JPS637897B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method for inserting and positioning elongated parts suitable for, for example, automatically assembling a heating tube for a turbine feedwater heater.

Conventionally, when assembling a heating tube for a turbine feedwater heater, the insertion positioning of the tube into the hole in the partition plate has been done manually, which has the drawback of requiring a large amount of labor and man-hours.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide a method for inserting and positioning an elongated part that can easily and easily position the tip of an elongated part with respect to an insertion hole by significantly reducing labor and man-hours. This is what I did.

The elongated component insertion and positioning method of the present invention involves holding an elongated component such as a tube or rod horizontally, moving it forward through an elongated component transfer device, and aligning the elongated component with holes in a plurality of plate-like members arranged at predetermined intervals. When positioning,
the distance between the rear support part of the elongated part and the plate-like member;
The position of the rear support part of the elongated part is determined based on the vertical and horizontal deviation of the hole at the tip of the elongated part based on the distance between the plate-shaped members, the rigidity of the elongated part, and the amount of misalignment during setup. , if the number of plate-like members already inserted is an odd number, in the same direction as the direction of deviation of the tip of the elongated component with respect to the insertion hole, and if the number of plate-like members already inserted is an even number, the direction is opposite to the direction of deviation of the insertion hole. This is a method of aligning the center by displacing it in the direction according to the amount of deviation. That is, when inserting an elongated component into holes in a plurality of plate-like members, the tip end often deviates from the hole due to deflection due to its own weight and misalignment in the vertical and horizontal directions. Then, the tip becomes a cantilever beam, and the amount of deviation becomes maximum. For this reason, the displacement values based on the rigidity of the elongated parts, the distance between the plate-like members, the amount of misalignment, etc. are stored in the central control panel from the operation panel, and the command values are used to control the elongated parts via the NC control panel. Displace the tip of the part to eliminate misalignment and align. In addition, the tip of the long and thin part vibrates due to the movement of the long and thin part transfer device, and the amplitude reaches its maximum value just before it enters the hole, and the amount of deviation further increases. Therefore, the movement speed is reduced or stopped for a predetermined period of time to eliminate the vibration and align the parts. This is the way to do it.

An embodiment of the elongated component insertion and positioning method of the present invention will be described below with reference to FIGS. 1 to 4. 1st
The figure is a perspective view of the inserted and positioned state of the elongated part of the U-shaped tube, FIGS. 2 and 3 are explanatory diagrams of the elongated part inserted into each partition plate by the device shown in FIG. FIG. 3 is a block diagram for explaining the control system of the rear support section in the figure. In FIG. 1, reference numeral 1 denotes an elongated component transfer device, and the elongated component transfer device 1 is driven by a Z-direction driving servo motor 59 (see FIG. 4).
A trolley 1a, a column 2 planted on the trolley 1a,
It consists of a motor 3 attached to the column 2 and driving the insertion saddle 4 up and down, and a gripping device 5 and a pinching device 6 attached to the insertion saddle 4. 8
9 is a box placed on the floor in which the U-shaped elongated part 15 is stored, and 9 is a rail of the truck 1a. 7 is a horizontal position support member for an elongated part 15 consisting of three posts 13;
a saddle 12 that is driven to move vertically through the
It consists of a beam 16 attached to a saddle 12 and driven to swing horizontally by a swing motor 11, and a roller 17 attached to the beam 16.

24 is a rear support part, and a positioning column 24a
, a screw 19 that is driven via a shaft 23 that is mounted in a horizontal position and is driven by a Y-direction drive servo motor 58 and is vertically mounted on the positioning column 24a, and a vertical frame 22 that is driven vertically by the screw 19. and a saddle 20 that is attached to the upper and lower frames 22 and driven by a servo motor 56 for driving in the X direction to perform positioning in the X direction. A guide roller 21 is attached to the saddle 20 to grip the elongated part 15 via a roller. Reference numerals 26, 27, and 28 designate partition plates that are plate-like members that are respectively attached to the setup table 25 and through which the elongated component 15 is inserted. 55 is the NC control panel shown in Figure 4;
61 is a central control panel with a microcomputer as well. Fourth
In the figure, 53 is a machine control panel, 54 is an actuator, 57 is a feedback PG (pulse generator), 60 is an operation panel, and 62 is a base (see FIG. 3).

