JP6164150B2 - Cylindrical manufacturing apparatus and manufacturing method - Google Patents

Description

  The present invention relates to a cylindrical body manufacturing apparatus and manufacturing method, for example, a manufacturing apparatus and a manufacturing method for manufacturing a cylindrical body by bending a steel sheet into a U shape and then crimping the open ends of the bent steel sheet. About.

  For example, as shown in FIGS. 17 (a) to 17 (c), a cylindrical body such as a main body tube of an automobile muffler first presses a steel material 102 against a core mold 101 with an outer mold 103, and then presses the steel material 102 into the U It is manufactured by bending into a letter shape and then caulking the open ends of the steel material 102 with caulking rollers 104. Since the core mold 101 and the outer mold 103 have a fixed shape, it is necessary to replace the core mold 101 and the outer mold 103 when changing the shape of the cylinder to be manufactured, which is a large scale.

  Here, the cylindrical body manufacturing apparatus of Patent Document 1 supports both ends of the cylindrical mold with a plurality of supports from the inside, and advances and retracts the support in the axial direction of the cylindrical mold. A cylindrical body for a muffler by making a tubular mold into a desired shape, bending the steel material into a U shape by pressing the steel material against the tubular mold having the desired shape, and then crimping the open end of the steel material Is manufacturing. That is, the manufacturing apparatus of the said cylindrical body is set as the structure which can respond by deform | transforming a cylindrical type | mold with a support body, when manufacturing the cylindrical body from which a shape differs.

Japanese Patent Laid-Open No. 10-156468

  In the cylindrical body manufacturing apparatus disclosed in Patent Document 1, it is difficult to deform a cylindrical mold into a desired shape, and it is difficult to easily manufacture a highly accurate cylindrical body with the cylindrical mold.

  This invention is made in view of the above, Comprising: It aims at providing the manufacturing apparatus and manufacturing method of a cylinder which can manufacture the cylinder which differs in shape accurately and easily.

A cylindrical body manufacturing apparatus according to an aspect of the present invention is an apparatus for manufacturing a cylindrical body by bending a steel sheet into a U shape and then crimping the open ends of the bent steel sheet.
A placing portion on which a plurality of bending dies having a recessed portion to which the steel plate is pressed and an open portion formed in the extending direction of the recessed portion are placed; and
The pressing die corresponding to the selected bending die is selected from a plurality of pressing dies corresponding to the plurality of types of bending dies, and the pressing die is inserted into the concave portion of the bending die to thereby determine the depth of the concave portion. The steel plate disposed so as to straddle the concave portion of the bending die is pushed in the depth direction of the concave portion, the steel plate is bent into a U shape, and the pressing die is pulled out from the open portion of the bending die. A molding robot,
A caulking portion for caulking each other of the open end portions of the bent steel sheet;
Is provided.
In such a cylindrical body manufacturing apparatus, a plurality of types of bending dies according to the shape of the cylindrical body to be manufactured are placed on the mounting portion, and a pressing die corresponding to the desired bending dies is selected by a molding robot. Since the steel plate is bent into a substantially U shape by moving in the depth direction of the concave portion of the bending die, it is possible to easily and accurately manufacture cylindrical bodies having different shapes. Therefore, the manufacturing apparatus of the cylinder excellent in versatility is realizable.

In the above-described cylindrical body manufacturing apparatus, it is preferable that a caulking robot that moves the caulking portion along the outer peripheral surface of the pressing die is provided.
In this way, the position of the caulking part is controlled by the caulking robot, so that the open ends of the steel sheet can be caulked obliquely, and not only a straight cylindrical body but also a tapered cylindrical body can be easily manufactured. can do.

In the cylinder manufacturing apparatus described above, the pressing die includes a plurality of pressing portions that are inserted into the concave portions of the bending die,
When the plurality of pressing portions are inserted into the concave portions of the bending die, it is preferable to include a widening portion that widens the interval between the pressing portions arranged in the width direction of the bending die in the width direction.
Thereby, a complicated-shaped cylinder can be manufactured easily.

In the cylinder manufacturing apparatus described above, the molding robot includes a first robot and a second robot,
The first robot supports one side with a portion inserted into the concave portion of the bending die in the pressing die,
The second robot supports the other side of the pressing die with a portion inserted into the concave portion of the bending die,
It is preferable that the first robot and the second robot cooperate to insert the pressing die into the concave portion of the bending die and move it in the depth direction of the concave portion.
As a result, since the pressing die is supported at both ends by the first robot and the second robot, the pressing die can be pushed below the concave portion of the bending die while maintaining the pressing die substantially horizontal.

In the above-described cylindrical body manufacturing apparatus, the pressing die includes a plurality of pressing portions that are inserted into the concave portions of the bending die, and a first support member that can be attached to and detached from one side portion of the plurality of pressing portions, A second support member detachably attached to the other side of the plurality of pressing portions,
The first robot supports the first support member, the second robot supports the second support member, and when the push die is pulled out from the opening of the bending die, the first robot The robot is preferably removed from one side of the plurality of pressing portions together with the first support member.
Thereby, the member which prevents the movement to the one side part side of a press die is lose | eliminated, and a press die can be easily pulled out from the open part of a bending die.

In the above-described cylindrical body manufacturing apparatus, it is preferable that the placement section is rotatable so that the selected bending mold is disposed at a set position.
As a result, the operating range of the molding robot and the caulking robot can be narrowed, and the molding robot and the caulking robot can be reduced in size.

