KR20230162443A - Automatic jig operation system for friction stir welding and automatic jig operation method using the same - Google Patents

Abstract

The present invention relates to a jig operation system for friction stir welding, capable of providing easy installation and setup convenience for a friction stir welder to perform friction stir welding, and reducing a cost burden for a facility. More specifically, the jig operation system automatically controls a tool and at least one gripper to perform friction stir welding on a workpiece seated on a jig, wherein the jig operation system includes: a height input part displayed to set a height adjustment area in which the gripper is fixed or released; and a reference setting part displayed to check a checking area and set an operation area with respect to a random center point of the gripper selected for setting the height adjustment area.

Description

Automatic jig operation system for friction stir welding and automatic jig operation method using the same {Automatic jig operation system for friction stir welding and automatic jig operation method using the same}

The present invention relates to a jig operating system for friction stir welding that provides easy installation and convenience of setup for the friction stir welding device when performing friction stir welding and can reduce the cost burden on equipment.

Lightweight alloys using lightweight materials such as aluminum and magnesium are widely used in various industrial fields such as transportation devices such as automobiles and aircraft, and construction/civil engineering fields.

In order to produce/manufacture various devices, structures, etc. using these lightweight alloys, these lightweight alloys are often joined by welding.

Therefore, technologies for welding these lightweight alloys are being widely researched, and in recent years, friction stir welding (FSW) has been applied.

Friction stir welding refers to a method of joining divided metals by installing a rotating tool at the joint area of metals and using frictional heat generated between the rotating tool and the joining metal.

This type of friction stir welding is mainly used for non-ferrous plates such as precipitation hardening aluminum alloys, which are prone to weld cracks and weld deformation during high-temperature melt welding, and research is being actively conducted to apply it to steel materials with high heat sensitivity. It is becoming.

Generally, a friction stir welding device includes a rotary tool that can be raised and lowered and made of a material with higher hardness than the members to be joined, and a driving member that rotates the rotary tool.

And the driving member rotates the rotating member installed at the joint of the divided metal and transfers the rotating member along the joint.

Accordingly, frictional heat is generated between the rotating member and the joint, and the stirring action of the material is activated by plastic flow in the joint softened by the frictional heat and the pressure applied by the rotating member, thereby forming a solid-state joint.

In recent years, in order to operate the device for performing the above-described friction stir welding, there is an urgent need to build a system for a friction stir welding device that is easy to operate and safely accessible to users.

Domestic Published Patent No. 10-2009-69612 (Publication date: 2009.07.01.) Domestic registered patent No. 10-2263886 (announcement date: 2021.06.15.)

The present invention is a jig operating system for friction stir welding that provides easy installation and convenience of setup for the friction stir welding device when performing friction stir welding based on the above-described background technology and can reduce the cost burden on equipment. The purpose is to provide.

In order to solve the above-mentioned technical problem, the automatic jig operating system for friction stir welding according to the present invention uses a tool tool 60 and at least one gripper 50 to friction stir weld the workpiece mounted on the jig 40. In the operating system for automatic control, the height input unit 100 displayed to set the height adjustment area 10 in which fixation or release of the gripper 50 is performed and the gripper selected to set the height adjustment area 10 (50) It is characterized by including a standard setting unit 200 that is displayed to confirm the confirmation area 30 and set the operation area 20 based on an arbitrary center point (C-P).

In addition, the height input unit 100 includes number information of the selected gripper 50, selected operation mode information, radius information for the tool tool 60, and set height adjustment area 10 to set the height adjustment area 10. Safety distance information between the gripper 50 and the tool tool 60, minimum value information on the Z axis for setting the height adjustment area 10, and maximum value on the Z axis for setting the height adjustment area 10. It is desirable that at least one piece of information is displayed.

In addition, the reference setting unit 200 provides coordinate setting information for the operation area 20, coordinate confirmation information for the confirmation area 30, and movement in the left direction based on an arbitrary center point (C-P) of the gripper 50. Distance information for the area 20, distance information for the operation area 20 in the right direction based on the arbitrary center point (C-P) of the gripper 50, upper side based on the arbitrary center point (C-P) of the gripper 50 So that at least one of the distance information about the operation area 20 in the direction and the distance information about the operation area 20 in the downward direction based on an arbitrary center point (C-P) of the gripper 50 can be displayed. It is desirable to do so.

