US20150321240A1 - Swaging device and swaging method - Google Patents

Swaging device and swaging method Download PDF

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Publication number
US20150321240A1
US20150321240A1 US14/697,910 US201514697910A US2015321240A1 US 20150321240 A1 US20150321240 A1 US 20150321240A1 US 201514697910 A US201514697910 A US 201514697910A US 2015321240 A1 US2015321240 A1 US 2015321240A1
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United States
Prior art keywords
roller
tubular body
swaging
end plate
robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US14/697,910
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English (en)
Inventor
Akiyoshi Yamamoto
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Motor Corp
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Toyota Motor Corp
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Filing date
Publication date
Application filed by Toyota Motor Corp filed Critical Toyota Motor Corp
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA reassignment TOYOTA JIDOSHA KABUSHIKI KAISHA ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: YAMAMOTO, AKIYOSHI
Publication of US20150321240A1 publication Critical patent/US20150321240A1/en
Abandoned legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D41/00—Application of procedures in order to alter the diameter of tube ends
    • B21D41/04—Reducing; Closing
    • B21D41/045—Closing
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D39/00—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders
    • B21D39/02—Application of procedures in order to connect objects or parts, e.g. coating with sheet metal otherwise than by plating; Tube expanders of sheet metal by folding, e.g. connecting edges of a sheet to form a cylinder
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D19/00—Flanging or other edge treatment, e.g. of tubes
    • B21D19/02—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge
    • B21D19/04—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers
    • B21D19/06—Flanging or other edge treatment, e.g. of tubes by continuously-acting tools moving along the edge shaped as rollers working inwardly
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
    • B21D43/00—Feeding, positioning or storing devices combined with, or arranged in, or specially adapted for use in connection with, apparatus for working or processing sheet metal, metal tubes or metal profiles; Associations therewith of cutting devices
    • B21D43/003—Positioning devices

Definitions

  • the present invention relates to a swaging device and a swaging method.
  • the present invention relates to a swaging device and a swaging method in which an end of a tubular body fixed on a rotatable table and a circumferential edge of an end plate for closing an opening of the tubular body are swaged together.
  • a muffler of an automobile has usually a structure in which a pressed article is attached to a main pipe by a swaging process.
  • swaging is performed by pushing a roller into an end of a main pipe and a circumferential edge of a pressed article by a conforming method (or copying method) by using a model form (or die).
  • swaging is performed by placing a flange of a tubular body formed by raising an end of the tubular body outward and a circumferential edge of an end plate for closing an opening of the tubular body on top of one another, holding the tubular body and the end plate by a core metal disposed inside the tubular body and receiving means disposed outside the end plate, pushing a roller onto the core metal, sandwiching the flange of the tubular body and the circumferential edge of the end plate by the roller and the core metal, and conforming the roller to a rotation of the tubular body.
  • a typical swaging device has a configuration in which a model form is disposed inside a tubular body, and a roller is pushed so that the model form and the roller sandwich the flange of the tubular body and the circumferential edge of the end plate therebetween.
  • this mechanism since a reactive force to the force for pushing the flange of the tubular body and the circumferential edge of the end plate exerted by the roller is transferred to the mechanism for controlling the position of the roller, this mechanism needs to have a structure strong enough to tolerate the reactive force, thus increasing the cost for the swaging device.
  • the present invention has been made in view of the above-described circumstances, and an object thereof is to provide a swaging device and a swaging method capable of simplifying the mechanism for controlling the position of the roller(s) and contributing to a reduction in the cost thereof.
  • a first exemplary aspect of the present invention is a swaging device that swages an end of a tubular body and a circumferential edge of an end plate for closing an opening of the tubular body by utilizing a processing roller, in which
  • the processing roller is connected to a robot, the robot being configured to control a position of the processing roller, and swaging is performed by sandwiching the end of the tubular body and the circumferential edge of the end plate by an inner roller and an outer roller, the inner roller being disposed inside the tubular body, the outer roller being disposed outside the tubular body so that the outer roller is opposed to the inner roller, and the outer roller being movable toward the inner roller.
  • the force for pushing the end of the tubular body and the circumferential edge of the end plate exerted by the outer roller is roughly equal to the force acting to push back the outer roller exerted by the inner roller, and their reactive forces act on the robot so that they cancel out each other.
  • the reactive force is not substantially transferred to the robot. Therefore, there is no need to construct the robot with a strong structure, thus making it possible to simplify the robot and to contribute to a reduction in the cost thereof.
