JP2002103061A - Friction stir welding apparatus and welding method - Google Patents

Abstract

(57) [Summary] (Modifications) [PROBLEMS] An object of the present invention is to reduce the deformation of an apparatus with respect to a pressing force generated when a rotating rotary tool is pressed into a material to be joined, and to reduce the deformation of the rotary tool. An object of the present invention is to provide a friction stir welding apparatus and a welding method thereof that can appropriately maintain the indentation depth. The present invention relates to a friction stir welding apparatus that inserts a rotating tool (1) into a material to be welded while rotating the tool and joins the material by frictional heat and plastic flow with the material. And a lifting table 9 for placing the material to be joined on the opposing surface of the rotating tool of the restraining member and for moving up and down toward the rotating tool. Features.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a friction stir welding apparatus and a welding method for joining a plurality of materials and modifying various material surfaces, and is particularly suitable for a material having a complicated three-dimensional shape. Apparatus and method.

[0002]

2. Description of the Related Art A metal rod of a material substantially harder than the material of a workpiece is inserted into a welded portion of a workpiece, and the metal rod and the workpiece are moved while rotating the metal rod. Is a friction welding method of welding by frictional heat generated between the steel sheets described in Japanese Patent No. 2712838 (WO93 / 1093).
5). This friction welding method uses a plastic flow phenomenon caused by the rotation of the metal rod by softening the workpiece by frictional heat between the metal rod and the workpiece, and is different from arc welding in which the workpiece is melted and welded. Based on principles.

[0003]

According to the present inventors,
In order to execute the friction welding method described in Japanese Patent No. 2712838, the relative positional relationship between the metal rod and the surface of the workpiece is important. It is required to prevent the metal in a plastic flow state from overflowing from the weld to the surface of the workpiece. That is, the frequency at which defects occur in the welded portion due to the metal flowing out of the welded portion increases, which causes a reduction in the reliability of the welded portion.

[0004] For this reason, when the friction welding method is performed, it is required to insert a rotating rotary tool at a predetermined depth from the surface of the workpiece and maintain the depth during welding.

However, in general, if the surface of the workpiece has irregularities, the height of the surface of the workpiece changes as the workpiece is fed. In addition, when the workpiece is heated during welding, the height of the workpiece surface may change.

In such a case, the relative distance between the rotary tool and the workpiece varies, and the insertion depth at which the shoulder of the rotary tool is inserted from the surface of the workpiece also varies.

If the surface of the workpiece is not flat or the heights of the two workpieces are different, the relative attitude between the rotary tool and the surface of the workpiece may fluctuate.

Further, in this joining method, it is necessary to press the rotating tool with a sufficient force to plastically deform the material to be joined.

For the above reasons, when the joining surface has a three-dimensional shape, it is necessary to move the rotating tool or the workpiece in the three-dimensional space and press the rotating tool with a large force. Arc welding robots and the like have been put into practical use as equipment for welding an arbitrary place in a three-dimensional space.
However, when applying the welding robot to friction stir welding, the rigidity of the arm is insufficient, so that it is impossible to maintain the insertion depth of the rotary tool in an appropriate state. In order to realize friction stir welding with equipment having a configuration such as a welding robot, it is necessary to have a structure that compensates or reduces the load or deformation accompanying the pressing of the rotating tool.

An object of the present invention is to provide a friction stir welding apparatus and a joining method thereof, which can maintain a relative positional relationship between a rotating tool and a material to be joined, and which is particularly suitable for thin-wall joining.

[0011]

According to the present invention, a rotating tool made of metal, which is substantially harder than a material to be joined, is inserted into the material to be joined while rotating, and the rotating tool is moved while rotating. In a friction stir welding apparatus that joins a rotating tool and a joining material by frictional heat and a plastic flow phenomenon, the rotating tool is attached to a chamber-like member (restraint member) together with its driving means, and the chamber-like member operates freely. It is attached to an arm of a robot structure, and the chamber-shaped member has a function and a supporting structure that can be freely moved via the arm. That is, the above object is solved by receiving the reaction force received by the rotating tool in the joining process by the compact chamber-shaped member. Since the chamber-shaped member is made rigid by making it compact, it is less susceptible to deformation, and the rotating tool can be accurately set with respect to the joining line, and good joining can be obtained especially in thin joining. Further, the chamber-shaped member has an inlet for inserting the material to be bonded and openings on the left and right, and can join a long object in the chamber-shaped member.

