JP2000108064A - Mounting device for tube end screw protective tool and operating method therefor - Google Patents
Mounting device for tube end screw protective tool and operating method thereforInfo
- Publication number
- JP2000108064A JP2000108064A JP10283941A JP28394198A JP2000108064A JP 2000108064 A JP2000108064 A JP 2000108064A JP 10283941 A JP10283941 A JP 10283941A JP 28394198 A JP28394198 A JP 28394198A JP 2000108064 A JP2000108064 A JP 2000108064A
- Authority
- JP
- Japan
- Prior art keywords
- steel pipe
- hand
- tip
- torque value
- protector
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、管端ネジ保護具の
取付装置及びその運転方法に係わり、詳しくは、鋼管の
端部外面に切ったネジ及びそこに嵌め込む継手（カップ
リング）の内面ネジが、輸送等のハンドリング時に損傷
するのを防止するため、出荷前の梱包に先立ち、ネジ保
護具を鋼管や継手の端部に人手を介さずに取り付ける技
術である。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for mounting a pipe end screw protector and a method of operating the same, and more particularly, to a screw cut on an outer surface of an end of a steel pipe and an inner surface of a coupling (coupling) fitted therein. This is a technique for attaching a screw protector to the end of a steel pipe or a joint without any manual operation prior to packing before shipping in order to prevent the screw from being damaged during handling such as transportation.
【０００２】[0002]
【従来の技術】例えば、石油掘削等に使用される油井管
（シームレス・パイプ）は、地中又は海洋中において、
それらの端部を順次接続し、長尺化して使用される。そ
のため、油井管自体の管端外面及び油井管同士を接続す
る継手の内面には、それぞれネジが切られている。2. Description of the Related Art For example, an oil country tubular good (seamless pipe) used for oil drilling is used underground or in the ocean.
These ends are sequentially connected, and are used longer. Therefore, a thread is cut on the outer surface of the pipe end of the oil well pipe itself and on the inner surface of the joint connecting the oil well pipes to each other.
【０００３】ところで、これらの油井管や継手を、製造
場所から遠隔の掘削現場に搬送する際には、前記ネジが
損傷し、使用不可となることがある。この損傷を防止す
るため、従来より、図２及び３に示すようなネジ保護具
が使用されている。つまり、油井管１の両端は、図３
（ａ）に示すように、先細りにテーパ状に加工され、そ
の外面に切られたネジ２にプロテクタ（キャップ、ソケ
ット等）３と呼ばれているネジ加工された保護具（図２
（ａ）参照）が嵌められる。一方、他端は、同様にネジ
２が切られているが、そこには、内部がテーパ状の空洞
を有する継手４で、該空洞の内面にネジ２を切ったプラ
グ５と呼ばれている保護具（図２（ｂ）参照）が嵌め込
まれる。なお、このようなテーパ状に切られたネジ２
は、一般にテーパ・ネジと称されている。When these oil country tubular goods and joints are transported from a manufacturing site to a remote excavation site, the screws may be damaged and become unusable. Conventionally, a screw protector as shown in FIGS. 2 and 3 has been used to prevent this damage. That is, both ends of the oil country tubular good 1 are shown in FIG.
As shown in FIG. 2 (a), a threaded protective tool called a protector (cap, socket, etc.) 3 is formed on a screw 2 which is formed into a tapered shape and cut on the outer surface thereof (FIG. 2).
(See (a)). On the other hand, the other end is similarly threaded, but there is a joint 4 having a tapered cavity inside, which is called a plug 5 with a thread 2 threaded on the inner surface of the cavity. A protective device (see FIG. 2B) is fitted. Note that such a tapered screw 2
Is commonly referred to as a tapered screw.
【０００４】上記のネジ山保護具（以下、単に保護具と
いう）は、通常、油井管１の出荷前に取付けられるが、
従来、その取り付けは、該油井管１の製造ラインにおい
て人手を介して行われていた。それは、図４に示すよう
に、回転する鋼管１に保護具３、５を人６が直接嵌め込
むもので、危険を伴う単純繰り返しの所謂３Ｋ作業であ
った。The above-mentioned thread protector (hereinafter simply referred to as “protector”) is usually attached before shipping of the oil country tubular good 1.
