KR102427837B1 - Automatic tube expanding device - Google Patents

Abstract

An automatic tube expander including a robot (2) that supports and moves the tube expander for performing tube expansion processing as an automatic tube expander capable of improving the efficiency of a tube expanding operation is provided. The tube expansion device is rotatably supported by a tubular frame member fitted to the outside so as to be slidable and rotatable to the mandrel 41 and the mandrel 41 having a tapered portion 411 having a small diameter at the tip side on the outer circumferential surface. An expander (4) having a plurality of rollers arranged obliquely with respect to the axial direction, a rotary actuator (6) for rotationally driving a mandrel (41), a clamping device (7) for clamping the frame members of the expander (4), a clamping device ( A moving device (8) for moving 7) in the axial direction of the expander (4), and a position sensor (200) for detecting the position of a support member (73) provided at the tip of the moving device (8) are provided.

Description

Automatic tube expansion device {AUTOMATIC TUBE EXPANDING DEVICE}

The present invention relates to an automatic tube expansion device.

DESCRIPTION OF RELATED ART Conventionally, the automatic tube expansion apparatus provided with the tube expansion apparatus which performs the tube expansion process of a tube, and the robot which supports and moves the tube expansion device is proposed (for example, patent document 1).

The pipe expansion device is implemented by, for example, joining a tube constituting a heat exchanger and a tube plate to which the tube is mounted, by pressing and fixing the outer diameter of the tube with an expander to the inner surface of a mounting hole formed in the tube plate. do.

In the automatic tube expansion device described in Patent Document 1, the tube expansion device is moved by a robot to the position of the tube to be expanded.

Patent Document 1: Japanese Utility Model Publication No. 7-31853

However, the gap between the inner diameter of the tube and the outer diameter of the expander is small. For example, in a small one, it is only about 0.2 mm. In addition, there are many factors that prevent normal insertion, such as sagging of the tube itself, bending of the tool, and fluctuation of the image processing result due to the state of the tube cross section, so that insertion is impossible. In addition, in addition to the occurrence of damage to the tool due to the insertion failure, there is a risk that quality defects may occur if the tube expansion is continued with a worn tool.

Therefore, in order to prevent insertion failure by detecting the collision with the tube plate and the jamming of the tube and the roller when the expander is inserted, further improvement is required.

In view of these problems, an object of the present invention is to provide an automatic tube expanding apparatus capable of improving the efficiency of a tube expanding operation.

The automatic tube expanding device of the present invention is an automatic tube expanding device comprising a tube expanding device for performing tube expansion processing, a robot supporting and moving the tube expanding device, and a control device for controlling the tube expanding device and the robot, the tube expanding device comprising: , a mandrel formed on the outer circumferential surface with a tapered portion having a small diameter at the tip, a cylindrical frame member slidably and rotatably inserted outside the mandrel, and rotatably supported by the frame member in the axial direction of the frame member An expander having a plurality of rollers disposed obliquely to each other, a rotary actuator for rotationally driving the mandrel of the expander, a clamping device for clamping a frame member of the expander, a moving device for moving the clamping device in an axial direction of the expander, and a moving device It is characterized in that it is provided with a detection device for detecting the position of the moving part.

ADVANTAGE OF THE INVENTION According to this invention, the automatic tube expansion apparatus which improved the efficiency of a tube expansion operation is provided.

1 is a schematic side view of an automatic tube expansion device according to an embodiment of the present invention.
It is a perspective view which shows the structure of the principal part of the automatic tube expansion apparatus which concerns on embodiment.
It is a front view which shows the operation part of the automatic tube expansion apparatus which concerns on embodiment.
4 is a schematic diagram showing a state in which a tube plate or tube cross section and an expander tip collide in the automatic tube expansion device according to the embodiment.
Fig. 5 is a schematic diagram showing a state of interference caused by an inclination of an expander and a tube in the automatic tube expansion device according to the embodiment.
It is a schematic diagram which shows a mode that a tube cross section and a roller cross section interfere in the automatic tube expansion apparatus which concerns on embodiment.
It is a flowchart which shows the procedure of a pre-inspection process in the automatic tube expansion method used for the automatic tube expansion apparatus which concerns on embodiment.
Fig. 8 is a flowchart showing the order of the tube expansion process following the pre-inspection process of Fig. 7 in the automatic tube expansion method used for the automatic tube expansion device according to the embodiment.

