JPH0523991A - Handling device of film pipe and detachable method thereof - Google Patents
Handling device of film pipe and detachable method thereofInfo
- Publication number
- JPH0523991A JPH0523991A JP17552691A JP17552691A JPH0523991A JP H0523991 A JPH0523991 A JP H0523991A JP 17552691 A JP17552691 A JP 17552691A JP 17552691 A JP17552691 A JP 17552691A JP H0523991 A JPH0523991 A JP H0523991A
- Authority
- JP
- Japan
- Prior art keywords
- thin film
- film pipe
- pipe
- mandrel
- core rod
- 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.)
- Granted
Links
Landscapes
- Manipulator (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は薄膜のパイプを工作機械
等に効率的に着脱させるためのハンドリング装置及びこ
のハンドリング装置を用いた薄膜パイプの着脱方法に関
する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a handling device for efficiently attaching and detaching a thin film pipe to a machine tool and the like, and a method for attaching and detaching a thin film pipe using this handling device.
【０００２】[0002]
【従来の技術】パイプ状の工作物を把持し移動せしめる
作業（以下ハンドリングという）は、一般的に図５に示
すように、周知の空気式シリンダ或いは電動駆動機構を
利用して把持棒２１を開閉させる、例えば図５（ａ）に
示すようにパイプ状工作物２０の内側に把持棒２１を挿
入させて開閉し把持する内面把持機構、あるいは図５
（ｂ）に示すようにパイプ状工作物２０の外面を把持棒
２１ａで把持する外面把持機構、あるいは拡縮可能なチ
ュウブ２２等でパイプ状工作物２０内側を把持する内面
把持機構等を用いて行なわれていた。これらの把持機構
は、近年、産業用ロボットのアーム先端に取り付けて用
いられることが一般的となっている。2. Description of the Related Art Generally, as shown in FIG. 5, a work for gripping and moving a pipe-shaped workpiece (hereinafter referred to as handling) uses a well-known pneumatic cylinder or an electric drive mechanism to move the gripping bar 21. An inner surface gripping mechanism for opening and closing, for example, inserting and holding the gripping bar 21 inside the pipe-shaped workpiece 20 as shown in FIG.
As shown in (b), an outer surface gripping mechanism that grips the outer surface of the pipe-shaped workpiece 20 with a gripping rod 21a, or an inner surface gripping mechanism that grips the inside of the pipe-shaped workpiece 20 with an expandable / contractible tube 22 or the like is used. It was In recent years, these gripping mechanisms are generally used by being attached to the tip of an arm of an industrial robot.
【０００３】[0003]
【発明が解決しようとする課題】前述したハンドリング
は、例えばパイプ状工作物に種々の加工を加えるとか、
パイプ状工作物を装置に装着させるなどの作業の際に必
要となる。従ってこのハンドリングにはパイプ状工作物
を単に移動せしめるのみならず、例えば、工作機械への
迅速に且つ高精度で効率よく着脱させる等の必要性が生
じる。The above-mentioned handling is performed by, for example, applying various kinds of processing to a pipe-shaped workpiece,
It is necessary for work such as mounting a pipe-shaped work on the device. Therefore, for this handling, it is necessary not only to simply move the pipe-shaped workpiece, but also to attach / detach it to / from the machine tool quickly and accurately.
【０００４】ここで、パイプ状工作物の肉厚が厚くその
強度が高い場合は、前記従来技術を用いたハンドリング
手段でも殆ど問題は生じない。ところがその肉厚が０．
１mmに満たない極めて薄い膜状のパイプ状工作物（以下
薄膜パイプと言う）の場合、前述した図５（ａ），
（ｂ）の手段では薄膜パイプが変形あるいは破損をきた
す恐れが大きい。このため把持棒の開閉位置決め精度を
高める必要があり、さらに、ハンドリングの際の工作物
設置位置決め精度も要求されることとなり、非常に複雑
で、かつコスト高な設備となる。If the pipe-shaped workpiece has a large thickness and a high strength, the handling means using the above-mentioned conventional technique causes almost no problems. However, the wall thickness is 0.
In the case of an extremely thin pipe-shaped workpiece (hereinafter referred to as a thin-film pipe) that is less than 1 mm, the above-mentioned Fig. 5 (a),
With the means (b), the thin film pipe is likely to be deformed or damaged. For this reason, it is necessary to increase the opening / closing positioning accuracy of the gripping bar, and further, the workpiece installation positioning accuracy during handling is required, resulting in a very complicated and costly facility.
