JP2017170546A - Can body assembly device and can body assembly method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem of being so far difficult to enhance productivity of a can body, since an operator conventionally executes a manufacturing process of the can body of pressing a circular bottom plate member in a cylindrical body.SOLUTION: Manpower-saving of a manufacturing process of a can body becomes possible by using a can body assembly device A having cylindrical body deformation means 151A, 151B, 152A, 152B for deforming a cross-sectional shape of a cylindrical body 201 by pressing a side surface of the cylindrical body 201 from the mutually opposed two directions, plate-like member insertion means 14 for locking the peripheral edge of a plate-like member 202 on an inside surface of the cylindrical body 201 by changing an attitude of the plate-like member 202 in the direction for reducing an inclination angle of a plate surface, after being inserted into a hollow part from the opening end of the cylindrical body 201 by holding the plate-like member 202 having the same shape as a cross-sectional shape of the cylindrical body 201 in a first attitude of inclining a plate surface of the plate-like member 202 and plate-like member moving means 16 for moving the plate-like member 202 locked on an inside surface of the cylindrical body 201 to a predetermined position on the opening end side of the cylindrical body 201.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a can body assembling apparatus and a can body assembling method used in a manufacturing process of a cylindrical container.

  Since a cylindrical container used for a transformer or the like is a large container, the can body that is the base of the container is generally manufactured by dividing the can body into a side portion and a bottom portion. The manufacturing process of the can body is manufactured by, for example, a first process and a first process for manufacturing a cylindrical body that is a part corresponding to the side part and a bottom plate member that is a part corresponding to the bottom part, respectively. And a second step of joining the bottom plate member to the opening end of the cylindrical body by welding or the like.

  In the production of the cylindrical body in the first step, for example, after forming a sheet-shaped steel plate into a cylindrical shape with a press device or the like, the joints at both ends are welded by arc welding or the like to produce the cylindrical body. In the production of the bottom plate member in the first step, for example, a sheet-shaped steel plate is punched into a circle with a mold and then drawn into a predetermined shape (for example, a bottom provided with a folded portion perpendicular to the peripheral portion). The bottom plate member is manufactured by forming into a shallow basin shape.

  In the second step, after the bottom plate member is press-fitted into a predetermined position of the hollow portion of the cylindrical body, the peripheral edge of the bottom plate member is welded to the inner side surface of the can body by welding or the like to produce a cylindrical can body. The In the welding process of the bottom plate member press-fitted into the open end of the cylindrical body, for example, as shown in Patent Document 1, the circumferential portion of the bottom plate member and the open end of the cylindrical body are welded using a welding robot.

JP 2003-33872 A

  When welding the circumferential part of the bottom plate member and the opening end of the cylindrical body using a welding robot, a gap (hereinafter referred to as “gap”) generated at the welding location (the joint between the circumferential part of the bottom plate member and the opening end of the cylindrical body). ") Is preferably in a close contact state (a state in which there is no gap) as much as possible.

  However, since the cylindrical body is manufactured by forming a sheet steel plate into a cylindrical shape and then welding seams at both ends, it is difficult to form the cross-sectional shape of the cylindrical body into a perfect circle shape. On the other hand, the bottom plate member is manufactured by punching a sheet-shaped steel plate into a circular shape with a die and then forming it into a predetermined shape by drawing, so that the shape of the bottom plate member is higher than the cross-sectional shape of the cylindrical body. The shape can be close to a perfect circle.

  For this reason, a method of press-fitting the bottom plate member into the cylinder is employed in the production of the workpiece (workpiece with the bottom plate member attached to the cylinder) in the welding process in order to make the gap as small as possible. Since the inner diameter of the cylindrical body having a circular cross section and the outer diameter of the circular bottom plate member have substantially the same dimensions, conventionally, the work of press-fitting the bottom plate member into the cylinder is performed manually by the operator. Is the actual situation.

  If you can press-fit the bottom plate member into the cylinder using an industrial robot, it will be possible to unmanned the manufacturing process of the can body, which will improve work efficiency and reduce manufacturing costs. A method for press-fitting the bottom plate member into the cylinder using a robot has not been proposed and has not been put to practical use.

  This invention is made | formed in view of said subject, and it aims at providing the can body assembly apparatus and can body assembly method which can achieve unmanned in the manufacturing process of a can body.

  The can assembly apparatus according to the present invention includes a cylindrical body deforming unit that deforms a cross-sectional shape of the cylindrical body by pressing a side surface of the cylindrical body that is open at one end or both ends from two opposite directions, and the cylinder A plate-like member having the same shape as the cross-sectional shape of the body is held in a first posture in which the plate surface of the plate-like member is inclined and inserted into the hollow portion from the open end of the cylindrical body, and then the plate A plate-like member inserting means for changing the posture of the plate-like member in a direction in which the inclination angle of the plate surface is reduced, and locking the peripheral edge of the plate-like member to the inner side surface of the cylindrical body, and the inner side surface of the cylindrical body It is a can assembly apparatus provided with the plate-shaped member moving means which moves the plate-shaped member latched to to the predetermined position by the side of the opening end of the said cylinder.

  According to the can assembly apparatus according to the present invention, the cross-sectional shape of the cylinder is deformed, and the plate-like member is inserted into the hollow portion from the opening end of the cylinder in a posture in which the plate surface is inclined. The posture of the cylindrical member is changed so that the plate-like member is locked to the hollow portion of the cylindrical body and moved to a predetermined position of the cylindrical body. Therefore, the plate-like member is press-fitted into the predetermined position of the hollow portion of the cylindrical body. The operation of assembling the can body can be automated. Thereby, labor saving of the assembly process which assembles the can in which the plate-shaped member was press-fitted can be achieved.

  In the can assembly apparatus described above, the cylindrical body deforming means is a pair of first units provided at positions outside the cylindrical body in the two directions so as to be able to advance and retreat in a direction toward the central axis of the cylindrical body. And a pair of second presses provided at positions outside the cylinder in two directions orthogonal to the two directions so as to be able to advance and retreat in a direction toward the central axis of the cylinder. Means, a computing means for computing an ellipse having the minor axis as the axis of the two directions and the major axis of the two directions orthogonal to the two directions, and the pair of first pressing means And a pair of second pressing means on the side surface of the cylindrical body. A second position for controlling the abutting position to both end positions of the elliptical long axis calculated by the computing means. Better to configuration including a control means.

  According to the can assembly apparatus described above, the dimensions of the elliptical short axis and the long axis are calculated, and the pressing position of the first pressing means for pressing the side surfaces of the cylindrical body from the two opposing directions is set to the elliptical short axis. Since the pressing position of the second pressing means for controlling the both end positions of the shaft and pressing the side surface of the cylindrical body from the direction orthogonal to the first pressing means is controlled to the both end positions of the elliptical long axis, the cylinder The cross-sectional shape of the body can be deformed into an ellipse with high accuracy. Thereby, a plate-shaped member can be easily inserted from the opening end side into the cylindrical body whose cross-sectional shape is deformed into an elliptical shape.