EMBODIMENT OF THE INVENTION Hereinafter, the automatic tube expansion apparatus 1 which concerns on one Embodiment of this invention is demonstrated in detail, referring FIGS. 1-8 as appropriate.

1 is a schematic side view of an automatic tube expansion device 1 according to an embodiment of the present invention.

As shown in FIG. 1 , the automatic tube expansion device 1 according to the present embodiment includes a robot 2 , a tube expansion device 3 , a control device 10 , and a tool stocker for storing at least one expander 4 . stocker) (11). As the robot 2 of this embodiment, an articulated robot is used. The robot 2 supports and moves the tube expansion device 3 .

On the other hand, in FIG. 1, the position and attitude|position of the tube expansion apparatus 3 are moved by the robot 2, and the state and the attitude|position of the tube expansion apparatus 3 are simultaneously shown in three changes.

The tube expansion device 3 performs tube expansion processing of the tube T. The pipe expansion device 3 expands the outer diameter of the tube T by the expander 4 for joining the tube T constituting the heat exchanger and the tube plate TB to which the tube T is mounted, to form a tube plate TB. This is performed by pressing and fixing to the inner surface of the mounting hole TBa formed in the .

As shown in FIG. 2 , the tube expansion device 3 is being fixed to the tip portion 21a of the arm 21 of the robot 2 . A vision sensor 5 is fixed to the tube expansion device 3 .

The tube expanding device 3 has an expander 4 , a rotary actuator 6 , a moving device 8 and a coupling 9 .

As shown in FIG. 4 , the expander 4 has a mandrel 41 , a cylindrical frame member 42 , and a plurality of rollers 43 . In the mandrel 41, a tapered portion 411 having a small diameter at the tip side is formed on the outer peripheral surface. The frame member 42 is slidably and rotatably fitted to the outside of the mandrel 41 . The plurality of rollers 43 are rotatably supported by the frame member 42 .

The mandrel 41 has a tapered portion 411 positioned on the tip side (hereinafter also referred to as "front") of the mandrel 41, and the proximal side of the tapered portion 411 (hereinafter also referred to as "rear"). It has a cylindrical portion 412 in the shape of a column located at . A cap nut 413 is fixed to the distal end of the mandrel 41 by screw fastening. In addition, a square shank (not shown) is provided at the rear end of the mandrel 41 , and is connected to the rotation shaft of the rotation actuator 6 via a coupling 9 .

As shown in FIG. 6 , the frame member 42 has a cylindrical frame 44 supporting the roller 43 , and an annular collar 45 attached to the outer peripheral surface of the frame 44 . The collar 45 is a collar rear wheel 451 fixed to the outer circumferential surface of the frame 44, and the collar rear wheel 451 is rotatable via a ball retainer 450 in front (the tip side of the expander 4). It has a collar front wheel 453 that is arranged to be flush.

The inner diameter of the hollow portion of the frame 44 is slightly larger than the outer diameter of the circumferential portion 412 of the mandrel 41 . The mandrel 41 is inserted through the hollow portion of the cylindrical frame 44 . On the tip side of the frame 44, a plurality of roller grooves 421 which are elongated equally at intervals of, for example, 120 degrees are formed in the circumferential direction. Each of the roller grooves 421 is disposed at the same position in the longitudinal direction of the frame 44 . A plurality of rollers 43 having a truncated cone shape are coupled and supported in the roller groove 421 . The roller 43 is partially exposed to the outside and the inside in the radial direction of the frame 44 from the roller groove 421 .

The roller 43 is in contact with the outer circumferential surface of the tapered portion 411 of the mandrel 41 inside the frame 44 in the radial direction while rotating about the longitudinal central axis thereof. On the other hand, the roller 43 rotates about its longitudinal central axis during pipe expansion, and is approximately on the inner circumferential surface of the tube T expanded from the radially outer side of the frame 44 and in contact with the mandrel 41 . The opposite side is in contact.

The roller 43 is disposed with a feed angle whose central axis is inclined by a predetermined angle θ with respect to the axial direction of the frame member 42 (the same as the axial direction of the mandrel 41). . The roller 43 has a truncated cone shape having a taper opposite to the taper of the taper portion 411 of the mandrel 41 and having a half inclination on the main body portion on the collar 45 side.

