming stage (Step S305).
[00106] On this occasion, the tool drive control section 21 adjusts the load (the rotational speed, or the load and the rotational speed) of the pin element 11 or the supporting element 12, so that the absolute value of the average tool position Tx is reduced, every time (for example, Tx = 0, every time) in the
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40/61 press fit, in the filling stage, and in the forming stage (Steps S303 to S305 surrounded by a broken line Ct in figure 8). After that, the tool drive control section 21 releases contact between the pin element 11 and the support element 12 with the object to be welded 60 (Step S306) to end the friction spot welding control series and mechanical mixing.
[00107] The predetermined value of the pressurizing force, the predetermined position and the predetermined load (pressurizing force) of the pin element 11 or the supporting element 12 of Control Examples 1 to 3 are defined according to several conditions, such as as, for example, the specific configuration of the friction spot welding device and mechanical mixture 50A, and material, thickness, and shape of the object to be welded 60. The predetermined value, the predetermined position, and the predetermined load are entered in the tool drive control section 21 via input section 32, and are stored in memory section 31. Tool drive control section 21 reads information according to the control stage, from memory section 31 , and uses the information read.
Control of forward or retract speed, and pressurizing force [00108] From Control Examples 1 to 3, advance or retraction of the supporting element 12 and the pin element 11 to their respective predetermined positions is controlled based on a current value applied to a motor in tool drive section 53 (motor current value). For the support element 12, the support element 12 is controlled
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41/61 based on the motor current value, and when the support element 12 reaches the predetermined position, the forward or retract is completed. Therefore, the forward or retract speed is controlled by adjusting the motor current value. This is also applied to rotational speed. The advance or retraction of the support element 12 and the pin element 11 to the respective predetermined positions can be controlled by any means other than the motor, such as, for example, by air pressure.
[00109] The load (pressurizing force) is adjusted, as shown in figure 4, by reading the pressurizing force adjustment data mentioned below, from memory section 31, by the tool drive control section 21. The pressurizing force adjustment data can be any data that can be used to control the tool drive section 53, preferably data for adjusting the pressurizing force, at least in the state where the rotary tool 51 is press-fit into the object to be welded 60.
[00110] In this configuration, the data is the aforementioned motor current value. The motor current value is written in the form of a database (or table) in order to deal with changes in the pressurizing force, and as described above, the motor pressurizing force / current databases DB1 to DB3 are stored in memory section 31. The tool drive control section 21 reads the current value and adjusts the motor current value, thereby controlling the pressurizing force of pin element 11 and supporting element 12 .
[00111] Especially in this configuration, the number of databases (or tables) for the current value
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Engine 42/61, which are stored in memory section 31, is three, not one. The pressurizing force / motor current database Dbl contains the motor current values for advancing or retracting the supporting element 12, when the advancing and retracting of the pin element 11 is stopped. The pressurizing force / motor current database Db2 contains the motor current values for advancing or retracting the support element 12 when the pin element 11 is pressed in (pushed) into the object to be welded 60, and the pressurizing force / motor current database Db3 contains the motor current values for advancing or retracting the support element 12 when the pin element 11 is removed from the object to be welded 60.
[00112 ] A section of control in drive tool 21 determines if the pin element 11 is docked by pressing, removed or stopped without being embedded by pressing or removed, and read the value due engine
corresponding action, from the three pressurizing force / current databases of the Dbl to Db3 motor to control the tool drive section 53. In the state where the object to be welded 60 is pressed, the pressurizing force changes accordingly with the action of the pin element 11. In this way, by adjusting the pressurizing force according to the action of the pin element 11, the pressurizing force can be more adequately controlled.
[00113] Specifically, as long as the state in which the pin element 11 is stopped (in the stopped condition) is a reference state, in the state in which the pin element 11 is pressed in (under press-in action) ), the pressurizing force becomes relatively
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43/61 high, and in the state in which the pin element 11 is removed (under removal action), the pressurizing force becomes relatively low.
Likewise, when pressing, removing and stopping the pin element
11, different motor current values are entered in the databases stored in memory section 31. The tool drive control section determines the type of action of pin element 11, such as, for example, based on speed and in the direction of movement of the pin element
11, and reads the motor current value corresponding to the action determined to adjust the pressurizing force.
