Abstract: A friction spot joining device configured to carry out friction spot joining of a pair of plates includes an advance-retreat drive configured to advance and retreat a tool to/from the plates a rotation drive configured to rotate the tool, and a controller configured to control the advance-retreat drive and the rotation drive. The controller executes a joining control in which the tool is caused to give pressure to the plates while the tool is rotated so that the tool is pushed into the plates, and a separating control in which the tool is separated from the plates when an integrated value (P=ID×?T) calculated using a current value (ID) of the rotation drive during the joining control and a driving period of time (?T) during the joining control is determined to be reached a target value.

Abstract: A method of controlling a positioning control apparatus includes the steps of: deriving a predetermined relational expression in advance; detecting the pressing force during machining by a force sensor; calculating the sideslip amount corresponding to the pressing force detected by the force sensor, in accordance with the predetermined relational expression at any time; correcting a position command value of an arm tip of the positioning control apparatus based on the calculated sideslip amount; and machining the workpiece while moving the arm tip of the positioning control apparatus in accordance with the corrected position command value.

Abstract: A method of controlling a positioning control apparatus includes the steps of: deriving a predetermined relational expression in advance; detecting the pressing force during machining by a force sensor; calculating the sideslip amount corresponding to the pressing force detected by the force sensor, in accordance with the predetermined relational expression at any time; correcting a position command value of an arm tip of the positioning control apparatus based on the calculated sideslip amount; and machining the workpiece while moving the arm tip of the positioning control apparatus in accordance with the corrected position command value.

Abstract: A friction spot joining device configured to carry out friction spot joining of a pair of plates includes an advance-retreat drive configured to advance and retreat a tool to/from the plates a rotation drive configured to rotate the tool, and a controller configured to control the advance-retreat drive and the rotation drive. The controller executes a joining control in which the tool is caused to give pressure to the plates while the tool is rotated so that the tool is pushed into the plates, and a separating control in which the tool is separated from the plates when an integrated value (P=ID×?T) calculated using a current value (ID) of the rotation drive during the joining control and a driving period of time (?T) during the joining control is determined to be reached a target value.

Abstract: A tool driving section of a friction stir spot welding device is configured to advance and retract each of a pin member and a shoulder member. A tool driving control section is configured to control the tool driving section such that an absolute value of a tool average position Tx is small, wherein Tx is defined by a following equation: Ap·Pp+As·Ps=Tx, where Ap is a cross-section area of a front end surface of the pin member, As is a cross-section area of a front end surface of the shoulder member, Pp is a press-fit depth of the pin member press-fitted from a front surface of an object to be welded, and Ps is a press-fit depth of the shoulder member press-fitted from the front surface of the object to be welded. Thus, especially in a double-acting friction stir spot welding, excellent welding quality can be accurately achieved according to welding conditions, and an internal cavity defect can be prevented or suppressed.

Abstract: A tool driving section of a friction stir spot welding device is configured to advance and retract each of a pin member and a shoulder member. A tool driving control section is configured to control the tool driving section such that an absolute value of a tool average position Tx is small, wherein Tx is defined by a following equation: Ap·Pp+As·Ps=Tx, where Ap is a cross-section area of a front end surface of the pin member, As is a cross-section area of a front end surface of the shoulder member, Pp is a press-fit depth of the pin member press-fitted from a front surface of an object to be welded, and Ps is a press-fit depth of the shoulder member press-fitted from the front surface of the object to be welded. Thus, especially in a double-acting friction stir spot welding, excellent welding quality can be accurately achieved according to welding conditions, and an internal cavity defect can be prevented or suppressed.

Abstract: A tool driving section of a friction stir spot welding device is configured to advance and retract each of a pin member and a shoulder member. A tool driving control section is configured to control the tool driving section such that an absolute value of a tool average position Tx defined by a following equation: Ap·Pp+As·Ps=Tx, where Ap is a cross-section area of a front end surface of the pin member, As is a cross-section area of a front end surface of the shoulder member, Pp is a press-fit depth of the pin member press-fitted from a front surface of an object to be welded, and Ps is a press-fit depth of the shoulder member press-fitted from the front surface of the object to be welded, is small.

Abstract: A tool driving section of a friction stir spot welding device is configured to cause each of a pin member and a shoulder member to advance and retract, and is controlled by a tool driving control section. A press-fit reference point setting section sets a position where the pin member or the shoulder member contacts an object to be welded as a press-fit reference point, and the tool driving control section controls the position of the pin member with respect to the shoulder member on the basis of the press-fit reference point, thereby controlling the press-fit depth of a rotating tool press-fitted from the surface of the object to be welded. This achieves the excellent welding quality at suitable precision according to welding conditions especially in a double-acting friction stir spot welding method.