The cylindrical body manufacturing method according to one aspect of the present invention is a method of manufacturing a cylindrical body by bending a steel plate into a U shape and then crimping the open ends of the bent steel sheet.
A step of placing a plurality of types of bending dies having a concave portion to which the steel plate is pressed and an open portion formed in the extending direction of the concave portion on the placement portion;
The molding robot selects the pressing die corresponding to the selected bending die from a plurality of pressing dies corresponding to the plurality of types of bending dies, and inserts the pressing die into the concave portion of the bending die. Moving in the depth direction of the recess, bending the steel plate disposed so as to straddle the recess of the bending mold in the depth direction of the recess, and bending the steel plate into a U-shape;
A step of caulking each other between the open ends of the bent steel sheet,
A step in which the molding robot pulls out the pressing die from the opening of the bending die;
Is provided.
In such a cylinder manufacturing method, a plurality of types of bending dies according to the shape of the cylinder to be manufactured are placed on the mounting portion, and a pressing die corresponding to the desired bending dies is selected by a molding robot. Since the steel plate is bent into a substantially U shape by moving in the depth direction of the concave portion of the bending die, it is possible to easily and accurately manufacture cylindrical bodies having different shapes.

In the above-described cylindrical body manufacturing method, in the step of caulking the open ends of the steel plates, the caulking robot moves the caulking portions along the outer peripheral surface of the pressing die so that the open ends are mutually connected. It is preferable to crimp.
In this way, the position of the caulking part is controlled by the caulking robot, so that the open ends of the steel sheet can be caulked obliquely, and not only a straight cylindrical body but also a tapered cylindrical body can be easily manufactured. can do.

In the above-described method of manufacturing a cylindrical body, after the step of bending the steel sheet into a U shape, the interval between a plurality of pressing portions arranged in the width direction of the bending die in the pressing die is expanded in the width direction so that the steel plate is in the concave portion. It is preferable to provide the process pressed against.
Thereby, a complicated-shaped cylinder can be manufactured easily.

In the above-described cylindrical body manufacturing method, it is preferable that the end portions of the steel plates are crimped together in a state where the pressing die is moved in the depth direction of the concave portion of the bending die and the steel plate is pressed against the concave portion. .
Thereby, it can crimp and process in the state which fixed the steel plate.

  ADVANTAGE OF THE INVENTION According to this invention, the manufacturing apparatus and manufacturing method of a cylinder which can manufacture the cylinder which differs in shape accurately and simply can be provided.

FIG. 3 is a plan view schematically showing the manufacturing apparatus of the first embodiment. It is a front view which shows the state at the time of inserting the pressing die in the manufacturing apparatus of Embodiment 1 in the recessed part of a bending die. FIG. 3 is a side view of FIG. 2. It is a figure which shows the cylinder manufactured with the manufacturing apparatus of Embodiment 1, and expands and shows the crimped part. FIG. 3 is a plan view showing a caulking portion in the manufacturing apparatus of the first embodiment. 2 is a block diagram of a control system of the manufacturing apparatus according to Embodiment 1. FIG. FIG. 6 is a diagram showing a flow after caulking in the manufacturing method of the first embodiment. FIG. 6 is a diagram showing a flow after caulking in the manufacturing method of the first embodiment. FIG. 6 is a diagram showing a flow after caulking in the manufacturing method of the first embodiment. FIG. 6 is a diagram showing a flow after caulking in the manufacturing method of the first embodiment. FIG. 5 is a diagram showing a caulking process flow in the manufacturing method of the first embodiment. It is a figure which shows typically a mode that the cylinder of Embodiment 2 is manufactured. FIG. 10 is a diagram showing a cylinder manufactured in the third embodiment. It is the figure which showed typically only the one side part vicinity of the pressing die used in Embodiment 3. FIG. FIG. 10 is a diagram showing a flow of manufacturing a cylindrical body according to the third embodiment. FIG. 10 is a diagram showing a flow of manufacturing a cylindrical body according to the third embodiment. It is a figure which shows the flow which manufactures the conventional cylinder.

  Hereinafter, specific embodiments to which the present invention is applied will be described in detail with reference to the drawings. However, the present invention is not limited to the following embodiment. In addition, for clarity of explanation, the following description and drawings are simplified as appropriate.

<Embodiment 1>
First, a cylindrical body manufacturing apparatus (hereinafter, simply referred to as a manufacturing apparatus in some cases) according to the present embodiment will be described. FIG. 1 is a plan view schematically showing the manufacturing apparatus of the present embodiment. FIG. 2 is a front view showing a state when the pressing die in the manufacturing apparatus of the present embodiment is inserted into the concave portion of the bending die. FIG. 3 is a side view of FIG. FIG. 4 is an enlarged view showing a caulked portion while showing a cylindrical body manufactured by the manufacturing apparatus of the present embodiment. FIG. 5 is a plan view showing a caulking portion in the manufacturing apparatus of the present embodiment. FIG. 6 is a block diagram of a control system of the manufacturing apparatus.

  The manufacturing apparatus 1 according to the present embodiment is used when manufacturing a cylinder such as a main tube of an automobile muffler, and after bending the steel plate into a substantially U shape, the open end of the bent steel plate (that is, bending) The cylindrical body is manufactured by caulking each other between the open portions arranged in the depth direction in the steel plate thus obtained.