  • the robot preferably controls positions of the inner and outer rollers so that rotation axes of the inner and outer rollers are in parallel with a surface sandwiched by the inner and outer rollers in the tubular body, and a direction in which the outer roller moves toward the inner roller is disposed on a normal of the sandwiched surface.
  • the above-described swaging device preferably further includes a first grasping part and a second grasping part for sandwiching and fixing the tubular body, and
  • the first and second grasping parts can preferably be replaced according to a shape of the tubular body to be fixed.
  • the first and second grasping parts can be replaced according to the shape of the tubular body, thus increasing the general-purpose property of the swaging device.
  • the outer roller preferably includes a first roller and a second roller, and
  • a straight line extending in a direction in which the first roller moves toward the inner roller and a straight line extending in a direction in which the second roller moves toward the inner roller preferably intersect with each other.
  • the first and second rollers can be easily chosen, thus improving the productivity.
  • the robot preferably controls the positions of the inner and outer rollers so that their positions conform to the end of the tubular body and the circumferential edge of the end plate.
  • the above-described swaging device preferably further includes a pressure adjustment unit that adjusts the force for pushing the end of the tubular body and the circumferential edge of the end plate in the outer roller to a value equal to or lower than a predetermined threshold.
  • the above-described swaging device preferably further includes a rotatable table that rotates the tubular body, and
  • the robot and the rotatable table preferably operate in cooperation with each other.
  • Another exemplary aspect of the present invention is a swaging method for swaging an end of a tubular body and a circumferential edge of an end plate for closing an opening of the tubular body by utilizing a processing roller, the swaging method including:
  • a force for pushing the end of the tubular body and the circumferential edge of the end plate exerted by the outer roller is roughly equal to a force acting to push back the outer roller exerted by the inner roller, and their reactive forces act on the robot so that they cancel out each other.
  • the reactive force is not substantially transferred to the robot. Therefore, there is no need to construct the robot with a strong structure, thus making it possible to simplify the robot and to contribute to a reduction in the cost thereof.
  • the robot preferably controls positions of the inner and outer rollers so that rotation axes of the inner and outer rollers are in parallel with a surface sandwiched by the inner and outer rollers in the tubular body, and a direction in which the outer roller moves toward the inner roller is perpendicular to the sandwiched surface.
  • the robot preferably controls the positions of the inner and outer rollers so that their positions conform to the end of the tubular body and the circumferential edge of the end plate.
  • a swaging device and a swaging method capable of simplifying the mechanism for controlling the position of the roller(s) and contributing to a reduction in the cost thereof.
  • FIG. 1 is a front view showing a swaging device according to a first exemplary embodiment
  • FIG. 2 is an enlarged front view showing a swaging section of the swaging device according to the first exemplary embodiment
  • FIG. 3 is a plan view showing a state where an end of a tubular body and a circumferential edge of an end plate are sandwiched by an inner roller and an outer roller;
  • FIG. 4 is a block diagram of a control system of the swaging device according to the first exemplary embodiment
  • FIG. 5 is a plan view showing a fixing jig provided in a rotatable table
  • FIG. 6 is a front view showing the fixing jig
  • FIG. 7 shows a positional relation among the tubular body, and the inner and outer rollers when the tubular body is rotated
  • FIG. 8 shows another tubular body that can be swaged by the swaging device according to the first exemplary embodiment
  • FIG. 9 shows another tubular body that can be swaged by the swaging device according to the first exemplary embodiment
  • FIG. 10 is a plan view showing a swaging section according to a second exemplary embodiment
  • FIG. 11 is a plan view showing the swaging section according to the second exemplary embodiment.
  • FIGS. 12( a ) to 12 ( e ) schematically show a flow of a swaging process according to the second exemplary embodiment.
  • FIG. 1 is a front view showing a swaging device according to this exemplary embodiment.
  • FIG. 2 is an enlarged front view showing a swaging section of the swaging device according to this exemplary embodiment.
  • FIG. 3 is a plan view showing a state where an end of a tubular body and a circumferential edge of an end plate are sandwiched by an inner roller and an outer roller.
  • a swaging device 1 is used, for example, to manufacture a muffler of an automobile. As shown in FIGS. 1 and 2 , the swaging device 1 swages an end of a tubular body 2 and a circumferential edge of an end plate 3 for closing an opening 2 a of the tubular body 2 by utilizing processing rollers 4 .