In FIG. 2, the rear end side of the elongated part 15 is supported by the guide roller 21 of the rear side support part 24, and after being inserted into the holes 50 of the partition plates 26 and 27, the tip of the elongated part 15 is inserted into the hole 50 of the partition plate 28. Let's explain when they are facing each other. In this case, the hole 50 of the partition plate 28
This difference occurs in most cases with any other partition plate.
This amount of misalignment is between the rear support portion 24 and the partition plate 26.
This is caused by the distance l ₁ between the partition plates 26, 27, and 28, the distances l ₂ and l ₃ between the partition plates 26, 27, and 28, the rigidity of the elongated part 15, and the amount of misalignment during setup. In this case, misalignment occurs in the vertical and horizontal directions during setup. In FIG. 2, if the misalignment is such that the tip of the elongated part 15 is shifted upward with respect to the hole 50, and the number of partition plates 26 and 27 that have been inserted is an even number, then as shown in FIG. Guide roller 21 of side support part 24
By displacing the elongated part 15 in the direction of the arrow A (the direction opposite to the direction of deviation) through the elongated part 15, the tip of the elongated part 15 can be moved downward (in the direction of the arrow B) to match the hole 50. Furthermore, if the number of inserted partition plates 9 is odd, the tip of the elongated component 1 can be similarly displaced and aligned with the hole 50 by displacing the position of the rear support portion 24 in the direction opposite to the direction of arrow A. can. Even if there is a deviation in the horizontal direction (in this case, caused only by the amount of misalignment), the insertion position can be determined by similarly displacing the position of the rear support part 24. In this way, insertion and positioning into the holes 50 of each of the plurality of partition plates can be determined.

This embodiment utilizes this principle, and when the elongated part 15 approaches the partition plate 28, the position of the rear support part 24 is displaced to align the tip of the elongated part 15 with the hole 50. The displacement adjustment amount for the amount of deviation between the tip of the elongated part 15 and the hole 50 is the distance l ₁ between the rear support part 24 and the partition plate 26, and the distance l ₂ , l between the partition plates 26, 27, 28. _3. Rigidity and upper and lower parts of the elongated part 15;
It can be calculated based on the amount of misalignment during horizontal setup (requires measurement). Therefore, the measured value of the amount of misalignment at the time of setup, the values of the above-mentioned rigidity and distance l ₁ to _{l 3} are stored from the operation panel 60 in the central control panel 61 with microcomputer, and the controller is driven by the command value via the NC control panel 55. The position of the partition plate is read based on the feedback command value of the feedback PG of the servo motor 59 for driving the Z direction of the cart 1a, and the X and Y of the guide rollers 21 are read.
A command is given to the direction drive motors 58 and 56 to correct the position. That is, just before the elongated part 15 reaches the position of the hole 50, the speed of the elongated part transfer device 1 is reduced from a position of about 5 to 10 mm, and at the same time the guide roller 21
The position of is moved in a direction and by an amount of displacement corresponding to the amount of misalignment of numerical values measured and stored in advance. After that, the tip of the elongated part 14 is located just before the partition plate 28.
At 2 mm, the tip is stopped for 1 to 6 seconds, and with the vibration of the tip stopped, the tip is restarted quietly and fed into the predetermined hole 50.

In the case of insertion positioning and assembling work of this elongated part, in the apparatus shown in Fig. 1, the box 8 on the floor
The U-shaped elongated part 15 inside the U-shaped elongated part 15 is removed by lowering the insertion saddle 4 of the elongated part transfer device 1.
The character-shaped part is grabbed by the gripping device 5, and the pinching device 6
It is supported by sandwiching it. In addition, the horizontal position support member 7
Lower the saddle 12 through the motor 10 and screw 14 of the post 13, swing the roller 16 through the motor 11 to support the elongated part 15 from below, and scoop up the other two posts 13 in the same way, It is supported horizontally at the insertion height of the rear support part 24 together with the elongated part transfer device 1 . Note that interference between the beam 16 and the truck 1a is prevented by the beam 16 escaping due to the movement of the truck 1a, thereby preventing the beam 16 from turning. Subsequent insertion of the tip of the elongated component 15 into the hole 50 is similarly performed by positioning as described above. The tip of the elongated part 15 is supported in the form of a cantilever, so it vibrates depending on the amount of deflection of the tip, but the experimental results also show that the stop dimension just before the hole 50 is 1 to 2 mm as described above. A time of 1 to 6 seconds was sufficient.