The rotary tool has a tool portion to be inserted into the material to be joined and a shoulder portion having a diameter larger than that of the tool portion, and the shoulder portion pushes in the material to be joined coming out of the joining portion at the tool portion. is there.

The force required to push the rotating tool into the workpiece must be large enough to cause the workpiece to plastically flow. However, if the rigidity of the member supporting the rotating tool is low, the supporting member is deformed, and the proper pushing amount cannot be maintained. By attaching the rotating tool to the chamber-like member, the generated pressing force acts on the chamber-like member, and if the rigidity of the chamber-like member is sufficient, the appropriate pushing amount is realized regardless of the rigidity of the peripheral members it can.

In particular, the arm of the robot structure has a structure in which the arm is connected by a pin, and a torque generated by a force acting on the tip of the arm acts on the pin. For this reason, the arm of the robot structure generally has low rigidity against a large torque. When the chamber-shaped member is provided, the pressing force of the rotating tool is balanced in the chamber-shaped member, so that the pressing force does not need to be generated by the arm. Therefore, it is more effective to attach the robot to a robot arm having a small rigidity.

Further, the present invention resides in providing a member which moves in the rotation axis direction of the rotary tool at a position facing the rotary tool. In order to push the rotating tool into the workpiece, the relative distance between the workpiece and the rotating tool needs to be small. The relative distance between the workpiece and the rotary tool can be changed by providing an elevating table-shaped member that moves in the rotation axis direction of the rotary tool at a position facing the rotary tool. The same effect can be obtained by using a structure in which the rotary tool itself can be moved in the axial direction. However, the structure is simpler when the elevating table-shaped member is provided.

Further, the present invention is to provide a member and a roller which are in rolling contact with the material to be joined or the member to be joined, at a position facing the rotary tool.

In the friction stir welding, it is necessary that the rotating tool and the workpiece are relatively moved in the welding direction. That is,
It is necessary that the workpiece is stationary and the rotating tool moves along the joining line, or that the rotating tool is stationary and the workpiece is moved. In either case, if sliding occurs in a place other than the rotary tool and the material to be joined, the material to be joined may be damaged, which is not preferable. Attaching a member that is in rolling contact with the material to be joined or the material to be joined support member eliminates problems such as wear and scratches.

Further, the present invention is to provide a member for pressing the material to be joined from the rotating tool insertion surface side of the material to be joined. In friction stir welding, since a large force acts on the material to be joined, it is necessary to firmly fix the material to be joined so as not to move. In general, as a method of fixing a material to be joined, a method of fixing the material to a support base on which the material to be joined is mounted using a fixing jig is adopted. In this method, it is necessary to fix a plurality of places according to the size of the material to be joined, particularly the length in the joining direction.
However, it is not always necessary to fix to the support, and it is important that the material to be joined is fixed. According to the configuration of the present invention, since the material to be joined can be fixed at the portion of the chamber-shaped member, the number of fixing points can be reduced and the step can be omitted.

Further, the present invention resides in that the rotating tools are arranged to face each other so as to sandwich the material to be joined. In order to obtain a healthy joint by friction stir welding, it is necessary to push the rotary tool to a depth substantially equal to the thickness of the workpiece.
The present inventors have confirmed that the pushing reaction force generated at the time of joining increases as the pushing depth of the rotary tool increases. By arranging the rotating tool so as to sandwich the materials to be joined, the pressing depth of the rotating tool is about half, which is sufficient, so that the load on the apparatus can be reduced and the apparatus can be downsized.

Further, the present invention resides in disposing two or more rotating tools in a joining line direction. At the time of joining, a rotational force of the rotating tool causes a force to rotate the workpiece to be rotated in the same direction as the rotating tool. For this reason, the material to be joined needs to be restrained by a force greater than this rotational force. When two or more rotating tools are arranged in the joining line direction, the rotational force of the workpiece is rendered harmless by the pinning effect of these rotating tools. At this time, it is sometimes more effective to change the rotation direction of the rotary tool with each rotary tool.