[00114] The motor current values stored in the pressurizing force / motor current databases DB1 to DB3 are not specifically limited, and experimentally suitable values can be derived according to the motor type of the tool drive section
53, the amount of change in the pressurizing force, the type of gear mechanism that transmits the rotational actuation force, etc., and be entered in the databases (or tables). Only two databases can be stored, or four or more databases can be stored, as needed.
[00115] In this configuration, the speed of movement and the direction of movement of the pin element are used as indicators to determine the type of action of the pin element 11. However, the indicators are not limited to the speed of movement and the direction of movement, and may be any known parameter, as long as they can adequately determine the
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44/61 pressing, removing action and stopping action. When the speed of movement of the pin element 11 is used as an indicator, a dead speed range can be defined in the switching between the pressing action and the removal action.
[00116] As long as the state where the pin element 11 moves at a speed that exceeds 0.05 mm / s is determined as the pressing action (direction +) or as the removal action (direction -), based on a direction of movement, the range from -0.05 to + 0.05 mm / s will be defined as the dead range. As a result, since the threshold for determining the press fit action or the removal action is no longer a precisely marked threshold, the possibility that the database to be read will undergo frequent changes due to the change in speed, leading to an unstable adjustment of the pressurizing force, it can be suppressed or prevented.
[00117] As described above, the friction welding and mechanical mixing device 50A according to this configuration can preferably control the positional relationship of the front ends of the pin element 11 and the support element 12, so that the value absolute value of the average tool position Tx, which is defined by equation (I), is reduced (preferably, the average tool position Tx should be substantially 0) and, in particular, can effectively suppress or prevent failures, such as the defect of the internal cavity in the welded part of the object to be welded 60, burrs in the welded part, the projection around the welded part, and the gap in the object to be welded 60. Likewise, excellent welding quality must be
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45/61 obtained, under high precision, according to the welding conditions.
CONFIGURATION 2 [00118] The configuration of a friction welding and mechanical mixing device according to Configuration 2 of the present application will be specifically described with reference to figure 9 and figures 10A and 10B. As shown in figure 9, a 50B mechanical mix and friction spot welding device according to this configuration is the same as the 50A mechanical mix and friction spot welding device in Configuration 1, but it is different from friction spot welding device and mechanical mix 50A in that it includes a press fit reference point definition section 22.
[00119] The section for setting the press fit reference point 22 serves to define the position where the pin element 11 or the supporting element 12 contacts the object to be welded 60, as a reference point of the press fit ( pressure) of the pin element 11 or the support element 12. As described above, the pin element 11 or the support element 12 remains on the front surface 60c of the object to be welded 60 for a short determined period, until the material be softened. Then, for the support element 12, the press-fit reference point definition section 22 derives the position where the support element 12 contacts the object to be welded 60 and remains there for a determined period, from the information positional elements of support element 12 (such as the speed of movement obtained by an encoder), which is obtained from the control section of
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46/61 tool drive 21, and defines the derived position as a press fit reference point. The press fit reference point becomes a reference point for the press fit depth in the press fit of the pin element 11 and the supporting element 12 on the object to be welded 60. The reference point of press fit for the pin element 11 is defined in the same way.
[00120] Normally, the press fit reference point definition section 22 can define the position offset from the front surface 56a of the cladding element 56 by the nominal or previously measured thickness of the object to be welded 60, such as the press-fit reference point, in which case measurement and thickness entry operations will be required. When the position shift from the front surface 56a of the coating element 56 by the nominal or previously measured thickness of the object to be welded 60 is defined as the press fit reference point, since the pin element 11 or the element support 12 contacts the material with considerable pressurizing force, it will be necessary to take into account the deformation of the spot welding device by friction and mechanical mixture 50A due to the pressurizing force. In addition, deviations in length, caused by the thermal expansion of the pin element 11 and the support element 12 during preheating, can occur as an error. When the position where the support element 12 (rotating tool 51) contacts the object to be welded 60 and remains there for a certain period is defined as the press fit reference point, the deformation of the
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47/61 friction spot welding device and mechanical mixture 50A, the deformation of the object to be welded 60, and the deviation in length, due to the thermal expansion of the pin element 11 and the supporting element 12, can be eliminated.