  Further, in the above can assembly apparatus, the plate-like member moving means includes an abutment means that abuts on the plate-like member that is locked to the hollow portion of the cylindrical body, and an abutment that abuts on the plate-like member. A third control means for moving the means to the opening end side of the cylindrical body, and a movement restricting means that is disposed at the predetermined position and restricts the movement of the plate member by the contact means. Good.

  According to the above can assembly apparatus, after the plate-like member is locked to the hollow portion of the cylindrical body, the movement restricting means is disposed at a predetermined position of the hollow portion of the cylindrical body, and the plate-like member is formed by the contact member. Is moved to the opening end side to a position where the movement is restricted on the movement restricting means side, so that a can body in which the plate-like member is press-fitted into a predetermined position of the cylindrical body can be assembled with high accuracy.

  In the above can assembly apparatus, the predetermined position is an opening end of the cylindrical body, the plate-shaped member is a bottom plate member that seals the opening end of the cylindrical body, and the movement restricting means includes: The plate-shaped member inserting means may be a pressing member that is placed on the opening end of the cylindrical body after the plate-shaped member is inserted into the cylindrical body.

  According to the can assembly apparatus described above, it is possible to save labor in a series of manufacturing steps of a can body that is assembled by welding the cylinder and the bottom plate member after press-fitting the bottom plate member into one open end of the cylinder. it can.

  Further, in the above can assembly apparatus, the cylindrical body deforming means is constituted by a first robot having a pressing tool attached to an arm tip, and the plate-like member inserting means is configured to place the plate-like member on an arm tip. It is good to comprise with the 2nd robot with which the holding tool to hold | maintain was attached.

  According to the above can assembly apparatus, since the robot performs the step of deforming the cross-sectional shape of the cylindrical body and the step of inserting the plate-like member into the cylindrical body whose cross-sectional shape is deformed, the plate-like shape into the hollow portion of the can body Labor saving in the member insertion process can be achieved.

  Further, in the above can assembly apparatus, the plate-like member moving means includes a jack disposed at a position where the cylindrical body of the work table is placed vertically, and a holding tool for holding the presser member at the arm tip. And a third robot to which is attached.

  According to the above can assembly apparatus, since the robot performs the process of setting the plate-like member inserted into the hollow portion of the can body at a predetermined position, the plate-like member is press-fitted into the hollow portion of the cylindrical body at the predetermined position. It is possible to save labor in a series of processes.

  The can assembly method according to the present invention includes two first robots each having a pressing tool attached to the tip of an arm, respectively pressing the side surfaces of a cylindrical body opened at one end or both ends from two opposing directions. The first step of deforming the cross-sectional shape of the can body, and the second robot having a holding tool attached to the tip of the arm, holding a plate-like member having the same shape as the cross-sectional shape of the cylindrical body, After holding the plate surface of the plate member in an inclined posture and inserting it into the hollow portion from the open end of the cylindrical body, the posture of the plate member is changed in a direction in which the inclination angle of the plate surface is reduced. The second step of locking the peripheral edge of the plate-like member to the inner surface of the cylindrical body, and the third robot with the holding tool for holding the pressing member at the arm tip, A third step of placing the pressing member on an end; And a fourth step of raising the moving hollow portion jack which is disposed below the plate-like member of the body to a position abutting the plate-like member to the pressing member, a can body assembling process.

  According to the can assembly method according to the present invention, the cross-sectional shape of the cylindrical body is deformed, the posture of the plate-like member is changed to the posture in which the plate surface is inclined, and the plate is inserted into the hollow portion from the opening end of the cylindrical body. The posture of the cylindrical member is changed so that the plate-like member is locked to the hollow portion of the cylindrical body and moved to a predetermined position of the cylindrical body. Therefore, the plate-like member is press-fitted into the predetermined position of the hollow portion of the cylindrical body. By automating the operation of assembling the can body, it is possible to save labor in a series of assembly steps for assembling the can body into which the plate-like member is press-fitted.

  According to the can body assembling apparatus and the can body assembling method according to the present invention, a series of assembling processes for assembling the can body into which the plate-like member is press-fitted can be automated, thereby saving labor in the can body assembling process. be able to. Moreover, the dispersion | variation resulting from the assembly operation | work of the can which the plate-shaped member was press-fit can be reduced, and stabilization of the welding process of the plate-shaped member and cylinder in a post process can be aimed at.

The figure which shows an example of the can body assembled with the can assembly apparatus which concerns on Embodiment 1. FIG. The figure which shows the outline | summary of a structure of the same can assembly apparatus The top view which shows an example of a structure of the cylinder deformation | transformation apparatus which is a component of the same can assembly apparatus The side view which shows an example of a structure of the cylinder deformation | transformation apparatus which is a component of the same can assembly apparatus The figure which shows the structure of the pressing member of the baseplate member positioning device which is a component of the same can assembly apparatus The figure for demonstrating the operation | movement which the cylinder deformation | transformation apparatus corrects the cross-sectional shape of a cylinder to a perfect circle. The figure for demonstrating the operation | movement in which the cylindrical body deformation | transformation apparatus changes the cross-sectional shape of a cylinder to an ellipse. The figure for demonstrating the position which the baseplate member insertion apparatus which is a component of the same can assembly apparatus conveys a baseplate member. The figure for demonstrating the control direction of the attitude | position of the baseplate member by the baseplate member insertion apparatus which is a component of the same can assembly apparatus The figure for demonstrating the inclination attitude | position of the baseplate member by the baseplate member insertion apparatus which is a component of the can assembly apparatus The figure for demonstrating operation | movement of the baseplate member insertion apparatus in the case of inserting into the cylinder of a baseplate member, changing the shape of a cylinder by the cylinder deformation | transformation apparatus which is a component of the same can assembly apparatus The figure for demonstrating the positioning operation | movement of the baseplate member in the hollow part of the cylinder by the baseplate member positioning device which is a component of the same can assembly apparatus The figure for demonstrating the modification of the positioning operation of the baseplate member in the hollow part of the cylinder by the baseplate member positioning device which is a component of the same can assembly apparatus

  Embodiments of a can assembly apparatus according to the present invention will be described below with reference to the drawings. In addition, since the component which attached | subjected the same code | symbol in embodiment performs the same operation | movement, description may be abbreviate | omitted again.

(Embodiment 1)
In the first embodiment, an example of a can assembly apparatus that assembles a can having a circular cross section, which is a material for a transformer tank, will be described. Further, as an example of the can body assembled by the can body assembly apparatus, a can body 200 shown in FIG. 1 will be described as an example. The can body 200 shown in FIG. 1 is a perspective view with the bottom surface side of the can body 200 facing up.