【０００５】また、図５（ｃ）の手段でも、把持面と工
作物の接触面が不定となるため把持した際の精度が悪
く、間隙の極めて少ない強嵌合の工作機械におけるマン
ドレル等への装着は到底できない。加えて、ハンドリン
グ機構を移動させるため用いるロボット等の装置は、こ
の作業が工作物移動経路の制御を必要とするのに対し、
高速で動作させるとその経路の精度を保証することがで
きず、強嵌合装着作業ができないという問題点があり、
さらに、加工終了後、前記工作機械のマンドレルから薄
膜パイプを引き出す際、薄膜パイプとマンドレルの間隙
が殆どないことから薄膜パイプの内部が負圧状態とな
り、薄膜パイプが押し潰れる現象が生じるという問題点
もあった。Also in the means shown in FIG. 5C, since the gripping surface and the contact surface of the workpiece are indefinite, the precision when gripping is poor, and the mandrel or the like in a machine tool with a tight fit having a very small gap is used. It cannot be installed at all. In addition, devices such as robots used to move the handling mechanism require control of the workpiece movement path, whereas
When operated at high speed, the accuracy of the route cannot be guaranteed, and there is a problem that strong fitting mounting work cannot be done,
Furthermore, when the thin film pipe is pulled out from the mandrel of the machine tool after processing, there is almost no gap between the thin film pipe and the mandrel, so that the inside of the thin film pipe is in a negative pressure state and the thin film pipe is crushed. There was also.
【０００６】本発明は前述した問題点の効果的な解決を
図り、特に薄膜パイプのハンドリングに効果を発揮する
ハンドリング装置の提供を第一の課題とし、このハンド
リング装置を用いて効率的に工作機械マンドレルに薄膜
パイプを装着する方法、及び前記マンドレルから薄膜パ
イプを取外す方法の提供を第二の課題とするものであ
る。The first object of the present invention is to solve the above-mentioned problems effectively and to provide a handling device which is particularly effective for handling thin film pipes. A second object is to provide a method for mounting the thin film pipe on the mandrel and a method for removing the thin film pipe from the mandrel.
【０００７】[0007]
【課題を解決するための手段】本発明のハンドリング装
置は、軸央部に貫通孔を有する先部並びに後部芯棒と、
軸央部に貫通孔を有し、かつ外周両端部に円板状フラン
ジを有すると共に前記フランジ間空間部と前記貫通孔を
連通する通気孔が穿設され、前記先部芯棒と後部芯棒を
着脱可能に連結する連結部材と、前記フランジ間空間部
を密閉するよう前記フランジ外周に嵌着される伸縮可能
なリング部材とからなる薄膜パイプ把持部材と、前記後
部芯棒の後端より前記貫通孔に挿入され、先部芯棒先端
部に開口を有する気体噴出管と、前記貫通孔と気体噴出
管との間に形成される密閉間隙部に圧縮気体を送給し、
前記フランジ間密閉空間部の内圧を制御する送気機構
と、前記薄膜パイプ把持部材を３次元移動せしめる位置
制御機構とから構成されたことを特徴とするものであ
る。A handling device according to the present invention comprises a front portion and a rear core rod each having a through hole in a shaft central portion,
A through hole is formed in the central part of the shaft, and disk-shaped flanges are provided at both ends of the outer periphery, and a vent hole is formed to connect the space between the flanges and the through hole, and the front core rod and the rear core rod are provided. A detachable coupling member, and a thin film pipe gripping member composed of an expandable ring member fitted to the outer periphery of the flange so as to seal the space between the flanges, and a rear end of the rear core rod. A gas ejection pipe inserted into the through hole and having an opening at the tip of the front core rod, and a compressed gas is fed to a sealed gap formed between the through hole and the gas ejection pipe,
It is characterized by comprising an air supply mechanism for controlling the internal pressure of the sealed space between the flanges and a position control mechanism for three-dimensionally moving the thin film pipe gripping member.