[00121] The configuration of the press fit reference point definition section 22 is not specifically limited, and as long as it can define the press fit reference point based on the rotational motor information (such as, for example, example, rotational angle of the motor or rotational speed) generated by the tool drive control section 21, it can be a function of the tool drive control section 21, or it can be configured as a known logic circuit, or the like, including a switching element, a subtractor, a comparator, etc.
[00122] The control of the pressing depth of the pin element 11 and the supporting element 12 by the tool drive control section 21 will be described with reference to figure 10A and figure 10B. For example, as shown in figure 10A, the object to be welded 60 is supported by the cladding element 56, the front end of the pin element 11 is aligned with the front end of the supporting element 12, and a spacing De occurs between the front surface 60c of the object to be welded 60 and the front ends of the pin element 11 and the support element 12. Since a distance between the front end of the rotary tool 51 (the pin element 11 and the support element 12) and the support surface 56a of the coating element 56 is the tool distance, in the state shown in figure 10A, the DtO tool distance
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48/61 includes the De spacing.
[00123] It is presumed that the pin element or the support element 12 is press-fit to the press-fit depth of 0. On this occasion, the spacing De does not contribute to the control of the groove depth by pressing dO. Then, as shown in figure 10B, when the support element 12 advances and contacts the front surface 60c of the object to be welded 60 and remains there for a certain period, the press fit reference point definition section 22 defines the position of the Dtl tool distance in figure 10B as the press fit reference point. That is, the press fit reference point definition section 22 corrects the position where the supporting element 12 contacts and remains, at a press fit depth point = 0 (point 0) and, using point 0 as a reference, the tool drive control section 21 controls the advance or retraction of the pin element 11 (or the support element or both).
[00124] In the example shown in figure 10B, the tool drive control section 21 can press pin element 11 from the reference point (the Dtl position) through dO, regardless of the De spacing. Therefore, the press fit reference point definition section 22 makes a 0 point correction for the press fit, thereby avoiding complicated control of the press fit depth and controlling the press fit depth without considering the spacing De Therefore, the press-fit depth can be controlled more precisely.
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49/61 [00125] By controlling the press fit depth more precisely, this way, the final press fit depth of the rotary tool 51 (the pin element 11, the support element 12, or both) can be controlled with accuracy. In addition, according to the present application for a patent, while the rotary tool 51 is advanced or retracted, the tool drive control section 21 controls, so that the absolute value of the average tool position Tx is reduced (preferably average position Tx of tool = 0) every time. Likewise, faults, such as the defect in the internal cavity of the welded part of the object to be welded 60, burrs on the welded part, the protrusion around the welded part, and the gap in the object to be welded 60 can be suppressed or prevented more effectively.
[00126] As shown in figure 10B, the tool distance Dtl subject to point correction 0 by the press fit reference point definition section 22 corresponds to the thickness of the object to be welded 60. Likewise, the Friction spot welding and mechanical mixing 50B in this configuration can make the supporting element 12 contact the object to be welded 60 for point 0 correction, thereby measuring the thickness of the object to be welded 60.
CONFIGURATION 3 [00127] The configuration of a friction spot welding device and mechanical mixing according to Configuration 3 of the present application will be specifically described with reference to figure 11. As shown in figure 11, a spot welding by
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50/61 friction and mechanical mixing 50C of this configuration is the same as the friction spot welding device 50A of Configuration 1 in the basic configuration, but it is different from the friction spot welding device and mechanical mixture 50A in size wherein a tool position acquisition section 23 and displacement calculation section 24 are provided, and a Db4 deformation / distortion database is stored in memory section 31.
[00128] The tool position acquisition section 23 obtains a tool position from the pin drive section 531 and the actuation section of the support 532. The tool position will be a position of the front end of the pin element 11 or the front end of the support element 12, and the tool drive control section 21 generates the tool distance based on the tool position. As described in Configuration 1 (see figure 10A and figure 10B), the tool distance is defined as the distance between the front end of the pin element 11 or the front end of the support element 12, and the support surface 56a.