In addition, the operating system 1 further includes at least one of a monitoring unit 300 or a mode change setting unit 400, and the monitoring unit 300 includes number information for each gripper 50, the center At least one of coordinates, status information, type information, and current use information is displayed, and the mode change setting unit 400 controls the operation, automatic and manual operation of the height input unit 100 and the standard setting unit 200. It is desirable to be able to choose whether or not to convert.

According to the present invention, it is possible to provide convenience of easy installation and setup through input setting values for the gripper and tool for the friction stir welding device, unlike the conventional one, and to provide the height adjustment area and operating area for the tool and gripper. By setting the confirmation area, friction between devices can be prevented in advance and the desired welding area can be easily performed, thereby realizing the effect of providing a friction stir welding jig operating system that can reduce the cost burden on equipment.

Figure 1 is a diagram showing the automatic jig operating system for friction stir welding according to the present invention displayed on a monitor.
Figure 2 is an enlarged view showing the height input unit of Figure 1.
Figure 3 is a diagram showing the height adjustment area set in the friction stir welding device shown in Figure 2.
Figure 4 is a diagram showing the minimum safety distance between the gripper and the tool for Figure 2.
Figure 5 is an enlarged view showing the standard setting unit for Figure 1.
FIG. 6 is a diagram showing a set operation area and a set confirmation area for FIG. 5.
Figure 7 is another embodiment of the operating area shape relative to Figure 6.
Figure 8 is an enlarged view showing the monitoring unit of Figure 1.
Figure 9 is an enlarged view showing the mode switching setting unit for Figure 1.
Figure 10 is a flow chart showing a jig operation method using the automatic jig operation system for friction stir welding according to the present invention.

Hereinafter, various embodiments will be described in more detail with reference to the attached drawings. The embodiments described herein may be modified in various ways. Specific embodiments may be depicted in the drawings and described in detail in the detailed description. However, the specific embodiments disclosed in the attached drawings are only intended to facilitate understanding of the various embodiments. Therefore, the technical idea is not limited to the specific embodiments disclosed in the attached drawings, and it should be understood that all equivalents or substitutes included in the spirit and technical scope of the invention are included.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but these components are not limited by the above-mentioned terms. The above-mentioned terms are used only for the purpose of distinguishing one component from another.

In this specification, terms such as “comprise” or “have” are intended to indicate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof. When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

In addition, when describing the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof is abbreviated or omitted.

Hereinafter, the automatic jig operating system for friction stir welding according to the present invention (hereinafter, briefly referred to as the 'operating system') will be described in detail with reference to the attached drawings. Prior to the description, the operating system 1 in the present invention is shown and explained as being displayed through an imaging device such as a monitor, but this is only one embodiment, and if necessary, it can be used on a mobile terminal (e.g. Please note that remote control is also possible via smartphones, tablet PCs and laptops, etc.).

First, as shown in Figure 1, the operating system 1 according to the present invention largely includes a height input unit 100, a standard setting unit 200, a monitoring unit 300, and a mode switching setting unit 400. .

In more detail, the height input unit 100 is positioned in the Z-axis direction with respect to at least one gripper 50 that fixes or releases the workpiece seated on the jig 40, as shown in FIGS. 2 to 4. This is a configuration displayed to set the height adjustment area (10).

For this purpose, as shown, the height input unit 100 includes gripper number setting content 110 that can be selected by touch, etc., mode confirmation content 120, tool radius content 130, safe distance content 140, It includes Z-axis minimum value input content 150 and Z-axis maximum value input content 160.

The gripper number setting content 110 displays number information on the gripper 50 selected to set the height adjustment area 10, and the number setting for the gripper 50 is preset through the control unit (not shown). (50) so that it can be numbered and displayed based on the unique information about it.

Meanwhile, although not shown, when the gripper number setting content 110 is selected, a list corresponding to the plurality of grippers 50 provided in the facility line is displayed in the form of a pop-up window on the monitor so that it can be displayed with individual numbers assigned to the desired number. The operator can select the gripper 50 corresponding to the number.