【０００８】また前記ハンドリング装置を用いて薄膜パ
イプを工作機械マンドレルに装着するに際し、薄膜パイ
プ把持部材で把持された薄膜パイプをマンドレル所定位
置まで挿入せしめた後、送気機構からの送気を停止して
薄膜パイプとマンドレルの芯合わせ操作を行ない、しか
る後薄膜パイプを挿入させることを特徴とし、前記芯合
わせ操作を複数回繰り返しつつ薄膜パイプを挿入させる
ことを他の特徴とするものである。When the thin film pipe is mounted on the machine tool mandrel by using the handling device, the thin film pipe held by the thin film pipe holding member is inserted to a predetermined position of the mandrel, and then the air supply from the air supply mechanism is stopped. Another feature is that the thin film pipe and the mandrel are centered and then the thin film pipe is inserted. The thin film pipe is inserted while repeating the centering operation a plurality of times.
【０００９】さらにまた前記ハンドリング装置を用いて
薄膜パイプを工作機械マンドレルから取外すに際し、気
体噴出管から気体を噴出させつつ薄膜パイプを引抜くこ
とを特徴とするものである。Further, when the thin film pipe is detached from the machine tool mandrel by using the handling device, the thin film pipe is pulled out while ejecting gas from the gas ejection pipe.
【００１０】[0010]
【実施例】図１は本発明に基づくハンドリング装置の一
実施例を示す全体構成図であり、図において１がハンド
リング装置を示し、このハンドリング装置１は薄膜パイ
プ把持部材（以下単に把持部材と言う）２と、前記把持
部材２に挿入される気体噴出管３、後述する気体噴出管
３と把持部材２との間に形成される密閉間隙部１０に圧
縮気体を送給する送気機構４、前記把持部材２を３次元
移動せしめる位置制御機構５とから構成されている。DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is an overall configuration diagram showing an embodiment of a handling device according to the present invention. In the drawing, reference numeral 1 indicates a handling device, and the handling device 1 is a thin film pipe holding member (hereinafter simply referred to as a holding member). ) 2, a gas ejection pipe 3 inserted into the gripping member 2, and an air feeding mechanism 4 for feeding compressed gas to a sealed gap portion 10 formed between the gas ejection pipe 3 and the gripping member 2, which will be described later, It comprises a position control mechanism 5 for moving the gripping member 2 in three dimensions.
【００１１】把持部材２は、先部芯棒６及び後部芯棒７
と、この先部芯棒６と後部芯棒７を連結する連結部材８
と、連結部材８の外周に嵌着されるリング部材９とから
構成されている。先部芯棒６、後部芯棒７及び連結部材
８はそれぞれその軸央部に貫通孔６ａ，７ａ，８ａを有
している。The gripping member 2 includes a front core rod 6 and a rear core rod 7.
And a connecting member 8 for connecting the front core rod 6 and the rear core rod 7.
And a ring member 9 fitted around the outer periphery of the connecting member 8. The front mandrel 6, the rear mandrel 7 and the connecting member 8 have through holes 6a, 7a, 8a in the axial center thereof.
【００１２】而して前記気体噴出管３は後部芯棒７の貫
通孔７ａ後端より挿入され、貫通孔８ａを通して先部芯
棒６の貫通孔６ａに達し、先部芯棒６の先端部に開口３
ａを有している。この開口３ａにおいて貫通孔６ａと気
体噴出管３との間は例えばシール部材１１を充填する
か、周知のＯリングを装填する等の手段により密封され
ており、気体噴出管３と貫通孔７ａ，８ａ，６ａとの間
に形成される間隙部１０は密閉構造となっている。The gas ejection pipe 3 is inserted from the rear end of the through hole 7a of the rear core rod 7, reaches the through hole 6a of the front core rod 6 through the through hole 8a, and the front end portion of the front core rod 6 is reached. Opening 3
a. In the opening 3a, the space between the through hole 6a and the gas ejection pipe 3 is sealed by, for example, a sealing member 11 or a known O-ring, and the gas ejection pipe 3 and the through hole 7a. The gap 10 formed between 8a and 6a has a closed structure.
【００１３】連結部材８は外周両端部に円板状フランジ
８ｂを有し、このフランジ８ｂ間に形成される空間部８
ｃと貫通孔８ａを連通する通気孔８ｄが穿設されてい
る。The connecting member 8 has disk-shaped flanges 8b on both ends of the outer circumference, and a space 8 formed between the flanges 8b.
A ventilation hole 8d is formed to connect the c and the through hole 8a.