Conventionally, the attachment has been performed manually on the production line of the oil country tubular good 1. As shown in FIG. 4, a person 6 directly fits the protective devices 3 and 5 into the rotating steel pipe 1, which is a so-called 3K operation that involves simple repetition with danger.
【０００５】人手を用いる理由は、機械化して自動取付
けすると、油井管１自体の先端が曲がっていたり、保護
具の加工が悪い場合、ネジ２の噛込み違いが生じ、かえ
ってネジ山を損傷する恐れがあることと、ネジ２が、テ
ーパ・ネジであり、機械にまかせると噛込み違いが発生
し易いからである。つまり、保護具３、５を管端等に嵌
め込む当初は、互いに大きく径の異なる部分のネジ２を
合わせて、ネジ込んでいくことが必要で、機械でそれを
やらせることが難しかった。特に、締め付け程度の調整
が難しかった。[0005] The reason for using manual operation is that if the oil well tube 1 is bent automatically or the protection device is poorly processed when the oil well tube 1 is automatically mounted by mechanization, the screw 2 may be mis-engaged and the screw thread may be damaged. This is because there is a possibility that the screw 2 is a tapered screw, and if the screw 2 is left to a machine, a biting error easily occurs. In other words, when the protective gears 3 and 5 are fitted to the end of the pipe or the like, it is necessary to fit the screws 2 having different diameters from each other and screw them in, and it has been difficult to perform the screwing with a machine. In particular, it was difficult to adjust the degree of tightening.
【０００６】３Ｋ作業の解消のため、このように、管端
ネジ保護具３、５の取付けを機械化する試みは多々行わ
れてきた。しかしながら、今だ完全な自動化に成功した
装置が開発されておらず、自動化は困難との考えが一般
的であった。[0006] In order to eliminate the 3K work, many attempts have been made to mechanize the mounting of the pipe end screw protectors 3 and 5 in this way. However, a device that has been completely automated has not yet been developed, and it was generally thought that automation was difficult.
【０００７】[0007]
【発明が解決しようとする課題】本発明は、かかる事情
に鑑み、人手を介さなくとも、ネジの噛込み違いを発生
させず、高効率で取付けを可能とするネジ山保護具の取
付装置及びその運転方法を提供することを目的としてい
る。SUMMARY OF THE INVENTION The present invention has been made in consideration of the above circumstances, and has been made in view of the above circumstances. The purpose is to provide the driving method.
【０００８】[0008]
【課題を解決するための手段】発明者は、上記目的を達
成するため、ロボット・ハンドに人間の手首に似た動き
をさせることに着眼し、機械を用いた時のネジの噛み違
い防止を鋭意検討した。そして、その成果を本発明とし
て具現化した。Means for Solving the Problems In order to achieve the above object, the present inventor has focused on making a robot hand make a movement similar to a human wrist, and to prevent a screw from being stuck when a machine is used. We studied diligently. And the result was embodied as the present invention.
【０００９】すなわち、本発明は、６軸多関節ロボット
と、その第６軸に回転自在に設置され、鋼管の先端又は
該鋼管の先端に繋いだ継手に取付けられるネジ保護具を
把持すると共に、該鋼管あるいは継手の先端位置を位置
センサで検出して、該ネジ保護具を該先端に押しつけ、
内蔵するトルク・センサでトルク値を検知するロボット
・ハンドと、該ロボット・ハンドに前記保護具を把持さ
せる位置決め手段と、該位置決め手段へ保護具を前記ロ
ボットを介して順次供給するコンベアと、径の異なる鋼
管の中心軸をロボット・ハンドの中心軸に合わせ、該鋼
管を固定するセンターリング装置とを備えた管端ネジ保
護具の取付装置である。That is, the present invention provides a six-axis articulated robot and a screw protector which is rotatably mounted on the sixth axis and is attached to the tip of a steel pipe or a joint connected to the tip of the steel pipe. Detecting the tip position of the steel pipe or the joint with a position sensor, pressing the screw protector against the tip,
A robot hand for detecting a torque value with a built-in torque sensor, positioning means for causing the robot hand to grip the protection tool, a conveyor for sequentially supplying the protection tool to the positioning means via the robot, And a centering device for fixing a central axis of a different steel pipe to a central axis of the robot hand and fixing the steel pipe.
