JP2023001238A5

JP2023001238A5 - Automatic tube expansion device and automatic tube expansion method

Info

Publication number: JP2023001238A5
Application number: JP2022177761A
Authority: JP
Filing date: 2022-11-07
Publication date: 2023-02-08
Anticipated expiration: 2039-02-27

Description

本発明は、自動拡管装置および自動拡管方法に関する。 The present invention relates to an automatic tube expansion device and an automatic tube expansion method .

本発明は、拡管作業の効率を向上させることができる自動拡管装置および自動拡管方法を提供することを課題とする。 An object of the present invention is to provide an automatic tube expansion device and an automatic tube expansion method that can improve the efficiency of tube expansion work.

前記課題を解決するため、本発明に係る自動拡管装置は、チューブの拡管加工を行う拡管装置と、前記拡管装置を支持して移動させるロボットと、を備える自動拡管装置である。前記拡管装置は、エキスパンダと、回転駆動機と、クランプ装置と、移動装置と、を有する。前記エキスパンダは、マンドレル、カラー部材、筒状のフレーム、および複数のローラを有している。筒状の前記フレームは、前記カラー部材の内部に回転可能に支持されている。複数の前記ローラは、前記フレームに回転自在に保持されている。前記回転駆動機は、前記マンドレルを回転駆動する。前記クランプ装置は、前記カラー部材をクランプする。前記移動装置は、前記クランプ装置を前記エキスパンダの軸方向に移動させる。 In order to solve the above-mentioned problems, an automatic tube expansion device according to the present invention is an automatic tube expansion device comprising a tube expansion device that expands a tube, and a robot that supports and moves the tube expansion device. The tube expansion device has an expander, a rotary drive, a clamping device, and a moving device. The expander has a mandrel, a collar member, a tubular frame and a plurality of rollers. The cylindrical frame is rotatably supported inside the collar member. The plurality of rollers are rotatably held by the frame. The rotary driver rotates the mandrel. The clamping device clamps the collar member. The moving device moves the clamping device in the axial direction of the expander.

本発明に係る自動拡管方法は、移動装置が、ローラが回転可能に支持されているフレームを有するフレーム部材を、前記フレーム部材が外嵌されるマンドレルに対して、前記マンドレルの先端側に移動させ、クランプ装置が前記フレーム部材をクランプし、ロボットが前記フレーム部材と前記マンドレルとをチューブ内に挿入し、回転駆動機が前記マンドレルを一方向に回転し、前記フレームが前記一方向に回転して前記マンドレルが先端方向に自己推進し、前記ロボットが、前記一方向に回転しているマンドレルを先端側に送り、前記ローラが前記チューブを拡管し、前記回転駆動機の負荷トルクが予め設定された負荷トルクに達するときに、前記回転駆動機が前記マンドレルの回転を一旦停止し、前記回転駆動機が前記マンドレルを前記一方向の逆方向である他方向に回転し、前記フレームが前記他方向に回転して前記マンドレルが基端方向に自己後退し、前記ロボットが、前記他方向に回転している前記マンドレルを基端側に引き戻し、前記ロボットが、前記他方向に回転している前記マンドレルに作用する負荷トルクがなくなるときに、前記フレーム部材と前記マンドレルとを前記チューブから引き抜く、ものである。 In the automatic tube expansion method according to the present invention, the moving device moves a frame member having a frame on which rollers are rotatably supported, to the tip side of the mandrel on which the frame member is fitted. a clamp device clamps the frame member; a robot inserts the frame member and the mandrel into the tube; a rotary drive rotates the mandrel in one direction; The mandrel is self-propelled toward the distal end, the robot feeds the mandrel rotating in one direction toward the distal end, the roller expands the tube, and the load torque of the rotary driver is set in advance. When the load torque is reached, the rotary driver temporarily stops rotating the mandrel, the rotary driver rotates the mandrel in the other direction opposite to the one direction, and the frame rotates in the other direction. Rotation causes the mandrel to self-retract proximally, the robot pulls back the mandrel rotating in the opposite direction proximally, and the robot pulls back the mandrel rotating in the opposite direction. The frame member and mandrel are withdrawn from the tube when there is no load torque to act upon.

本発明によれば、拡管作業の効率を向上させることができる自動拡管装置および自動拡管方法を提供できる。 ADVANTAGE OF THE INVENTION According to this invention, the automatic tube expansion apparatus and automatic tube expansion method which can improve the efficiency of a tube expansion work can be provided.

図２は、図１のＡ方向から見た拡管装置３の平面図である。図３は、図１のＢ方向から見た拡管装置３の斜視図である。図４は、図２のＣ－Ｃ線に沿う断面図である。図５は、図４のクランプ装置が先端側に移動させられた状態を示す断面図である。図６は、ローラ４３の傾斜を模式的に示す図である。 FIG. 2 is a plan view of the tube expansion device 3 viewed from direction A in FIG. FIG. 3 is a perspective view of the tube expansion device 3 viewed from direction B in FIG. 4 is a cross-sectional view taken along line CC of FIG. 2. FIG. 5 is a cross-sectional view showing a state in which the clamp device of FIG. 4 has been moved to the distal end side; FIG. FIG. 6 is a diagram schematically showing the inclination of the roller 43. As shown in FIG.