Further, according to the present invention, it is possible to eliminate the deformation of the opening by providing a hook-shaped member in the chamber-shaped member and closing the opening of the chamber-shaped member.

If the chamber-shaped member has an opening, the opening of the chamber-shaped member becomes wider due to the reaction force when the rotary tool is pushed. By closing the opening with the hook-shaped member, a force for expanding the opening is applied to the hook-shaped member, and the spread of the opening can be reduced.

Further, the present invention provides an endless belt structure in which a supporting member for attaching a material to be joined rotates. When the material to be joined is long, the joinable length is limited by the length of the support member, that is, the effective stroke of the support member. There are no restrictions.

Further, according to the present invention, the material to be joined can be fixed by forming the support member for attaching the material to be joined into a caterpillar structure in which a plurality of substantially rectangular parallelepiped members are connected in a ring shape. Since the approximately rectangular parallelepiped member rotates without bending deformation, it is possible to select the material to be used, such as a highly rigid member, a hard material, or a material having a specific thermophysical property value, according to the purpose. become.

According to the present invention, there is provided a friction stir welding method in which a rotary tool is inserted into a material to be welded while being rotated and joined by frictional heat and plastic flow with the material to be welded. The joining is performed by moving the restraining member to the fixed material to be joined and moving the restraining member along the joining line within the restraining member, and moving the restraining member to the material to be joined, It is characterized in that the material to be joined is moved within the restraining member and the joining is performed.

The present invention resides in a joined structure joined by the above-described friction stir welding apparatus or joining method.

[0027]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a perspective view in which a rotary tool is provided on a restraining member (hereinafter referred to as a chamber-like member). FIG. 2 is an overall configuration diagram of the friction stir welding apparatus of the present invention. The two arms 3a, 3b are pins 6a, 6b,
6c, the chamber 3 is attached to the tip of the arm 3a. The arm 3b is connected to the turntable 4 by a pin 6c, and the turntable 4 is rotatably supported by a support base 5. The rotating tool 1 can be exchanged by the chucking member 2 into a size corresponding to the thickness of the material to be joined, and rotation from the spindle rotating motor 8 is transmitted by the spindle 15. The material to be joined is placed so as to be joined to the elevating table 9 which can be moved up and down by the hydraulic cylinder 14.

The chamber-like member 7 can be rotated 360 degrees, and can be changed according to the state of joining. The chamber-shaped member 7 has an inlet for inserting the material to be joined and openings on the left and right, and can join a long object in the chamber-shaped member.

The rotary tool 1 is formed of a material that is substantially harder than the material of the workpiece (material to be joined). As a material of such a rotary tool 1, tool steel is preferable. As long as requirements such as toughness and heat resistance in addition to hardness are satisfied, a surface hardened member or the like may be used for ceramics and metal members.

The rotating tool 1 has a predetermined angle (hereinafter referred to as a facing angle) in the plane including the joining line and the normal line of the material to be joined, with respect to the normal line in the rearward direction of the joining.
Only the rotation axis may be inclined. This facing angle is, for example, 3
10 degrees.

In this embodiment, the arms 3a, 3b are connected by pins 6a, 6b, 6c so as to be able to move up and down. However, they can be freely rotated by a universal joint. The distance between the arms can be adjusted by coupling with a combination of hydraulic cylinders or gears.

FIG. 3 shows a friction stir welding apparatus without a chamber member shown for comparison. Other structures are the same as those in FIG.