  • the processing rollers 4 are connected to a robot 5 that controls the positions of the processing rollers 4 .
  • the processing rollers 4 includes an inner roller 6 disposed inside the tubular body 2 and an outer roller 7 disposed outside the tubular body 2 so that the outer roller 7 is opposed to the inner roller 6 .
  • the outer roller 7 can be moved toward the inner roller 6 .
  • the swaging device 1 sandwiches the end of the tubular body 2 and the circumferential edge of the end plate 3 by the inner and outer rollers 6 and 7 and thereby swages them together.
  • the swaging device and the swaging method control the robot 5 , dispose the inner roller 6 inside the tubular body 2 , dispose the outer roller 7 outside the tubular body 2 so that the outer roller 7 is opposed to the inner roller 6 , sandwich the end of the tubular body 2 and the circumferential edge of the end plate 3 by the inner and outer rollers 6 and 7 by moving the outer roller 7 toward the inner roller 6 , and thereby swage them together.
  • the force for pushing the end of the tubular body 2 and the circumferential edge of the end plate 3 exerted by the outer roller 7 is roughly equal to the force acting to push back the outer roller 7 exerted by the inner roller 6 , and their reactive forces act on the robot 5 so that they cancel out each other.
  • the reactive force is not substantially transferred to the robot 5 . Therefore, there is no need to construct the robot 5 with a strong structure, thus making it possible to simplify the robot 5 and to contribute to a reduction in the cost thereof.
  • FIG. 4 is a block diagram of a control system of the swaging device according to this exemplary embodiment.
  • FIG. 5 is a plan view showing a fixing jig provided in a rotatable table.
  • FIG. 6 is a front view showing the fixing jig.
  • a tubular body 2 and an end plate 3 used in this exemplary embodiment are explained hereinafter. Note that the following explanations of the tubular body 2 and the end plate 3 are given with reference to the right side of FIG. 1 .
  • the tubular body 2 is, for example, a main pipe of a rolled muffler of an automobile, and is formed by shaping a steel plate into a tubular shape.
  • the tubular body 2 according to this exemplary embodiment is a straight pipe having a rounded-corner rectangular shape in a cross section when cut on a plane perpendicular to the height direction of the tubular body 2 .
  • each opened end of the tubular body 2 is formed as a flange 2 b that is formed by raising the end of the tubular body 2 outward.
  • the cross-sectional shape of the tubular body 2 as cut on the plane perpendicular to the height direction of the tubular body 2 may be other shapes such as an ellipse and a circle. Further, the shape of the tubular body 2 as viewed in the thickness direction may be roughly a trapezoid.
  • the end plate 3 is, for example, a pressed article formed by pressing a steel plate.
  • the end plate 3 according to this exemplary embodiment has a rounded-corner rectangular shape as viewed in the height direction of the end plate 3 so that it corresponds to the shape of the tubular body 2 .
  • an area inside a circumferential edge 3 a of the end plate 3 is formed as a planar section 3 b that is recessed with reference to the circumferential edge 3 a .
  • a rising section 3 c is interposed between the circumferential edge 3 a and the planar section 3 b .
  • the shape of the end plate 3 may be defined as appropriate according to the shape of the opened end of the tubular body 2 .
  • the swaging device 1 includes a rotatable table 8 , a swaging section 9 , a robot 5 , and a control unit 10 .
  • the rotatable table 8 includes a fixing jig 11 and a main body 12 .
  • the fixing jig 11 includes a first fixing part 11 a , a second fixing part 11 b , a first drive mechanism 11 c , a second drive mechanism 11 d , and a housing 11 e . Note that the following explanation of the fixing jig 11 is given with reference to the fixing jig 11 shown in FIGS. 5 and 6 .
  • the first and second fixing parts 11 a and 11 b sandwich and fix the tubular body 2 therebetween.
  • the tubular body 2 is inserted between the first and second fixing parts 11 a and 11 b from above the fixing jig 11 .
  • the first and second fixing parts 11 a and 11 b sandwich and fix the tubular body 2 in the thickness direction of the tubular body 2 .
  • the first fixing part 11 a includes a grasping part 11 f and a frame part 11 g .
  • the grasping part 11 f includes a recessed part 11 h that corresponds to one of the shapes obtained by dividing the tubular body 2 into two sections in the thickness direction.