The collar 45 of the frame 44 has a collar rear wheel 451, a ball retainer 450, and a collar front wheel 453 in which the outer diameter is further reduced and a female thread is formed on the inner circumferential surface.

Among them, the female screw of the collar rear wheel 451 is coupled to the male screw 452 formed on the outer peripheral surface of the rear portion of the frame member 42 . The collar rear wheel 451 is secured to the frame 44 by a lock nut member. On the other hand, the method of fixing the collar rear wheel 451 to the frame 44 may be a method using, for example, a hexagon wrench fixing screw 451a or the like other than a method using a fixing nut member.

The collar 45 also places a ball retainer 450 in front of the collar rear wheel 451 . A collar front wheel 453 is further disposed on the front side of the ball retainer 450 . Then, the collar 45 is fixed integrally with a ring member or the like with a ball retainer 450 interposed between the collar rear wheel 451 and the collar front wheel 453 .

The rotation actuator 6 of this embodiment rotationally drives the mandrel 41 of the expander 4 via the coupling 9 (refer FIG. 2). As the rotation actuator 6, a servomotor is used here. The servomotor can be connected to the control device 10 (refer to FIG. 1) to control the rotation speed. In addition, the control device 10 is configured to calculate the rotational torque by measuring the driving current generated during rotational driving and display it on the display unit 101 (refer to FIG. 3 ) for monitoring. In addition, the control device 10 is configured to be able to calculate and monitor the load torque by measuring the drive current of the arm 21 of the robot 2 .

The clamping device 7 (refer to FIG. 2 ) has a pair of clampers and an air chuck, and is supported by a support member 73 . The clamper clamps or opens the collar front wheel 453 (see FIG. 6 ) of the collar 45 of the expander 4 . The clamper clamps the expander 4 and attaches it to the support member 73 , and limits the size from the tip 4a of the expander 4 to the support member 73 to a predetermined size.

As shown in FIG. 2 , the moving device 8 moves the clamping device 7 provided on the supporting member 73 along the axial direction of the expander 4 . The moving device 8 is fixed to the casing of the rotary actuator 6 via a mounting member (not shown).

As the moving device 8 of the present embodiment, an electric cylinder device is used. The electric cylinder device is connected to the control device 10, and control to move the expander 4 along the axial direction is performed. On the other hand, when an electric cylinder device is used as the moving device 8, there is an advantage that it can be stopped at a free position with high precision compared to a hydraulic cylinder.

As the moving device 8 , it is not limited to an electric cylinder device, and a fluid pressure cylinder device using a fluid pressure may be used. In the case where precision is not particularly required, a hydraulic cylinder device may be used as the moving device 8 . Thereby, the cost can be suppressed. The moving device 8 has a main body 81 that generates a driving force, and a pair of upper and lower rods 82 that move forward and backward by the main body 81 . The tip of the rod 82 is fixed to a support member 73 as a moving part.

In addition, the tip 200a of the detection rod 200b extended from the position sensor 200 is fixed to the same mounting surface to which the tip of the rod 82 of the support member 73 is fixed.

Here, when using the servomotor of an electric cylinder as a drive source, position detection becomes possible by using the encoder of a servomotor as the position sensor 200 . In addition, when using a general-purpose motor as a drive source, the general-purpose position sensor 200 can be used. In addition, when a fluid pressure cylinder is used as a drive source, the same thing as the said general-purpose position sensor is used. As the general-purpose position sensor 200 , a laser sensor, a magnetic sensor, or the like may be used.

The expander 4 attached to the support member 73 from the tip 200a of the detection rod 200b by fixing the tip 200a of the detection rod 200b to the same mounting surface for fixing the tip of the rod 82. ) to the tip 4a becomes substantially constant. Thereby, the stroke amount L of the support member 73 by the moving device 8 becomes substantially equal to the stroke amount of the front-end|tip 4a.

Accordingly, the position sensor 200 can detect the position information of the tip 4a of the expander 4 that exists at a predetermined distance from the tip 200a by the amount of extension of the detection rod 200b.