  The can body 200 is manufactured by combining a cylindrical body 201 having a circular cross-sectional shape with both ends open and a circular bottom plate member 202 having an outer diameter substantially the same as the inner diameter of the cylindrical body 201. That is, the can body 200 is formed by welding the peripheral edge of the bottom plate member 202 and the cylindrical body 201 after press-fitting the bottom plate member 202 into one open end (the upper open end in FIG. 1) of the cylindrical body 201. Is done.

  FIG. 2 is a diagram showing an outline of the configuration of a can assembly system for assembling the can 200.

  The can assembly system 1 shown in FIG. 2 includes a cylinder stocker 11, a cylinder loading / unloading device 12, a bottom plate member stocker 13, a bottom plate member insertion device 14, a cylinder deformation device 15, a bottom plate member positioning device 16, and a welding device 17. And the can body discharge stand 18 is provided. The bottom plate member inserting device 14, the cylindrical body deforming device 15, and the bottom plate member positioning device 16 of the can body assembly system 1 correspond to components of the can body assembly device according to the present invention. In the following description, the portions of the bottom plate member inserting device 14, the cylindrical body deforming device 15, and the bottom plate member positioning device 16 will be referred to as “can assembly device A” as necessary.

  The cylinder stocker 11 stocks a cylinder 201 that is a material of the can 200 supplied to the can assembly apparatus A. In the cylinder stocker 11, the cylinders 201 produced at a cylinder production place (not shown) are conveyed and accumulated by a conveying device. The cylindrical body 201 is produced, for example, by cutting a strip-shaped steel sheet having a predetermined length and width from a sheet-shaped steel sheet, forming the steel sheet into a cylindrical shape by a press device, and then connecting both ends by arc welding or the like Has been. The width of the strip-shaped steel plate is a dimension corresponding to the height of the cylinder 201, and the length in the longitudinal direction is a dimension corresponding to the length of the outer circumference of the cylinder of the cylinder 201.

  The cylinder loading / unloading device 12 takes out one cylinder 201 from the plurality of cylinders 201 stocked in the cylinder stocker 11 and conveys it to a predetermined work position P of the can assembly apparatus A. Further, when the can body assembly apparatus A completes the manufacturing operation of the can body 200, the cylindrical body carry-in / out device 12 discharges the can body 200 to the can body discharge stand 18. The cylinder loading / unloading device 12 is configured by a robot to which a holding tool for holding the can 200 is attached at the tip of an arm, for example. As the robot used for the cylinder loading / unloading device 12, a 6-axis robot is usually used. However, the holding tool is moved in the horizontal direction (X-axis direction and Y-axis direction in the XY coordinates in the horizontal plane) and in the vertical direction (XY Any robot other than six axes may be used as long as it has an arm configuration that can be moved in the Z-axis direction extending in the height direction with respect to the origin of coordinates. As the holding tool for the can body 200, for example, a magnet adsorption tool is used.

  The cylinder loading / unloading device 12 extends the arm to the cylinder supply position of the cylinder stocker 11, adsorbs the cylinder 201 placed in the standing position with the adsorption tool, and then lifts the can body It is transported to the work position P of the assembling apparatus A, and placed at the work position P in a standing posture. In addition, when the can body assembly apparatus A completes the manufacturing process of the can body 200, the cylinder carry-in / discharge apparatus 12 adsorbs the can body 200 with the suction tool and then lifts the can body 200 to the can body discharge stand 18. Then, the cylindrical body carry-in / out device 12 places the can body 200 on the can body discharge base 18.

  The bottom plate member stocker 13 stocks a bottom plate member 202 that is a material of the can body 200 supplied to the can body assembly apparatus A. In the bottom plate member stocker 13, a bottom plate member 202 produced at a bottom plate member production place (not shown) is conveyed and accumulated by a conveying device. The bottom plate member 202 is produced, for example, by punching a circular steel plate having a predetermined diameter from a sheet-shaped steel plate using a die and then forming the circular steel plate into a predetermined shape by drawing. . In addition, as shown in FIG. 1, the predetermined shape is a shape in which ridges 202 </ b> A are formed along the circumference on the peripheral edge of one surface of a circular steel plate.

  The bottom plate member insertion device 14 takes out one bottom plate member 202 from the plurality of bottom plate members 202 stocked in the bottom plate member stocker 13 and is placed at the working position P of the can assembly apparatus A. To the upper position. Then, the bottom plate member insertion device 14 controls the posture of the bottom plate member 202 to a predetermined inclined posture and inserts the bottom plate member 202 into the hollow portion of the cylindrical body 201 from the open end of the cylindrical body 201, and then changes the posture of the bottom plate member 202 to the horizontal posture. By returning to, the peripheral edge of the bottom plate member 202 is locked to the inner surface of the cylinder 201. The horizontal posture is a posture in which the plate surface of the bottom plate member 202 is horizontal, and the inclined posture is a posture in which the plate surface of the bottom plate member 202 is inclined at a predetermined angle θ [°] with respect to the horizontal plane. The details of the operation of inserting the bottom plate member 202 into the cylinder 201 performed by the bottom plate member insertion device 14 will be described later.

  The bottom plate member insertion device 14 is also composed of, for example, a robot having a holding tool for holding the bottom plate member 202 attached to the tip of an arm. The robot used for the bottom plate member insertion device 14 is also usually a 6-axis robot. However, any robot other than the 6-axis robot can be used as long as the robot has an arm configuration that can move the holding tool in the horizontal and vertical directions. It may be. As the holding tool for the bottom plate member 202, for example, a magnet attracting tool is used.

  The bottom plate member insertion device 14 extends the arm to the bottom plate member supply position of the bottom plate member stocker 13, adsorbs the bottom plate member 202 placed with the plate surface horizontally at that position, and then lifts the can body It conveys to the upper position of the cylinder 201 placed at the work position P of the assembly apparatus A. Then, the bottom plate member insertion device 14 changes the posture of the bottom plate member 202 from the horizontal posture to the inclined posture, and then lowers the bottom plate member 202 and inserts the bottom plate member 202 into the hollow portion of the tubular body 201 from the opening end of the tubular body 201.

  When the bottom plate member insertion device 14 supplies the bottom plate member 202 to the can assembly apparatus A, the cylindrical body 201 placed at the working position P of the can assembly apparatus A has a cross-sectional shape as will be described later. The cylinder deforming device 15 is deformed from a circular shape to an elliptical shape. When the bottom plate member insertion device 14 changes the posture of the bottom plate member 202 from the horizontal posture to the inclined posture, the axis at which the plate surface of the bottom plate member 202 intersects the horizontal plane is the major axis of the elliptical shape in the cross-sectional shape of the cylindrical body 201. In parallel, the plate surface is inclined by a predetermined angle θ. The attitude control when the bottom plate member 202 of the bottom plate member insertion device 14 is inserted into the cylinder 201 will be described later.