フレーム部材４２は、ローラ４３を保持する円筒状のフレーム４４と、フレーム４４の外周面に取り付けられた環状のカラー４５とを有している。カラー４５は、フレーム４４の外周面に固定されたカラー後輪４５１と、カラー後輪４５１に対して前側（エキスパンダ４の先端側）にボールリテーナ４５２を介して回転自在に配置されるカラー前輪（カラー部材）４５３とを有する。 The frame member 42 has a cylindrical frame 44 holding the rollers 43 and an annular collar 45 attached to the outer peripheral surface of the frame 44 . The collar 45 includes a collar rear wheel 451 fixed to the outer peripheral surface of the frame 44 and a collar front wheel rotatably arranged on the front side of the collar rear wheel 451 (the tip side of the expander 4) via a ball retainer 452. (Collar member) 453 .

１自動拡管装置
２ロボット
３拡管装置
４エキスパンダ
４１マンドレル
４１１テーパ部
４２フレーム部材
４３ローラ
４４フレーム
４５カラー
４５１カラー後輪
４５２ボールリテーナ
４５３カラー前輪（カラー部材）
６回転駆動機
６１回転軸
７クランプ装置
７１クランパ
７２エアチャック
７１５当接部
８移動装置
９カップリング
９２被押圧部
９４弾性部材
１０制御装置
Ｔチューブ 1 automatic tube expansion device 2 robot 3 tube expansion device 4 expander 41 mandrel 411 tapered portion 42 frame member 43 roller 44 frame 45 collar 451 collar rear wheel 452 ball retainer 453 collar front wheel (collar member)
6 Rotary drive machine 61 Rotating shaft 7 Clamping device 71 Clamper 72 Air chuck 715 Contact part 8 Moving device 9 Coupling 92 Pressed part 94 Elastic member 10 Control device T Tube

Claims

a tube expansion device for expanding the tube;
a robot that supports and moves the tube expansion device;
An automatic tube expansion device comprising
The tube expansion device
is an expander,
a mandrel;
a collar member slidably supported on the mandrel;
a tubular frame rotatably supported inside the collar member;
a plurality of rollers rotatably held by the frame;
an expander having
a rotary driver for rotating the mandrel;
a clamping device for clamping the collar member;
and a moving device that moves the clamping device in the axial direction of the expander .

A collar rear wheel is fixed to the outer peripheral surface of the frame,
2. The automatic tube expanding device according to claim 1, wherein said collar member is rotatably arranged via a ball retainer on the distal end side of said expander with respect to said collar rear wheel.

While the expander is subjected to an axial external force, the robot is operated to move the expander in the direction of the axial external force, thereby moving the support position of the tube expansion device by the robot to the axis of the expander. Follow the movement of the direction,
In a state in which the clamping device is moved toward the distal end of the mandrel by the moving device and the collar member is clamped by the clamping device, the moving device releases the force that holds the axial position of the clamping device. 3. An automatic tube expansion device according to claim 1 or claim 2, comprising a controller.

A coupling that connects the rotating shaft of the rotary drive machine and the mandrel,
The coupling has a pressed portion that is urged in a direction opposite to the rotary driver by an elastic member. By pressing the pressed portion toward the rotary driver, the mandrel can be inserted. The automatic tube expansion device according to any one of claims 1 to 3, wherein the mandrel is attached by releasing the pressing force to the pressed portion while the mandrel is inserted.

a moving device for moving a frame member having a frame on which the roller is rotatably supported to the mandrel on which the frame member is fitted, to the tip side of the mandrel;
a clamping device clamping the frame member;
a robot inserting the frame member and the mandrel into the tube;
A rotary driver rotates the mandrel in one direction, the frame rotates in the one direction, and the mandrel is self-propelled in a distal direction;
The robot feeds the mandrel rotating in the one direction to the tip side,
the rollers expand the tube,
when the load torque of the rotary drive machine reaches a preset load torque, the rotary drive machine temporarily stops rotating the mandrel;
the rotary driver rotates the mandrel in the other direction opposite to the one direction, the frame rotates in the other direction, and the mandrel self-retracts in the proximal direction;
the robot pulls the mandrel rotating in the other direction back proximally;
the robot withdraws the frame member and the mandrel from the tube when the load torque acting on the mandrel rotating in the other direction ceases;
Automatic tube expansion method.

When the mandrel is subjected to an external axial force in the case where the mandrel rotates in the one direction and self-propels in the distal direction and in the case where the mandrel rotates in the other direction and self-retracts in the proximal direction, 6. The automatic tube expanding method according to claim 5, wherein the robot moves the mandrel in the direction of the axial external force so that the position of the mandrel supported by the robot follows the axial movement of the mandrel.

In a state in which the moving device moves the clamping device to the distal end side of the mandrel and the frame member is clamped by the clamping device, the moving device releases the force that holds the axial position of the clamping device. The automatic tube expansion method according to claim 5 or 6, wherein