FIG. 4 is a view showing a configuration in which welding is performed using the friction stir welding apparatus shown in FIG. 2 (only the chamber-like member 7 is shown, and the arms 3a and the like are not shown). ). The material to be joined 13 is a roller-mounted table 16 provided such that the roller 21 is in contact with the elevating table 9.
And is fixed by restraining jigs 22a and 22b. Joining is performed according to the following procedure. (1) The movement of the arms 3a and 3b causes the lifting table 9 to move.
Is adjusted so that the upper surface of the roller 21 contacts the lower end of the roller 21.
At this time, the hydraulic cylinder 14 is lowered so that the tip of the rotary tool 1 does not hit the workpiece 13. (2) The main shaft rotating motor 8 is started to rotate the rotating tool 1. (3) The lifting table 9 is gradually raised by the hydraulic cylinder 14. As a result, the relative distance between the table 9 and the rotary tool 1 decreases, and the tool portion of the rotary tool 1 is pushed into the workpiece 13. When the rotary tool 1 is pushed, the rigidity is high and the insertion at an accurate depth is obtained because the chamber-shaped member 7 is compact. (4) After the rotary tool 1 is pushed down to a predetermined depth, the joining is performed by moving the chamber-like member 7 along the joining line.

FIG. 5 is a view showing a configuration in which welding is performed using the friction stir welding apparatus shown in FIG. 1
7 is a table. With the rotating tool 1 being rotated, the rotating tool 1 is pushed into the workpiece 13 by moving the arms 3a and 3b. After the rotating tool 1 is pushed to a predetermined depth, the rotating tool 1 is moved along the joining line. Move.
In this case, it is difficult to set an accurate depth because the force depends on the distance from the support table 5 to the rotary tool 1 and the rigidity up to that point.

In the case of the configuration shown in FIG.
The vertical load applied to b does not change before and during the joining. On the other hand, in the case of the configuration shown in FIG.
a, a vertical load is applied to 3b, the maximum value during joining is 50
It was 0 to 2000 kgf.

As described above, according to the configuration of the present invention, since the load generated at the time of joining is balanced in the chamber-shaped member, it has been confirmed that the load on the apparatus main body can be reduced.

In this embodiment, the chamber-shaped member 7 is attached to the end of the robot type arm. However, the attachment is not limited to the robot type, and the effect is the same for other structures. In addition, the elevation of the elevation table 9 in the chamber-shaped member 7 is not limited to the hydraulic cylinder, but it is important to satisfy the elevation function and the required rigidity. For example, the same effect is obtained with a ball screw or the like. is there.

[Embodiment 2] FIG. 6 is a sectional view showing another example of the friction stir welding apparatus in which a rotary tool is provided on the chamber-shaped member of the present invention. In the present embodiment, a bearing box 11 is provided on the upper part of the lifting table 9 so as to be able to move up and down by a hydraulic cylinder 14 instead of the above-described lifting table 9.
a and 10b are attached. Rollers 20a which can be moved up and down by hydraulic cylinders 18a and 18b on both sides of the rotary tool 1 above the chamber-shaped member 7,
20b is attached. 19a and 19b are bearings.

FIG. 7 is a sectional view showing an example of a friction stir welding apparatus when the chamber-like member 7 shown in FIG. 6 is used (only the chamber-like member is shown in the figure, and the main body frame is not shown). . The caterpillar table 12 is inserted into the chamber-shaped member 7 and the material 13 to be joined thereon is placed thereon.
Is placed, and the material to be joined 13 is moved by the rotation. As the caterpillar-shaped member, an iron-based alloy is typically selected. However, from the viewpoints of thermophysical properties, thermal expansion coefficient, and hardness, non-ferrous alloys (Cu alloy, Al alloy, Ti alloy, etc.)
And ceramics can also be selected.

Rollers 10a, 10b, 20a, 20b
As a result, the material 13 to be joined is pressed against the caterpillar-shaped member 12 so as to be restrained.

As described above, according to the configuration of the present invention, the material to be joined is moved by the rotation of the caterpillar-shaped table, so that even if the material to be joined is long, joining can be performed without being restricted by the length of the table. Will be possible.

In this embodiment, the caterpillar table is described, but instead of the caterpillar table,
The same effect can be obtained by using a rotating endless belt as shown in FIG.