On the other hand, the control apparatus 10 shown in FIG. 1 is a computer which controls the operation|movement of each part of the automatic tube expansion apparatus 1 by CPU executing the program memorize|stored previously in the storage means.

The control device 10 is provided with a display unit 101 . As shown in FIG. 3, the display part 101 has the touch panel 102 used as an interface with a user.

The touch panel 102 includes a set torque setting unit 103, a stroke display unit 104, an X, Y coordinate display unit 105, an X, Y coordinate unit 106 that displays information for each tube to which NO. is individually assigned. , a detected torque display unit 107 , a detected stroke display unit 108 , an indicator display lamp unit 109 indicating an operation state, an operation button unit 110 , and the like.

In addition, in this embodiment, the use of the touch panel 102 provided in the display part 101 is mentioned as an example and demonstrated. However, it is not specifically limited to this, For example, you may use other interface apparatuses, such as an operation pendant.

Among them, the detected torque display unit 107 displays the rotational torque generated during rotational driving. Then, the detected rotational torque is monitored by the X and Y coordinates 106 for each individually allocated tube.

A position sensor 200 is connected to the control device 10 . And the position sensor 200 detects the position of the support member 73 moved by the moving device 8, and transmits it to the control device 10 as a position signal.

The detected stroke display unit 108 displays the stroke L detected by the position sensor 200 . Then, the detected stroke L is monitored by the X and Y coordinates 106 for each individually allocated tube.

The control device 10 is provided with a torque fluctuation detection unit 10a, a stroke position detection unit 10b, and a stroke change determination unit 10c. The control device 10 detects the stroke position of the support member 73 of the moving device 8 by the position sensor 200 when the expander 4 is inserted into the tube T by the robot 2 . It is judged whether there is an abnormality based on the

In this way, the position of the support member 73 is used to monitor the insertion stroke when the expander 4 is inserted into the tube T. As shown in FIG. Accordingly, it is possible to accurately determine the timing at which the tube expansion torque is detected to determine whether there is an abnormality.

In addition, it is possible to discover whether there is an abnormality in the pre-inspection process before moving to the diameter expansion process. Therefore, it is possible to improve the product yield by preventing tube expansion failure.

When the tip 4a of the expander 4 provided in the tube expansion device 3 collides with the end face te of the tube plate TB or the tube T (refer to FIG. 4 ), the torque fluctuation detection unit 10a is configured to expand the tube. A collision is detected by a torque fluctuation of the robot 2 supporting the device 3 .

In this way, when the tip 4a of the expander 4 collides with the end face te of the tube plate TB or the tube T, the torque fluctuation detection unit 10a is a robot 2 that supports the tube expansion device 3 . ) to detect the torque fluctuation and determine whether there is a collision. Accordingly, the insertion abnormality can be accurately determined by determining the torque fluctuation in the stroke in which the tip 4a of the expander 4 collides with the end face te of the tube plate TB or tube T.

When the expander 4 is inserted, the stroke position detection unit 10b detects that the roller 43 or the frame 44 is caught on the tube T (see Fig. 5), and detects that the support member ( 73), it is detected based on the stroke position to determine whether there is an abnormality.

Accordingly, the stroke position detecting unit 10b detects the position at which the expander 4 is inserted, even during the stroke L shown in FIG. 1 , when the roller 43 or the frame 44 is caught in the tube T. If the position is assumed in advance, it can be accurately determined that the roller 43 or the frame 44 is an insertion error jammed in the tube.

The stroke change determination unit 10c determines the change in the stroke amount required for expansion of the expander 4 by the moving device 8 based on the position change detected by the position sensor 200 .

When the expander 4 is worn by use, the outer dimension is reduced compared to the tube diameter of the tube (T). Accordingly, the stroke change determining unit 10c can determine that the life of the expander 4 is coming to an end when the change in the stroke amount increases. Therefore, compared with the management method of replacing the expander 4 at a prescribed number of times, deterioration management of the expander 4 can be performed accurately, and durability and lifespan can be improved.

Next, operation|movement of the automatic tube expansion apparatus 1 which concerns on this embodiment is demonstrated. The operation of the automatic tube expansion device 1 is controlled by the control device 10 .