  The cylindrical body deforming device 15 deforms the cross-sectional shape of the cylindrical body 201 placed (set) at the working position P of the can body assembling apparatus A by the cylindrical body loading / unloading device 12 into a predetermined elliptical shape. The cylindrical body deforming device 15 presses the side surface of the cylindrical body 201 from two opposite directions of the cylindrical body 201 placed in a posture standing at the working position P, thereby changing the cross-sectional shape of the cylindrical body 201 from a circle to an ellipse. Transformed into a shape.

  FIG. 3 is a top view showing an example of the configuration of the cylindrical body deforming device 15, and FIG. 4 is a side view of the cylindrical body deforming device 15. In addition, in FIG. 3, drawing of the pressing member 162 is omitted. Further, in FIG. 4, among the components of the elevator 153, the second elevator plate 1533B, the second elevator mechanism 1534B, and the drive source for raising and lowering the second pressing rods 152A and 152B are omitted. .

  The cylindrical body deforming device 15 is provided on the base 20 on which the work position P is provided. The cylindrical body deforming device 15 includes two first pressing rods 151A and 151B that press the side surfaces of the cylindrical body 201 set at the working position P from two opposite directions, and two first pressing rods 151A and 151A. Two second pressing rods 152A and 152B, which are arranged on an axis N2 orthogonal to the axis N1 connecting 151B and press the side surface of the cylindrical body 201 from two opposite directions, and a first pressing rod 151A , 151B and the second pressing rods 152A, 152B.

  A pair of support bars 1531 and 1532 arranged in parallel is attached to the elevator 153 so as to be movable up and down. Then, the first pressing rod 151A and the second pressing rod 152A are fixed to one support rod 1531 (the upper support rod in FIG. 3), and the other support rod 1532 (the lower support rod in FIG. 3). ), The first pressing rod 151B and the second pressing rod 152B are fixed.

  As shown in FIG. 3, the base 20 has a horizontally long rectangular parallelepiped shape, and the working position P is set at a predetermined position near one end in the longitudinal direction (in the right end in FIG. 3). The elevator 153 of the cylindrical body deforming device 15 is disposed on the left side of the work position P of the base 41 by extending a pair of support bars 1531 and 1532 in the direction of the work position P. The elevator 153 is disposed on the base 20 so that the work position P is located at substantially the center of the space sandwiched between the pair of support bars 1531 and 1532.

The position Q _A1 where the axis N1 of the support bar 1531 intersects, the position Q _A2 where the axis N2 of the support bar 1531 intersects, the position Q _B1 where the axis N1 of the support bar 1532 intersects, and the axis N2 of the support bar 1532 intersect When the position Q _B2 to be set is set so that the intersection of the axis N1 and the axis N2 coincides with the work position P and the axis N1 is inclined 45 [°] with respect to the support rods 1531 and 1532 as shown in FIG. Defined as the intersection of The first pressing rod 151A and the second pressing rod 152A are fixed to the position Q _A1 and the position Q _A2 of the support rod 1531. In addition, the second pressing rod 152B and the first pressing rod 151B are fixed to the position Q _B2 and the position Q _B1 of the support bar 1532.

  The four pressing rods 151A, 151B, 152A, and 152B have the same configuration, and each includes a rod-shaped extendable rod R and a drive unit that expands and contracts the rod R. The four pressing rods 151A, 151B, 152A, and 152B extend and contract the rod R to bring the tip of the rod R into contact with the side surface of the cylinder 201, and the respective contact positions of the first pressing rods 151A and 151B. By controlling the contact positions of the second pressing rods 152A and 152B, the cross-sectional shape of the cylindrical body 201 is deformed into an arbitrary elliptical shape (including a circular shape).

The first push rod 151A, the rod R is secured in a direction stretch in the direction of the working position P along the axis N1 to the position _{Q A1} of the support bar 1531, second push rod 152A, the rod R is axially N2 Is fixed to a position Q _A2 of the support bar 1531 so as to expand and contract in the direction of the work position P. The second push rod 152B, the rod R is secured in a direction stretch in the direction of the working position P along the axis N2 to a position _{Q B2} of the support rod 1532, a first push rod 151B, the rod R is in the direction of expansion and contraction in the direction of the working position P along the axis N1 is fixed at a position Q _B1 of the support bar 1532.

  The elevator 153 includes a first lifting plate 1533A to which the support bar 1531 is fixed, a first lifting mechanism 1534A that lifts and lowers the first lifting plate 1533A, and a second lifting plate 1533B to which the support bar 1532 is fixed. And a second elevating mechanism 1534B that elevates and lowers the second elevating plate 1533B, and a drive source 1535 that supplies driving force for the first and second elevating mechanisms 1534A and 1534B.

  The first and second elevating mechanisms 1534A and 1534B are constituted by, for example, mechanism parts that convert a rotational force into a linear force. As a mechanical component that converts a rotational force into a linear force, for example, a mechanical component such as a ball screw or a rack and pinion can be used. FIG. 3 shows an example in which ball screws are used for the first and second elevating mechanisms 1534A and 1534B. A nut NT is attached to each of the first elevating plate 1533A and the second elevating plate 1533B, and the nut NT is attached to the nut NT. The screw shaft SC fixed perpendicularly to the base 20 is screwed together. Then, the driving force is transmitted from the drive source 1535 to the screw shafts of the first and second lifting mechanisms 1534A and 1534B to rotate the screw shafts SC, whereby the first and second lifting mechanisms 1534A and 1534B are moved. It is configured to move upward or downward.

  The bottom plate member positioning device 16 positions the bottom plate member 202 locked to the hollow portion of the cylindrical body 201 at a predetermined position of the hollow portion. The bottom plate member positioning device 16 includes a bottom plate lifting device 161 and a presser member 162.

  The bottom plate push-up device 161 is a device that pushes up the bottom plate member 202 that is locked in the hollow portion of the cylindrical body 201 from a lower position upward. As shown in FIG. 4, the bottom plate push-up device 161 is provided below the work position P of the base 20. The bottom plate push-up device 161 includes a contact member that makes contact with the lower surface of the bottom plate member 202 and a moving mechanism that moves the contact member in the vertical direction. The bottom plate push-up device 161 includes, for example, a ball screw (screw jack) having a contact portion attached to the tip of a screw shaft, a rack and pinion having a contact portion attached to the tip of the rack, and a tip of the rod R. Various mechanisms such as a hydraulic cylinder to which a contact portion is attached can be used.

  The bottom plate pushing-up device 161 shown in FIG. 4 is an example constituted by a ball screw including a screw shaft 1611 provided with a contact portion 1611A at an upper end and a nut 1612 screwed to the screw shaft 1611. Since the nut 1612 is fixed to the housing, when the screw shaft 1611 is rotated by a driving force supplied from a driving source 1613 such as a motor (not shown), the screw shaft 1611 moves up and down and the contact portion 1611A is moved. Move up and down. Accordingly, the bottom plate push-up device 161 moves the screw shaft 1611 upward to bring the contact portion 1611A into contact with the lower surface of the bottom plate member 202, and then further moves the screw shaft 1611 upward to move the bottom plate member 202 upward. Push up.

