JP2004074247A - Curling working apparatus and curling working method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a curling working apparatus and a curling working method having a wide application range where not only a can with a circular cross-section but also a can with a noncircular cross-section can be treated. <P>SOLUTION: In the curling working apparatus1, the rim of a can C is curled by a roller-shaped curling tool 40 having a concaved working face. A two-dimensional moving apparatus 20 supports the can C, and a pivot supporting apparatus 30 supports the curling tool 40. An X-axis servomotor 22 and a Y-axis servomotor 23 perform the moving control of the two-dimensional moving apparatus 20 so that one place of the rim of the can C is contacted with the curling tool 40. In the contact place between the rim of the can C and the curling tool 40, a θ-axis servomotor 37 performs the control of the angle of the pivot supporting apparatus 30 so that the rotation axis of the curling tool 40 orients to the center of the curvature of the can C in the contact place. A Z-axis servomotor 34 controls the relative distance in a vertical direction between the two-dimensional moving apparatus 20 and the pivot supporting apparatus 30. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a curling apparatus and a curling method for curling an edge of an outer can of a capacitor or a battery.
[0002]
[Prior art]
In an electrolytic capacitor, a battery, and the like, it is general that after inserting the contents and a lid into a metal outer can, the opening and closing of the can is performed by curling the rim of the can. The following is known as a curling device for curling the rim of a can.
[0003]
JP-A-5-182877 and JP-A-6-84720 describe a curling apparatus for curling the rim of a can using a mold. Although this apparatus is suitable for high-speed production, it is necessary to prepare a plurality of molds from preliminary molding to finish molding to sequentially increase the degree of curl in order to obtain a desired curl shape, and the mold cost is high. Also, the molding die corresponds to only one type of can, and if there are several types of cans, the same number of mold sets as those types must be prepared.
[0004]
JP-A-6-168856, JP-A-9-129521 and JP-A-2000-277395 disclose a curling apparatus for curling the rim of a can with a roller-shaped curling tool having a drum-shaped processing surface. Have been. According to these apparatuses, curling of a plurality of types of cans can be performed without changing tools, but the cans are limited to those having a circular cross section.
[0005]
[Problems to be solved by the invention]
An object of the present invention is to provide a curling apparatus and a curling method that can handle not only circular cross-section cans but also non-circular cross-section cans and have a wide application range.
[0006]
[Means for Solving the Problems]
In order to achieve the above object, in the present invention, a curling device is configured as follows.
[0007]
(1) In a curling machine for curling the rim of a can with a roller-shaped curling tool having a drum-shaped machining surface, the can is attached to a two-dimensional moving device, and one portion of the rim of the can contacts the curling tool. In addition to controlling the movement of the two-dimensional moving device, the curling tool is mounted on a pivot support device, and at the contact point between the rim of the can and the curling tool, the rotation axis of the curling tool is directed to the center of curvature of the can at that position. The angle of the pivot support device is controlled in such a manner as to perform the control.
[0008]
According to this configuration, the two-dimensional moving device is controlled so that different portions of the rim of the can come into contact with the curling tool sequentially, and the pivot support device is set so that the rotation axis of the curling tool is directed to the center of curvature of the can at the contact portion. , The curling process can be performed continuously even for a non-circular cross-section can.
[0009]
(2) In the curling apparatus as described above, a can having a cross-sectional shape of any one of a circle, an ellipse, an oval, and a rounded polygon is set as a processing target.
[0010]
According to this configuration, cans other than cans whose corners R are too small can be processed, and the versatility is high.
[0011]
(3) In the curling apparatus as described above, the two-dimensional moving device moves in a horizontal plane, the pivot support device rotates around a vertical axis, and the two-dimensional moving device and the pivot support device are in a vertical direction. Are controlled.
[0012]
According to this configuration, a normal XY table can be used as the two-dimensional moving device. Also, by gradually reducing the vertical relative distance between the two-dimensional moving device and the pivot support device, the curl degree can be gradually increased.
[0013]
In the present invention, the following curling method is proposed.
[0014]
(4) The edge of the can attached to the two-dimensional moving device is brought into contact with the drum-shaped processing surface of the roller-shaped curling tool attached to the pivot support device, and the contact point goes around the edge of the can. Controlling the movement of the three-dimensional movement device, and controlling the angle of the pivot support device so that the rotation axis of the curling tool is directed to the center of curvature of the can at the contact point during the orbiting; The relative distance between the robot and the pivot support device is controlled.