Embodiment 3 FIG. 9 is a sectional view showing an example of a friction stir welding apparatus in which two rotary tools are provided on the upper and lower sides of a chamber-shaped member of the present invention. 29a, 29b, 29
c and 29d are bearings, 25, 26, 27 and 28 are gears,
31 is a shaft. Shaft 3 by rotating motor 8
The gears 25 and 26 attached to 1 rotate. Gear 2
Gears 27 and 28 are meshed with 5 and 26, respectively, so that the rotating tools 1a and 1b rotate. The rotary tool 1b can be moved up and down by the hydraulic cylinder 14, whereby the distance between the rotary tool 1a and the rotary tool 1b can be changed. In this manner, the workpieces can be joined on both sides by sandwiching the workpieces between the rotating tools 1a and 1b. The material to be joined is not shown,
4, 7 and 8, it is fixed to the table and joined by moving the chamber-like member or moving the table.

Here, a case where a plate-like member having a thickness of 4 mm is butt-joined will be described as an example. When the rotating tool was pushed from only one surface of the joining material, the rotating tool had to be pushed about 4 mm. However, according to the above-described configuration (the present embodiment) in which the workpiece is sandwiched between the rotating tools, the rotating tools 1a,
For 1b, it is sufficient to push in each about 2 mm. The load generated at the time of pushing the rotary tool is 1000 to 2000 kgf when pushed from only one side, but about half of 1000 kgf or less when the workpiece is sandwiched by the rotating tool (this embodiment). Becomes

In this embodiment, the rotating tools 1a and 1b are configured to rotate in the same direction. However, the rotating directions can be changed by changing the configuration of the gears. Also,
The form of the joints is also butt (FIG. 12) and overlap (FIG. 1)
Various joining forms such as 3) can be selected. Further, in addition to joining all the joining lines, partial joining, point joining and the like can be selected according to the purpose.

Embodiment 4 FIG. 10 is a cross-sectional view showing an example of a friction stir welding apparatus in which two rotary tools are vertically arranged along a welding line on a chamber-like member of the present invention.
8a and 8b are main shaft rotating motors, 31a and 31b are ball screws, 32a, 32b and 32c are bearings, 33a and 33
b is a rotating tool holder. Two rotating tools 1a and 1b are arranged on the upper part of the chamber-shaped member 7 in the joining line direction. Each rotating tool is a ball screw 31
It is possible to move in the joining direction by the rotation of a and 31b.
The two rotating tools 1a and 1b are set so as to partially overlap at the joining line.

According to this configuration, the two rotating tools are pushed in at the time of joining, so that the rotating tool applies a rotating force generated to the joining material, and the constraint for preventing rotation of the joining material is imposed. It becomes unnecessary.

[Embodiment 5] FIG. 11 is a cross-sectional view of a chamber-like member of the present invention in which an upper hook member is provided at an opening on the side to be inserted of a material to be joined (a rotary tool, a main shaft rotary motor and the like are not shown). , Only the chamber-shaped member is shown). By providing the hook-shaped member 30 at the opening of the chamber-shaped member 7, the material to be joined can be inserted or removed from the opening 34, and the opening 34 can be closed by the hook-shaped member 30 at the time of joining. Accordingly, the chamber-shaped member is changed from the C-shape having the opening to the O-shape without the opening, and has a structure in which the deformation can be further reduced with respect to the load generated when the rotary tool is pushed.

[0049]

According to the present invention, since the load generated at the time of joining is balanced in the chamber-shaped member, the load applied to the apparatus main body can be reduced. Also, the material to be joined is placed and supported by a rotating belt or a caterpillar-like member, and by rotating the material to be joined and placed on a support table to move the material to be joined, even when the material to be joined is long, Joining is possible without being limited by the length of the table.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an example of a friction stir welding apparatus provided with a rotating tool on a chamber-shaped member of the present invention.

FIG. 2 is an overall view of a friction stir welding apparatus in which a rotating tool is attached to a chamber-like member.

FIG. 3 is an overall view of a friction stir welding apparatus without a chamber-shaped member.

FIG. 4 is an overall view of a friction stir welding apparatus to which a chamber-shaped member is attached during operation.

FIG. 5 is an overall view of a friction stir welding apparatus without a chamber-shaped member during operation.

FIG. 6 is a sectional view showing another example of the chamber-shaped member of the present invention.

FIG. 7 is an overall view of a friction stir welding apparatus provided with a caterpillar table.

FIG. 8 is an overall view of a friction stir welding apparatus provided with a rotating endless belt.