First, an automatic tube expansion operation using the automatic tube expansion device 1 according to the present embodiment will be described with reference to the flowcharts shown in FIGS. 7 and 8 . In an automatic tube expansion operation|work, a pre-inspection process and a tube expansion process are performed continuously. It is a flowchart which shows the procedure of the pre-inspection process performed in advance prior to a tube expansion process during an automatic tube expansion operation|work. In addition, FIG. 8 is a flowchart which shows the procedure of the tube expansion process performed following a pre-inspection process.

As shown in FIG. 7, first, when an automatic pipe expansion operation is started, in step S1, the clamping device 7 makes an air chuck unclamping state.

Next, in step S2, a tool diameter is made into the minimum (Min). At this time, the moving device 8 moves the frame member 42 to the front end side of the mandrel 41 with the clamping device 7 abutted against the collar front wheel 453 of the frame member 42 . Accordingly, the roller 43 is located on the small-diameter side of the tapered portion 411 of the mandrel 41, and the amount of protrusion outward in the radial direction of each roller 43 is smallest. That is, the tool diameter becomes the minimum.

In step S3 , the clamping device 7 clamps the collar front wheel 453 . From here on, the electric cylinder device of the moving device 8 is in a free state.

That is, when the clamping device 7 clamps the collar front wheel 453 of the frame member 42 , the supporting force in the axial position of the clamping device 7 by the moving device 8 is released. Accordingly, the moving device 8 enters a brake released state, that is, a floating state that moves according to an external force.

And the position of the electric cylinder detected by the position sensor 200 is memorize|stored at this time, and the memorized position becomes the origin of a cylinder. Further, the stroke of the expander 4 and the stroke L of the support member 73 are substantially equal to each other by the clamp. Thereby, using the position of the electric cylinder detected by the position sensor 200, it becomes possible to measure the position of the front-end|tip of the expander 4 with high precision.

In addition, in the floating state, when the collar 45 is pushed by the tube T or the tube plate TB, the distance from the cylinder position can be reduced.

In step S4, the robot 2 is started.

In step S5, the expander 4 of the tube expansion device 3 is sent out and moved to a position opposite to the end surface te of the tube T to be expanded. As for the position of the tube T to be expanded, the position data (design data) of the mounting hole TBa of the tube plate TB is read, or the image of the mounting hole TBa of the tube plate TB is transferred to a vision sensor ( It can be specified by reading from 5) and image processing.

In step S6, the tip of the expander 4 is fed at a predetermined speed to a position facing the end face of the tube T (quick feed control). The robot 2 starts decelerating when the expander 4 reaches several mm in front of the tube T cross section. The image read from the vision sensor 5 is image-processed by the control device 10 . Thereby, the position of the tube T used as an expansion object, the position data (design data) of the tube plate TB mounting hole TBa, etc. are read.

In step S7, the expander 4 is inserted into the tube T while maintaining the decelerated state.

In step S8, from the current change of the driving current driving the robot 2, it is determined whether or not resistance has occurred when the tip 4a of the expander 4 is inserted into the tube T.

When the robot 2 detects resistance in step S8 (YES in step S8), the process advances to step S10 to stop the robot 2 .

For example, as shown in FIG. 4 , when the tip 4a of the expander 4 collides with the end face te of the tube T, the robot 2 detects resistance at the time of insertion. Accordingly, when the current change of the driving current is detected at the position of the end surface te of the tube T, it is considered that the tip 4a of the expander 4 collides with the end surface te of the tube T, and the control device (10) immediately stops the robot 2 (refer to step S10).

If no resistance is detected in step S8 (NO in step S8), the control device 10 advances the process to step S9. In step S9, the robot 2 is operated so that the cross section of the roller 43 may be inserted into the tube T inside 1 mm from the end surface te of the tube T.

In step S9 of this embodiment, for example, as shown in FIG. 6, when the cross section of the roller 43 and the cross section of the tube T are caught, the distance from the origin to a cylinder position will decrease by 1 mm. Accordingly, when the shortening of this distance is detected by the position sensor 200 by movement (YES in step S9), the moving device 8 advances the processing to step S10 to stop the robot 2 have.

In addition, if the shortening of the distance is not detected in step S9 (NO in step S10), since the front-end|tip of the roller 43 is normally inserted in the tube, a process advances to step S11.

In step S11, the whole frame 44 is moved to the position inserted into the tube T by the operation|movement of the robot 2.