[0015]
According to this method, the two-dimensional moving device is controlled such that the contact point between the rim of the can and the curling tool goes around the rim of the can, and the rotation axis of the curling tool sets the center of curvature of the can at the contact point. By controlling the pivot support device so that it is oriented, not only cans with a circular cross section, but also a curling process can be continuously performed on a non-circular can having an elliptical shape, an oval shape, or a polygon with a rounded corner. it can. Further, by controlling the relative distance between the two-dimensional moving device and the pivot support device, the curl degree can be set freely.
[0016]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to FIGS.
[0017]
FIG. 1 is a front view of a main part of the curling device 1. The curling device 1 includes the following components. That is, a table 10 horizontally supported at an appropriate height on the floor by a frame (not shown), a column 11 standing upright on the upper surface of the table 10, a two-dimensional moving device 20 installed on the table 10, and a column 11 is a pivot support device 30 supported so as to be able to move up and down.
[0018]
The two-dimensional moving device 20 includes an XY table 21. The XY table 21 is controlled to move in a horizontal plane by an X-axis servomotor 22 and a Y-axis servomotor 23 (see FIG. 4). A vice unit 24 is mounted on the upper surface of the XY table 21. The vise unit 24 holds the can C in an upright state.
[0019]
As seen in the plan view of FIG. 2, the vice unit 24 has three jaws 25a, 25b, 25c. The jaw 25a has an L-shaped planar shape, and does not move on the XY table 21. Both the jaw 25b and the jaw 25c are linear in plan view and arranged so as to be at right angles to each other. The jaw 25b faces the short side of the jaw 25a, and the jaw 25c faces the long side of the jaw 25a.
[0020]
The positions of the jaws 25b and 25c are variable, and are moved in the X-axis direction and the Y-axis direction by position adjustment screws 26 (see FIG. 1) provided on the upper surface of the XY table 21 in the X-axis direction and the Y-axis direction. It is forced and positioned. In FIG. 2, the vertical direction of the paper is the X-axis direction, and the horizontal direction of the paper is the Y-axis direction. The can C fits into the space of the planar rectangular shape formed by the jaws 25a, 25b, 25c. The inside corner of the jaw 25a is the coordinate origin when controlling the movement of the can C.
[0021]
A linear moving unit 31 including a vertical rail 32 and a slider 33 that moves up and down along the rail 32 is attached to the side surface of the column 11. The slider 33 is connected to a feed screw (not shown), and the feed screw is rotated by a Z-axis servo motor 34 to be given a vertical movement.
[0022]
A bracket 35 projects horizontally from the slider 33, and the pivot support device 30 is supported by the bracket 35. At the lower end of the pivot support device 30, a θ-axis table 36 that rotates (θ rotation) around a vertical axis is provided. The θ-axis table 36 is rotated by a θ-axis servo motor 37.
[0023]
The θ-axis table 36 rotatably supports a roller-shaped curling tool 40 having a drum-shaped machined surface. The central part of the processing surface of the curling tool 40 is located at a position coinciding with the center of θ rotation.
[0024]
FIG. 3 is a partially enlarged front view showing a mounting structure of the curling tool 40, and shows a main part in cross section. The curling tool 40 is fixed to one end of a shaft 41 arranged horizontally. The shaft 41 is rotatably supported by a bearing housing 42 by a pair of bearings 43a and 43b. The bracket 37 hanging from the θ-axis table 36 supports the bearing housing 42. The bracket 37 is provided with a slot 38 in the vertical direction. After the upper part of the bearing housing 42 is inserted into the slot 38, two bolts 44a are formed so as to pass through the bracket 37 and the bearing housing 42 horizontally. , 44b, and tighten the bolts 44a, 44b to fix the bearing housing 42.
[0025]
Holes on the bracket 37 side through which the bolts 44a and 44b pass are arc-shaped long holes 38a and 38b. Therefore, when necessary, the bearing housing 42 can be fixed to the bracket 37 with the axis of the shaft 41 inclined.
[0026]
FIG. 4 is a control circuit diagram showing only a portion related to the motor. Reference numeral 50 denotes a control unit including an arithmetic unit (a so-called microcomputer). The control unit 50 includes an X-axis servomotor 22, a Y-axis servomotor 23, a Z-axis servomotor 34, and a θ-axis servomotor 37, respectively. They are connected via a servo motor driver 51, a Y-axis servo motor driver 52, a Z-axis servo motor driver 53, and a θ-axis servo motor driver 54.
[0027]
Next, the operation of the curling device 1 will be described with reference to the operation explanatory diagrams of FIGS.