【００１０】また、本発明は、前記位置センサを光電管
式又は超音波式としたり、あるいは前記コンベアの終端
に、該コンベアで搬送している多数のネジ保護具のうち
１個だけを切り離す切り出し手段を設けたことを特徴と
する管端ネジ保護具の取付装置である。[0010] The present invention is also directed to a cutting means for making the position sensor a photoelectric tube type or an ultrasonic type, or at the end of the conveyor, for cutting off only one of a large number of screw protectors conveyed by the conveyor. And a mounting device for a pipe end screw protector.
【００１１】さらに、本発明は、上記装置を用い、鋼管
の先端あるいは該鋼管の先端に繋いだ継手に、ロボット
・ハンドを介してネジ保護具を取り付けるに際して、前
記鋼管の先端あるいは継手の端面位置を位置センサで検
出し、前記ネジ保護具の軸と該鋼管の先端あるいは継手
の軸を一致させてから該ネジ保護具を回転及び前進させ
て締め込みを開始し、ネジ保護具の進行量に応じて段階
的にそのトルク値と回転速度を変化させ、該トルク値が
予め設定した目標最終締め付けトルク値に達したらロボ
ット・ハンドの回転及び前進を停止させることを特徴と
する管端ネジ保護具の運転方法である。Further, the present invention provides a method for attaching a screw protector to a tip of a steel pipe or a joint connected to the tip of the steel pipe by using a robot hand, using the above-described apparatus. Is detected by a position sensor, and after the axis of the screw protector is aligned with the tip of the steel pipe or the axis of the joint, the screw protector is rotated and moved forward to start tightening. A pipe end screw protector characterized in that the torque value and the rotation speed are changed in a stepwise manner in accordance therewith, and when the torque value reaches a preset target final tightening torque value, the rotation and advance of the robot hand are stopped. It is a driving method.
【００１２】加えて、本発明は、前記目標とする最終締
め付けトルク値を、管径２・３／８〜９・５／８インチ
の鋼管に対し、１．０ 〜 １５．０ｋｇｆ・ｍの範囲
で設定することを特徴とする管端ネジ保護具の運転方法
でもある。In addition, according to the present invention, the target final tightening torque value is set in a range of 1.0 to 15.0 kgfm for a steel pipe having a diameter of 2.3 / 8 to 9.5 / 8 inch. It is also an operation method of the pipe end screw protector characterized in that the setting is made in the following manner.
【００１３】本発明によれば、ネジ保護具が、ネジの噛
み違いなしで安定して迅速に取り付けられるようになる
ので、所謂３Ｋ作業が解消され、省力化が可能となる。According to the present invention, the screw protector can be mounted stably and quickly without the screw being bitten, so that the so-called 3K work is eliminated and the labor can be saved.
【００１４】[0014]
【発明の実施の形態】以下、プロテクタを管端に取り付
ける場合の例で、本発明の実施の形態を説明する。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to an example in which a protector is attached to a pipe end.
【００１５】まず、本発明に係る取付装置は、図１に示
すように、６軸多関節ロボット７を使用している。それ
は、前記保護具３、５を鋼管１の先端に取り付けるにあ
たり、鋼管１の先端に対してロボット・ハンド８に種々
の姿勢を取らせる必要があるから、その複雑な姿勢変更
の可能なロボット７を採用したのである。これによっ
て、所謂テーパ・ネジを有する保護具３、５が、同様に
テーパ・ネジを有する管端に適切に取り付けれるよう、
該ハンド８の上下方向への移動（リフティング）が迅速
にできるようになった。つまり、管端と保護具３、５と
の取付け当初のネジ合わせが旨くできるようになったの
である。First, the mounting device according to the present invention uses a six-axis articulated robot 7 as shown in FIG. In order to attach the protectors 3 and 5 to the tip of the steel pipe 1, it is necessary to cause the robot hand 8 to take various postures with respect to the tip of the steel pipe 1. It was adopted. This ensures that the protectors 3, 5, which have so-called tapered threads, are properly mounted on the pipe end, which also has tapered threads.