  The pressing member 162 restricts the upward movement of the bottom plate member 202 pushed up by the bottom plate lifting device 161 at a predetermined position. That is, when the bottom plate member 202 rises to a predetermined position, the bottom plate member 202 is stopped at that position.

  As shown in FIG. 5, the pressing member 162 is a member having a three-pronged shape in which three beams 1621 are extended in three directions within a horizontal plane. The length of each beam 1621 is set longer than the radius r of the circular opening end of the cylindrical body 201. A contact portion 1621A is provided on the lower surface of the tip of each beam 1621. The pressing member 162 is fixed to an elevator 163 attached at a position sandwiched between the first pressing rod 151A and the second pressing rod 152B of the base 20 so as to be rotatable in the elevation angle direction. That is, the pressing member 162 is fixed to the elevator 163 so that the posture can be changed in the direction indicated by the arrow AR in FIG.

  In the elevator 163, the pressing member 162 has a horizontal lower surface of the three beams 1621 (more precisely, a surface including the lower surfaces of the three contact portions 1621 </ b> A) (hereinafter, this surface is referred to as a “pressing surface”). (The posture shown by the solid line in FIG. 4; hereinafter referred to as “pressing posture”) and the posture in which the pressing surface of the pressing member 162 stands up at an obtuse angle with respect to the horizontal plane (the posture shown by the dotted line in FIG. An attitude switching device 1622 for switching to “retracted attitude” is provided. The posture switching device 1622 sets the pressing posture by, for example, pushing and pulling the pressing member 162 from the back surface, and sets the retracting posture by pulling the pressing member 162.

  Like the elevator 153 described above, the elevator 163 is composed of mechanical parts that convert rotational force into linear force. In FIG. 4, the elevator 163 is configured by mechanical parts such as a ball screw and a rack and pinion.

  The pressing member 162 normally stands by at a predetermined position above the cylindrical body 201 (hereinafter referred to as “retracted position”) in a retracted posture. When the pressing process of the bottom plate member 202 into the hollow portion of the cylindrical body 201 set at the work position P is completed, the pressing member 162 is positioned so that the contact portion 1621A contacts the open end of the cylindrical body 201 (hereinafter referred to as “presser”). It is lowered to “position”) and switched from the retracted position to the presser position. Accordingly, when the presser member 162 is set to the presser position and switched to the presser posture, the lower surfaces of the three contact portions 1621 of the presser member 162 abut on the upper ends (open ends) of the cylindrical body 201 and the three beams 1621 are brought into contact. Is in a state of being installed on the opening surface of the cylindrical body 201.

  The three abutting portions 1621A have a thickness d (see FIG. 5) that is longer than the height dimension of the ridge 202A of the bottom plate member 202. Further, the length D (see FIG. 5) from the tip of each beam 162 of each contact portion 1621A is set to a dimension shorter than the length from the peripheral edge of the bottom plate member 202 to the ridge 202A. The size of the contact portion 1621A described above is such that when the bottom plate member 202 inserted into the hollow portion of the cylindrical body 201 is raised, the upper end of the protrusion 202A of the bottom plate member 202 contacts the contact portion 1621A and the beam 1621. The bottom plate member 202 is designed in consideration that only the peripheral edge outside the ridge 202A on the upper surface of the bottom plate member 202 contacts the lower surface of the three contact portions 1621A.

  When the bottom plate member 202 is moved upward by the bottom plate push-up device 161 in a state where the three beams 1621 of the presser member 162 are installed on the opening surface, the outer peripheral portion of the upper surface of the bottom plate member 202 from the ridge 202A is shifted. When the three beams 1621 come into contact with the respective contact portions 1621A, the upward movement of the bottom plate member 202 is restricted. Accordingly, when the upward movement of the bottom plate member 202 is restricted by the pressing member 162, the lifting operation of the bottom plate lifting device 161 is stopped, and when the holding member 162 is lifted to the retracted position and then in the retracted position, the cylindrical body A can body 200 (can body 200 having the shape shown in FIG. 1) in which a bottom plate member 202 is press-fitted into the open end of 201 is manufactured.

  Next, the assembly operation of the can body 200 by the can body assembly apparatus A of the can body assembly system 1 will be described.

  The can assembly system 1 includes (step 1) setting the cylinder 201 to the working position P, (step 2) deformation of the cross-sectional shape of the cylinder 201, and (step 3) to the hollow portion of the cylinder 201 of the bottom plate member 202. The can body 200 is assembled by the six steps of (step 4) positioning the bottom plate member 202 in the cylinder 201, (step 5) welding the bottom plate member 202 and the cylinder 201, and (step 6) discharging the can body 200. . Since the can assembly apparatus A performs the processes from the process 2 to the process 4 out of the six processes, the operations of the can assembly apparatus A will be described below with respect to the processes 2, 3 and 4 with reference to FIGS. Will be described.

(Process 2)
In step 1, the cylinder loading / unloading device 12 extends the arm to the cylinder supply position of the cylinder stocker 11 and sucks the cylinder 201 placed in the cylinder supply position with the suction tool. Then, it is lifted and transported to the working position P of the can assembly apparatus A, and placed in the working position P in a standing posture. Therefore, when the process moves from the process 1 to the process 2, the cylinder 201 is placed at the work position P of the base 20.

The cylinder deforming device 15 first corrects the cross-sectional shape of the cylinder 201 placed at the work position P to a perfect circle. As shown in FIG. 6, the cylindrical body deforming device 15 is configured such that the cross-sectional shape of the cylindrical body 201 is corrected to a perfect circle C ₀ centered on the work position P and the outer circumference of the perfect circle C ₀ and the axes N1, N2. Are calculated at positions A1, B1, A2, and B2.

  The cylindrical body deforming device 15 sets the position A1 and the position B1 to target positions for extending the tips of the rods R of the first pressing rod 151A and the first pressing rod 151B, respectively. Moreover, the cylindrical body deformation | transformation apparatus 15 sets the position A2 and the position B2 to the target position which pays out the front-end | tip of each rod R of the 2nd press rod 152A and the 2nd press rod 152B, respectively. Then, the cylindrical body deforming device 15 feeds the four rods R of the first pressing rods 151A and 151B and the second pressing rods 152A and 152B to the target positions.

When the four rods R of the first pressing rods 151A and 151B and the second pressing rods 152A and 152B are respectively extended to the target positions, the cylindrical body 201 has four side surfaces at positions A1, A2, B1, and B2. The position is corrected and the cross-sectional shape is corrected so as to abut the tip of the rod R. That is, the position of the cylindrical body 201 is corrected to a position axis M of the cylindrical body 201 (see FIG. 8) matches the working position P, the sectional shape of the cylindrical body 201 is corrected to a perfect circle C _0.