[0028]
First, the vise unit 24 is set. After positioning and fixing the movable jaws 25b and 25c according to the size of the can C, the unprocessed can C (containing the contents and the lid) is placed in the planar rectangular space formed by the jaws 25a, 25b and 25c. And the bottom of the can C is seated on the upper surface of the XY table 21. The can C has a planar shape of an oval shape, and is held in such a manner that the major axis coincides with the X-axis direction.
[0029]
When the preparation is completed, a command is issued to the control unit 50 through an operation panel (not shown) to start the curling work.
[0030]
The two-dimensional moving device 20 aligns the center of one straight portion of the can C with the center of the hourglass-formed surface of the curling tool 40 as shown in FIG. The Z-axis servomotor 34 lowers the slider 33 and causes the curling tool 40 to press the edge of the can C on the processing surface. At this time, the rotation axis of the curling tool 40 is perpendicular to the linear portion of the can C in plan view. That is, when the straight portion is considered to be an arc having an infinite radius, the rotation axis of the curling tool 40 is directed toward the center of curvature of this portion.
[0031]
Subsequently, the movement of the two-dimensional moving device 20 is controlled so that the contact point between the rim of the can C and the curling tool 40 goes around the rim of the can C. First, the two-dimensional moving device 20 linearly moves the can C in the X-axis direction until the starting point of the arc portion approaches the curling tool 40 as seen in FIG. As the rim of the can C relatively moves, the curling tool 40 is driven to rotate and curls the rim of the can C in contact therewith. The thick solid line in the figure represents the locus of the center of the can C.
[0032]
Once in the arc, not only the X-axis servo motor 22 but also the Y-axis servo motor 23 are operated, and the can C is moved so that the arc passes under the curling tool 40 according to its outline. At the same time, the θ-axis servomotor 37 is operated, and the angle of the θ-axis table 36 is changed so that the rotation axis of the curling tool 40 always points to the center of curvature of the arc while the arc passes through the curling tool 40. Go. 7 to 9 show this movement.
[0033]
FIG. 9 shows a state in which the curling tool 40 has reached the end point of the arc portion and is approaching the start point of the straight line portion. Thereafter, the two-dimensional moving device 20 linearly moves the can C in the X-axis direction as shown in FIG. 10 to the starting point of the other arc portion.
[0034]
In the other arc portion, the X-axis servomotor 22 and the Y-axis servomotor 23 operate in cooperation again, and move the can C so that the arc portion passes below the curling tool 40 according to the outline. The θ-axis servo motor 37 also operates, and changes the angle of the θ-axis table 36 so that the rotation axis of the curling tool 40 is directed to the center of curvature of the arc. 11 to 13 show this movement.
[0035]
After the curling tool 40 enters the linear portion, the two-dimensional moving device 20 moves the can C linearly in the X-axis direction so that the curling tool 40 comes to the position shown in FIG. 14, that is, the origin position of the curling operation. . As a result, the contact point between the curling tool 40 and the can C is equivalent to one revolution of the edge of the can C. The two-dimensional moving device 20 is controlled so that the relative speed (peripheral speed) between the edge of the can C and the curling tool 40 is constant both in the straight portion and in the arc portion.
[0036]
Although the rim of the can C was curled, the desired shape was not obtained yet. Then, the Z-axis servomotor 34 is driven to lower the curling tool 40 by one more stage and make another round. The can C and the curling tool 40 are relatively moved several times until the desired curl shape is obtained in this manner. Since the amount of pressing and the number of turns of the curling tool 40 in the Z-axis direction vary depending on the shape, dimensions, material, thickness, and the like of the can C, the optimum values are obtained in advance by experiments and programmed.
[0037]
According to the above configuration, the curling tool 40 that does not need to be replaced can be left attached to the pivot support device 30, while the can C to be processed can be easily replaced on the two-dimensional moving device 20. Processing work can proceed rationally. Automation of handling of the can C can also be easily performed.
[0038]
The curling device 1 can be a processing object if the cross-sectional shape of the can C is any one of a circle, an ellipse, an oval, and a polygon with rounded corners. A rounded polygon is a shape with rounded corners, such as a quadrangle, a triangle, and a hexagon. It is only necessary that the radius be a curvature that can accommodate the curling tool 40.
[0039]
A circle, an ellipse, an oval, and a polygon with rounded corners are usually considered as the cross-sectional shape of the can. The basics of the two-dimensional moving device 20 are based on the assumption that the can having such a cross-sectional shape is to be processed. If a specific control program is prepared, the design of the control program when the specification of the can to be processed becomes clear can be easily and promptly advanced.