  • the grasping part 11 f is removably attached to the frame part 11 g by using, for example, an engaging structure.
  • the grasping part 11 f should be removably attached to the frame part 11 g . That is, the grasping part 11 f may be attached to the frame part 11 g by fixing means other than the engaging structure, such as a bolt.
  • the left and right ends of the frame part 11 g are connected to the first and second drive mechanisms 11 c and 11 d , respectively.
  • the second fixing part 11 b has a structure roughly identical to that of the first fixing part 11 a , and includes a grasping part 11 i and a frame part 11 j .
  • the grasping part 11 i includes a recessed part 11 k that corresponds to the other of the shapes obtained by dividing the tubular body 2 into two sections in the thickness direction.
  • the recessed part 11 k is opposed to the recessed part 11 h of the first fixing part 11 a in the front/back direction of the fixing jig 11 .
  • the shape formed by the recessed parts 11 h and 11 k of the first and second fixing part 11 a and 11 b , respectively, corresponds to the external shape of the tubular body 2 .
  • the grasping part 11 i is removably attached to the frame part 11 j by using, for example, an engaging structure.
  • an engaging structure for example, an engaging structure.
  • the only requirement is that the grasping part 11 i should be removably attached to the frame part 11 j . That is, the grasping part 11 i may be attached to the frame part 11 j by fixing means other than the engaging structure, such as a bolt.
  • the left and right ends of the frame part 11 j are connected to the first and second drive mechanisms 11 c and 11 d , respectively.
  • the first drive mechanism 11 c moves the left end of the fixing jig 11 in each of the first and second fixing parts 11 a and 11 b in the front/back direction of the fixing jig 11 .
  • the first drive mechanism 11 c according to this exemplary embodiment is disposed so that the recessed parts 11 h and 11 k of the respective first and second fixing part 11 a and 11 b are interposed between the first and second drive mechanisms 11 c and 11 d in the left/right direction of the fixing jig 11 .
  • the first drive mechanism 11 c includes rail members 11 l and a rod screw 11 m.
  • the rail members 11 l are disposed roughly in parallel with the rod screw 11 m and extend in the front/back direction of the fixing jig 11 . Further, the rail members 11 l are arranged in the vertical direction (or, up/down direction) of the fixing jig 11 with intervals therebetween, and each rail member 11 l is supported by the housing 11 e . Further, the rail members 11 l are engaged with recesses formed in the left end of the fixing jig 11 in each of the frame parts 11 g and 11 j.
  • the rod screw 11 m is rotatably supported in the housing 11 e . Further, the rod screw 11 m is screwed into a threaded hole that is formed at the left end of the fixing jig 11 and penetrates the fixing jig 11 in the front/back direction of the fixing jig 11 in each of the frame parts 11 g and 11 j.
  • the second drive mechanism 11 d moves the right end of the fixing jig 11 in each of the first and second fixing parts 11 a and 11 b in the front/back direction of the fixing jig 11 .
  • the second drive mechanism 11 d according to this exemplary embodiment includes rail members 11 n and a rod screw 11 o.
  • the rail members 11 n are disposed roughly in parallel with the rod screw 11 o and extend in the front/back direction of the fixing jig 11 . Further, the rail members 11 n are arranged in the vertical direction of the fixing jig 11 with intervals therebetween, and both ends of each rail member 11 n are supported by the housing 11 e . Further, the rail members 11 n are engaged with recesses formed in the right end of the fixing jig 11 in each of the frame parts 11 g and 11 j.
  • the rod screw 11 o is rotatably supported in the housing 11 e . Further, the rod screw 11 o is screwed into a threaded hole that is formed at the right end of the fixing jig 11 and penetrates the fixing jig 11 in the front/back direction of the fixing jig 11 in each of the frame parts 11 g and 11 j.
  • the housing 11 e has a box shape with an opening formed on the top.
  • the housing 11 e contains the first and second fixing parts 11 a and 11 b , and the first and second drive mechanisms 11 c and 11 d.
  • the first and second fixing parts 11 a and 11 b move so that they get closer to each other in the front/back direction of the fixing jig 11 . Further, when the rod screws 11 m and 11 o are rotated in the other direction, the first and second fixing parts 11 a and 11 b move away from each other in the front/back direction of the fixing jig 11 .
  • each of the grasping parts 11 f and 11 i can be attached and removed from the frame parts 11 g and 11 j , respectively, thus making it possible to replace the grasping parts 11 f and 11 i according to the shape of the tubular body 2 (i.e., the external shape of the tubular body 2 ) and thereby increase the general-purpose property of the swaging device 1 .