The hand 8 can be quickly moved (lifted) in the vertical direction. In other words, the screw fitting between the pipe end and the protection devices 3 and 5 at the initial stage of attachment can be made satisfactorily.
【００１６】そして、このロボット７の第６軸（アーム
ともいう）には、回転自在にロボット・ハンド（以下、
単にハンドという）８が設置されている。それは、トグ
ル式の３つ爪リンク機構からなり、それらで鋼管１の先
端に取付けられる保護具３、５の表面を把持するように
なっている。また、該ハンド８には、鋼管１の先端位置
を検出する位置センサと、ハンド８の回転で生じるトル
クを検出するトルク・センサとが備えられている。これ
らのセンサは、保護具３、５を鋼管１の先端に正しく押
しつけたり、あるいは取付け具合を判定し、作業の終了
時を決めるのに有効に使用される。具体的な位置センサ
としては、超音波式が一般的であるが、本発明では、管
端位置検出精度の向上を図るため、光電管を採用するの
が一層好ましい。つまり、管端位置の検出誤差は、取付
け作業の判断に大きな影響を与えるから、誤差をできる
だけ小さくするためである。A sixth hand (also referred to as an arm) of the robot 7 is rotatably provided with a robot hand (hereinafter, referred to as an arm).
8). It comprises a toggle-type three-claw link mechanism, which grips the surfaces of the protective devices 3, 5 attached to the tip of the steel pipe 1. Further, the hand 8 is provided with a position sensor for detecting the position of the tip of the steel pipe 1 and a torque sensor for detecting a torque generated by the rotation of the hand 8. These sensors are effectively used to correctly press the protective devices 3 and 5 against the tip of the steel pipe 1 or to determine the degree of attachment and determine the end of the work. As a specific position sensor, an ultrasonic type is generally used, but in the present invention, it is more preferable to use a photoelectric tube in order to improve the accuracy of detecting the end position of the tube. In other words, the detection error of the pipe end position has a great influence on the determination of the mounting operation, so that the error is made as small as possible.
【００１７】また、本発明に係る取付装置は、前記ハン
ド８に前記保護具３、５を１個だけ把持させる位置決め
手段９と、該位置決め手段９（４つの爪でネジ保護具の
内側を押してセンタリングする）へ、前記ロボットによ
って保護具３、５を順次供給するコンベア１０とが備え
られている。この位置決め手段９は、前記ハンド８が、
保護具３、５を正しく把持するために設けたものであ
る。コンベア１０は、多数個の保護具３、５を連続供給
しており、その終端には、該保護具を確実に１ケずつ切
り出すための切り出し手段が設けられている。つまり、
図５に平面で示すように、多数の保護具３、５をコンベ
アにて連続的に送り出す際に、まず１本のストッパ１
１’を作動させて該保護具の移動を止め（この時、コン
ベアは空まわり状態）、次に別のストッパ１１を作動さ
せると同時に、先に作動させたストッパ１１’を引き抜
き、１個の保護具のみを固定ストッパ１４に当たるまで
送り、ロボット・ハンドで取り出し可能とする。それ以
降、ストッパ１１、１１’は、このような動作を繰り返
す。また、取り出し位置から位置決め装置までは、ロボ
ット・ハンドの操作で移動される。Further, the mounting device according to the present invention comprises a positioning means 9 for allowing the hand 8 to grip only one of the protection tools 3 and 5, and the positioning means 9 (by pressing the inside of the screw protection tool with four claws). And a conveyor 10 for sequentially supplying protective devices 3 and 5 by the robot. This positioning means 9 is such that the hand 8
This is provided to correctly hold the protective devices 3 and 5. The conveyor 10 continuously supplies a large number of protectors 3 and 5, and at the end thereof, a cutout means for reliably cutting out the protectors one by one is provided. That is,
As shown by a plane in FIG. 5, when a large number of protective devices 3 and 5 are continuously sent out by a conveyor, first, one stopper 1 is used.
