Patent attributes
A friction stir welding apparatus capable of stably applying a pressure force without enlarging the apparatus, and a robot having thereof are provided. A rotating tool (22) is provided with a rotational shaft (26) and a hollow surrounding shaft (27) is provided to surround the rotational shaft (26). The rotational shaft (26) is movable along an axis-of-rotation (L) and is rotated by a rotation drive motor (25) about the axis-of-rotation (L). The surrounding shaft (27) is rotatably supported by a main frame (29) and an outer threaded portion is formed around the outer peripheral thereof to be threadedly engaged with a nut member 53. The rotating tool (22) is rotatably supported by a header (40), and the header (40) and the nut member 53 are coupled together through a bracket (70). Therefore, when the surrounding shaft (27) is rotated about the axis-of-rotation (L) by the linear movement motor (24), the rotating tool (22) is linearly moved through the nut member 53, the bracket (70) and the header (40), and can apply a pressure force against work pieces.