  As shown in FIGS. 1 and 6, the manufacturing apparatus 1 includes a rotary table 2, a molding robot 3, a caulking device 4, and a control device 5. As shown in FIGS. 1 to 3, the turntable 2 includes a mounting portion 2 a on which the bending die 7 is mounted. The mounting portion 2 a of the manufacturing apparatus 1 is driven by a driving device (not shown). It rotates around a rotation axis O1 extending in the vertical direction. The drive device includes a motor, a speed reducer, and the like, and the motor operates based on a control signal input from the control device 5.

  Here, in the present embodiment, the shapes of the bending die 7 and the pressing die 8 for manufacturing the rounded rectangular straight cylindrical body 6 shown in FIG. 4 will be exemplarily described below. The following description of the bending die 7 and the pressing die 8 will be made based on the form of the bending die 7 and the pressing die 8 shown in FIGS.

  As shown in FIG. 1, the bending die 7 is placed and fixed on the placement portion 2a. As shown in FIGS. 2 and 3, the bending die 7 according to the present embodiment includes a molding portion 7a and a horizontal portion 7b.

  The molding portion 7a has a substantially U-shaped recess 7c extending in the left-right direction of the bending die 7 when viewed from the left-right direction of the bending die 7, and the left and right side surfaces of the molding portion 7a (ie, the extending direction of the recess 7c). The opening 7d is formed on the upper surface of the molding portion 7a. By pressing the steel plate 9 against the recess 7c, the steel plate 9 is bent into a substantially U shape.

  The horizontal portion 7b extends from the upper end portion of the molding portion 7a toward the outside of the concave portion 7c with the concave portion 7c interposed therebetween. That is, the horizontal portions 7b extend in the front-rear direction of the bending die 7 with the recess 7c interposed therebetween. On this horizontal part 7b, the steel plate 9 is mounted so that the recessed part 7c may be straddled.

  Such a bending die 7 has a shape of the concave portion 7c depending on the shape of the cylinder to be manufactured, and a plurality of bending dies 7 are prepared. The plurality of bending dies 7 are respectively tangential directions of a common circle centered on the rotation axis O1 of the mounting portion 2a and the horizontal direction of the bending dies 7 (that is, the extending direction of the recess 7c in the bending dies 7). Are arranged to be substantially equal to each other. The plurality of bending dies 7 are arranged at substantially equal intervals around the rotation axis O1 of the placement portion 2a.

  The pressing die 8 is a roll bar unit including a first roll bar 10, a second roll bar 11, a first support member 12, and a second support member 13, and the steel plate 9 is used as a concave portion 7 c of the bending die 7. The steel plate 9 is pressed and bent into a substantially U shape.

  The first roll bar 10 has an inverted cylindrical shape, and the length in the left-right direction of the first roll bar 10 is longer than the length in the left-right direction of the bending die 7. Further, projecting portions 10 a project in the left-right direction of the first roll bar 10 from both ends in the left-right direction of the first roll bar 10. The second roll bar 11 has the same shape as the first roll bar 10, and the protruding portion 11 a protrudes from the left and right ends of the second roll bar 11 in the left and right direction of the second roll bar 11. .

  The central axis AX1 of the first roll bar 10 and the central axis AX2 of the second roll bar 11 extend in the left-right direction of the pressing die 8 with a space in the vertical direction of the pressing die 8. .

  The first support member 12 can be attached to and detached from the right side portions of the first roll bar 10 and the second roll bar 11. The second support member 13 can be attached to and detached from the left side portions of the first roll bar 10 and the second roll bar 11. Such first support member 12 and second support member 13 are arranged so as to sandwich the first roll bar 10 and the second roll bar 11 arranged as described above.

  Specifically, the first support member 12 has a plate-like member having a fitting hole 12a into which the right protrusion 10a of the first roll bar 10 and the right protrusion 11a of the second roll bar 11 are fitted. It is the structure formed in 12b. And from the plate-shaped member 12b, the protrusion part 12c is on the opposite side (namely, right side in this Embodiment) with respect to the 1st roll bar 10 and the 2nd roll bar 11 on both sides of the said plate-shaped member 12b. Protruding.

  The second support member 13 is configured substantially the same as the first support member 12. In other words, the second support member 13 has a plate-like member 13b having a fitting hole 13a into which the left protrusion 10a of the first roll bar 10 and the left protrusion 11a of the second roll bar 11 are fitted. It is the formed structure. From the plate member 13b, the protruding portion 13c is provided on the opposite side (that is, the left side in the present embodiment) with respect to the first roll bar 10 and the second roll bar 11 with the plate member 13b interposed therebetween. Protruding.

  A plurality of such pressing dies 8 are prepared so as to correspond to the shapes of the concave portions 7c of the plurality of bending dies 7 described above. For example, the pressing dies 8 are placed on a placement portion 14 (see FIG. 1). Yes.

  The molding robot 3 supports the press die 8 and controls the position. Here, the following description of the molding robot 3 is based on the form of the manufacturing apparatus 1 shown in FIG.

  The molding robot 3 of the present embodiment includes a first robot 15 and a second robot 16. The first robot 15 and the second robot 16 are, for example, general six-axis robots, and the motors of the respective joints operate based on control signals input from the control device 5.

  The first robot 15 and the second robot 16 are arranged in a region opposite to the region where the caulking device 4 is arranged with the rotary table 2 in between in the front-rear direction of the manufacturing apparatus 1. And the 1st robot 15 and the 2nd robot 16 are arrange | positioned so that the rotation table 2 may be pinched | interposed in the left-right direction of the manufacturing apparatus 1. FIG.