[00129] The displacement calculation section 24 calculates several types of displacement (amount of displacement), which affect the advance or retraction of the rotary tool 51, from the pressurization force detected by the pressurization force detection section 33. Examples of amount of displacement include: amount of displacement of the rotary tool, amount of deformation of the coating support section 55, and amount of distortion of the tool clamp section 52 and the drive section of
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51/61 tool 53. However, the amount of travel is not limited to these, and can be a gap in the tool drive section 53. In this configuration, the travel calculation section 24 reads the amount of travel corresponding to the pressurization from the Db4 deformation / distortion database stored in memory section 31.
[00130] In this configuration, the pin drive section 531 and the actuation section of the support 532 are each formed by a known motor. The tool position acquisition section 23 can obtain the tool position through the use of an encoder, or the like, provided in the motor, and the displacement calculation section 24 can calculate the amount of tool displacement based on the force of pressurization obtained by the pressurizing force detection section 33, and the deformation / distortion database Db4 recorded in memory section 31. The tool drive control section 21 generates the tool distance based on the tool position, and corrects the tool distance according to the amount of tool travel.
[00131] The amount of displacement of the rotary tool is defined as the displacement between the thickness of the object to be welded 60, which is inserted as the welding condition, and the position of the contact surface 12a at the time the pin element 11 or the support element 12 contacts the front surface 60c of the object to be welded 60, in the state where the support surface 56a of the cladding element 56 supports the object to be welded 60 (the stacked metal plates 61, 62). The position of the front end of the pin element 11 or the supporting element 12 on the occasion
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52/61 in which the pin element 11 or the support element 12 contacts the front surface of the object to be welded 60 can be obtained using the aforementioned encoder (the actuation section of the support 532). The occurrence of the amount of displacement of the rotary tool affects the control of the position of the front end of the pin element 11 or the support element 12.
[00132] The amount of deformation of the coating support section 55 is the degree of deformation generated by placing the rotary tool 51 in contact with the object to be welded 60 and the press fit of the rotary tool 51 on the object to be welded 60 to push the front surface 60c of the object to be welded 60. When a deformation occurs in the coating support section 55, the relative position of the support surface 56a of the coating element 56 changes according to the amount of deformation. The front surface 60c of the object to be welded 60, which is supported by the support surface 56a, is also displaced, affecting the control of the pressing depth of the pin element 11 and the support element 12.
[00133] The amount of distortion of the tool clamp section 52 and the tool drive section 53 is the degree of distortion of the elements, parts or mechanisms that make up the tool clamp section 52 and in the tool drive section 53, and it is generated by the reaction against the force that presses the front surface 60c of the object to be welded 60, when the rotating tool 51 contacts and is pressed into the object to be welded 60. When the distortion occurs in the tool clamp 52 and tool drive section 53, the position of the front ends of the pin element 11 and the element
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53/61 of support 12 changes according to the amount of distortion, affecting the control of the pressing depth of the pin element 11 and the support element 12.
[00134] The displacement calculation section 24 calculates the displacement amount based on the welding conditions entered from the entry section 32, the positional information on the rotary tool 51, which are entered from the pin drive section 531 and support section 532, etc., and the Db4 deformation / distortion database stored in memory section 31, etc. The tool drive control section 21 corrects the tool distance based on the amount of travel calculated by the travel calculation section 24 and then controls the tool drive section 53. The press fit depth of the rotary tool 51 ( the pin element 11, the support element 12, or both) with respect to the object to be welded 60 can preferably be controlled.
[00135] The configuration of the tool position acquisition section 23 and the offset calculation section 24 is not specifically limited, and in this configuration, as long as the tool drive control section 21 is formed by the microcomputer CPU, as described above, the tool position acquisition section 23 and the offset calculation section 24 can be functions of the tool drive control section 21. That is, the CPU, as tool drive control section 21, operates according to a program stored in memory section 31 or another section of memory, to carry out the tool position acquisition section 23 and the displacement calculation section
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54/61
24. Alternatively, the tool position acquisition section 23 and the displacement calculation section 24 can be configured as a known logic circuit, or the like, including a switching element, a subtractor, a comparator, etc.