【００１４】本実施例における連結部材８は前記フラン
ジ８ｂのさらに外方に位置する両端部に雄螺子８ｅが刻
設されており、先部芯棒６及び後部芯棒７に刻設された
雌螺子と螺合させることにより、先部芯棒６と後部芯棒
７を着脱可能に連結する。In the connecting member 8 of this embodiment, male screws 8e are engraved on both ends of the flange 8b which are located further outside, and female screws engraved on the front core rod 6 and the rear core rod 7 are engraved. The front core rod 6 and the rear core rod 7 are detachably connected by being screwed together.
【００１５】先部芯棒６と後部芯棒７を着脱可能に連結
する構造としては本実施例に限定されるものではなく、
例えば図２に示すように、先部芯棒６と連結部材８を貫
通するボルト孔１３を穿設し、ボルト１４を後部芯棒７
に刻設した螺子孔７ｂに止めることで連結する方法でも
よい。The structure for detachably connecting the front core rod 6 and the rear core rod 7 is not limited to this embodiment,
For example, as shown in FIG. 2, a bolt hole 13 penetrating the front core rod 6 and the connecting member 8 is formed, and a bolt 14 is attached to the rear core rod 7.
Alternatively, the connection may be made by fixing it to the screw hole 7b engraved in.
【００１６】連結部材８のフランジ８ｂには、前記フラ
ンジ間空間部８ｃを密閉するようにその外周に伸縮可能
なリング部材９が嵌着されている。リング部材９として
は周知の天然ゴムあるいは合成ゴム等を用いることが可
能である。The flange 8b of the connecting member 8 is fitted with an expandable ring member 9 on the outer periphery thereof so as to seal the inter-flange space 8c. As the ring member 9, known natural rubber or synthetic rubber can be used.
【００１７】さて前述したように間隙部１０には送気機
構４が連結されており、送気機構４より送給された圧縮
気体は、連結部材８に穿設された通気孔８ｄよりフラン
ジ間空間部８ｃに導入される。フランジ外周は伸縮可能
なリング部材９で密封されており、また間隙部１０も密
閉されていることから送気機構４からの送給圧を高めた
り、送給を停止したりすることにより空間部８ｃの内圧
を制御することが可能である。As described above, the air supply mechanism 4 is connected to the gap portion 10, and the compressed gas supplied from the air supply mechanism 4 is connected between the flanges through the ventilation holes 8d formed in the connection member 8. It is introduced into the space 8c. Since the outer circumference of the flange is sealed by the expandable ring member 9 and the gap 10 is also sealed, the space pressure can be increased by increasing the supply pressure from the air supply mechanism 4 or by stopping the supply. It is possible to control the internal pressure of 8c.
【００１８】つまり内圧を高めるとリング部材９は破線
で示すように先部芯棒６及び後部芯棒７の外周面より膨
出する。逆に内圧を低めたり、零にすると先部芯棒６及
び後部芯棒７の外周面と同一径かそれより若干小さくな
る。That is, when the internal pressure is increased, the ring member 9 bulges from the outer peripheral surfaces of the front core rod 6 and the rear core rod 7 as shown by the broken line. On the contrary, if the internal pressure is reduced or reduced to zero, the diameter is the same as or slightly smaller than the outer diameters of the front core rod 6 and the rear core rod 7.
【００１９】４ａは圧縮気体の送給圧を制御する制御系
を示し、開閉弁、減圧弁、流量調整弁、及びそれら制御
指令装置等で構成されている。また気体噴出管３にも圧
縮気体を送給するための制御系３ｂが連設されている。Reference numeral 4a denotes a control system for controlling the feed pressure of the compressed gas, which is composed of an opening / closing valve, a pressure reducing valve, a flow rate adjusting valve, and their control command device. A control system 3b for feeding compressed gas is also connected to the gas ejection pipe 3.
【００２０】把持部材２は支持ブラケット１２を介して
位置制御機構５に連結されている。位置制御機構５は、
動作の制御を司る制御装置５ａ、動作内容を記憶してお
くメモリ５ｂ、動作内容を教示する操作パネル５ｃより
構成されている。The gripping member 2 is connected to the position control mechanism 5 via a support bracket 12. The position control mechanism 5 is
It comprises a control device 5a for controlling the operation, a memory 5b for storing the operation content, and an operation panel 5c for teaching the operation content.