1 'is actuated to stop the movement of the protector (at this time, the conveyor is idle), then another stopper 11 is actuated, and at the same time, the previously actuated stopper 11' is pulled out and one Only the protective equipment is sent until it hits the fixed stopper 14 so that it can be taken out by the robot hand. Thereafter, the stoppers 11 and 11 'repeat such an operation. In addition, the robot is moved by an operation of the robot hand from the take-out position to the positioning device.
【００１８】さらに、本発明に係る取付装置は、径の異
なる被取付け対象の鋼管１の中心軸をハンド８の中心軸
に合わせ、該鋼管１をクランプ１２で固定するセンター
リング装置を備えている。Further, the mounting device according to the present invention is provided with a centering device for aligning the central axis of the steel pipe 1 to be mounted with a different diameter with the central axis of the hand 8 and fixing the steel pipe 1 with the clamp 12. .
【００１９】次に、上記本発明に係る取付装置の運転方
法について説明する。Next, a method of operating the mounting device according to the present invention will be described.
【００２０】まず、鋼管１が、取付作業位置に搬送さ
れ、センタリングされた後、クランプ１２で固定され
る。すると、位置決め手段９から１個の保護具３を把持
したハンド８が、該鋼管１の上方空間をその軸方向に移
動し、図６に示すように、内蔵する位置センサで保護具
３を取り付けるべき管端を検出する。First, the steel pipe 1 is conveyed to the mounting operation position, centered, and fixed by the clamp 12. Then, the hand 8 holding one protector 3 from the positioning means 9 moves in the axial direction above the steel pipe 1 in the axial direction, and attaches the protector 3 with the built-in position sensor as shown in FIG. The end of the pipe to be detected is detected.
【００２１】この検出した管端位置を基準として、予め
運転用コンピュータ（以下の運転は、全てこのコンピュ
ータからの指令による）に入力されている保護具３のネ
ジ長さＬを認識し、ハンド８を管軸方向に前進させて該
保護具３の締め付けを開始する。この締め付けは、予め
定められている図７に示すようなハンド８の設定回転速
度と締め付け制限トルクの組み合わせパターンに従って
行われる（Ｘ＝Ｌ1 ，Ｘ＝Ｌ2 の変曲点も予め管サイズ
に応じて作業者が、コンピュータに入力しておく）。つ
まり、当初は、ハンド８の空まわりと、ネジ同士の噛み
合わせ部分が少ないので、ハンド８は高速で回転させ
る。そして、ネジ同士の噛み合わせ部分が多くなると、
中速にし、終了間際に低速とする。また、ハンド８が、
高速及び中速で回転しながら前進する時には、制限トル
クＴ1 が小さいと頻繁に「噛み違いである」と検知する
ので、該トルクＴ1 の値は高めに設定しておき、効率良
くねじ込みを行う。Based on the detected pipe end position, the screw length L of the protector 3 previously recognized in the operating computer (the following operations are all in accordance with instructions from the computer) is recognized, and the hand 8 Is advanced in the pipe axis direction to start the tightening of the protector 3. This tightening is performed in accordance with a predetermined combination pattern of the set rotational speed of the hand 8 and the tightening limiting torque as shown in FIG. 7 (the inflection points of X = L 1 and X = L 2 are also set in advance to the tube size). The operator inputs the information to the computer). In other words, initially, the hand 8 is rotated at a high speed because the idle rotation of the hand 8 and the engagement portion between the screws are small. And, when the meshing part of the screws increases,
Medium speed, low speed just before the end. Also, the hand 8
When advances while rotating at high speed and medium speed, since detecting the limit torque T 1 is less frequently as "is the difference chewing", the value of the torque T 1 is previously set to be high, efficiently screwing Do.
【００２２】引き続いて、ネジ同士の噛み合わせがかな
り進行し、ハンド８を低速回転に落してからは、トルク
値が予め設定していた目標最終締め付けトルク値Ｔ2 に
なるかどうかを監視し、Ｔ2 に到達した時点で、締め付
けを終了する。なお、この段階でのトルク値は、精度良
く判定される必要があるので、ハンド８に内蔵したトル
ク・センサを用いて検知される。Subsequently, after the engagement of the screws has considerably progressed and the hand 8 has been lowered to the low speed rotation, it is monitored whether or not the torque value becomes the target final tightening torque value T 2 set in advance. upon reaching T 2, and ends the clamping. Since the torque value at this stage needs to be determined with high accuracy, the torque value is detected using a torque sensor built in the hand 8.