[00136] Since the object to be welded 60 is supported by the support surface 56a of the cladding element 56, in the friction welding and mechanical mixing device 50C of this configuration, the section for setting the reference point for fitting press 22 can define the press fit reference point to adequately control the press fit depth of pin element 11 and supporting element 12. As long as the object to be welded 60 is not supported, the acquisition section of tool position 23 can obtain the tool distance, ie the difference between the front end of the pin element 11 or the support element 12 and the support surface 56a, and in the case of a quantity shift, the displacement calculation 24 can calculate the displacement quantity and correct the tool distance to properly control the press-fit depth d the pin element 11 and the supporting element 12. Even though the amount of displacement may affect the control of the press fit depth, based on the press fit reference point, the press fit depth can be adequately controlled by correcting the tool distance, obtained from the tool position acquisition section 23, according to the amount of displacement.
[00137] The depth of fitting by
Petition 870180136366, of 10/01/2018, p. 61/140
55/61 pressing can be controlled more precisely in this way, precisely controlling the depth of engagement by final pressing of the rotary tool 51 (the pin element 11, the supporting element 12, or both). In addition, according to the present application for a patent, while the rotary tool 51 is advanced or retracted, the tool drive control section 21 controls, so that the absolute value of the average tool position Tx is reduced (preferably average position Tx of tool = 0) every time. Likewise, faults, such as the defect in the internal cavity of the welded part of the object to be welded 60, burrs on the welded part, the protrusion around the welded part, and the gap in the object to be welded 60 can be suppressed or prevented more effectively.
[00138] In this configuration, although not shown, the position of the front end of the fastener 54 can be detected and the tool / clamp distance, such as the distance between the front end of the fastener 54 and the front end of the fastener pin 11 or the support element 12 can be calculated to control the press fit depth. The fastener 54 is located outside the support element 12, as described above, and serves to press the front surface 60c of the object to be welded 60. Therefore, since the fastener 54 presses the object to be welded 60, the position of the front end of the fastener 54 can be considered to correspond to the front surface 60c of the object to be welded 60. Likewise, the tool drive control section 21 can also correct displacement amounts, such as the
Petition 870180136366, of 10/01/2018, p. 62/140
56/61 amount of support displacement or amount of deformation, according to the tool / clamp distance.
[00139] Here, the setting for calculating the tool / clamp distance may include a clamp position detection section / rotary tool position, using a known position sensor, capable of detecting the position of the front end of the fastener 54, and the tool / clamp distance calculation section, which calculates the distance between the front end of the fastener 54, which is detected by the clamp position / rotary tool position detection section, and the front end of the pin element 11 or supporting element 12. The configuration of the tool / clamp distance calculation section is not specifically limited, it may be a function of the tool drive control section 21, or a known logic circuit, or similar , including a switching element, a subtractor, a comparator, etc.
[00140] In this configuration, the tool drive control section 21 can control the drive of the rotary tool 51 through the output results of the press fit reference point definition section 22, the output results of the calculation section displacement 24, and reading the data from the pressurizing force / motor current databases DB1 to DB3, in memory section 31, or as represented by the interrupted arrow, in figure 11, using the pressurizing force sent from of the pressurizing force detection section 33.
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57/61 [00141] In the 50C mechanical mix and friction spot welding device of this configuration, the press fit reference point definition section 22 can set the press fit reference point to properly control the depth of press fit. press fit of pin element 11 and supporting element 12. This effect is the same as that of Configuration 1. However, even when an amount of displacement, such as amount of displacement of the rotary tool, amount of deformation of the section cladding support 55, amount of distortion of the tool clamp section 52 and the tool drive section 53, and clearance of the tool drive section 53 are present, the press fit depth can be adequately controlled by
correction gives distance from obtained tool by section in acquisition in tool position 23, with the amount in displacement. [00142] Correcting itself to distance in
tool by the amount of displacement of the rotary tool, which is one of the amount of displacement, the possibility that the rotary tool 51 penetrates the object to be welded 60 (hole) can be prevented or prevented. As described in Configuration 1, in the 50A to 50C mechanical friction and mixing spot welding device, since the recess generated due to the pressing fit of the rotary tool 51 can be filled and shaped, such a hole can also be filled. However, it will be desirable to avoid puncture as much as possible. When the press fit reference point changes greatly, due to the amount of displacement of the rotary tool, the hole
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58/61 may occur. In this configuration, however, the tool drive control section 21 can correct the tool distance by the amount of travel, in order to prevent or suppress the hole.