【００２１】三次元位置制御装置５には操作パネル５ｃ
を用いて工作物の把持、挿入、取出し動作の３次元位置
決め動作及びエア開閉弁オン／オフのプログラムを作成
し、メモリ５ｂに記憶させておき、実行時に制御装置５
ａが当該プログラムを呼び出して、把持芯棒の位置制御
及びエア回路の開閉制御を行うようにする。The three-dimensional position control device 5 has an operation panel 5c.
A program for three-dimensional positioning operation such as gripping, inserting, and unloading operation of the workpiece and the air on / off valve on / off is created by using the controller, and stored in the memory 5b.
a calls the program to perform the position control of the gripping core rod and the opening / closing control of the air circuit.
【００２２】このプログラムを複数個持てるようにし、
呼び出しプログラムの選択ができるようにすれば、幾つ
かの異なる長さの工作物のハンドリング作業にも対応す
るようにできる。It is possible to have a plurality of this program,
If the calling program can be selected, it is possible to handle a work of several different lengths.
【００２３】また、把持芯棒部を複数個持ち、エア回路
部とフランジ部の結合を周知の自動ツール交換機構で自
動脱着する方式にすれば、径長さの異なる工作物のハン
ドリング作業にも自動化対応するようにできる。Further, if a system having a plurality of gripping core rod portions and automatically connecting and disconnecting the air circuit portion and the flange portion by a known automatic tool changing mechanism is used, it is possible to handle workpieces having different diameters and lengths. It can be automated.
【００２４】次に前述したハンドリング装置による薄膜
パイプのハンドリング方法について説明する。図３は前
記ハンドリングの基本要領を説明するための構造図であ
り、作業台、あるいは部品棚等に仮置きされて薄膜パイ
プＰをハンドリング装置１で把持する要領を説明するも
のである。Next, a method of handling a thin film pipe by the above-mentioned handling device will be described. FIG. 3 is a structural diagram for explaining the basic procedure of the handling, and illustrates the procedure for temporarily holding the thin film pipe P by the handling device 1 when it is temporarily placed on a workbench, a component shelf or the like.
【００２５】先ずハンドリング装置１の位置制御機構５
を駆動し、把持部材２を薄膜パイプＰの上方へ移動させ
る。この状態で送気機構４からの圧縮気体の送給は停止
しており、リング部材９は先部芯棒６及び後部芯棒７の
外径と同一もしくはそれより若干小さい径となってい
る。First, the position control mechanism 5 of the handling device 1
Is driven to move the gripping member 2 above the thin film pipe P. In this state, the feeding of the compressed gas from the air feeding mechanism 4 is stopped, and the ring member 9 has a diameter equal to or slightly smaller than the outer diameters of the front core rod 6 and the rear core rod 7.
【００２６】次いで位置制御機構５を駆動して把持部材
２を下降させ、薄膜パイプＰに挿入させる。前記リング
部材９が薄膜パイプＰの所定位置まで達したら位置制御
機構５の駆動を停止し、これと同時に送気機構４から圧
縮気体の送給を開始する。圧縮気体としては周知の空
気、窒素ガス等を用いることができる。Next, the position control mechanism 5 is driven to lower the holding member 2 and insert it into the thin film pipe P. When the ring member 9 reaches the predetermined position of the thin film pipe P, the drive of the position control mechanism 5 is stopped, and at the same time, the compressed gas is fed from the gas feeding mechanism 4. Well-known air, nitrogen gas or the like can be used as the compressed gas.
【００２７】圧縮気体は間隙部１０から通気孔８ｄを流
通してフランジ間空間部８ｃに送給され、この空間部８
ｃの内圧を高める。これに伴いリング部材９が膨張し、
薄膜パイプＰを内面より把持する。前記内圧は通常、１
〜１．５kg／cm2 であれば充分であり、この状態で把持
された薄膜パイプＰは把持部材２を回転あるいは移動さ
せても位置ずれ等を生じることがなく、強固に把持され
ている。The compressed gas flows from the gap portion 10 through the ventilation hole 8d and is fed to the inter-flange space portion 8c.
Increase the internal pressure of c. As a result, the ring member 9 expands,
The thin film pipe P is gripped from the inner surface. The internal pressure is usually 1
Is sufficient if ~1.5kg / cm 2, gripped thin pipe P in this state without be rotated or moved a gripping member 2 produces a positional deviation or the like, are firmly gripped.