  • first and second fixing part 11 a and 11 b are moved by rotating the rod screws 11 m and 11 o in this exemplary embodiment, the first and second fixing part 11 a and 11 b may be moved by using an actuator(s) or the like in other embodiments. Further, the only requirement is that it should be possible for at least one of the first and second fixing part 11 a and 11 b to be moved.
  • the main body 12 includes a placement section 12 a , a support section 12 b , and a drive mechanism 12 c . Note that the following explanation of the main body 12 is given with reference to the main body 12 shown in FIG. 1 .
  • the placement section 12 a is disposed above the support section 12 b .
  • the support section 12 b supports the placement section 12 a in such a manner that the placement section 12 a can rotate around an axis AX 1 extending in the vertical direction of the main body 12 .
  • the drive mechanism 12 c is disposed on the support section 12 b.
  • the drive mechanism 12 c includes a motor, a speed reducer, and so on, and its output shaft extends in the vertical direction of the main body 12 . This output shaft is connected to the lower surface of the placement section 12 a . Further, the motor of the drive mechanism 12 c operates based on a control signal supplied from the control unit 10 .
  • the fixing jig 11 is placed and fixed so that an axis AX 2 that passes through the center O 1 (see FIG. 5 ) of the cross-sectional shape of the tubular body 2 , which is fixed to the fixing jig 11 , on a plane perpendicular to the height direction of the tubular body 2 and extends in the vertical direction of the fixing jig 11 roughly coincides with the rotation axis AX 1 of the placement section 12 a.
  • the swaging section 9 includes processing rollers 4 , a guide mechanism 13 , a drive mechanism 14 , a connection section 15 , and a pushing mechanism 16 . Note that the following explanation of the swaging section 9 is given with reference to the swaging section 9 shown in FIG. 2 .
  • the processing rollers 4 include an inner roller 6 and an outer roller 7 .
  • the inner roller 6 has a cylindrical shape as a fundamental shape, and includes a circumferential surface 6 a that comes into contact with the rising part 3 c of the end plate 3 . Further, the inner roller 6 is rotatably supported from above the inner roller 6 by the connection section 15 through a rotation shaft 6 b in a cantilever fashion. This inner roller 6 can be removably attached to the rotation shaft 6 b by using fixing means such as a nut.
  • the outer roller 7 has a cylindrical shape as a fundamental shape, and includes a circumferential surface 7 a for pushing the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 .
  • a recess 7 c for rolling in the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 and thereby swaging them together is formed.
  • outer roller 7 is rotatably supported from above the outer roller 7 by the guide mechanism 13 through a rotation shaft 7 b in a cantilever fashion.
  • This outer roller 7 can be removably attached to the rotation shaft 7 b by using fixing means such as a nut. With the above-described configuration, each of the inner and outer rollers 6 and 7 can be replaced as desired.
  • the circumferential surface 7 a of the outer roller 7 is disposed so as to be opposed to the circumferential surface 6 a of the inner roller 6 in the left/right direction of the swaging section 9 .
  • the rotation shaft 7 b of the outer roller 7 is disposed roughly in parallel with the rotation shaft 6 b of the inner roller 6 as viewed in the front/back direction of the swaging section 9 , and extends in the vertical direction of the swaging section 9 . Further, as shown in FIG.
  • a straight line L 1 that is perpendicular to the rotation shaft 6 b of the inner roller 6 and connects the rotation shaft 7 b of the outer roller 7 with the rotation shaft 6 b of the inner roller 6 extends in the left/right direction of the swaging section 9 .
  • the guide mechanism 13 guides the outer roller 7 in the left/right direction of the swaging section 9 .
  • the guide mechanism 13 according to this exemplary embodiment includes a rail member(s) 13 a , a slider 13 b , and a support member 13 c .
  • the rail member 13 a extends in the left/right direction of the swaging section 9 .
  • the slider 13 b is engaged with the rail member 13 a and fixed to the connection section 15 .
  • the support member 13 c supports the rail member 13 a , and the rotation shaft 7 b of the outer roller 7 is connected to the left end of the support member 13 c.
  • the drive mechanism 14 includes a cylinder 14 a and a pressurization/decompression unit 14 b .
  • the cylinder 14 a is fixed to the connection section 15 through a fixing jig 14 c .