Next, as shown in FIG. 7, the cylindrical body deforming device 15 is configured so that the cross-sectional shape of the cylindrical body 201 is a preset ellipse whose major axis is the axis along the axis N1 and whose minor axis is the axis along the axis N2. position A1 to the outer periphery and the shaft N1, N2 in the form _{C 1} intersect ', B1', A2 ', B2' is calculated. In addition, the cylindrical body deforming device 15 changes the target positions of the tip positions of the rods R of the first pressing rods 151A and 151B to the positions A1 ′ and B1 ′, respectively, and the second pressing rods 152A and 152B. The target position of the tip position of the rod R is changed to positions A2 ′ and B2 ′, respectively.

And the cylinder deformation | transformation apparatus 15 draws in the two rods R of 1st press rod 151A, 151B, and while changing the front-end | tip position of each rod R to target position A1 ', B1', respectively, it is 2nd press rod The two rods R 152A and 152B are fed out to change the tip positions of the rods R to the target positions A2 ′ and B2 ′, respectively. Thereby, the shape of the cross section of the cylindrical body 201 is changed so that the side surface thereof comes into contact with the tips of the four rods R at the positions A1 ′, A2 ′, B1 ′, B2 ′. That is, the cross-sectional shape of the cylindrical body 201 is changed to elliptical C _1.

(Process 3)
When the processing for changing the cross-sectional shape of the cylindrical body 201 by the cylindrical body deforming device 15 is completed, the bottom plate member inserting device 14 extends the arm to the bottom plate member supply position of the bottom plate member stocker 13 and is placed at the bottom plate member supply position. After the bottom plate member 202 is sucked by the suction tool, the bottom plate member 202 is lifted to a horizontal position and conveyed to an upper position of the cylindrical body 201 placed at the work position P of the can assembly apparatus A. At this time, as shown in FIG. 8, the bottom plate member insertion device 14 conveys the center plate O of the bottom plate member 202 to an upper position of the cylindrical body 201 that coincides with the axis M of the cylindrical body 201.

  It should be noted that the bottom plate member insertion device 14 in the operation of the four pressing rods 151A, 151B, 152A, 152B of the cylindrical body deforming device 15 in the process of changing the cross-sectional shape of the cylindrical body 201 and the transport processing of the bottom plate member 202 to the work position P. Since the operation of the robot arm does not interfere, the conveyance processing of the bottom plate member 202 of the bottom plate member insertion device 14 may be performed during the deformation processing of the cross-sectional shape of the cylindrical body 201 of the cylindrical body deformation device 15.

  Next, the bottom plate member insertion device 14 changes the posture of the bottom plate member 202 from a horizontal posture to an inclined posture. The bottom plate member insertion device 14 virtually sets the suction tool 141 that sucks the bottom plate member 202 to the suction tool 141 as shown in FIG. 9 by controlling the posture of each arm of the 6-axis robot, for example. In the XYZ coordinate system, it can be moved in the directions of the X, Y, and Z axes. Further, the bottom plate member inserting device 14 rotates the suction tool 141 around the Z-axis by controlling the posture of each arm of the 6-axis robot (see the rotation in the −RZ direction in FIG. 9), or the suction tool 141. Can be rotated with respect to the X axis (see the rotation in the + RX direction in FIG. 9).

  As shown in FIG. 10, the bottom plate member insertion device 14 is configured so that the axis S of the suction tool 141 is inclined with respect to the horizontal plane SH at a predetermined angle η [°] within a plane SA including the Z axis and the axis N1. The posture of the bottom plate member 202 is changed. In FIG. 10, the bottom plate member 202 indicated by an imaginary line (dashed line) indicates a horizontal posture in which the plate surface is parallel to the horizontal plane SH, and the bottom plate member 202 indicated by a solid line indicates that the axis S of the suction tool 141 is the horizontal plane SH. 2 shows an inclined posture inclined at a predetermined angle η [°]. Since the axis S of the suction tool 141 is perpendicular to the plate surface of the bottom plate member 202, η is between the inclination angle θ of the plate surface of the bottom plate member 202 in the inclined posture with respect to the horizontal plane SH and the angle η described above. = (90−θ) [°]. The bottom plate member insertion device 14 may perform control of the bottom plate member 202 to the tilted posture with the tilt angle θ.

  The shape of the bottom plate member 202 in the top view when the bottom plate member 202 is in an inclined posture is an ellipse, and the inclination angle θ or the inclination angle η is a cross-sectional shape in which the length of the elliptical short axis of the bottom plate member 202 is Is set in advance so as to be shorter than the length of the short axis (axis along the axis N2) of the cylindrical body 201 that is deformed into an elliptical shape.

  When the bottom plate member 202 is inclined, the bottom plate member insertion device 14 lowers the suction tool 104 vertically and inserts the bottom plate member 202 into the hollow portion of the cylindrical body 201. Since the shape of the bottom plate member 202 in the inclined posture in a top view is smaller than the elliptical shape of the opening end of the cylindrical body 201 whose cross-sectional shape is deformed, the bottom plate member 202 is a cylindrical body when the suction tool 104 is lowered vertically. It penetrates into the hollow part of the cylinder 201 without interfering with the side surface of the 201.

When the bottom plate member insertion device 14 finishes the insertion processing of the bottom plate member 202 into the hollow portion of the cylindrical body 201, the cylindrical body deformation device 15 includes the tips of the rods R of the first pressing rod 151A and the first pressing rod 151B. Are changed to position A1 and position B1. Moreover, the cylinder deformation | transformation apparatus 15 changes the target position which pays out the front-end | tip of each rod R of the 2nd press rod 152A and the 2nd press rod 152B to the position A2 and the position B2. Then, the cylindrical body deforming device 15 feeds the four rods R of the first pressing rods 151A and 151B and the second pressing rods 152A and 152B to the target positions. This process is a process of returning the cross-sectional shape of the cylindrical body 201 to a perfect circle C _0.

Therefore, when the four rods R of the first pressing rods 151A and 151B and the second pressing rods 152A and 152B are respectively extended to the target positions A1, B1, A2, and B2, the side surface of the cylindrical body 201 is positioned at the position A1. , A2, B1, and B2, the shape of the cross section is changed so as to contact the tips of the four rods R. That is, the cross-sectional shape of the cylindrical body 201 is returned to a true circle _{C 0.}

When the cross-sectional shape of the cylinder 201 is deformed from the ellipse C ₁ to the perfect circle C ₀ , the major axis of the ellipse C ₁ is shortened, so that the position A1 and the position B1 on the inner surface of the cylinder 201 are the bottom plate. It contacts the peripheral edge of the member 202. This contact state is a state in which the bottom plate member 202 is locked in the hollow portion of the cylindrical body 201 even when the bottom plate member 202 is removed from the suction tool 141.