【００２８】また把持された薄膜パイプＰを取り外すに
は送気機構４から圧縮気体の送給を停止し、前記空間部
８ｃの内圧を低下させ、リング部材９を収縮させること
によって容易に可能である。Further, the grasped thin film pipe P can be easily removed by stopping the feeding of the compressed gas from the air feeding mechanism 4, lowering the internal pressure of the space 8c, and contracting the ring member 9. is there.
【００２９】さて次に把持部材２で把持された薄膜パイ
プＰを、工作機械のマンドレルＭに装着する方法につい
て説明する。図４はその要領を説明する構造図である。
薄膜パイプＰとマンドレルＭの隙間は、加工精度を確保
する必要性から極めて少なく、いわゆる強嵌合となって
いる。このため従来の手段ではマンドレルＭの軸芯ｌ1
と薄膜パイプＰの軸芯ｌ2 を完全に一致させる必要があ
り、これが自動化への大きな障害となっていた。Now, a method of mounting the thin film pipe P held by the holding member 2 on the mandrel M of the machine tool will be described. FIG. 4 is a structural diagram for explaining the point.
The gap between the thin film pipe P and the mandrel M is extremely small because of the necessity of ensuring the processing accuracy, and is so-called strong fitting. Therefore, according to the conventional means, the mandrel M shaft center l 1
And the axis l 2 of the thin film pipe P must be perfectly aligned, which is a major obstacle to automation.
【００３０】本発明においては先ず図４（ａ）に示すよ
うに前記軸芯ｌ1 及びｌ2 をほぼ一致させたのち、図４
（ｂ），（ｃ）に示すように薄膜パイプＰをマンドレル
Ｍに挿入させる。把持部材２で把持された薄膜パイプＰ
はその軸芯ｌ2 が、マンドレルＭの軸芯ｌ1 と必ずしも
一致していないが、その誤差は把持部材２の有するコン
プライアンスで吸収され、若干量の挿入が可能である。In the present invention, first, as shown in FIG. 4 (a), the shaft centers l 1 and l 2 are made to substantially coincide with each other, and then, as shown in FIG.
The thin film pipe P is inserted into the mandrel M as shown in (b) and (c). Thin film pipe P held by the holding member 2
Although its axis l 2 does not always coincide with the axis l 1 of the mandrel M, the error is absorbed by the compliance of the grip member 2 and a slight amount of insertion is possible.
【００３１】この状態が図４（ｃ）であり、Ｌ2 の位置
まで挿入させた状態で位置制御機構５を停止させ、さら
に送気機構４から圧縮気体の送給を一旦停止する。この
停止動作によって薄膜パイプＰの把持力が開放され、こ
の反動で薄膜パイプＰの軸芯ｌ2 はマンドレルＭの軸芯
ｌ1 に一致する。This state is shown in FIG. 4 (c), in which the position control mechanism 5 is stopped in the state where it is inserted to the position of L 2 , and the supply of compressed gas from the air supply mechanism 4 is once stopped. By this stopping operation, the gripping force of the thin film pipe P is released, and by this reaction, the axis l 2 of the thin film pipe P coincides with the axis l 1 of the mandrel M.
【００３２】つまり薄膜パイプＰは前記長さＬ2 でマン
ドレルＭに保持され、この状態で把持部材２の把持力を
開放することにより、薄膜パイプＰは必然的にマンドレ
ルＭの軸芯ｌ1 に修正させることになる。本発明におい
てはこの修正を芯合わせ操作と言う。That is, the thin film pipe P is held by the mandrel M with the length L 2 and the gripping force of the gripping member 2 is released in this state, so that the thin film pipe P is inevitably aligned with the axis l 1 of the mandrel M. Will be corrected. In the present invention, this correction is called centering operation.
【００３３】而して前記Ｌ2 、つまり本発明で称するマ
ンドレル所定位置は、把持部材２の有するコンプライア
ンスで軸芯ずれを吸収しつつマンドレルＭに挿入され、
かつ把持力開放によって前記芯合わせ操作が効果的に行
える量に設定すればよく、挿入長、挿入速度、把持芯棒
とマンドレルの間隙等を勘案し適宜決定する必要があ
る。またこの芯合わせ操作は、例えば挿入長が大きい時
など、複数回に分けて行えばさらに効果的である。The above L 2 , that is, the mandrel predetermined position referred to in the present invention is inserted into the mandrel M while absorbing the axial misalignment due to the compliance of the grip member 2.