【００２３】なお、本発明では、前記目標締め付けトル
ク値を、鋼管１の管径に応じて１．０ 〜 １５．０
ｋｇｆ・ｍの範囲で設定した。ハンドにトルク・センサ
を内蔵させることで、小数点１桁までの検出が精度良く
可能であり、締め加減が容易に調整できるようになった
からである。In the present invention, the target tightening torque value is set to 1.0 to 15.0 in accordance with the diameter of the steel pipe 1.
It was set in the range of kgfm. This is because by incorporating the torque sensor in the hand, detection to one decimal place can be performed with high precision, and tightening can be easily adjusted.
【００２４】[0024]
【実施例】本発明に係るネジ保護具の取付装置を用い、
外径が３・１／２インチの油井管１にプロテクタ３を取
り付けた。運転条件と締め付け結果を表１に示す。表１
に示す条件で、ネジ保護具を締め付ければ、締め込み途
中の噛み違いもなく、目標に近い値での締め付けが可能
となった。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Using a screw protector mounting device according to the present invention,
The protector 3 was attached to an oil country tubular good 1 having an outer diameter of 31/2 inch. Table 1 shows the operating conditions and the tightening results. Table 1
Under the conditions shown in (1), if the screw protector was tightened, it was possible to tighten with a value close to the target without any biting mistake during the tightening.
【００２５】[0025]
【表１】 [Table 1]
【００２６】[0026]
【発明の効果】以上述べたように、本発明により、従来
は人手で行っていた管端ネジ保護具の鋼管への取付が、
無人且つ高効率で行えるようになり、３Ｋ作業は解消さ
れた。As described above, according to the present invention, the attachment of the pipe end screw protector to the steel pipe, which has conventionally been performed manually,
Unmanned and highly efficient, 3K work has been eliminated.
【図１】本発明に係るネジ保護具の取付装置全体を示す
模式図である。FIG. 1 is a schematic view showing an entire mounting device for a screw protector according to the present invention.
【図２】ネジ保護具の形状を示す縦断面図であり、
（ａ）は管端の外面を保護するプロテクタ、（ｂ）は、
継手の内面を保護するプラグである。FIG. 2 is a longitudinal sectional view showing a shape of the screw protector;
(A) is a protector for protecting the outer surface of the pipe end, (b) is
This plug protects the inner surface of the joint.
【図３】管端及び継手へのネジ保護具の取付け状態を示
す図であり、（ａ）は取付け前の鋼管のみの状態、
（ｂ）は、取付け後の状態である。FIGS. 3A and 3B are views showing a state where a screw protector is attached to a pipe end and a joint, wherein FIG.
(B) is a state after attachment.
【図４】人手によるネジ保護具の管端への取付け状況を
示す図である。FIG. 4 is a diagram showing a situation in which a screw protector is manually attached to a pipe end.
【図５】コンベアに設けられた保護具の切り出し手段を
示す平面図である。FIG. 5 is a plan view showing a cutting-out means of a protective device provided on the conveyor.
【図６】本発明に係るネジ山保護具の取付装置の運転状
況を説明する図である。FIG. 6 is a view for explaining an operation state of the thread protector mounting device according to the present invention.
【図７】運転時におけるロボット・ハンドの設定回転速
度と制限トルクの変更パターンを示す図である。FIG. 7 is a diagram showing a change pattern of a set rotation speed and a limit torque of the robot hand during operation.