In addition, on the monitor, the gripper 50 provided in the facility line selected by the gripper number setting content 110 is additionally displayed for visual confirmation by a lamp, etc., allowing the operator to select which gripper 50 among the plurality of grippers 50. ) is set by the gripper number setting content 110.

The mode confirmation content 120 is displayed to confirm whether the operating system 1 of the present invention is in automatic mode or manual mode selected by the mode change setting unit 400, which will be described later.

The tool radius content 130 is a configuration displayed to input the radius of a tool that performs friction stir welding (FSW) on a work object.

Safe distance content 140 is displayed in order to set the minimum safe distance to prevent interference between the gripper 50 and the tool 60. As shown, a value equal to or greater than the width of the selected gripper 50 is input. .

At this time, the settings for the confirmation area 30, which will be described later, can be implemented through the values set through the tool radius content 130 and the safe distance content 140, and the settings for the confirmation area 30 are It is desirable to use a numerical value calculated in the horizontal and vertical directions to have an arbitrary rectangular shape, which is twice the sum of the setting values of the tool radius content 130 and the safe distance content 140.

The Z-axis minimum value input content 150 and the Z-axis maximum value input content 160 are displayed to input the height adjustment area 10 in which the tool 60 mounted on the liftable cylinder (not shown) can be lifted. This configuration allows the fixing or releasing function of the gripper 50 to be operated through the setting of the height adjustment area 10.

The setting value of the height adjustment area 10 can be changed by the operator depending on the work environment, such as the height of the workpiece seated on the jig 40 or the vertical length of the tool 60.

And, as shown in FIGS. 5 to 7, the reference setting unit 200 interferes with the movement of the tool 60 for welding the workpiece based on an arbitrary center point (C-P) of each gripper 50. To prevent this from happening, the gripper 50 is configured to display the setting and confirmation area 30 of the operation area 20, each provided as a rectangular area, which can be automatically fixed or released.

Prior to explanation, the operation area 20 is automatically fixed or released by the gripper 50 when the tool 60 enters or exits the operation area 20 set in the automatic operation state (friction stir welding is performed). It means an area that can be executed.

That is, when the tool 60 enters the operation area 20, the gripper 50 executes a disengaged state to enable smooth welding, and when the tool 60 leaves the operation area 20, the gripper 50 executes a disengaged state to enable smooth welding. (50) is an area that can be operated to fix the work object.

In addition, the confirmation area 30 is a space between the tool 60 and the gripper 50 when the gripper 50 is not automatically executed even though the tool 60 enters the operation area 20 described above. It means a safety area to prevent collisions, and the confirmation area 30 is monitored through the value input through the height input unit 100 described above when the operation area 20 is set.

Furthermore, the operation area 20 and the confirmation area 30 are input to have different setting values through the operator's control for each gripper 50. As shown, this is done for one jig 40. This can be said to be because a plurality of grippers 50 exist at different intervals.

As shown, in order to set the operation area 20 and the confirmation area 30, the standard setting unit 200 in the present invention includes first and second set position contents 210 and 220, and first and second check positions. It includes content 230 and 240, X1 distance content 250, X2 distance content 260, Y1 distance content 270, and Y2 distance content 280.

For example, the first and second set position contents 210 and 220 are displayed to set coordinates for the operation area 20.

The first set position content 210 is the upper corner of the right side (based on the screen displayed on the monitor) of the operation area 20, which can be displayed as a square area based on the arbitrary center point (C-P) of the selected gripper 50. Allows you to set the part as point (P1).

The second set position content 220 can set the lower left corner of the operation area 20, which can be displayed as a square area based on the arbitrary center point (C-P) of the selected gripper 50, as the point (P2). The operation area 20 having an arbitrary rectangular shape can be displayed on the monitor through the points P1 and P2 corresponding to these input values.

The first and second check position contents 230 and 240 are configured to check the coordinate value of the confirmation area 30 existing within the set operation area 20, and include the tool radius content 130 and safe distance content ( 140) so that coordinate values can be displayed based on the value set by .

Here, the first check position content 230 allows the coordinate value of the upper right corner portion having a square shape to be displayed based on an arbitrary center point (C-P) of the selected gripper 50.

In addition, the second check position content 240 allows the coordinate value of the lower left corner portion having a square shape to be displayed based on an arbitrary center point (C-P) of the selected gripper 50.