  • a rod 14 d of the cylinder 14 a is connected to the support member 13 c of the guide mechanism 13 . Further, a central axis AX 3 of the rod 14 d is located on the straight line L 1 as viewed in the vertical direction of the swaging section 9 and extends in the left/right direction of the swaging section 9 .
  • the pressurization/decompression unit 14 b operates based on a control signal supplied from the control unit 10 , and extends/contracts the rod 14 d of the cylinder 14 a by pressurizing or decompressing the cylinder 14 a by using a fluid or a gas.
  • connection section 15 supports the inner roller 6 , the guide mechanism 13 supporting the roller 7 , and the drive mechanism 14 . Further, the connection section 15 is connected to the robot 5 .
  • the pushing mechanism 16 pushes the planar section 3 b of the end plate 3 .
  • the pushing mechanism 16 according to this exemplary embodiment includes a ball plunger and is fixed to the connection section 15 .
  • the robot 5 is, for example, a typical 6-axis robot arm, and its base is connected to a fixing jig 5 a . Meanwhile, the tip of the robot 5 is connected to the swaging section 9 .
  • the motor of each joint of the robot 5 is controlled based on a control signal supplied from the control unit 10 .
  • the control unit 10 controls the motor of the main body 12 in the rotatable table 8 , the pressurization/decompression unit 14 b of the drive mechanism 14 in the swaging section 9 , and the motor of each joint of the robot 5 . Details of the control will be described later. Note that the control unit 10 according to this exemplary embodiment controls the rotatable table 8 and the robot 5 in cooperation in an interlocking manner.
  • an operator disposes the tubular body 2 between the recessed parts 11 h and 11 k of the first and second fixing part 11 a and 11 b of the rotatable table 8 , and drives the first and second drive mechanisms 11 c and 11 d and thereby fixes the tubular body 2 by the recessed parts 11 h and 11 k of the first and second fixing part 11 a and 11 b .
  • the operator places the circumferential edge 3 a of the end plate 3 on the flange 2 b of the tubular body 2 so that the opening 2 a on the top of the tubular body 2 is closed.
  • the control unit 10 disposes the inner roller 6 inside the tubular body 2 by controlling the robot 5 and thereby brings the circumferential surface 6 a of the inner roller 6 into contact with the rising part 3 c of the end plate 3 , and disposes the outer roller 7 outside the tubular body 2 .
  • the control unit 10 makes the pushing mechanism 16 push the planar section 3 b of the end plate 3 .
  • control unit 10 rotates the tubular body 2 and the end plate 3 by controlling the motor of the drive mechanism 12 c in the rotatable table 8 .
  • control unit 10 extends the cylinder 14 a of the drive mechanism 14 by controlling the pressurization/decompression unit 14 b of the drive mechanism 14 in the swaging section 9 and thereby moves the outer roller 7 toward the inner roller 6 , and sandwiches the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 by the circumferential surfaces 6 a and 7 a of the inner and outer rollers 6 and 7 .
  • control unit 10 controls the robot 5 and thereby moves the inner and outer rollers 6 and 7 so that they conform the rotating tubular body 2 and the end plate 3 , i.e., move the inner and outer rollers 6 and 7 along the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 .
  • FIG. 7 shows a positional relation among the tubular body, and the inner and outer rollers 6 and 7 when the tubular body 2 is rotated.
  • FIG. 7 shows a positional relation until the tubular body 2 rotates 180°.
  • the control unit 10 controls the rotatable table 8 and the robot 5 in cooperation and thereby controls the positions of the inner and outer rollers 6 and 7 so that the straight line L 1 is disposed on a normal N 1 (of the outer circumferential surface) of the tubular body 2 that passes through a place (processing point P 1 ) where the tubular body 2 is sandwiched by the circumferential surfaces 6 a and 7 a of the inner and outer rollers 6 and 7 even when the tubular body 2 and the end plate 3 are rotated.
  • control unit 10 controls the positions of the inner and outer rollers 6 and 7 so that the rotation shafts 6 b and 7 b of the inner and outer rollers 6 and 7 are disposed roughly in parallel with a surface (i.e., a line in the strict sense) where the tubular body 2 is sandwiched by the circumferential surfaces 6 a and 7 a of the inner and outer rollers 6 and 7 as viewed in the front/back direction of the swaging section 9 , and the direction in which the outer roller 7 moves toward the inner roller 6 is roughly perpendicular to the surface where the tubular body 2 is sandwiched by the circumferential surfaces 6 a and 7 a as viewed in the vertical direction of the swaging section 9 .