  The root portions of each of the first robot 15 and the second robot 16 are connected to a fixing jig (not shown). On the other hand, holding portions 17 and 18 for holding the pressing die 8 are connected to the tip portions of the first robot 15 and the second robot 16.

  As shown in FIG. 2, the holding portion 17 is formed with a fitting hole 17 a into which the protruding portion 12 c of the first support member 12 in the pressing die 8 is fitted. The holding portion 18 is formed with a fitting hole 18a into which the protruding portion 13c of the second support member 13 in the pressing die 8 is fitted.

  Incidentally, in the present embodiment, as shown in FIG. 1, the mounting portion 14 is disposed in the vicinity of the first robot 15. In addition, a placement unit 19 on which the steel plate 9 cut according to the shape of the cylinder to be manufactured is placed in the vicinity of the second robot 16.

  The crimping device 4 caulks each other between the end portions 9a and 9b along the end portions 9a and 9b (see FIG. 11) sandwiching the open portion formed on the upper surface of the steel plate 9 bent in a substantially U shape. Lock seam processing). The crimping device 4 according to the present embodiment includes a crimping unit 20 and a crimping robot 21.

  The caulking part 20 is a general caulking roller unit as shown in FIG. Here, the following description of the caulking part 20 will be made based on the form of the caulking part 20 shown in FIG.

  The caulking portion 20 includes a housing 22 having open portions on both side surfaces and a lower surface in the left-right direction, and a diaphragm guide 23 and a plurality of rollers 24 are provided in the housing 22.

  When the end portions 9a and 9b of the substantially U-shaped steel plate 9 are inserted from the widened side opening portion disposed in the left-right direction of the housing 22, the aperture guide 23 disposed so as to face the crimping portion 20 in the front-rear direction. Thus, the interval between the end portions 9a and 9b of the steel plate 9 is narrowed, and then the end portions 9a and 9b of the steel plate 9 are crimped into a form enlarged in FIG.

  The caulking robot 21 is, for example, a general 6-axis robot arm. The root portion of the caulking robot 21 is fixed to a fixing jig (not shown). On the other hand, the distal end portion of the caulking robot 21 is connected to the upper surface of the housing 22 in the caulking portion 20. The motors of the joints of the caulking robot 21 operate based on a control signal input from the control device 5.

  As will be described in detail later, the control device 5 is a motor of a driving device in the rotary table 2, motors of joints of the first robot 15 and the second robot 16 in the molding robot 3, and a caulking robot 21 in the caulking device 4. Control the motor of each joint. Here, the control device 5 of the present embodiment associates and controls the first robot 15 and the second robot 16.

  Next, a method for manufacturing a cylindrical body according to the present embodiment (hereinafter sometimes simply referred to as a manufacturing method) will be described. 7 to 10 are diagrams showing a flow after caulking in the manufacturing method of the present embodiment. FIG. 11 is a diagram showing a flow of caulking in the manufacturing method of the present embodiment. Here, also in the manufacturing method of the present embodiment, it is assumed that the rounded rectangular straight shape shown in FIG. 4 (that is, a shape having the same cross-sectional shape in the left-right direction of the cylindrical body 6) is manufactured. . In the following description of the manufacturing method, description will be made based on the form of the manufacturing apparatus 1 shown in FIG.

  First, the operator places a plurality of types of bending dies 7 on the placement portion 2a. Next, the control device 5 controls the motor of the driving device in the rotary table 2 to rotate the mounting portion 2a, and arranges the bending die 7 for manufacturing the cylindrical body 6 at a desired position. As shown in FIG. 1, in the control device 5 of the present embodiment, the extending direction of the recess 7 c in the desired bending mold 7 extends in the left-right direction of the manufacturing apparatus 1, and the bending mold 7 is the first bending mold 7. The placement unit 2a is rotated so as to be disposed on the robot 15 and the second robot 16 side.

  Specifically, the control device 5 controls the motor of the driving device in the rotary table 2 based on an input signal for selecting a desired bending die 7 input by an operator, for example. That is, the control device 5 determines the current position of each bending die 7 based on the rotation angle of the mounting portion 2a, and arranges the bending die 7 selected based on the input signal at a desired position. The motor of the driving device in the rotary table 2 is controlled.

  Next, as shown in FIG.2 and FIG.3, the steel plate 9 is mounted on the horizontal part 7b so that the recessed part 7c of the bending die 7 may be straddled. At this time, although not shown in the figure, a suction part may be provided at the tip of the second robot 16, the steel plate 9 may be sucked to the suction part, and the steel plate 9 may be placed on the horizontal part 7b. A person may place the steel plate 9 on the horizontal portion 7b.

  When the placing work of the steel plate 9 is finished, in the present embodiment, the subsequent steps are executed by the first robot 15 and the second robot 16 operating cooperatively. Specifically, first, the control device 5 controls the motors of the joints of the first robot 15 and the second robot 16, selects the pressing die 8 corresponding to the bending die 7, and selects the first robot 15. The protrusion 12c of the first support member 12 of the pressing die 8 is fitted into the fitting hole 17a of the holding portion 17 of the second die 16 and the fitting hole 18a of the holding portion 18 of the second robot 16 is fitted to the first hole of the pressing die 8. The projecting portion 13 c of the second support member 13 is fitted to support the pressing die 8.

  Specifically, the control device 5 selects a pressing die 8 corresponding to the bending die 7 based on an input signal for selecting a desired bending die 7 input by an operator, for example, and selects the selected pressing die 8. The motors of the respective joints in the first robot 15 and the second robot 16 are controlled to support them. That is, the control device 5 stores the placement positions of the respective pressing dies 8, and selects the first pressing die 8 from the pressing dies 8 based on the input signal. The motor of each joint in the second robot 16 is controlled.