Meanwhile, in the present invention, only the operation area 20 is shown as displayed on the monitor, but this is only one embodiment, and if necessary, the coordinate values corresponding to the first and second check position contents 230 and 240 are displayed. It is also possible for the confirmation area 30, which has an arbitrary rectangular shape, to be displayed in different colors along with the corresponding operation area 20 so that it can be identified.

The distance value for the operation area 20 in the left and right directions based on the arbitrary center point (C-P) of the selected gripper 50 of do.

Y1 distance content 270 and Y2 distance content 280 can display distance information of the distance value for the operation area 20 in the upper and lower directions based on the arbitrary center point (C-P) of the selected gripper 50. Let it happen.

And, as shown in FIG. 8, the monitoring unit 300 records number information, center coordinates, status information, type information, and current information about the gripper 50 installed on the jig 40 to fix or release the work object. At least one piece of usage information can be displayed, and through this monitoring unit 300, the operator can monitor all status information for each gripper 50 at once in real time.

For example, the monitoring unit 300 includes number content 310, center coordinate content 320, status display content 330, type content 340, and usage confirmation content 350.

The number content 310 is used by assigning a different, arbitrary unique number to each gripper 50, and the assigned number is displayed on the monitor to prevent confusion for the operator.

In addition, the monitored number information is displayed even when setting the height input unit 100 or the standard setting unit 200, allowing the operator to visually identify which gripper 50 is currently being set. You can.

The center coordinate content 320 allows arbitrary center coordinate values for each gripper 50 to be displayed.

As shown, the status display content 330 is in the form of an LED that is turned on/off, and the gripping state of the work object for each gripper 50, that is, the clamped state (CLAMP) and the unlocked state (UNCLAMP) ) can be displayed individually.

Type content 340 allows the type of the gripper 50 installed on the jig 40 to be displayed, and indicates the operation method of the gripper 50 (for example, gripping by rotation, lifting and lowering). An arbitrary promised number is assigned depending on the grip (grip, size, etc.) so that the operator can determine the type of gripper 50 through that number.

The usage confirmation content 350 is a configuration that is displayed to check whether or not each gripper 50 is in use. For example, a state in use may be displayed as 'O', and a state not in use may be displayed as 'X'. Let it happen.

And, as shown in FIG. 9, the mode change setting unit 400 is configured to provide overall options for the operating system 1 according to the present invention.

For example, as shown, the mode change setting unit 400 includes mode change content 410 that can select either automatic or manual mode, and an operation area with an arbitrary center point (C-P) for the selected gripper 50. The operation area 20 and the confirmation area 30 can be set using the first position set content 420 for setting the (20) and the confirmation area 30 and the current mechanical coordinates of the selected gripper 50 as the center coordinates. It includes a second position set content 430.

In addition, the mode change setting unit 400 can provide a plurality of contents that can be selected as an optional function, preferably fixing or fixing the selected gripper 50 or the gripper 50 in use while the manual mode is set. Multiple clamp contents 440 for checking and individually controlling cancellation, type change contents 450 for changing the type of the currently selected gripper 50, and arbitrarily changing whether or not to use the currently selected gripper 50. It may further include at least one of use change content 460 for switching to the main screen or starting the operating system 1 after termination of the operating system 1 according to the present invention. You can.

Hereinafter, the automatic jig operation method (hereinafter referred to as the 'operation method') using the automatic jig operation system for friction stir welding according to the present invention will be described in detail with reference to the attached drawings.

First, as shown in FIG. 10, the operating method (2) according to the present invention largely includes the steps of 1) inputting data information about the tool 60 and at least one gripper 50 installed on the jig 40 ( S100) and 2) processing the work object with the tool 60 based on the input data information (S200).

Prior to the explanation, please note that the following describes the implementation of operations for the tool 60 and the gripper 50 in automatic mode, not manual mode, as an example.

To explain in more detail, the operator selects the operation content 470 on the main screen of the above-described operating system 1 by clicking, etc., switches to the settings screen, and changes the height adjustment area in the Z-axis direction for the tool 60. By setting (10), the operation area 20 and the tool 60 in the Data on the confirmation area 30 in the X-axis and Y-axis directions to prevent collision between the tool 60 and the gripper 50 when the gripper 50 does not operate while entering the area 20. Execute step 1 (S100) of entering information (see FIGS. 2 to 4).