In the above operation, the bottom plate after the member insertion device 14 inserts a bottom plate member 202 in the hollow portion of the cylindrical body 201 in an inclined position, circularity cylindrical body deformation device 15 the cross-sectional shape of the cylindrical body 201 from the oval C ₁ C _{It is trying} to return to _zero . However, as shown in FIG. 11, the bottom plate member inserting device 14 changes the inclination angle θ during the period in which the cylindrical body deforming device 15 is processing to return the cross-sectional shape of the cylindrical body 201 from the ellipse C ₁ to the perfect circle C _0. You may make it correct the inclination attitude | position of the baseplate member 202 to the attitude | position close | similar to a horizontal attitude | position so that it may make small (increase inclination-angle (eta)).

FIG. 11 shows an operation in which the bottom plate member inserting device 14 inserts the bottom plate member 202 into the hollow portion of the cylindrical body 201 while the cylindrical body deforming device 15 deforms the cross-sectional shape of the cylindrical body 201 from the ellipse C ₁ to the perfect circle C _0. Is shown. 11A is a diagram showing changes in the shapes of the cylindrical body 201 and the bottom plate member 202, and FIG. 11B is a diagram showing changes in the posture of the bottom plate member 202 in the hollow portion of the cylindrical body 201. FIG. . 11 (a) to 11 (d) are diagrams illustrating changes in the posture of the representative bottom plate member 202 from the state in which the bottom plate member 202 is inserted into the hollow portion of the cylindrical body 201 to the state in which the bottom plate member 202 is finished. It is. For convenience of drawing, the suction tool 141 of the bottom plate member 202 is omitted.

As shown in FIG. 11 (a), when the insertion of the bottom plate member 202 into the hollow portion of the cylindrical body 201 is started, the elliptical short axis of the opening end of the cylindrical body 201 is short. Then, the bottom plate member 202 is inclined with a large inclination angle θ and is lowered from above the cylindrical body 201 and inserted into the hollow portion of the cylindrical body 201. When the bottom plate member insertion device 14 operates to lower the bottom plate member 202, the cylindrical body deforming device 15 has an elliptical shape at the open end of the cylindrical body 201 as shown in FIGS. 11 (b) and 11 (c). the ratio of the short axis / long axis of C1 is varied to approximate to a true circle C _0. Accordingly, the bottom plate member insertion device 14 moves the posture of the bottom plate member 202 closer to the horizontal posture in conjunction with the deformation operation of the cross-sectional shape of the cylinder 201 of the cylinder deformation device 15 (so as to reduce the inclination angle θ). Change.

As shown in FIG. 11D, when the cross-sectional shape of the cylinder 201 approaches the perfect circle C ₀ , the attitude of the bottom plate member 202 becomes close to a horizontal attitude, so that most of the periphery of the bottom plate member 202 is a cylinder. It contacts the inner peripheral surface of 201, and the bottom plate member 202 is locked in the hollow portion of the cylindrical body 201 by the contact friction. In this state, since the bottom plate member 202 can be stopped at an intermediate position in the hollow portion of the cylindrical body 201, the bottom plate member insertion device 14 stops the insertion operation of the bottom plate member 202 and moves to the bottom plate member 202 of the suction tool 141. The suction tool 141 is released and the suction tool 141 is returned to the initial position.

  As described above, if the operation of changing the cross-sectional shape of the cylinder 201 and the operation of inserting the bottom plate member 202 into the middle of the cylinder 201 are performed at the same time, the bottom plate member 202 into the middle of the cylinder 201 in step 3 is performed. The work efficiency of the insertion process can be improved.

(Process 4)
When the bottom plate member 202 inserted into the hollow portion of the cylinder 201 is in a state where it can be locked to the inner surface of the cylinder 201, the bottom plate member insertion device 14 releases the suction of the suction tool 141 to the bottom plate member 202, The tool 141 is returned to the initial position (home position). Thereafter, the bottom plate member positioning device 16 lowers the presser member 162 from the retracted position to the presser position, and changes the posture of the presser member 162 from the retracted posture to the presser posture. Thereby, the holding member 162 is in a state where the three beams 1621 are installed on the opening end of the cylindrical body 201 as shown in FIG.

  FIG. 12 is a diagram illustrating an operation process in which the bottom plate member insertion device 14 positions the bottom plate member 202 in the hollow portion of the cylindrical body 201 at a predetermined position. 12A is a top view showing a state in which the holding member 162 is set at the opening end of the cylinder 201, and FIG. 12B is a bottom plate member 202 in the hollow portion of the cylinder 201 by the bottom plate lifting device 161. FIG. 12A to 12D show the states of the representative bottom plate lifting device 161 and the bottom plate member 202 from the state in which the bottom plate lifting device 161 starts the lifting operation of the bottom plate member 202 to the end state. It is the figure which showed the change.

  Subsequently, the bottom plate pushing-up device 161 of the bottom plate member positioning device 16 pushes up the bottom plate member 202 locked in the hollow portion of the cylindrical body 201 (see FIG. 12B). In the bottom plate pushing-up device 161, when the peripheral edge portion on the upper surface of the bottom plate member 202 outside the convex strip 202A is brought into contact with the contact portion 1621A of the beam 1621 of the holding member 162, the upward movement of the bottom plate member 202 is restricted (FIG. 12). (See (c)), the push-up operation is stopped, and the contact portion 1611A is lowered to the initial position (see FIG. 12 (d)). Thereby, the positioning operation | movement to the predetermined position in the hollow part of the cylinder 201 of the baseplate member 202 is complete | finished.

  In the present embodiment, since the predetermined position in the hollow portion of the cylindrical body 201 is set at the open end of the cylindrical body 201, the bottom plate member 202 has a peripheral edge portion on the outer side of the ridge 202 </ b> A on the upper surface. It is positioned at a position that coincides with the upper end (open end) of the cylinder 201. Accordingly, when the lifting operation of the bottom plate member 202 by the bottom plate lifting device 161 is completed, the can body 200 in a state where the bottom plate member 202 is press-fitted into the opening end of the cylindrical body 201 (see the shape of the can body 200 shown in FIG. 1). Produced.

  When the predetermined position in the hollow portion of the cylindrical body 201 is not the above-mentioned opening end but a position lower than the opening end, as shown in FIGS. 13 (a) and 13 (b), the three beams 1621 A configuration may be adopted in which positioning feet 1621B are added to the lower surface. With this configuration, the upper surface of the bottom plate member 202 (the upper end of the ridge 202A or the upper surface other than the ridge 202A) is in contact with the lower end of the foot 1621B of the beam 1621 as shown in FIG. Since the upward movement of the bottom plate member 202 is restricted, the bottom plate member 202 can be positioned at a predetermined position lower than the opening end in the hollow portion of the cylindrical body 201.

  When the bottom plate pushing-up device 161 finishes pushing up the bottom plate member 202, the bottom plate member positioning device 16 raises the presser member 162 to the retracted position, and then retracts the posture of the presser member 162. Thereby, the positioning process of the bottom plate member 202 in the cylindrical body 201 is completed, and the production of the can body 200 in which the bottom plate member 202 is press-fitted into the opening end of the cylindrical body 201 is completed.