FIG. 9 is a cross-sectional view showing another example of the friction stir welding apparatus provided with two rotating tools on the chamber-shaped member of the present invention.

FIG. 10 is a sectional view of a chamber-shaped member provided with two rotating tools in a joining direction.

FIG. 11 is a configuration diagram in which a hook-shaped member is provided on a chamber-shaped member.

FIG. 12 is a perspective view of a butt joint.

FIG. 13 is a perspective view of overlap joining.

[Explanation of symbols]

1. Rotary tool, 2. Chucking member, 3a, 3b ...
Arm, 4 ... rotary table, 5 ... support table, 6a, 6b,
6c: pin, 7: chamber-shaped member, 8, 8a, 8b ...
Spindle rotating motor, 9: lifting table, 10: supporting roller, 11: bearing box, 12: caterpillar table, 1
3, 13a, 13b: material to be joined, 14: hydraulic cylinder,
15: spindle, 16: table with roller, 17: table, 18a, 18b: hydraulic cylinder, 19a, 19b
... bearing, 20a, 20b ... press roller, 21 ... roller, 22a, 22b ... restraining jig, 23a, 23b ...
Belt drive roller, 24 ... rod, 25, 26, 2
7, 28 gear, 29a, 29b, 29c, 29d bearing, 30 hook, 31a, 31b ball screw, 3
2a, 32b, 32c: bearing, 33a, 33b: rotating tool holder, 34: opening.

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hisanobu Okamura 7-1-1, Omika-cho, Hitachi City, Ibaraki Prefecture Inside the Hitachi Research Laboratory, Hitachi, Ltd. (72) Inventor Kazutaka Okamoto 7, Omika-cho, Hitachi City, Ibaraki Prefecture No. 1-1 Inside Hitachi Research Laboratory, Hitachi, Ltd. (72) Inventor Tomio Odakura 2-9-1, Aisecho, Hitachi City, Ibaraki Prefecture Within Hitachi Equipment Engineering Co., Ltd. (72) Inventor Shinichi Hachishu Hitachi, Ibaraki Prefecture 2-9-1 Aisecho Hitachi Equipment Engineering Co., Ltd. F-term (reference) 4E067 BG00 CA01 CA04

Claims (16)