To elaborate, the operator selects one gripper 50 on the monitor through the gripper number setting content 110 constituting the height input unit 100 to set the height adjustment area 10, and then inputs the Z-axis minimum value content. As shown through 150 and Z-axis maximum value input content 160, the height adjustment area 10 is set.

Here, when a plurality of grippers 50 exist based on one jig 40, the operator individually selects the corresponding gripper 50 through the gripper number setting content 110 and then attaches the selected gripper 50 to the selected gripper 50. For this, the height adjustment area 10 is input so that the height adjustment area 10 can be set through the Z-axis minimum value input content 150 and the Z-axis maximum value input content 160, respectively.

Meanwhile, it is desirable to input the height adjustment area 10 in response to the height of the workpiece seated on the jig 40 or the vertical length of the tool 60.

In addition, the operator selects the tool radius content 130 and the safe distance content 140 sequentially at or before the end of the input operation for the height adjustment area 10 to determine the radius value of the tool 60 for performing welding. And it allows you to input a numerical value for the minimum safety distance between the gripper 50 and the tool 60 based on the arbitrary center point (C-P) of the selected gripper 50, and this input value is set in the confirmation area 30. It will be helpful.

Thereafter, in order to set the operating area 20, the operator sets the first set position content 210 using the upper right corner as the point P1 based on the arbitrary center point C-P of the selected gripper 50 displayed on the monitor. ), the corner of the lower left corner is designated as another point (P2) based on the center point (C-P) of the mouth of the gripper 50, so that the operation area 20 having an arbitrary square shape is displayed. Enter the numerical value to enable (see Figure 5).

At this time, the monitor displays numerical values for the check area 30 based on the input values of the above-described tool radius content 130 and safe distance content 140 through the first and second check positions 230 and 240. It is desirable to enable the operator to be identified.

In addition, in the process of setting the operation area 20, the distance between the right and left sides of the operation area 20 set based on the arbitrary center point (C-P) of the gripper 50 can be checked on the monitor, as well as the distance between the upper and lower sides. Numerical values are automatically calculated and displayed by the X1 and X2 distance contents (250,260) and Y1 and Y2 distance contents (270,280).

Meanwhile, the operating area 20 in the present invention is not limited to being executed in a square shape as shown, and is centered around an arbitrary center point (C-P) of the gripper 50 or the mechanical coordinates where the gripper 50 is provided. Note that input can be made through the above-described content so that an arbitrary area can be set even in a rectangular shape, and this makes it possible to overcome the limitations of welding on work objects (see FIG. 7).

Therefore, the worker moves the tool 60 for welding in response to the radius value of the tool 60 and the width and length of the gripper 50 based on the operation area 20 and the confirmation area 30. 2) When step S200 is executed, collision between the gripper 50 and the tool 60 is prevented so that friction stir welding on the workpiece can be performed smoothly.

Meanwhile, as shown in the operation method (2) in the present invention, when replacement of the tool 60 or additional welding is necessary depending on the quality of welding after processing of the work object is completed, based on the above-described contents An additional setting operation step ( S300) can be executed.

As described above, the operating system 1 according to the present invention provides easy installation and convenience of setup through the input setting values for the gripper 50 and tool 60 for the friction stir welding device differently from the conventional one. It can be provided by setting the height adjustment area (10), operation area (20), and confirmation area (30) for the tool (60) and gripper (50) to prevent friction between the tools and to select the desired welding area. The effect of providing a jig operating system for friction stir welding that can be easily implemented and reduce the cost burden on equipment is realized.

As described above, the present invention has been described with specific details such as specific components and limited embodiments and drawings, but this is only provided to facilitate a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , those skilled in the art can make various modifications and variations from this description.

Therefore, the spirit of the present invention should not be limited to the described embodiments, and the scope of the patent claims described later as well as all things that are equivalent or equivalent to the scope of this patent claim shall fall within the scope of the spirit of the present invention. .