  • a surface i.e., a line in the strict sense
  • the circumferential surface 6 a of the inner roller 6 roughly comes into contact with the surface of the rising part 3 c (i.e., with the line in the rising part 3 c in the strict sense) of the end plate 3
  • the circumferential surface 7 a of the outer roller 7 roughly comes into contact with the outer circumferential surface (i.e., with the line in the outer circumferential surface in the strict sense) of the tubular body 2
  • the extending/contacting direction of the cylinder 14 a of the drive mechanism 14 is roughly perpendicular to the tubular body 2 . Therefore, the extending force by the cylinder 14 a can be reliably transferred to the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 .
  • a rotation axis AX 4 of the robot 5 preferably passes through a processing point P 1 and extends in a direction in which the rotation shaft 6 b of the inner roller 6 extends.
  • the swaging device 1 preferably has a configuration in which when the outer roller 7 comes to the swaged part, the outer roller 7 can excellently get over the swaged part.
  • the swaging device 1 includes a pressure adjustment unit 14 a that adjusts the force for pushing the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 in the outer roller 7 to a value equal to or lower than a predetermined threshold between the cylinder 14 a and the pressurization/decompression unit 14 b as shown in FIG. 2 .
  • a pressure adjustment unit 14 a that adjusts the force for pushing the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 in the outer roller 7 to a value equal to or lower than a predetermined threshold between the cylinder 14 a and the pressurization/decompression unit 14 b as shown in FIG. 2 .
  • the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 are swaged together by sandwiching the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 by the inner and outer rollers 6 and 7 while rotating the tubular body 2 and the end plate 3 .
  • the force for pushing the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 exerted by the outer roller 7 is roughly equal to the force acting to push back the outer roller 7 exerted by the inner roller 6 , and their reactive forces act on the robot 5 so that they cancel out each other.
  • the reactive force is not substantially transferred to the robot 5 . Therefore, there is no need to construct the robot 5 with a strong structure, thus making it possible to simplify the robot 5 and to contribute to a reduction in the cost thereof.
  • the conforming mechanism (or copying mechanism) of conventional swaging devices can be omitted, thus simplifying the swaging device.
  • the swaging device 1 has a high general-purpose property.
  • the operating range of the robot 5 can be narrowed, thus contributing to a reduction in the size of the robot.
  • FIGS. 8 and 9 show other tubular bodies or the like that can be swaged by the swaging device 1 according to this exemplary embodiment.
  • the swaging device 1 according to this exemplary embodiment controls the positions of the inner and outer rollers 6 and 7 by using the robot 5 . Therefore, even when the outer circumferential surface of the tubular body 2 is inclined inward or outward (i.e., even when the tubular body 2 is a frustum) as shown in FIG.
  • the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 can be swaged together by inclining the rotation axis AX 4 of the robot 5 with respect to the axis that extends in the height direction of the tubular body 2 .
  • the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 can be still swaged together by inclining the rotation axis AX 4 of the robot 5 with respect to the axis that extends in the height direction of the tubular body 2 .
  • FIGS. 10 and 11 are plan views showing a swaging section according to this exemplary embodiment.
  • FIG. 12 schematically shows a flow of a swaging process according to this exemplary embodiment.
  • a fundamental configuration of a swaging section 20 according to this exemplary embodiment is roughly identical to that of the swaging section 9 according to the first exemplary embodiment, and therefore duplicated explanations thereof are omitted.
  • two swaging sections 9 are arranged roughly in a V-shape as viewed in the direction in which the rotation shaft 6 b of the inner roller 6 extends. Note that the following explanations of the swaging section 20 are given with reference to the swaging section 20 shown in FIGS. 10 and 11 .
  • a connection section 21 in this exemplary embodiment is formed roughly in a V-shape as viewed in the vertical direction of the swaging section 20 . Further, a first guide mechanism 23 and a cylinder 24 of a first drive mechanism are provided in the connection section 21 so that a first roller 22 can be moved toward the inner roller 6 . Further, a second guide mechanism 26 and a cylinder 27 of a second drive mechanism are provided in the connection section 21 so that a second roller 25 can be moved toward the inner roller 6 . Note that the first and second rollers 22 and 25 are disposed at roughly the same height as each other in the vertical direction of the swaging section 20 .
