Friction stir welding device, C type frame for friction stir welding device, friction stir welding method

摘要

To provide a friction stir welding apparatus which is three-dimensionally arranged like a body of an automobile and enables friction stir welding of a member to be joined having a complicated shape including a curved surface, a C type frame used therefor, and a friction stir welding method I will provide a. A multi-axis robot arm having a plurality of joints and capable of freely moving in a three-dimensional space, a friction stir welding device for joining members to be joined by friction stir welding, A joining tool holding portion that is connected to one end of the holding portion and holds a joining tool via a vertically moving mechanism; and a joining tool holding portion that is connected to the other end of the holding portion and that extends from the joining tool , A spherical rotating body provided at a position facing the welding tool of the pressing force receiving section, and a rotating mechanism for rotating the spherical rotating body . BACKGROUND OF THE INVENTION