  Next, the control device 5 controls the motors of the respective joints in the first robot 15 and the second robot 16 to bend the first roll bar 10 and the second roll bar 11 in the pressing die 8. It arrange | positions on the recessed part 7c. At this time, the first robot 15 and the second robot 16 are symmetrical with respect to the pressing die 8 about the line L1 passing through the rotation axis O1 of the turntable 2 and extending in the front-rear direction of the manufacturing apparatus 1. Support both ends.

  Next, as shown in FIGS. 2 and 3, the control device 5 controls the motors of the respective joints in the first robot 15 and the second robot 16 so that the pressing die 8 becomes the concave portion 7 c of the bending die 7. It is inserted and moved below the recess 7c. Thereby, the steel plate 9 is pushed below the concave portion 7c of the bending die 7 and bent into a substantially U shape. At this time, since the pressing die 8 is supported at both ends by the first robot 15 and the second robot 16, the bending die is maintained in a state where the first roll bar 10 and the second roll bar 11 are maintained substantially horizontal. 7 can be pushed below the recess 7c.

  Next, as shown in FIG. 1, the control device 5 controls the motors of the respective joints of the first robot 15 and the second robot 16, and the steel roll 9 is bent in the bending die 7 by the first roll bar 10. While pressing against the bottom surface of the recess 7c, the motors of the respective joints of the caulking robot 21 are controlled so that the ends 9a and 9b of the steel plate 9 bent into a substantially U shape are opened on the widening side of the casing 22 in the caulking portion 20. And the caulking portion 20 is moved in the left-right direction of the manufacturing apparatus 1 (rightward in the present embodiment). At this time, since the steel plate 9 is pressed against the bottom surface of the recess 7 c in the bending die 7 by the first roll bar 10, it can be crimped with the steel plate 9 fixed.

  Here, the caulking process will be briefly described. First, the end portions 9a and 9b of the steel plate 9 are sent between the rollers 24a and 24b in the first row after the interval between the end portions 9a and 9b is reduced by the drawing guide 23 from the state of FIG. Here, the end 9 a of the steel plate 9 is bent in advance in a U shape so as to protrude above the manufacturing apparatus 1 with respect to the end 9 b of the steel plate 9.

  Next, as shown in FIG. 11B, the end portions 9a and 9b of the steel plate are pressed against the upper surface of the pressing die 8 by the rollers 24a and 24b in the first row and are bent and abutted against each other. The Then, as shown in FIG. 11C, the end portions 9a and 9b of the steel plate 9 are fed between the rollers 24c and 24d in the second row, and the end portions 9b of the steel plate 9 at the end portions 9a of the steel plate 9 are sent. The portion protruding relative to is bent substantially horizontally.

  Next, as shown in FIG. 11D, the end portions 9a and 9b of the steel plate 9 are fed between the rollers 24e and 24f in the third row, and the horizontal portion of the end portion 9a of the steel plate 9 is bent downward. It is done. Then, the end portions 9a and 9b of the steel plate 9 are fed between the rollers 24g and 24h in the fourth row as shown in FIG. 11E, and the end portions 9a and 9b of the steel plate 9 are bent downward.

  Finally, as shown in FIG. 11F, the end portions 9a and 9b of the steel plate 9 are pushed downward by the fifth row of rollers 24i. Thereby, the edge parts 9a and 9b of the steel plate 9 are crimped, and the cylindrical body 6 is completed.

  When the crimping process is completed as described above, the control device 5 controls the motors of the respective joints of the second robot 16 to move the second support member 13 of the pressing die 8 to the first as shown in FIG. The other roll bar 10 and the second roll bar 11 are removed from the other side.

  Next, the control device 5 controls the motors of the respective joints of the first robot 15 to move the pressing die 8 in the left-right direction (rightward in the present embodiment) of the manufacturing device 1 as shown in FIG. The pressing die 8 is pulled out from the open portion 7d of the bending die 7 by moving. Thereby, the pressing die 8 can be pulled out from the cylindrical body 6. Since the second support member 13 of the present embodiment is configured to be detachable from the side portion of the pressing die 8, the second supporting member 13, and thus the second robot 16, is removed from the side portion of the pressing die 8. The member that hinders the rightward movement of the pressing die 8 is eliminated, and the pressing die 8 can be easily pulled out from the opening 7d of the bending die 7.

  Next, the control device 5 controls the motors of the respective joints of the first robot 15 to move the pressing die 8 above the manufacturing device 1 and further controls the motors of the respective joints of the second robot 16. Then, as shown in FIG. 9, the second support member 13 is attached to the other side portion of the first roll bar 10 and the second roll bar 11 of the pressing die 8.

  Finally, as shown in FIG. 10, the control device 5 controls the motors of the respective joints of the first robot 15 and the second robot 16 to return the pressing die 8 to a predetermined position on the placement unit 14. .

  In the cylindrical body manufacturing apparatus 1 and the manufacturing method, a plurality of bending dies 7 corresponding to the shape of the cylindrical body to be manufactured are placed on the placement portion 2a, and the pressing dies 8 corresponding to the desired bending dies 7 are placed. Is selected by the molding robot 3 and moved in the depth direction of the concave portion 7c of the bending die 7 to bend the steel plate 9 into a substantially U shape, so that cylindrical bodies having different shapes can be accurately and easily manufactured. . Therefore, the manufacturing apparatus 1 of the cylinder excellent in versatility is realizable.