Abstract: A tool driving section of a friction stir spot welding device is configured to advance and retract each of a pin member and a shoulder member. A tool driving control section is configured to control the tool driving section such that an absolute value of a tool average position Tx defined by a following equation: Ap·Pp+As·Ps=Tx, where Ap is a cross-section area of a front end surface of the pin member, As is a cross-section area of a front end surface of the shoulder member, Pp is a press-fit depth of the pin member press-fitted from a front surface of an object to be welded, and Ps is a press-fit depth of the shoulder member press-fitted from the front surface of the object to be welded, is small.

Abstract: A tool driving section of a friction stir spot welding device is configured to cause each of a pin member and a shoulder member to advance and retract, and is controlled by a tool driving control section. A press-fit reference point setting section sets a position where the pin member or the shoulder member contacts an object to be welded as a press-fit reference point, and the tool driving control section controls the position of the pin member with respect to the shoulder member on the basis of the press-fit reference point, thereby controlling the press-fit depth of a rotating tool press-fitted from the surface of the object to be welded. This achieves the excellent welding quality at suitable precision according to welding conditions especially in a double-acting friction stir spot welding method.

Abstract: In the friction stir joining apparatus of the present invention, a rotation control unit variably controls a rotational speed of a rotor; and a straight movement control unit controls a straight movement of the rotor so as to control a pressure applied by the rotor to the object. The tip portion of the rotating rotor is pressed against a workpiece, thus spot joining is executed. The apparatus can execute frictional stirring joining without practical trouble under simple control.

Abstract: In the friction stir joining apparatus of the present invention, a rotation control unit variably controls a rotational speed of a rotor; and a straight movement control unit controls a straight movement of the rotor so as to control a pressure applied by the rotor to the object. The tip portion of the rotating rotor is pressed against a workpiece, thus spot joining is executed. The apparatus can execute frictional stirring joining without practical trouble under simple control.

Abstract: In the friction stir joining apparatus of the present invention, a rotation control unit variably controls a rotational speed of a rotor; and a straight movement control unit controls a straight movement of the rotor so as to control a pressure applied by the rotor to the object. The tip portion of the rotating rotor is pressed against a workpiece, thus spot joining is executed. The apparatus can execute frictional stirring joining without practical trouble under simple control.

Abstract: In the friction stir joining apparatus of the present invention, a rotation control unit variably controls a rotational speed of a rotor; and a straight movement control unit controls a straight movement of the rotor so as to control a pressure applied by the rotor to the object. The tip portion of the rotating rotor is pressed against a workpiece, thus spot joining is executed. The apparatus can execute frictional stirring joining without practical trouble under simple control.

Abstract: A processing operation control method controls a processing operation in which a rotary tool 1 is rotated by a rotative drive unit 51, and presses the rotating rotary tool 1 is pressed by a pressing unit 52 to force the rotating rotary tool 1 into workpieces W1 and W2. Load placed on the rotary tool 1 during the processing operation is measured, an optimum rotating speed at which the rotary tool 1 is to be rotated and/or an optimum pressure to be applied to the rotary tool 1 for processing the workpieces W1 and W2 is determined on the basis of the measured load placed on the rotary tool 1. The rotative drive unit 51 and/or the pressing unit 52 are controlled on the basis of the optimum rotating speed at which the rotary tool 1 is to be rotated and/or the optimum pressure to be applied to the rotary tool 1.

Abstract: A processing operation control method controls a processing operation in which a rotary tool 1 is rotated by a rotative drive unit 51, and presses the rotating rotary tool 1 is pressed by a pressing unit 52 to force the rotating rotary tool 1 into workpieces W1 and W2. Load placed on the rotary tool 1 during the processing operation is measured, an optimum rotating speed at which the rotary tool 1 is to be rotated and/or an optimum pressure to be applied to the rotary tool 1 for processing the workpieces W1 and W2 is determined on the basis of the measured load placed on the rotary tool 1. The rotative drive unit 51 and/or the pressing unit 52 are controlled on the basis of the optimum rotating speed at which the rotary tool 1 is to be rotated and/or the optimum pressure to be applied to the rotary tool 1.

Abstract: In the friction stir joining apparatus of the present invention, a rotation control unit variably controls a rotational speed of a rotor; and a straight movement control unit controls a straight movement of the rotor so as to control a pressure applied by the rotor to the object. The tip portion of the rotating rotor is pressed against a workpiece, thus spot joining is executed. The apparatus can execute frictional stirring joining without practical trouble under simple control.

Abstract: A method for controlling a working robot which is adapted to grip a workpiece for transporting it to a position where the workpiece is positioned against a working tool to be worked by the tool. The robot is positioned at a work starting position and at a work end position and in each of the positions the tool length vector is calculated. Based on the tool length vector values in the starting and end positions, intermediate tool length vector values are calculated for respective incremental points on a path along which the work is to be done by the tool for carrying out incremental compensations.