CONFIGURATION 4 [00143] The configuration of a friction spot welding device and mechanical mixing of Configuration 4 of the present patent application will be specifically described with reference to figure 12. As shown in figure 12, the spot welding device friction and mechanical mixing 50D, according to this configuration, is the same as the friction welding and mechanical mixing point device 50C of the Configuration, in that the position of the front end of the fastener 54 is detected to calculate the tool / clamp distance, but it is different from the friction spot welding machine and mechanical mix 50C in that no coating element 56 is provided, and no pressurizing force detection section 33 is provided.
[00144] Specifically, the 50D mechanical mix and friction spot welding device includes the clamp position / rotary tool position detection section 34 and the tool / clamp distance calculation section 25, but does not include the element cover 56 and pressurizing force detection section
33. As described in Configuration 3, the clamp position / rotary tool position detection section 34 detects the position of the front end of the fastener 54.
The tool / clamp distance calculation section 25 calculates the tool distance
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59/61 Dc tool / clamp represented by the block arrow in figure 12.
[00145] When the covering element 56 cannot support the rear surface 60d of the object to be welded 60, such as, for example, when a part of a three-dimensional structure is welded and in this way, there is no space for the covering element 56, the covering element 56 cannot be used. When the object to be welded 60 has sufficient rigidity, the coating may be unnecessary. Even in such cases, the present application can preferably be applied.
[00146] In the example shown in figure 12, in the friction welding device and mechanical mixing 50D, in the state in which the fixing element 54 contacts the object to be welded 60, the tool drive control section 21 controls the advance or retraction and the press-fit depth of the rotary tool 51 (the pin element 11 and the support element 12) based on the tool / Dc clamp distance. The tool drive control section 21 controls the rotary tool 51 so that the absolute value of the average position Tx of the tool is reduced (preferably, average position Tx of the tool = 0) every time, while the rotary tool 51 is advanced or retracted. Likewise, faults, such as the defect in the internal cavity of the welded part of the object to be welded 60, burrs on the welded part, the protrusion around the welded part, and the gap in the object to be welded 60 can be suppressed or prevented more effectively. Even when the pressurizing force detection section 33 is not provided, the pressurizing force can be adjusted through the previous
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60/61 pressurizing force adjustment data storage in memory section 31.
[00147] The present patent application is not limited to the configurations, and can be modified in several ways, within the scope of the Claims. The configurations obtained through appropriate combinations of the technical means disclosed in the different configurations and in the modified examples also fall within the technical scope of the present application for an invention patent.
[00148] Many modifications and other configurations of the present invention patent application will be apparent to those skilled in the art, from the description above. Therefore, the above description should be interpreted only for illustrative purposes, and will serve to teach the best way to execute the present invention patent application, for those skilled in the art. Details of the settings and / or functions may be changed, without departing from the essence of the present application for an invention patent. INDUSTRIAL APPLICABILITY [00149] The present patent application can adequately control the position of the pin element and the supporting element, especially in friction spot welding and mechanical mixing of double acting, and therefore, can be applied to several fields that make use of spot welding by friction and mechanical mixing, in a broad way, and preferably.
DESCRIPTION OF REFERENCES
11: Pin element 12: Support element 21: Tool drive control section
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61/61
22: Section in definition of reference point of fit by pressing 23: Section in tool position acquisition24: Section in displacement calculation31: Section in memory50A, 50B, 50C , 50D: Spot welding device by friction
and mechanical mixing
51: Rotary tool
53: Tool drive section
55: Cladding support section
60: Object to be welded.