In step S12, as shown in FIG. 5, it is determined whether the tube T and the frame 44 interfere.

Accordingly, it is determined whether or not the cylinder position detected by the moving device 8 in step S13 is located at the origin. When the cylinder position is not located at the origin (NO in step S13), it is determined that the insertion is abnormal, and the process proceeds to step S10 to stop the robot 2 .

When the cylinder position is located at the origin in step S13 (YES in step S13), the process proceeds to step S14 as the insertion is normal, the pre-inspection process is finished, and the subsequent tube expansion process (steps S20 to S32) is performed (step S15). ).

FIG. 8 is a flowchart showing the procedure of the tube expansion process performed following the pre-inspection process of FIG. 7 .

If the tube expansion process is started in step S20, the rotation drive 6 will start a rotation operation in step S21. By rotating the servo drive forward, the robot 2 transports the mandrel 41 .

When a load is applied to the conveying direction in step S22, the tube expansion is started in step S23.

In step S23, the collar front wheel 453 of the collar 45 comes into contact with the end face te of the tube T during the pipe expansion process, and neither rotation nor axial position movement is performed.

However, the mandrel 41 is rotationally driven by the rotation actuator 6 . Accordingly, by the rotation of the mandrel 41, the roller 43 revolves with the frame 44 while rotating on the inner circumferential surface of the tube T, but does not move in the axial direction. The frame 44 only revolves around its central axis by rotation of the roller 43 and does not move in the axial direction.

On the other hand, a feed angle is provided on the central axis of the mandrel 41 and the central axis of the roller 43 .

Accordingly, when the mandrel 41 rotates, it acts to be naturally transferred in the axial direction. Accordingly, while the mandrel 41 rotates, it moves to the tip side by the action of the feed angle of the roller 43, ie, self-propelled. By the forward movement of the mandrel 41, the contact position of the roller 43 with the mandrel 41 is moved to the larger diameter side of the tapered portion. Therefore, the tool diameter increases, and the tube T receives a pipe expansion process.

In step S24, the expander 4 is self-propelled, and the robot 2 automatically follows the self-propelled speed of the expander 4 . While the expander 4 is receiving the self-propelled axial external force, the robot 2 is operated to move the expander 4 in the direction of the axial external force. Accordingly, the support position of the tube expansion device 3 by the robot 2 follows the movement of the mandrel 41 of the expander 4 in the axial direction.

When the servo drive detects the set torque in step S25, rotation is stopped and reverse rotation is started.

In step S26, a stroke is detected by the position sensor 200 in order to determine whether the expander 4 is inserted to the normal position or not. Here, it is monitored whether the position of the cylinder has been shrunk from the origin so that the position has shifted. For example, when the set torque is fine and detection is unstable, such as when a tube expansion tube is thin, the stroke detected by the position sensor 200 is not used as a torque as a threshold value. Thereby, the insertion state of the expander 4 into the tube T can be accurately determined.

In step S27, it is checked whether the stroke at the time of torque arrival is within a predetermined range. At this time, by confirming whether the stroke at the time of torque arrival is included in the predetermined range, a double check can be performed by torque and stroke.

If the stroke is out of the predetermined range at the preset torque indicating torque arrival in step S27 (No in step S27), it returns to step S25, and if the stroke at the set torque is within the predetermined range (Yes in step S27) , the process advances to step S28.

In step S28, when the stroke reaches a predetermined amount, rotation is stopped and reverse rotation is started.

In step S29, the expander 4 self-retracts by reverse rotation. For this reason, the robot 2 automatically follows the speed of self-retraction caused by the reverse rotation of the expander 4 and retreats.

When the load due to the reverse rotation is removed in step S30, the robot 2 takes the expander 4 out of the tube T.

In step S31, a subsequent process after completion of the tube expansion process is performed.

In a subsequent process, the transition of the stroke L required for pipe expansion is checked.

For example, when the roller 43 or the mandrel 41 is worn, the stroke required to obtain the same expansion torque (expansion diameter) increases. Therefore, the stroke obtained by the position sensor 200 is managed, and when the threshold value is exceeded, it is judged that the service life has expired, and a new expander 4 is replaced. Thereby, the wear state can be judged more reliably than management by the frequency|count.