[0040]
This does not mean that cans having a cross-sectional shape that does not fall into the above shape category are not processed. For example, a can having a cross-sectional shape such as a continuous free curve can be processed as long as the curvature of each part satisfies the condition that the curling tool 40 can be received. In the case of a can having a cross-sectional shape other than the above-described shape category, only the control program of the two-dimensional moving device 20 may be designed each time.
[0041]
According to the configuration of the above embodiment, the two-dimensional moving device 20 controls the relative movement between the can C and the curling tool 40, and the pivot support device 30 controls the angle change between the can C and the curling tool 40. As described above, the function of the displacement and the deflection is shared, so that it is possible to perform a curling process on a can having a non-circular cross section with a smooth movement. The situation during this time will be described with the help of FIGS.
[0042]
15 to 19 are explanatory diagrams of the operation for comparing the operation. Here, a case where one of the can C and the curling tool 40 is held in a fixed position and a fixed angle, and the other is subjected to both the displacement and the deflected angle to perform the curling process. For example, the curling tool 40 is supported at a fixed position so as not to move or change the angle, and the can C is held on a θ-axis table on an XY table (or an XY table on a θ-axis table). Is equivalent to
[0043]
The can C that has started to move relative to the curling tool 40 from the position in FIG. 15 moves linearly in the X-axis direction to the start point of the arc portion as shown in FIG. Up to this point, the embodiment is the same as the embodiment of the present invention.
[0044]
In the arc portion, the can C must be relatively moved so that the contour of the arc portion sequentially passes under the curling tool 40 while tilting so that the rotation axis of the curling tool 40 is directed to the center of curvature of the arc. No. These two kinds of movements are synthesized, and the locus of the center of the can C is as shown in FIG. That is, a motion component in the X-axis direction opposite to the movement in the X-axis direction is generated, and the trajectory changes so as to form an acute angle. If such a movement is to be performed, the two-dimensional moving device 20 is inevitably subjected to an impact.
[0045]
Thereafter, the can C continues to draw an arc as shown in FIGS. 18 and 19, and moves straight again in the X-axis direction when the arc is finished. When entering the other circular arc portion, a movement component in the X-axis direction opposite to the movement in the X-axis direction is generated as before, and the trajectory changes to form an acute angle. As a result, the two-dimensional moving device 20 receives an impact again.
[0046]
In this way, if both the can C and the curling tool 40 are given both the displacement and the bending angle, an impact is inevitably generated in the moving mechanism, which is not practically practical. Regardless of whether it is based on a displacement device (XY table) or a deflection device (θ-axis table), the base one must be large and powerful enough to withstand the mission of placing the other and moving. Therefore, the size of the entire apparatus increases, and the cost increases.
[0047]
In the present invention, the can C is attached to the two-dimensional moving device 20 and the curling tool 40 is attached to the pivot supporting device 30. However, the relationship is reversed, the can C is attached to the pivot supporting device 30, and the two-dimensional moving device 20 is attached. Curling can be performed even when the curling tool 40 is attached.
[0048]
Although an embodiment of the present invention has been described above, other various modifications can be made without departing from the gist of the present invention. For example, it is possible to combine the two-dimensional moving device 20 with a can C handling device so that the unprocessed can C and the processed can C are automatically put into and taken out of the vise unit 24. The opening and closing of the vise unit 24 can also be performed electrically.
[0049]
【The invention's effect】
The present invention has the following effects.
[0050]
(1) In a curling machine for curling the rim of a can with a roller-shaped curling tool having a drum-shaped machining surface, the can is attached to a two-dimensional moving device, and one portion of the rim of the can contacts the curling tool. In addition to controlling the movement of the two-dimensional moving device, the curling tool is attached to a pivot support device, and at the contact point between the rim of the can and the curling tool, the rotation axis of the curling tool is directed to the center of curvature of the can at that position. In order to control the angle of the pivot support device, the two-dimensional moving device is controlled so that different portions of the rim of the can come into contact with the curling tool sequentially, and the rotation axis of the curling tool is adjusted to the position of the can at the contact position. By controlling the pivot support device so that it points to the center of curvature, even a non-circular can can be continuously curled. Engineering can be performed.