Moreover, it is only necessary to set the amount so that the centering operation can be effectively performed by releasing the gripping force, and it is necessary to appropriately determine in consideration of the insertion length, the insertion speed, the gap between the gripping core rod and the mandrel, and the like. Further, this centering operation is more effective if it is divided into a plurality of times, for example, when the insertion length is large.
【００３４】一方、マンドレルＭに装着された薄膜パイ
プＰを取り外すには、前述した装着と逆の操作を行えば
よいが、マンドレルＭと薄膜パイプＰの隙間が極めて少
ないことから薄膜パイプＰをある速度以上で引き抜くと
薄膜パイプＰ内が負圧となり、大気圧によって薄膜パイ
プＰが押潰される結果となる。On the other hand, in order to remove the thin film pipe P attached to the mandrel M, the reverse operation to the above-mentioned attachment may be performed. However, the thin film pipe P is used because the gap between the mandrel M and the thin film pipe P is extremely small. If the thin film pipe P is pulled out at a speed or more, the inside of the thin film pipe P becomes a negative pressure, and the thin film pipe P is crushed by the atmospheric pressure.
【００３５】本発明では係る現象を引抜き速度を低下さ
せることなく解決するために、薄膜パイプＰの引抜き開
始と同時に気体噴出管３の先端開口３ａより空気等の気
体を噴出させた。この気体の噴出により薄膜パイプＰ内
は負圧になることを防止され、高速で引抜いても薄膜パ
イプＰが押潰されることがなくなった。In the present invention, in order to solve such a phenomenon without lowering the drawing speed, a gas such as air is jetted from the tip end opening 3a of the gas jet pipe 3 at the same time when the drawing of the thin film pipe P is started. This gas jetting prevented the negative pressure in the thin film pipe P from becoming negative, and the thin film pipe P was not crushed even when it was pulled out at a high speed.
【００３６】[0036]
【発明の効果】本発明は肉厚が０．１mmに満たない、薄
膜パイプ状工作物を、変形や破損をきたさず工作機械の
マンドレルに着脱するハンドリング装置及びハンドリン
グ方法を提供し、工作物を連続して自動加工する生産シ
ステムの自動化設備として極めて有効な手段となる。The present invention provides a handling device and a handling method for attaching / detaching a thin film pipe-shaped workpiece having a wall thickness of less than 0.1 mm to / from a mandrel of a machine tool without causing deformation or damage. It is an extremely effective means for automated equipment of a production system that continuously and automatically processes.
【図１】本発明のハンドリング装置の一実施例を示す全
体構成図である。FIG. 1 is an overall configuration diagram showing an embodiment of a handling device of the present invention.
【図２】先部芯棒と後部芯棒を着脱可能に連結する他の
実施例を示す構成図である。FIG. 2 is a configuration diagram showing another embodiment in which a front core rod and a rear core rod are detachably connected.
【図３】薄膜パイプをハンドリング装置で把持する基本
要領を説明する構造図である。FIG. 3 is a structural diagram illustrating a basic procedure for gripping a thin film pipe with a handling device.
【図４】（ａ）〜（ｄ）は本発明装置を用いた工作機械
への薄膜パイプ状工作物の着脱動作の一実施例を示す構
造図である。4 (a) to (d) are structural views showing an example of an attaching / detaching operation of a thin film pipe-shaped workpiece to a machine tool using the device of the present invention.
【図５】（ａ）〜（ｃ）は円筒状工作物を把持する従来
手段の一例を示す構造図である。5A to 5C are structural views showing an example of conventional means for gripping a cylindrical workpiece.