  Further, in the present embodiment, since the placing portion 2a is rotated and the bending die 7 is disposed at a desired position, the operating ranges of the first robot 15, the second robot 16, and the caulking robot 21 are narrowed. Therefore, the first robot 15 and the second robot 16 and the caulking robot 21 can be reduced in size. Further, the control of the first robot 15, the second robot 16, and the caulking robot 21 is facilitated.

<Embodiment 2>
In the first embodiment, the rounded rectangular straight cylinder 6 is manufactured. However, other forms of cylinders can be manufactured. Note that the cylindrical body manufacturing apparatus and manufacturing method of the present embodiment are substantially the same as the cylindrical body manufacturing apparatus and manufacturing method of the first embodiment, and therefore, redundant description is omitted, and the same reference numerals are used for the same elements. I will explain.

  FIG. 12 is a diagram schematically showing a state of manufacturing the cylindrical body of the present embodiment. Incidentally, the pressing die 32 in FIG. 12 is shown by omitting the first supporting member and the second supporting member so that the shape of the pressing portion 33 becomes clear. In addition, description of the following cylindrical body 31 and the pressing die 32 is demonstrated on the basis of the form shown in FIG.

  As shown in FIG. 12, the cylindrical body 31 manufactured in the present embodiment is a trapezoidal trapezoidal shape when viewed from the front-rear direction of the cylindrical body 31 and is a rounded rectangle when viewed from the left-right direction of the cylindrical body 31. That is, the cylindrical body 31 is formed in a taper shape in which the upper surface is arranged obliquely with respect to the lower surface (that is, a shape in which the vertical length of the cylindrical body 31 increases toward the right side of the cylindrical body 31). .

  Therefore, the pressing die 32 of the present embodiment is a trapezoidal trapezoid when viewed from the front-rear direction of the pressing die 32 instead of the second roll bar 11 of the first embodiment, and the upper surface is the upper surface of the cylindrical body 31. The pressing part 33 formed in the curved surface corresponding to is provided.

  Such a pressing die 32 is inserted into the concave portion 7c of the bending die 7 using the first robot 15 and the second robot 16 in the same manner as in the first embodiment, and is moved downward, so that the steel plate 9 is substantially U-shaped. Bend to. Then, the caulking portion 20 is moved along the end portions 9a and 9b of the steel plate 9 and eventually the upper surface of the pressing portion 33 by using the caulking robot 21, and the end portions 9a and 9b of the steel plate 9 are caulked.

  Since the position of the caulking portion 20 is controlled by the caulking robot 21 in this way, the end portions 9a and 9b of the steel plate 9 can be caulked obliquely, and the tapered tube is not limited to a straight tube. The body can be manufactured easily.

<Embodiment 3>
In the present embodiment, a cylindrical body having a complicated shape is manufactured as compared with the first and second embodiments. In addition, since the cylindrical body manufacturing apparatus and manufacturing method of the present embodiment are also substantially the same as the cylindrical body manufacturing apparatus and manufacturing method of the first embodiment, overlapping description is omitted, and the same reference numerals are used for the same elements. I will explain.

  FIG. 13 is a diagram showing a cylinder manufactured in the present embodiment. FIG. 14 is a diagram schematically showing only the vicinity of one side portion of the pressing die used in the present embodiment. FIG.15 and FIG.16 is a figure which shows the flow which manufactures the cylinder of this Embodiment. The following description of the cylinder 41 will be based on the form shown in FIG. 13, and the description of the pressing die 42 will be made based on the form shown in FIG.

  As shown in FIG. 13, the cylindrical body 41 manufactured in the present embodiment is formed with protruding portions 41 a that protrude in the front-rear direction of the cylindrical body 41 with an interval in the vertical direction of the cylindrical body 31.

  Therefore, the pressing die 42 of the present embodiment includes a first pressing portion 43, a second pressing portion 44, a first pressing portion 43, and a second pressing portion 44 arranged in the front-rear direction of the pressing die 42. A third pressing portion 45 and a fourth pressing portion 46 that are arranged at intervals in the vertical direction of the pressing die 42 and are arranged in the front-rear direction of the pressing die 42, and a first pressing force in the vertical direction of the pressing die 42. The fifth pressing portion 47 disposed between the portion 43, the second pressing portion 44, the third pressing portion 45, and the fourth pressing portion 46, and the pressing portions 43, 44, 45, 46, and A first support member 48 and a second support member (not shown) are provided so as to sandwich 47 from the left-right direction of the pressing die 42.

  Here, the configuration of the first support member 48 and the second support member will be described. However, the second support member is the same as the first support member 48 and is omitted. The first support member 48 of the present embodiment includes a first protruding portion 48a that protrudes toward the first pressing portion 43 and the second pressing portion 44, a third pressing portion 45, and a fourth pressing portion. The second protrusion 48b protruding to the 46 side is provided on the plate-like member 48c.

  The first protrusion 48a is a triangular prism having an isosceles triangle when viewed from the vertical direction of the pressing die 42, and a bottom surface portion is fixed to the plate-like member 48c. When the plate-like member 48 c moves toward the first pressing portion 43 and the second pressing portion 44, the first projecting portion 48 a is pushed between the first pressing portion 43 and the second pressing portion 44.