[Claims] 1. A friction stir welding apparatus in which a rotary tool is inserted into a material to be joined while being rotated and joined by frictional heat and plastic flow with the material to be joined, wherein the rotating tool and driving means for rotating the rotating tool are provided. The binding member has an inlet for inserting the material to be joined and openings on the left and right sides, and the material to be joined is placed on the facing surface of the rotating tool on the constraint member. A friction stir welding apparatus, further comprising a lifting table that moves up and down toward the rotating tool. 2. A friction stir welding apparatus in which two rotating tools are inserted into a material to be joined while rotating each other, and the material to be joined is simultaneously joined on both front and back surfaces, wherein the two rotating tools and the rotating tool are combined. A restricting member for setting the driving means for rotation to face each other, the restricting member having an inlet for inserting the material to be joined and openings on the left and right, and the restricting member having at least one of the rotations A friction stir welding apparatus, comprising: elevating means for elevating and lowering a tool toward opposing sides. 3. A friction stir welding apparatus which inserts two rotating tools into a material to be joined while rotating each other and joins the materials to be joined on the same surface, wherein the two rotating tools and the rotating tool are rotated. It has a restraining member for movably installing the driving means and vertically arranged in the joining line direction, the restraining member has an inlet for inserting the material to be welded and openings on the left and right,
A friction stir welding apparatus, wherein the restraining member is provided with an elevating table for placing the material to be joined on the side facing the rotating tool and elevating the same toward the rotating tool. 4. The friction stir welding apparatus according to claim 1, wherein the lifting table is provided with a roller that rotates in the welding direction. 5. A friction stir welding method according to claim 4, wherein rollers are provided on both sides of said rotating tool, said rollers rotating in said joining direction and supporting said material to be joined, sandwiching said rotating tool. apparatus. 6. A restraining member according to claim 1, wherein said restraining member is provided with a hook-like member which can be fixed at an opening for inserting said material to be joined so that said opening of said restraining member is not opened. A friction stir welding apparatus. 7. A friction stir welding apparatus which inserts a rotating tool into a material to be joined while rotating it and joins the material by frictional heat and plastic flow with the material to be joined, wherein the rotating tool and driving means for rotating the rotating tool are provided. A restraining member for installing
Support means for supporting the restraining member movably in the vertical direction, and a support base for horizontally setting the support means,
A table on which the material to be joined is movably mounted along a joining line within the restraining member, wherein the restraining member has an inlet for inserting the material to be joined and openings on the left and right. Friction stir welding equipment. 8. A friction stir welding apparatus which inserts a rotating tool into a material to be joined while rotating it and joins the material by frictional heat and plastic flow with the material to be joined, wherein the rotating tool and driving means for rotating the rotating tool are provided. A restraining member for installing
An arm that movably supports the restraining member, a support base that is movably installed on the arm, and a table that movably mounts the workpiece on the restraining member along a joining line. A friction stir welding apparatus, wherein the restraining member has an inlet for inserting the material to be welded and openings on the left and right. 9. A friction stir welding apparatus which inserts a rotating tool into a material to be joined while rotating it and joins the material by frictional heat and plastic flow with the material to be joined, wherein the rotating tool and driving means for rotating the rotating tool are provided. A restraining member for installing
Support means for supporting the restraining member movably in the vertical direction, and a support base for horizontally setting the support means,
Driving means for driving the restraining member along a joining line,
A table on which the material to be joined is placed so that the joining can be performed in the restraining member, wherein the restraining member has an inlet for inserting the material to be joined and openings on the left and right sides. apparatus. 10. A friction stir welding apparatus which inserts a rotating tool into a material to be joined while rotating it and joins the material by frictional heat and plastic flow with the material to be joined, wherein the rotating tool and driving means for rotating the rotating tool are provided. A restraining member, an arm for movably supporting the restraining member, a support table for horizontally rotating the arm, a driving unit for driving the restraining member along a joining line, A table for placing the material to be joined in the constraining member in a state where the joining is possible, wherein the constraining member has an inlet for inserting the material to be joined and openings on the left and right sides. Joining equipment. 11. A friction stir welding apparatus which inserts a rotating tool into a material to be joined while rotating it and joins the material by frictional heat and plastic flow with the material to be joined, wherein the rotating tool and driving means for rotating the rotating tool are provided. , A supporting means for movably supporting the restraining member, a support table for arranging the supporting means to be horizontally rotatable, and movably placing the workpiece in the restraining member. A friction stir welding apparatus, wherein the restraining member has an inlet for inserting the material to be welded and openings on the left and right. 12. The restraint member according to claim 7, further comprising an elevating table for mounting said material to be joined on an opposing surface side of said rotary tool and for raising and lowering said workpiece toward said rotary tool. The friction stir welding apparatus according to any one of the above. 13. The rotating tool has two rotating tools, and the two rotating tools are provided on the restraining member so as to face each other together with driving means for rotating the rotating tool. 2. An elevating means for elevating and lowering toward an opposite side.
A friction stir welding apparatus according to any one of the preceding claims. 14. The restraining member has two rotating tools, and the two rotating tools are provided on the restraining member so as to be movable vertically along a joining line together with a driving means for rotating the rotating tools. The friction stirrer according to any one of claims 7 to 11, further comprising a lifting table for mounting and fixing the material to be joined on a member facing surface of the rotary tool and raising and lowering the member toward the rotary tool. Joining equipment. 15. A friction stir welding method in which a rotary tool is inserted into a material to be welded while being rotated and joined by frictional heat and plastic flow with the material to be welded, wherein the rotary tool is provided on a restraining member together with its rotation driving means. A friction stir welding method, wherein the joining is performed by moving the restraining member to the fixed workpiece and moving the restraining member along a welding line within the restraining member. 16. A friction stir welding method in which a rotary tool is inserted into a material to be joined while being rotated and joined by frictional heat and plastic flow with the material to be joined, wherein the rotary tool is provided on a restraining member together with its rotation driving means. Moving the constraining member to the material to be joined, and moving the material in the constraining member to perform the joining.