１ ハンドリング装置 ２ 把持部材 ３ 気体噴出管 ４ 送気機構 ５ 位置制御機構 ６ 先部芯棒 ７ 後部芯棒 ８ 連結部材 ９ リング部材 1 Handling device 2 gripping member 3 Gas ejection pipe 4 Air supply mechanism 5 Position control mechanism 6 Tip core rod 7 Rear core rod 8 connecting members 9 Ring member
Claims (4)
芯棒と、軸央部に貫通孔を有し、かつ外周両端部に円板
状フランジを有すると共に前記フランジ間空間部と前記
貫通孔を連通する通気孔が穿設され、前記先部芯棒と後
部芯棒を着脱可能に連結する連結部材と、前記フランジ
間空間部を密閉するよう前記フランジ外周に嵌着される
伸縮可能なリング部材とからなる薄膜パイプ把持部材
と、前記後部芯棒の後端より前記貫通孔に挿入され、先
部芯棒先端部に開口を有する気体噴出管と、前記貫通孔
と気体噴出管との間に形成される密閉間隙部に圧縮気体
を送給し、前記フランジ間密閉空間部の内圧を制御する
送気機構と、前記薄膜パイプ把持部材を３次元移動せし
める位置制御機構とから構成されたことを特徴とする薄
膜パイプのハンドリング装置。1. A front and rear core rod having a through hole in the shaft center, a through hole in the shaft center, and disk-shaped flanges at both ends of the outer periphery, and the inter-flange space and the flange. Vent holes that communicate with the through holes are formed, and a connecting member that detachably connects the front core rod and the rear core rod and a stretchable member that is fitted to the outer periphery of the flange to seal the space between the flanges A thin film pipe holding member consisting of a ring member, a gas ejection pipe inserted into the through hole from the rear end of the rear core rod and having an opening at the tip of the front core rod, the through hole and the gas ejection pipe. And a position control mechanism for three-dimensionally moving the thin film pipe gripping member, which supplies compressed gas to the sealed gap formed between the two to control the inner pressure of the sealed space between the flanges. Thin film pipe handling Device.
するに際し、薄膜パイプ把持部材で把持された薄膜パイ
プをマンドレル所定位置まで挿入せしめた後、送気機構
からの送気を停止して薄膜パイプとマンドレルの芯合わ
せ操作を行ない、しかる後薄膜パイプを挿入させること
を特徴とする請求項１記載のハンドリング装置を用いた
薄膜パイプの装着方法。2. When mounting a thin film pipe on a machine tool mandrel, after inserting the thin film pipe gripped by the thin film pipe gripping member to a predetermined mandrel position, the air supply from the air supply mechanism is stopped to form the thin film pipe. The method of mounting a thin film pipe using a handling device according to claim 1, wherein the mandrel is centered and then the thin film pipe is inserted.
パイプを挿入させることを特徴とする請求項２記載の薄
膜パイプの装着方法。3. The method of mounting a thin film pipe according to claim 2, wherein the thin film pipe is inserted while repeating the centering operation a plurality of times.
外すに際し、気体噴出管から気体を噴出させつつ薄膜パ
イプを引抜くことを特徴とする請求項１記載のハンドリ
ング装置を用いた薄膜パイプの取外し方法。4. The method for removing a thin film pipe using a handling device according to claim 1, wherein when removing the thin film pipe from the machine tool mandrel, the thin film pipe is pulled out while ejecting gas from the gas ejection pipe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17552691A JPH0796195B2 (en) | 1991-07-16 | 1991-07-16 | Thin film pipe handling device and thin film pipe attaching / detaching method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17552691A JPH0796195B2 (en) | 1991-07-16 | 1991-07-16 | Thin film pipe handling device and thin film pipe attaching / detaching method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0523991A true JPH0523991A (en) | 1993-02-02 |
| JPH0796195B2 JPH0796195B2 (en) | 1995-10-18 |
Family
ID=15997608
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17552691A Expired - Lifetime JPH0796195B2 (en) | 1991-07-16 | 1991-07-16 | Thin film pipe handling device and thin film pipe attaching / detaching method |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0796195B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0768660A (en) * | 1993-09-06 | 1995-03-14 | Yamashita Gomme Kk | Manufacture of bent rubber tube |
| JP2007314289A (en) * | 2006-05-25 | 2007-12-06 | Mitsubishi Materials Techno Corp | Cylindrical body chucking device |
| JP2009067534A (en) * | 2007-09-13 | 2009-04-02 | Ricoh Co Ltd | Cylindrical body transfer carriage device |
-
1991
- 1991-07-16 JP JP17552691A patent/JPH0796195B2/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0768660A (en) * | 1993-09-06 | 1995-03-14 | Yamashita Gomme Kk | Manufacture of bent rubber tube |
| JP2007314289A (en) * | 2006-05-25 | 2007-12-06 | Mitsubishi Materials Techno Corp | Cylindrical body chucking device |
| JP2009067534A (en) * | 2007-09-13 | 2009-04-02 | Ricoh Co Ltd | Cylindrical body transfer carriage device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0796195B2 (en) | 1995-10-18 |
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