１ 油井管（鋼管） ２ ネジ ３ プロテクタ ４ 継手 ５ プラグ ６ 人 ７ ６軸多関節ロボット（ロボット） ８ ロボット・ハンド（ハンド） ９ 位置決め手段 １０ コンベア １１ ストッパ １２ クランプ １３ ターニング・ローラ １４ 固定ストッパ １５ ハンドによる把持位置 DESCRIPTION OF SYMBOLS 1 Oil well pipe (steel pipe) 2 Screw 3 Protector 4 Joint 5 Plug 6 People 7 6-axis articulated robot (Robot) 8 Robot hand (Hand) 9 Positioning means 10 Conveyor 11 Stopper 12 Clamp 13 Turning roller 14 Fixed stopper 15 Hand Gripping position
───────────────────────────────────────────────────── フロントページの続き (72)発明者 梅田 昌治 愛知県半田市川崎町１丁目１番地 川崎製 鉄株式会社知多製造所内 (72)発明者 高野 順 愛知県半田市川崎町１丁目１番地 川崎製 鉄株式会社知多製造所内 (72)発明者 堤 寿徳 兵庫県明石市川崎町１番１号 川崎重工業 株式会社内 Ｆターム(参考） 3C030 AA04 AA11 AA15 BC04 BC11 BC21 BC31 CA19 3F059 AA04 BA03 DA02 DA07 DC04 DC07 DD12 DE03 FB13 FC03 FC05 3H024 CA01 ──────────────────────────────────────────────────続 き Continuing from the front page (72) Inventor Shoji Umeda 1-1-1, Kawasaki-cho, Handa-shi, Aichi Prefecture Kawata Steel Works Chita Works (72) Inventor Jun Takano 1-1-1, Kawasaki-cho, Handa-shi, Aichi Prefecture Kawasaki (72) Inventor Tosutoku Tsutsumi 1-1, Kawasaki-cho, Akashi-shi, Hyogo Prefecture Kawasaki Heavy Industries, Ltd.F-term (reference) DD12 DE03 FB13 FC03 FC05 3H024 CA01
Claims (5)
転自在に設置され、鋼管の先端又は該鋼管の先端に繋い
だ継手に取付けられるネジ保護具を把持すると共に、該
鋼管あるいは継手の先端位置を位置センサで検出して、
該ネジ保護具を該先端に押しつけ、内蔵するトルク・セ
ンサでトルク値を検知するロボット・ハンドと、該ロボ
ット・ハンドに前記保護具を把持させる位置決め手段
と、該位置決め手段へ保護具を前記ロボットを介して順
次供給するコンベアと、径の異なる鋼管の中心軸をロボ
ット・ハンドの中心軸に合わせ、該鋼管を固定するセン
ターリング装置とを備えた管端ネジ保護具の取付装置。1. A six-axis articulated robot and a screw protector which is rotatably mounted on a sixth axis of the robot and which is attached to a tip of a steel pipe or a joint connected to the tip of the steel pipe. Position of the tip of the
A robot hand that presses the screw protector against the tip and detects a torque value with a built-in torque sensor; positioning means for causing the robot hand to grip the protector; And a centering device for fixing the steel pipes by aligning the central axes of the steel pipes having different diameters with the central axis of the robot hand.
としたことを特徴とする請求項１記載の管端ネジ保護具
の取付装置。2. The apparatus according to claim 1, wherein the position sensor is a photoelectric tube type or an ultrasonic type.
送している多数のネジ保護具のうち１個だけを切り離す
切り出し手段を設けたことを特徴とする請求項１又は２
記載の管端ネジ保護具の取付装置。3. A cutting means for cutting off only one of a large number of screw protectors carried by the conveyor at the end of the conveyor.
A mounting device for the pipe end screw protector according to the above.
あるいは該鋼管の先端に繋いだ継手に、ロボット・ハン
ドを介してネジ保護具を取り付けるに際して、前記鋼管
の先端あるいは継手の端面位置を位置センサで検出し、
前記ネジ保護具の軸と該鋼管の先端あるいは継手の軸を
一致させてから該ネジ保護具を回転及び前進させて締め
込みを開始し、ネジ保護具の進行量に応じて段階的にそ
のトルク値と回転速度を変化させ、該トルク値が予め設
定した目標最終締め付けトルク値に達したらロボット・
ハンドの回転及び前進を停止させることを特徴とする管
端ネジ保護具の運転方法。4. When attaching a screw protector to a tip of a steel pipe or a joint connected to the tip of the steel pipe via a robot hand using the apparatus according to claim 1, the tip of the steel pipe or the end face position of the joint. Is detected by the position sensor,
After aligning the axis of the screw protector with the tip of the steel pipe or the axis of the joint, the screw protector is rotated and advanced to start tightening, and the torque is gradually increased in accordance with the progress of the screw protector. Value and rotation speed, and when the torque value reaches the preset target final tightening torque value, the robot
A method of operating a pipe end screw protector, comprising stopping rotation and advancement of a hand.