  The second protrusion 48b is also an isosceles triangular prism as viewed from the vertical direction of the pressing die 42, and the bottom surface portion is fixed to the plate member 48c. When the plate-like member 48 c moves toward the third pressing portion 45 and the fourth pressing portion 46, the second protruding portion 48 b is pressed between the third pressing portion 45 and the fourth pressing portion 46.

  Further, the first support member 48 is arranged with a first guide hole 48 d extending in the front-rear direction of the pressing die 42, and spaced apart in the vertical direction of the first guide hole 48 d and the pressing die 42, and A plate-shaped member includes a second guide hole 48e extending in the front-rear direction of the mold 42, and a through-hole 48f disposed between the first guide hole 48d and the second guide hole 48e in the vertical direction of the push mold 42. It is the structure formed in 48c.

  In the first guide hole 48d, there are a protruding portion 43a protruding from the left and right end portion of the first pressing portion 43 and a protruding portion 44a protruding from the left and right end portion of the second pressing portion 44, respectively. It is inserted movably.

  In the second guide hole 48e, a protruding portion 45a protruding from the left and right end portion of the third pressing portion 45 and a protruding portion 46a protruding from the left and right end portion of the fourth pressing portion 46 are respectively slid. It is inserted movably. A protruding portion 47 a that protrudes from the left and right ends of the fifth pressing portion 47 is inserted into the through hole 48 f.

  With such a configuration, when the plate-like member 48c moves in the left-right direction of the pressing die 42 and the first protruding portion 48a is pushed between the first pressing portion 43 and the second pressing portion 44, The first pressing portion 43 and the second pressing portion 44 are guided by the first guide 48 d so that the distance between the first pressing portion 43 and the second pressing portion 44 is increased in the front-rear direction of the pressing die 42.

  Similarly, when the plate-like member 48c moves in the left-right direction of the pressing die 42 and the second projecting portion 48b is pushed between the third pressing portion 45 and the fourth pressing portion 46, the third pressing portion The portion 45 and the fourth pressing portion 46 are guided by the second guide hole 48e, and the interval between the pressing die 42 is increased in the front-rear direction.

  That is, the first protrusion 48 a functions as a widening portion that widens the distance between the first pressing portion 43 and the second pressing portion 44. Further, the second projecting portion 48 b functions as a widening portion that widens the distance between the third pressing portion 45 and the fourth pressing portion 46. However, in this Embodiment, although the space | interval of the press part was expanded using the protrusion part, the means to expand the space | interval of a press part is not limited, For example, an actuator etc. may be used.

  Here, the protruding portion 43a of the first pressing portion 43, the protruding portion 44a of the second pressing portion 44, the protruding portion 45a of the third pressing portion 45, the protruding portion 46a of the fourth pressing portion 46, and the fifth The length of the protruding portion 47a of the pressing portion 47 is such that when the plate member 48c is moved in the left-right direction of the bending die 42 in order to push in and pull out the first protruding portion 48a and the second protruding portion 48b. Each of the pressing portions 43, 44, 45, 46, and 47 is set to a length that is supported by the plate-like member 48c.

  When the cylindrical body 41 shown in FIG. 13 is manufactured using such a pressing die 42, first, the molding robot 3 is controlled, and the distance between the first pressing portion 43 and the second pressing portion 44 and the first pressing portion 44 are controlled. As shown in FIG. 15, the pressing die 42 in a state where the distance between the third pressing portion 45 and the fourth pressing portion 46 is closed is inserted into the concave portion 49a of the bending die 49 and moved below the concave portion 49a. .

  As a result, the first pressing portion 43 and the second pressing portion 44 are arranged in the front-rear direction (that is, the width direction of the bending die 49) in the concave portion 49a of the bending die 49, and the third pressing portion 45 and the second pressing portion 44 are arranged. The four pressing portions 46 are arranged in the front-rear direction in the concave portion 49 a of the bending die 49. Here, the concave portion 49a of the bending die 49 has a shape corresponding to the cylindrical body 41 to be manufactured.

  Next, the molding robot 3 is controlled to move the plate-like member 48 c in the left-right direction of the pressing die 42, so that the first protruding portion 48 a is interposed between the first pressing portion 43 and the second pressing portion 44. Push into. As a result, as shown in FIG. 16, the first pressing portion 43 and the second pressing portion 44 are widened in the front-rear direction of the bending die 49, and press the steel plate 9 against the concave portion 49 a of the bending die 49.

  At the same time, the second projecting portion 48 b is pushed between the third pressing portion 45 and the fourth pressing portion 46, and the third pressing portion 45 and the fourth pressing portion 46 are arranged before and after the bending die 49. The interval is widened in the direction, and the steel plate 9 is pressed against the concave portion 49 a of the bending die 49.

  Thereby, the protrusion part 41a of the cylinder 41 can be shape | molded. Thereafter, similarly to the first embodiment, the cylinder 41 can be manufactured by controlling the caulking robot 21 and caulking the end portions 9a and 9b of the steel plate 9 with the caulking portion 20.

  In this way, the pressing die 42 can be caused to perform complicated operations using the molding robot 3, and a complicatedly shaped cylindrical body can be easily manufactured by devising the configuration of the pressing die 42.

  The present invention is not limited to the above-described embodiment, and can be changed as appropriate without departing from the spirit of the present invention.

  In the said embodiment, in order to clarify description, it demonstrated using the front-back direction, the up-down direction, and the left-right direction, However, These directions are suitably changed with the usage pattern of a manufacturing apparatus.

  In the above embodiment, the bending mold is rotated by the rotary table, but the pressing mold may be moved by the molding robot 3 to the position of each bending mold without rotating the rotary table.