[0051]
In this way, multiple types of cans can be curled regardless of the cross-sectional shape without changing tools, and curl processing of cans with non-circular cross-sections is performed smoothly by sharing the functions of displacement and deflection. Became possible. In addition, if one of the displacement device and the bending device is mounted on the other, and one of the can and the curling tool is to be subjected to displacement and bending at the same time, the other is mounted on the base. It must be large and powerful enough to withstand the mission of moving, and the overall size of the device will increase, and costs will increase. However, if the displacement device is a displacement device and the deflection device is independent of the deflection device as in the present invention, a large and powerful device for supporting the other device is not required, and the cost can be reduced. Design and manufacture are also easy.
[0052]
(2) In the curling apparatus as described above, a can having a cross-sectional shape of any one of a circle, an ellipse, an oval, and a polygon with a rounded corner is to be processed. Others can be processed and have high versatility.
[0053]
(3) In the curling apparatus as described above, the two-dimensional moving device moves in a horizontal plane, the pivot support device rotates around a vertical axis, and the two-dimensional moving device and the pivot support device move in a vertical direction. Is controlled, a normal XY table can be used as a two-dimensional moving device. Also, by gradually reducing the vertical relative distance between the two-dimensional moving device and the pivot support device, it is possible to sequentially increase the curl degree. This makes it possible to provide a general-purpose curling apparatus having a wide range of cans to be processed at a relatively low cost.
[0054]
(4) In performing the curling process of the rim of the can, the rim of the roller-shaped curling tool mounted on the pivot support device is brought into contact with the rim of the can mounted on the two-dimensional moving device. While controlling the movement of the two-dimensional moving device so as to go around the rim of the can, the pivot support device so that the rotation axis of the curling tool is directed to the center of curvature of the can at the contact point during the orbiting. By controlling the angle, not only cans having a circular cross section but also cans having a non-circular cross section such as an elliptical shape, an oval shape, or a polygon with a rounded corner can be continuously subjected to curling. Further, by controlling the relative distance between the two-dimensional moving device and the pivot support device, the degree of curl can be freely set, and curling can be performed according to the material of the can.
[Brief description of the drawings]
FIG. 1 is a partial front view showing an embodiment of the curling apparatus of the present invention. FIG. 2 is a plan view illustrating the function of a vice unit. FIG. FIG. 4 is a control circuit diagram. FIG. 5 is a first operation explanatory diagram. FIG. 6 is a second operation explanatory diagram. FIG. 7 is a third operation explanatory diagram. FIG. 8 is a fourth operation explanatory diagram. 9 Fifth operation explanatory diagram FIG. 10 Sixth operation explanatory diagram FIG. 11 Seventh operation explanatory diagram FIG. 12 Eighth operation explanatory diagram FIG. 13 Ninth operation explanatory diagram 14 is an explanatory diagram of the tenth operation. FIG. 15 is a first operational explanatory diagram for the operation comparison. FIG. 16 is a second operational explanatory diagram for the operation comparison. FIG. 17 is a third operation explanatory diagram for the operation comparison. FIG. 18 is a diagram illustrating a fourth operation for comparing operations. FIG. 19 is a diagram illustrating a fifth operation for comparing operations.
C can 1 Curling device 20 Two-dimensional moving device 22 X-axis servo motor 23 Y-axis servo motor 24 Vice unit 30 Pivot support device 34 Z-axis servo motor 37 θ-axis servo motor 40 Curling tool

Claims (4)

In a curling machine for curling the rim of a can with a roller-like curling tool having a drum-shaped machining surface,
Attaching the can to a two-dimensional moving device, controlling the movement of the two-dimensional moving device so that one portion of the rim of the can contacts the curling tool, attaching the curling tool to a pivot support device, A curling machine, wherein the pivot support device is angle-controlled so that the rotation axis of the curling tool is directed to the center of curvature of the can at the point of contact with the curling tool. The curling apparatus according to claim 1, wherein a can having a cross-sectional shape of any one of a circle, an ellipse, an ellipse, and a rounded polygon is to be processed. The two-dimensional moving device moves in a horizontal plane, the pivot supporting device rotates around a vertical axis, and the relative distance between the two-dimensional moving device and the pivot supporting device in the vertical direction is controlled. The curling device according to claim 1 or 2, wherein The edge of the can attached to the two-dimensional moving device is brought into contact with the drum-shaped processing surface of the roller-shaped curling tool attached to the pivot support device, and the two-dimensional moving device is moved so that the contact point orbits the edge of the can. And controlling the angle of the pivot support device so that the rotation axis of the curling tool is directed to the center of curvature of the can at the contact point during the rotation, and further, the two-dimensional movement device and the pivot support A curling method comprising controlling a relative distance to a device.

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