  Thereafter, the process proceeds to step 5, and the welding apparatus 17 welds the peripheral edge of the bottom plate member 202 of the can body 200 and the inner peripheral surface of the cylinder body 201 by arc welding or the like, thereby completing the can body 200 that is a material of the tank. The completed can body 200 is discharged to the can body discharge base 18 by the cylindrical body loading / unloading device 12.

  As described above, according to the can assembly apparatus A according to the present embodiment, the bottom plate is attached to the tubular body deforming device 15 that deforms the cross-sectional shape of the tubular body 201 and the tubular body 201 that is deformed into an elliptical cross-sectional shape. The bottom plate member insertion device 14 for inserting the member 202 is configured by a robot, and the robot performs the insertion work of the bottom plate member 202 into the hollow portion of the cylindrical body 201, thereby reducing the number of workers in the manufacturing process of the can body 200. (To save labor). That is, it is possible to realize full automation by the unmanned manufacturing process of the can body 200.

  In addition, the robot performs a deformation process for deforming the cross-sectional shape of the cylindrical body 201 into an elliptical shape and an insertion process for inserting the bottom plate member 202 into the elliptical opening end with the posture of the bottom plate member 202 inclined, and the cylindrical body. Since the bottom plate member 202 inserted into 201 is positioned by the bottom plate member positioning device 16, the cross-sectional deformation process of the cylinder 201, the insertion process of the plate member 202 into the hollow part of the cylinder 201, and the inside of the hollow part of the cylinder 201 The bottom plate member 202 can be positioned with high accuracy. Thereby, the variation in the welding position of the bottom plate member 202 and the cylinder 201 (for example, the contact position between the periphery of the bottom plate member 202 and the inner peripheral surface of the cylinder 201) can be reduced, and the welding of the bottom plate member 202 and the cylinder 201 by the welding robot can be reduced. The welding quality can be improved and stabilized.

  In the first embodiment, the can 200 having a circular cross section has been described. However, the cross sectional shape of the can 200 is not limited to a circular shape. For example, it may be oval.

  In the first embodiment, the can 200 serving as a material for the transformer tank has been described. However, the present invention is not limited to the transformer tank, and the predetermined portion of the hollow portion of the cylindrical body 201 is not limited thereto. After the bottom plate member 202 is press-fitted into the position, it can be widely applied to the manufacturing process of the can body 200 in which the cylindrical body 201 and the bottom plate member 202 are connected by welding or the like.

A can assembly apparatus 1 can assembly system 11 cylinder stocker 12 cylinder loading / unloading apparatus 13 bottom plate member stocker 14 bottom plate member insertion device 15 cylinder deformation device 151A, 151B first pressing rod 152A, 152B second pressing Rod 153 Elevator 1531, 1532 Support rods 1533A, 1533B Elevating plates 1534A, 1534B Elevating mechanism 1535 Drive source 16 Bottom plate member positioning device 161 Bottom plate lifting device 1611A Abutting portion 1611 Screw shaft 1613 Housing 1612 Nut 162 Holding member 1621 Beam holding member 1621 Part 1621B foot 1622 posture switching device 163 elevator

Claims (7)

A cylindrical body deforming means for deforming the cross-sectional shape of the cylindrical body by pressing the side surface of the cylindrical body having one end or both ends open from two opposite directions;
After holding the plate-like member having the same shape as the cross-sectional shape of the cylindrical body in the first posture in which the plate surface of the plate-like member is inclined and inserting it into the hollow portion from the open end of the cylindrical body, Plate-like member insertion means for changing the posture of the plate-like member in a direction in which the inclination angle of the plate surface is reduced, and locking the peripheral edge of the plate-like member to the inner side surface of the cylindrical body;
Plate-like member moving means for moving the plate-like member locked to the inner surface of the cylinder to a predetermined position on the opening end side of the cylinder;
A can assembly apparatus. The cylindrical body deformation means is
A pair of first pressing means provided at positions outside the cylindrical body in the two directions so as to advance and retreat in a direction toward the central axis of the cylindrical body;
A pair of second pressing means provided at positions outside the cylindrical body in two directions orthogonal to the two directions so as to be able to advance and retract in a direction toward the central axis of the cylindrical body;
A computing means for computing an ellipse having the minor axis as the axis of the two directions and the major axis of the two directions orthogonal to the two directions;
First control means for controlling the positions at which the pair of first pressing means abut against the side surfaces of the cylindrical body to both end positions of the elliptical short axis calculated by the calculation means;
Second control means for controlling the positions at which the pair of second pressing means contact the side surfaces of the cylindrical body to both end positions of the elliptical long axis calculated by the calculation means;
The can assembly apparatus according to claim 1, comprising: The plate-like member moving means is
Abutting means for abutting on a plate-like member locked in the hollow portion of the cylindrical body;
Third control means for moving the contact means in contact with the plate-shaped member toward the opening end side of the cylindrical body;
A movement restricting means disposed at the predetermined position and restricting the movement of the plate-like member by the contact means;
The can assembly apparatus according to claim 1, comprising: The predetermined position is an opening end of the cylindrical body,
The plate-like member is a bottom plate member that seals the opening end of the cylindrical body,
The movement restricting means is a pressing member that is placed on the opening end of the cylindrical body after the plate-like member inserting means inserts the plate-like member into the cylindrical body.
The can assembly apparatus according to claim 3. The cylindrical body deforming means is constituted by a first robot having a pressing tool attached to an arm tip,
The plate member insertion means is constituted by a second robot having a holding tool for holding the plate member attached to an arm tip.
The can assembly apparatus according to any one of claims 1 to 4. The plate-like member moving means is
A jack arranged at a position where the cylindrical body of the work table is placed vertically;
A third robot having a holding tool for holding the pressing member at the arm tip;
Composed of,
The can assembly apparatus according to claim 4 or 5. The two first robots having the pressing tool attached to the tip of the arm respectively press the side surfaces of the cylindrical body having one end or both ends opened from two opposite directions to deform the cross-sectional shape of the can body. A first step;
A second robot having a holding tool attached to the arm tip, holding a plate-like member having the same shape as the cross-sectional shape of the cylindrical body, and holding the plate surface of the plate-like member in an inclined posture. After inserting into the hollow portion from the opening end of the cylindrical body, the posture of the plate-like member is changed in a direction in which the inclination angle of the plate surface becomes smaller, and the peripheral edge of the plate-like member is set to the inner side surface of the cylindrical body. A second step of locking;
A third robot in which a holding tool for holding the pressing member is attached to the tip of the arm, and a third step of placing the pressing member on the opening end of the cylindrical body;
A fourth step of moving the plate-like member up to a position where it comes into contact with the pressing member with a jack disposed at a lower portion of the plate-like member of the hollow portion of the cylindrical body;
A can assembly method comprising:

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