In the present embodiment, an axial external force is applied to the expander 4 in the direction of self-advance (self-propelled) during pipe expansion processing, and an axial external force is applied in the direction of self-extraction (self-retraction) even when pulling out after expansion. . In order that this axial external force and the motive power of the robot 2 do not push each other, the robot 2 performs torque control of the driving motor provided in the robot 2 according to the load which is an axial external force. Specifically, a limit is applied by the control of the motor current so that the operation of the robot 2 follows the self-propulsion and self-retraction of the expander 4, and when an external force is applied to the robot 2, the robot 2 It operates according to external force.

On the other hand, when stopping the robot 2 in step S10, or when a preset load torque is detected, etc., rotation is stopped and the rotation actuator 6 reverses. The load torque is obtained based on the current value flowing through the rotary actuator 6 .

Then, the robot 2 transfers the mandrel 41 reversely rotated by the rotation actuator 6 to the base end side of the expander 4 . While the mandrel 41 rotates in reverse, it moves to the base end side by the action of the feed angle of the roller 43, i.e., self-retracts. By the rearward movement of the mandrel 41, the contact position of the roller 43 with the mandrel 41 is moved to the small-diameter side of the tapered portion 411, so that the tool diameter is reduced.

While the expander 4 is receiving the self-retracting axial external force, the robot 2 operates to move the expander 4 in the direction of the axial external force. Accordingly, the support position of the tube expansion device 3 by the robot 2 follows the axial movement of the mandrel 41 of the expander 4 . Then, the robot 2 pulls out the expander 4 of the tube expansion device 3 from the tube T, and stops rotational driving by the rotation actuator 6 .

As described above, in the automatic tube expansion device 1 according to the present embodiment, the efficiency of the tube expansion operation can be improved.

Specifically, the automatic tube expansion device 1 includes a position sensor 200 for detecting the position of the support member 73 in the moving device 8 for moving the expander 4 in the axial direction.

Accordingly, it is detected by the axial movement or position change of the expander 4 that the frame member 42 or the roller 43 of the expander 4 is caught by the tube T and is not inserted normally, and an abnormality can be judged. can Therefore, it is possible to improve the efficiency of the expansion operation by preventing the failure of expansion.

In this way, by monitoring the insertion stroke by the position sensor 200 separately from the tube expansion torque detected by the rotary actuator 6, failure of the tube expansion can be prevented and the efficiency of the pipe expansion operation can be improved.

In addition, stroke control for determining that the expansion of the tube has been completed is enabled by the position of the mandrel 41 detected by the position sensor 200 . For this reason, dimensional tolerances can be reduced.

Further, when the expander 4 is inserted into the tube T by the robot 2 based on the stroke obtained from the position information of the support member 73 detected by the position sensor 200, an abnormality can be determined. can

In this way, the position of the support member 73 is used to monitor the insertion stroke when the expander 4 is inserted into the tube T. Accordingly, it is possible to accurately determine the timing at which the tube expansion torque is detected to determine whether there is an abnormality.

In addition, abnormalities can be found in the pre-inspection process before moving to the diameter expansion process. For this reason, a tube expansion failure can be prevented and a product yield can be improved.

Moreover, the control apparatus 10 has the torque fluctuation detection part 10a. The torque fluctuation detection unit 10a detects that the tip 4a of the expander 4 provided in the tube expansion device 3 collides with the end face te of the tube plate TB or the tube T, the tube expansion device 3 . An abnormality is determined by detecting the torque fluctuation of the robot 2 supporting the .

That is, the position sensor 200 transmits the position information of the supporting member 73 to the control device 10 from the position information of the supporting member 73 and the expander 4 existing at a set distance from the supporting member 73 . ) as the position information of the tip 4a.

As shown in FIG. 4, the torque fluctuation detection part 10a provided in the control apparatus 10 detects that the front-end|tip 4a collides with the end surface te of the tube plate TB or the tube T, the tube expansion apparatus 3 ) can be detected by the torque fluctuation of the robot 2 supporting it.

In this way, when the tip 4a of the expander 4 collides with the end face te of the tube plate TB or the tube T, the torque fluctuation detection unit 10a is a robot 2 that supports the tube expansion device 3 . An abnormality can be detected by the torque fluctuation of

For this reason, the torque fluctuation detection unit 10a accurately detects that the insertion operation and the diameter expansion process are carried out as it is before the tip 4a of the expander 4 is inserted into the tube T, in a state in which there is a high possibility that an insertion error will occur. can be judged.