  In the above embodiment, the pressing mold is supported using the first robot and the second robot, but one robot may be omitted.

DESCRIPTION OF SYMBOLS 1 Cylindrical manufacturing apparatus 2 Rotary table, 2a Mounting part 3 Molding robot 4 Caulking device 5 Control device 6 Cylindrical body 7 Bending die, 7a Molding part, 7b Horizontal part, 7c Recessed part, 7d, 7e Opening part 8 Pushing type 9 Steel plate, 9a, 9b End (open end)
DESCRIPTION OF SYMBOLS 10 1st roll bar, 10a protrusion part 11 2nd roll bar, 11a protrusion part 12 1st support member, 12a fitting hole, 12b plate-shaped member, 12c protrusion part 13 2nd support member, 13a fitting Hole, 13b Plate-like member, 13c Protruding part 14 Mounting part 15 First robot 16 Second robot 17 Holding part, 17a Fitting hole 18 Holding part, 18a Fitting hole 19 Mounting part 20 Caulking part 21 For caulking Robot 22 Housing 23 Guide 24 (24a to 24j) Roller 31 Tube 32 Pushing die 33 Pressing portion 41 Tube, 41a Protruding portion 42 Pushing die 43 First pressing portion, 43a Protruding portion 44 Second pressing portion, 44a Protruding portion 45 Third pressing portion, 45a Protruding portion 46 Fourth pressing portion, 46a Protruding portion 47 Fifth pressing portion, 47a Protruding portion 48 First support members 48a, 49 Protruding portion 48c Plate-like member 4 d, 48e guide hole 48f through hole 49 bending tool, 49a recess 101 core die 102 steel 103 outer mold 104 Kashimerora

Claims (10)

An apparatus for manufacturing a cylindrical body by bending a steel plate into a U-shape and then crimping the open ends of the bent steel plate,
A placing portion on which a plurality of bending dies having a recessed portion to which the steel plate is pressed and an open portion formed in the extending direction of the recessed portion are placed; and
The pressing die corresponding to the selected bending die is selected from a plurality of pressing dies corresponding to the plurality of types of bending dies, and the pressing die is inserted into the concave portion of the bending die to thereby determine the depth of the concave portion. The steel plate disposed so as to straddle the concave portion of the bending die is pushed in the depth direction of the concave portion, the steel plate is bent into a U shape, and the pressing die is pulled out from the open portion of the bending die. A molding robot,
A caulking portion for caulking each other of the open end portions of the bent steel sheet;
The manufacturing apparatus of a cylinder provided with.   The cylinder manufacturing apparatus according to claim 1, further comprising a caulking robot that moves the caulking portion along an outer peripheral surface of the pressing die. The pressing die includes a plurality of pressing portions that are inserted into the concave portions of the bending die,
3. The cylinder according to claim 1, further comprising: a widening portion that widens an interval between the pressing portions arranged in the width direction of the bending die in the width direction when the plurality of pressing portions are inserted into the concave portions of the bending die. Body manufacturing equipment. The molding robot includes a first robot and a second robot,
The first robot supports one side with a portion inserted into the concave portion of the bending die in the pressing die,
The second robot supports the other side of the pressing die with a portion inserted into the concave portion of the bending die,
The first robot and the second robot are cooperatively operated to insert the pressing die into the concave portion of the bending die and move it in the depth direction of the concave portion. The manufacturing apparatus of the cylinder as described in 2. The pressing die includes a plurality of pressing portions to be inserted into the concave portion of the bending die, a first support member that can be attached to and detached from one side of the plurality of pressing portions, and the other side of the plurality of pressing portions. A second support member detachable from the part,
The first robot supports the first support member, the second robot supports the second support member, and when the push die is pulled out from the opening of the bending die, the first robot The cylinder manufacturing apparatus according to claim 4, wherein the robot is detached from one side of the plurality of pressing portions together with the first support member.   The cylindrical body manufacturing apparatus according to any one of claims 1 to 5, wherein the placement section is rotatable so that the selected bending mold is disposed at a set position. After bending the steel plate into a U-shape, a method of manufacturing a cylinder by crimping the open ends of the bent steel plate,
A step of placing a plurality of types of bending dies having a concave portion to which the steel plate is pressed and an open portion formed in the extending direction of the concave portion on the placement portion;
The molding robot selects the pressing die corresponding to the selected bending die from a plurality of pressing dies corresponding to the plurality of types of bending dies, and inserts the pressing die into the concave portion of the bending die. Moving in the depth direction of the recess, bending the steel plate disposed so as to straddle the recess of the bending mold in the depth direction of the recess, and bending the steel plate into a U-shape;
A step of caulking each other between the open ends of the bent steel sheet,
A step in which the molding robot pulls out the pressing die from the opening of the bending die;
The manufacturing method of a cylinder provided with.   The caulking robot moves the caulking portion along the outer peripheral surface of the pressing die to caulk the open end portions of each other in the step of caulking the open end portions of the steel plates. Method for manufacturing the cylinder.   The step of bending the steel sheet into a U-shape, further comprising the step of pressing the steel sheet against the concave portion by widening the interval between the plurality of pressing portions arranged in the width direction of the bending die in the pressing die in the width direction. The manufacturing method of the cylinder as described in 8. FIG.   10. The crimping process is performed on the ends of the steel plates in a state where the pressing die is moved in the depth direction of the concave portion of the bending die and the steel plate is pressed against the concave portion. Method for manufacturing the cylinder.

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