Petition 870180136366, of 10/01/2018, p. 68/140

权利要求:
Claims (6)
[1]
1. FRICTION POINT WELDING DEVICE AND MECHANICAL MIXING, which welds an object to be welded (60) by partially shaking a rotary tool, such a device comprising: cylindrical pin element (11) as a rotary tool, the pin element (11) configured to rotate around an axis and be able to move forward and backward in the axial direction; tubular support element (12) configured to surround the pin element (11), rotate coaxially with the pin element (11), and be able to advance and retract in the axial direction; tool drive section configured to make the pin element (11) and the support element (12) advance and retract along the axis; and tool drive control section configured to control the action of the tool drive section, characterized in that the tool drive control section controls the tool drive section so that the absolute value of an average position Tx of a tool, defined as the following equation: Ap-Pp + As-Ps = Tx, where Ap is a cross-sectional area of the front end of the pin element (11), As is a cross-sectional area of the end surface front of the support element (12), Pp is the press fit depth of the pin element (11) pressed together from the front surface of the object to be welded (60), and Ps is the press fit depth the support element (12) pressed in from the front surface of the object to be welded (60); where the tool drive control section controls the tool drive section, so that the average tool position Tx is 0.
Petition 870180136366, of 10/01/2018, p. 69/140
[2]
2/3
2. FRICTION POINT WELDING DEVICE AND MECHANICAL MIXING, according to claim 1, further comprising a section for setting the press fit reference point configured to define a position where the support element (12) contacts the object to be welded (60), as a press fit reference point, characterized in that the tool drive control section controls the press fit depth of the support element (12) or the pin element (11) , based on the press fit reference point defined by the press fit reference point definition section.
[3]
3. FRICTION POINT WELDING DEVICE AND MECHANICAL MIXING, according to claim 1, further comprising a displacement calculation section (24) configured to calculate the displacement amount of the front end of the pin element (11) or of the support element (12), characterized in that the tool drive control section is configured to correct the depth of engagement, through the amount of displacement.
[4]
4. FRICTION POINT WELDING METHOD AND MECHANICAL MIXING, which uses a cylindrical pin element (11) configured to rotate around an axis and be able to advance and retract in the axial direction, and a tubular support element configured to surround the pin element (11), (12) rotate coaxially with the pin element (11), and can move back and forth in the axial direction in a state where the pin element (11) and the support element (12) can advance and retreat, to weld an object to be welded (60) that has a front surface facing the pin element (11) and to
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3/3 the support element (12), by partial mixing, characterized by the advance and retraction of the pin element (11) and the support element (12) are controlled so that the absolute value of an average position Tx of a tool, defined as the following equation: Ap-Pp + As-Ps = Tx, where Ap is a cross-sectional area of the front end of the pin element (11), As is a cross-sectional area of the end surface front of the support element (12), Pp is the press fit depth of the pin element (11) pressed together from the front surface of the object to be welded (60), and Ps is the press fit depth the support element (12) pressed in from the front surface of the object to be welded (60); where the advance and retraction of the pin element (11) and the support element (12) are controlled, so that the average tool position Tx is 0.
[5]
5. WELDING METHOD BY FRICTION AND MECHANICAL MIXING, according to claim 4, characterized in that the position in which the support element (12) contacts the object to be welded (60) is defined as a reference point of press fit, and the press fit depth of the support element (12) or pin element (11) is controlled based on the press fit reference point.
[6]
6. FRICTION POINT WELDING METHOD AND MECHANICAL MIXING, according to claim 4, characterized in that the amount of displacement of the front end of the pin element (11) or the support element (12) is calculated, and the depth press fit is corrected by the amount of displacement.

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法律状态:
2018-07-03| B07A| Technical examination (opinion): publication of technical examination (opinion)|

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2018-12-18| B09A| Decision: intention to grant|

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2019-02-12| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 16/03/2012, OBSERVADAS AS CONDICOES LEGAIS. (CO) 20 (VINTE) ANOS CONTADOS A PARTIR DE 16/03/2012, OBSERVADAS AS CONDICOES LEGAIS |

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2019-10-08| B16C| Correction of notification of the grant|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 16/03/2012, OBSERVADAS AS CONDICOES LEGAIS. (CO) REFERENTE A RPI 2510 DE 12/02/2019, QUANTO AO DESENHO. |

优先权:

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申请号 | 申请日 | 专利标题

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JP2011-060854|2011-03-18|

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JP2011060854A|JP5588385B2|2011-03-18|2011-03-18|Friction stir spot welding apparatus and friction stir spot welding method|

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PCT/JP2012/001847|WO2012127833A1|2011-03-18|2012-03-16|Friction stir spot welding device and friction stir spot welding method|

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