Moreover, the control apparatus 10 has the stroke position detection part 10b. The stroke position detecting unit 10b detects that the roller 43 or the frame 44 is caught in the tube T when the expander 4 is inserted, and the position sensor 200 detects the position of the supporting member 73. judge based on

In the present embodiment, by detecting the position of the support member 73 by the position sensor 200, position information of the tip 4a of the expander 4 existing at a set distance from the support member 73 can be obtained. .

And, if the position at which the expander 4 is inserted is a position assumed in advance when the roller 43 or the frame member 42 is caught in the tube T, the roller 43 or the frame member 42 is inserted into the tube. It can be accurately determined that it is an insertion abnormality in (T).

In addition, the control device 10 has a stroke change determining unit 10c. The stroke change determination unit 10c detects a change in the stroke amount required for expansion of the expander 4 by the moving device 8 with the position sensor 200 .

For this reason, the stroke change determining unit 10c can determine that the life of the expander 4 is coming to an end due to wear or the like when the change in the stroke amount increases. Therefore, deterioration management of the expander can be accurately performed, and durability and lifespan can be improved.

As mentioned above, although this invention was demonstrated based on embodiment, this invention is not limited to the structure described in the said embodiment. In the present invention, the configuration can be appropriately changed within a range that does not deviate from the gist, including suitably combining or selecting configurations described in the above embodiments. In addition, addition, deletion, and substitution can be implemented with respect to a part of the structure of the said embodiment.

For example, although the articulated robot is used as the robot 2 in the above-mentioned embodiment, it is not limited to this, For example, various robots, such as a Cartesian coordinate type robot, may be used.

In addition, although the case where the electric cylinder apparatus was used as the movement apparatus 8 was demonstrated in embodiment, it is not specifically limited to this. For example, you may comprise so that a position may be detected by an encoder using the electric cylinder apparatus which consists of a servomotor as a drive source.

In addition, a general-purpose motor may be used as a drive source of the moving device 8, or a fluid pressure cylinder may be used as a drive source. In these cases, since a general-purpose position sensor such as a laser sensor or a magnetic sensor can be used, an increase in cost can be further suppressed.

1: Automatic expansion device
2: Robot
3: Expansion device
4: Expander
6: rotary actuator
7: Clamp device
8: mobile device
41: mandrel
42: frame member
43: roller
73: support member (moving part)
200: position sensor (detection device)

Claims (5)

A tube expansion device for performing tube expansion processing;
a robot supporting and moving the tube expansion device;
An automatic tube expansion device including a control device for controlling the tube expansion device and the robot,
The tube expansion device,
A mandrel having a tapered portion having a small diameter at the tip side is formed on the outer circumferential surface, a cylindrical frame member slidably and rotatably fitted outside the mandrel, and rotatably supported by the frame member with respect to the axial direction of the frame member An expander having a plurality of rollers disposed inclinedly;
a rotation actuator for rotationally driving the mandrel of the expander;
a clamping device for clamping the frame member of the expander;
a moving device for moving the clamp device in an axial direction of the expander;
a detection device for detecting the position of the moving part in the moving device;
The moving device is configured to be in a floating state that moves according to an external force when the clamping device clamps the frame member,
the control device stores the position of the moving part detected by the detection device as an origin when the clamp device clamps the frame member, and detects in the detection device when the expander is inserted into the tube by the robot An automatic tube expansion device, characterized in that it is determined whether the expander is inserted into the tube or more based on a result of comparing the position of the moving part and the origin. delete According to claim 1,
The control device has a torque fluctuation detection unit configured to detect an abnormality by detecting, by the torque fluctuation of a robot supporting the tube expansion device, that the tip of the expander provided in the tube expansion device collides with a tube plate or tube end surface. made with, automatic expansion device. According to claim 1,
and the control device has a stroke position detecting section that detects, based on detection of the position of the moving section, that the roller or the frame member is caught in the tube when the expander is inserted. According to claim 1,
The control device includes a stroke change determination unit configured to detect, with the detection device, a change in a stroke amount required for expansion of the expander by the moving device.

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