  • a straight line L 2 that is perpendicular to the rotation shaft 6 b of the inner roller 6 and connects a rotation axis 22 a of the first roller 22 with the rotation shaft 6 b of the inner roller 6 and a straight line L 3 that is perpendicular to the rotation shaft 6 b of the inner roller 6 and connects a rotation axis 25 a of the second roller 25 with the rotation shaft 6 b of the inner roller 6 are perpendicular to each other on the rotation shaft 6 b of the inner roller 6 .
  • the above-described swaging section 20 can rotate around the rotation axis AX 4 of the robot 5 , and rotates around the rotation axis AX 4 according to the progress of the swaging process. That is, the first and second rollers 22 and 25 revolve around the rotation axis AX 4 .
  • the rotation axis AX 4 of the robot 5 passes through a place (processing point P 2 ) where the tubular body 2 is sandwiched by the circumferential surface 6 a of the inner roller 6 and the circumferential surface 22 b of the first roller 22 , and extends in a direction in which the rotation shaft 6 b of the inner roller 6 extends.
  • the control unit 10 disposes the straight line L 2 on the normal N 2 (of the outer circumferential surface) of the tubular body 2 that passes through the processing point P 2 by controlling the position of the swaging section 20 using the robot 5 and rotating the swaging section 20 around the rotation axis AX 4 .
  • control unit 10 extends the cylinder 24 of the first drive mechanism and thereby moves the first roller 22 toward the inner roller 6 while rotating the rotatable table 8 .
  • control unit 10 controls the robot 5 and thereby moves the inner roller 6 and the first roller 22 so that the state where the straight line L 2 is disposed on the normal N 2 of the tubular body 2 passing through the processing point P 2 is maintained.
  • the control unit 10 disposes the straight line L 3 on the normal N 3 (of the outer circumferential surface) of the tubular body 2 that passes through a place (processing point P 3 ) where the tubular body 2 is sandwiched by the circumferential surface 6 a of the inner roller 6 and the circumferential surface 25 b of the second roller 25 by controlling the position of the swaging section 20 using the robot 5 and rotating the swaging section 20 around the rotation axis AX 4 .
  • control unit 10 extends the cylinder 27 of the second drive mechanism and thereby moves the second roller 25 toward the inner roller 6 while rotating the rotatable table 8 .
  • control unit 10 controls the robot 5 and thereby moves the inner roller 6 and the second roller 25 so that the state where the straight line L 3 is disposed on the normal N 3 of the tubular body 2 passing through the processing point P 3 is maintained.
  • this exemplary embodiment makes it possible to select the first roller 22 for the coarse process and the second roller 22 for the finishing process by controlling the robot 5 , thus improving the productivity.
  • the common inner roller 6 can be used for both the coarse process and the finishing process.
  • swaging may be performed by moving the cramping section along the flange 2 b of the tubular body 2 and the circumferential edge 3 a of the end plate 3 by using the robot 5 without rotating the rotatable table 8 .

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Forging (AREA)
  • Automatic Assembly (AREA)
  • Pressure Welding/Diffusion-Bonding (AREA)
US14/697,910 2014-05-08 2015-04-28 Swaging device and swaging method Abandoned US20150321240A1 (en)

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JP2014096760A JP5975061B2 (ja) 2014-05-08 2014-05-08 カシメ装置及びカシメ方法
JP2014-096760 2014-05-08

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CN114603040A (zh) * 2022-03-21 2022-06-10 成都东凯泽环保工程有限公司 一种翻边槽钢生产装置以及翻边槽钢

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CN107900236B (zh) * 2017-11-24 2023-10-20 安徽鲲鹏装备模具制造有限公司 一种冷柜内胆的底板四圆角铆接设备
CN111015173B (zh) * 2019-12-25 2021-06-25 伊卡路斯(苏州)车辆系统有限公司 用于铰接棚棚布与包边型材压接的压接工具
JP7312731B2 (ja) * 2020-07-21 2023-07-21 株式会社スギノマシン 自動拡管装置

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US9719404B2 (en) * 2013-04-10 2017-08-01 Toyota Jidosha Kabushiki Kaisha Muffler and its corresponding manufacturing method
CN114603040A (zh) * 2022-03-21 2022-06-10 成都东凯泽环保工程有限公司 一种翻边槽钢生产装置以及翻边槽钢

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EP2942125A1 (en) 2015-11-11

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