1: Automatic jig operating system for friction stir welding according to the present invention
2: Automatic jig operating method using the automatic jig operating system for friction stir welding according to the present invention
100: Height input unit
200: Standard setting unit
300: Monitoring unit
400: Mode switching setting unit
10: Height adjustment area
20: operating area
30: Confirmation area
40: Jig
50: Gripper
60: Tool

Claims (7)

In the operating system for automatically controlling the tool 60 and at least one gripper 50 to friction stir weld the workpiece mounted on the jig 40,
A height input unit 100 displayed to set a height adjustment area 10 in which the gripper 50 is fixed or released; and
A gripper 50 selected to set the height adjustment area 10; a reference setting unit 200 displayed to confirm the confirmation area 30 and set the operation area 20 based on an arbitrary center point (CP); An automatic jig operating system for friction stir welding, comprising:
According to paragraph 1,
The height input unit 100 is
Number information of the gripper 50 selected to set the height adjustment area 10, selected operation mode information, radius information for the tool tool 60, gripper 50 and tool tool for the set height adjustment area 10. (60) At least one of the following information is displayed among safety distance information, minimum value information on the Z axis for setting the height adjustment area (10), and maximum value information on the Z axis for setting the height adjustment area (10). An automatic jig operating system for friction stir welding, characterized in that:
According to paragraph 1,
The standard setting unit 200 is
Coordinate setting information for the operation area 20, coordinate confirmation information for the confirmation area 30, distance information for the operation area 20 in the left direction based on the arbitrary center point (CP) of the gripper 50, gripper (50) Distance information about the operation area 20 in the right direction based on an arbitrary center point (CP), gripper 50, information about the operation area 20 in the upper direction based on an arbitrary center point (CP) Automatic for friction stir welding, characterized in that at least one of the distance information and the distance information about the operation area 20 in the downward direction based on an arbitrary center point (CP) of the gripper 50 can be displayed. Jig operating system.
According to paragraph 1,
The operating system 1 further includes at least one of a monitoring unit 300 or a mode switching setting unit 400,
The monitoring unit 300 displays at least one of number information, center coordinates, status information, type information, and current use information for each gripper 50,
The mode switching setting unit 400 is an automatic jig operating system for friction stir welding, characterized in that it allows selection of the operation of the height input unit 100 and the standard setting unit 200 and whether to switch automatically or manually.
In the jig operating method using an operating system that automatically controls the tool tool 60 and at least one gripper 50 to friction stir weld the workpiece mounted on the jig 40,
1) Entering data information about the tool 60 and at least one gripper 50 installed on the jig 40; and
2) Processing the work object with the tool 60 based on the input data information;
The data information in step 1) above is
A height adjustment area 10 is set in the Z-axis direction for the tool 60, and the gripper 50 can be automatically fixed or released according to the movement of the tool 60 with the set height in the In order to prevent a collision between the tool 60 and the gripper 50 when the gripper 50 does not operate while the tool 60 enters the operation area 20, An automatic jig operating method using an automatic jig operating system for friction stir welding, characterized in that it includes a confirmation area (30) in the Y-axis direction.
According to clause 5,
Setting of the height adjustment area (10) is
After selecting any one gripper (50) on the monitor through the gripper number setting content (110), the height adjustment area to be set is set by the Z-axis minimum value input content (150) and the Z-axis maximum value input content (160). (10) is an automatic jig operation method using an automatic jig operation system for friction stir welding, characterized in that the input corresponds to the height of the workpiece seated on the jig 40 or the vertical length of the tool 60.
According to clause 5,
The operating area (20) can be set on the monitor.
After designating the upper right corner as the point P1 based on the selected gripper 50 through the first set position content 210, the lower left corner based on the selected gripper 50 is designated as another point (P1). It is set to a random square shape by specifying it as P2),
The settings of the confirmation area (30) are
Tool radius content 130 and gripper 50 for inputting the radius value of the tool 60, and safe distance content 140 for the radius value of the tool 60 input through the tool radius content 130. It is set as the basis for the minimum safety distance value to prevent interference between the gripper 50 and the tool 60 entered in,
The operation area 20 and the confirmation area 30 are displayed to have an arbitrary square shape based on an arbitrary center point (CP) of the gripper 50. Automatic jig operation using an automatic jig operation system for friction stir welding. method.

Images