In this way, in the elongated component insertion positioning method of this embodiment, it is possible to If the tip of the elongated part has a vertical or horizontal deviation from the hole in the plate-like member based on the amount, the insertion position can be determined by displacing the rear support part vertically or horizontally depending on the odd or even number of inserted plate-like members. Therefore, it is possible to mechanize and automate the process without having to do it manually as in the past, significantly reducing labor and work man-hours.

FIGS. 5 and 6 show other embodiments, and while the above embodiment is a U-shaped elongated part 15, this embodiment is a straight pipe elongated part 15. In FIGS. 5 and 6, the elongated parts transfer device 1 is
Saddle 3 driven to move in Z direction on bed 29
1, a column 30 planted on a saddle 31,
It consists of a chuck 34 that grips the rear end of the elongated part 15, a bracket 33 to which the chuck 34 is attached, and a vertical saddle 32 that is driven up and down on a column 30 and moves the chuck 34 up and down via the bracket 33. 38 is a guide column of the rear support part 24, and the guide column 38 has a sliding surface on which a guide saddle 37, to which a support guide 36 for positioning the tip of the elongated component 15 in the hole 50 of the partition plates 26 to 28 is attached, moves up and down. is provided. 62 is a sliding base that positions the column saddle 39 of the guide column 38 in the arrow X direction. Reference numeral 41 indicates an inserted elongated component, 42 indicates a setup table, and 43 indicates an inserted hole, and the elongated component 15 is driven in the X, Y, and Z directions in the same manner as in the above embodiment. In this embodiment, similarly to the above embodiments, the rear support portion 2
Positioning is performed by displacing the support guide 37 of No. 4, and similar effects are obtained.

As described above, the elongated component insertion and positioning method of the present invention has the effect that positioning of the tip of the elongated component with respect to the insertion hole can be performed simply and easily with a significant reduction in labor and man-hours.

[Brief explanation of the drawing]

FIG. 1 is a perspective view of an apparatus for carrying out the elongated component insertion and positioning method of the present invention, FIGS. 2 and 3 are explanatory diagrams of the elongated component being inserted into the partition plate by the apparatus of FIG. 1, and FIG. FIG. 1 is a block diagram for explaining the control system of the rear support part of the device, FIG. 5 is a front view of another device for carrying out the elongated component insertion and positioning method of the present invention, and FIG. 6 is the − arrow in FIG. It is a sectional view of a perspective part. 1...Slender parts transfer device, 15...Slender parts,
24... Rear support part, 26, 27, 28... Partition plate, 41... Already inserted elongated part, 50... Hole, 55
...NC control panel, 60...operation panel, 61...central control panel, l ₁ , l ₂ , l ₃ ... distance.

Claims (1)

[Claims] 1. A method in which a long and narrow part such as a tube or a rod is held horizontally, advanced through a long and thin part transfer device, and aligned and positioned in holes in a plurality of plate-like members arranged at predetermined intervals. , the vertical and horizontal positions of the hole at the tip of the elongated part based on the distance between the rear support part of the elongated part and the plate member, the distance between the plate members, the rigidity of the elongated part, and the amount of misalignment during setup. If the number of plate-like members already inserted is an odd number, the position of the rear support part of the elongated component should be adjusted in the same direction as the direction of displacement of the tip of the elongated component with respect to the insertion hole. A method for inserting and positioning a slender part, characterized in that when the number of plate-like members is even, alignment is performed by displacing the plate-like members in a direction opposite to the direction of insertion according to the amount of deviation. 2. The elongated part according to claim 1, wherein the elongated part transfer device is decelerated at a position immediately before the elongated part is advanced and its tip is inserted into the hole, or the elongated part transfer device is stopped for a predetermined time after deceleration, and then inserted into the hole. Insertion positioning method. 3. The amount of vertical and horizontal displacement of the rear support section is calculated based on the distance between the rear support section and the plate member, the distance between the plate members, the rigidity of the elongated parts, and the misalignment during setup. 2. A method for inserting and positioning an elongated part according to claim 1, wherein the numerical value of the amount is stored in a central control panel from an operation panel, and the displacement is controlled via an NC control panel based on the command value.