を、管径２・３／８〜９・５／８インチの鋼管に対し、
１．０ 〜 １５．０ｋｇｆ・ｍの範囲で設定すること
を特徴とする請求項４記載の管端ネジ保護具の運転方
法。5. The target final tightening torque value is set for a steel pipe having a pipe diameter of 2.3 / 8 to 9.5 / 8 inch.
The operating method of the pipe end screw protector according to claim 4, wherein the setting is performed in a range of 1.0 to 15.0 kgfm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10283941A JP2000108064A (en) | 1998-10-06 | 1998-10-06 | Mounting device for tube end screw protective tool and operating method therefor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP10283941A JP2000108064A (en) | 1998-10-06 | 1998-10-06 | Mounting device for tube end screw protective tool and operating method therefor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JP2000108064A true JP2000108064A (en) | 2000-04-18 |
Family
ID=17672211
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP10283941A Pending JP2000108064A (en) | 1998-10-06 | 1998-10-06 | Mounting device for tube end screw protective tool and operating method therefor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2000108064A (en) |
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| JP2000186797A (en) * | 1998-12-22 | 2000-07-04 | Daihatsu Motor Co Ltd | Plug |
| JP2006522278A (en) * | 2002-12-23 | 2006-09-28 | メット−コイル システムズ コーポレーション | Elbow Rotator |
| JP2008250714A (en) * | 2007-03-30 | 2008-10-16 | Jfe Steel Kk | Production management method for seamless steel pipe |
| CN100476352C (en) * | 2005-10-21 | 2009-04-08 | 罗莫公司 | System for identifying the position of a 3d coordinate measuring machine or of a machining apparatus in a fixed reference system |
| JP2012110999A (en) * | 2010-11-25 | 2012-06-14 | Sumitomo Metal Ind Ltd | Protector fastening device and protector fastening method |
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|---|---|---|---|---|
| JP2000186797A (en) * | 1998-12-22 | 2000-07-04 | Daihatsu Motor Co Ltd | Plug |
| JP2006522278A (en) * | 2002-12-23 | 2006-09-28 | メット−コイル システムズ コーポレーション | Elbow Rotator |
| CN100476352C (en) * | 2005-10-21 | 2009-04-08 | 罗莫公司 | System for identifying the position of a 3d coordinate measuring machine or of a machining apparatus in a fixed reference system |
| JP2008250714A (en) * | 2007-03-30 | 2008-10-16 | Jfe Steel Kk | Production management method for seamless steel pipe |
| JP2012110999A (en) * | 2010-11-25 | 2012-06-14 | Sumitomo Metal Ind Ltd | Protector fastening device and protector fastening method |
| EP2540457A3 (en) * | 2011-06-29 | 2018-03-14 | Günther Zimmer | Handling device for removing reusable cores |
| US9174341B2 (en) | 2011-07-08 | 2015-11-03 | Kuka Systems Gmbh | Working device and method |
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| JP2018177539A (en) * | 2013-04-19 | 2018-11-15 | 花王株式会社 | Article supply method |
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| CN105290773B (en) * | 2015-12-03 | 2018-03-20 | 安徽普伦智能装备有限公司 | A kind of nut feeding device |
| CN105345430A (en) * | 2015-12-03 | 2016-02-24 | 安徽普伦智能装备有限公司 | Novel nut feeding device |
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| CN105922197A (en) * | 2016-06-28 | 2016-09-07 | 无锡中地钻探装备有限公司 | Installation assembly for end screw protection cap of drill rod |
| CN105922198A (en) * | 2016-06-28 | 2016-09-07 | 无锡中地钻探装备有限公司 | Device for mounting end thread protecting caps of drill pipes |
| CN105922197B (en) * | 2016-06-28 | 2018-08-03 | 合肥智慧龙图腾知识产权股份有限公司 | A kind of end thread protecting cap mounting assembly of drilling rod |
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