JP3762764B2 - Snake tube forming device - Google Patents

Description

  In the present invention, a reticulated tube formed in a tubular shape is formed by forming a flexible tube portion of an endoscope insertion portion and forming a tubular shape by meshing a linear member with a spiral tube formed by spirally winding a band-shaped member. The present invention relates to a serpentine tube forming apparatus that continuously forms a serpentine tube by providing solder joints at predetermined positions on both ends of the coated serpentine tube.

  In recent years, endoscopes are widely used in the medical field or the industrial field. Some of these endoscopes have a flexible insertion section so that they can be inserted into body cavities or piping of plant equipment. In such an insertion part having flexibility, for example, the insertion part can be bent up and down, left and right by connecting a plurality of bending pieces in order from the distal end side to the distal end part where the illumination optical system and the observation optical system are arranged. And a flexible tube portion having flexibility are provided in a row.

  The length dimension, outer diameter dimension, and the like of the insertion portion vary depending on the use site or the observation purpose. For example, even in a medical endoscope inserted into a body cavity, the length dimension and the outer diameter dimension are different between those inserted from the oral cavity and those inserted from the anus.

FIG. 21 is a view for explaining the flexible tube constituting the flexible tube portion of the insertion portion.
As shown in the drawing, the flexible tube 200 is formed by meshing a spiral tube 201 formed by spirally winding an elastic band-shaped thin plate material from the inner peripheral surface side, and a stainless wire, for example, disposed on the spiral tube 201 so as to cover it. A mesh tube 202 formed in a tubular shape and a tubular outer tube 203 formed of a flexible resin member or a rubber member or the like disposed on the mesh tube 202 so as to cover the tube.

  As shown in the figure, the spiral tube 201 is formed by spirally winding one elastic strip-shaped thin plate material, and using two elastic strip-shaped thin plate materials in a spiral shape in different directions. There are those formed by winding and overlapping, and those formed by spirally winding three elastic strip-like thin plate materials in different directions.

  The flexible tube 200 constituting the flexible tube section is a step of forming a covered snake tube by covering the outer periphery of the spiral tube 201 with the mesh tube 202, and a predetermined solder joint at predetermined positions on both ends of the coated snake tube. Forming a snake tube in which a spiral tube and a mesh tube are integrally bonded and fixed, and forming a coated flexible tube by covering and arranging an outer tube on the outer peripheral side of the mesh tube constituting the outer periphery of the snake tube The outer tube of the coated flexible tube is integrally fixed to the mesh tube to form a flexible tube.

And when forming the said flexible tube, the flexible tube formation apparatus 300 shown, for example in FIG. 22 was used.
A serpentine tube forming apparatus 300 shown in the figure is an apparatus for automatically and continuously forming a serpentine tube 302 in which a predetermined solder joint is provided at a predetermined position on both ends of a coated serpentine tube 301 and a spiral tube and a mesh tube are integrally bonded and fixed. It is.

  The serpentine tube forming device 300 includes the solder joint forming device 303, a conveyor 304 as a serpentine tube supply device that is disposed on one side of the solder joint forming device 303 and supplies the coated serpentine tube 301, and the solder joint forming portion. It is mainly composed of a serpentine tube receiver 305 which is disposed on the other side of the device 303 and accommodates the serpentine tube 302 formed by the solder joint forming device 303. In the vicinity of the conveyor 304, a work table 306 on which a personal computer for performing various controls of the serpentine tube forming apparatus and a process table is placed is provided. The work table 306 may be disposed in the vicinity of the serpentine tube receiver 305.

  The solder joint forming device 303 includes a fixed joint forming device 300A and a movable moving joint forming device 300B provided with a ball screw mechanism 300C. For this reason, according to the length dimension of the coated serpentine tube 301 to be manufactured, the moving-side joint forming device 300B is moved to adjust the apparatus interval, thereby continuously connecting the serpentine tubes 302 having various length dimensions. It can be formed.

  In the serpentine tube forming apparatus 300 configured as described above, the operator firstly has the overall length, the tip length, the solder joint width, the solder joint length, the outer diameter, Refer to the solder joint information such as the end length, adjust the device interval so as to correspond to the total length, and position each device so that the tip length, the length between the solder portions, the rear end length, etc. become predetermined values. Adjustment work such as adjustment is performed, and then, the work of arranging and arranging the plurality of covered snake pipes 301 assembled in the previous process at a predetermined position of the conveyor 304, or the snake pipe 302 dropped and accommodated in the snake pipe receiver 305 in the next process In order to carry it, the work of organizing and operating the personal computer was performed.

  In a predetermined position of the joint forming apparatuses 300A and 300B, a pair of heating devices 307 for preheating the vicinity of the predetermined position of the end portion of the coated snake tube 301 with hot air, and a portion heated by the heating device 307 are in a molten state. A pair of flux application devices 308 for applying a flux, a pair of soldering devices 309 for applying solder in a molten state to a portion to which the flux is applied by the flux application device 308, and a solder joint formed by the soldering device 309 A pair of cooling devices 310 for cooling the unit by sending wind is disposed. The devices 307, 308, 309, and 310 are arranged in a substantially line at predetermined positions of the joint forming devices 300A and 300B.

  In addition, each of the joint forming devices 300A and 300B of the solder joint forming device 303 has a plurality of clamping portions 311 that can be opened and closed in, for example, claw-like, substantially V-shaped, and substantially I-shaped. 10 in the figure) are provided in a positional relationship facing each other. Opposing sandwiching portions 311 that hold both ends of the coated snake tube 301 are fixed to a pair of sandwiching and moving devices 312 that are moved to the working positions of the devices 307, 308, 309, and 310.

  As shown in FIG. 23, the holding / moving device 312 is configured by integrally providing ten holding portions 311 at predetermined intervals on a chain mechanism portion 313 formed in a ring shape. The chain mechanism portion 313 is configured to move around a predetermined amount mechanically by a shaft member 314 in synchronization with the fixed side and the moving side. The plurality of holding portions 311 are respectively moved by a predetermined amount, so that they are arranged at the work positions of the respective devices 307, 308, 309, 310, and a predetermined work is performed at each work position so that a desired corrugated tube is obtained. 302 is formed.

  In addition, A part in a figure shows a heating work position, B part shows a flux application work position, C part shows a soldering work position, D part shows a cooling work position, E part shows a discharge work position. In the figure, F part to J part indicate a member supply waiting area, and K part indicates a delivery work position.

  However, in the above-described serpentine tube forming device, the heating device, the flux applying device, the soldering device, and the cooling device, which are provided in the fixed-side joint forming device and the moving-side joint forming device of the solder joint forming device, Solder joint formed by changing the gap between the coated serpentine tube and the nozzle due to the difference in the diameter of the coated serpentine tube because the coated serpentine tube sandwiched between the sandwiched portions was arranged to provide the solder joint portion. There is a possibility that variations in the shape and bonding strength of the portion may occur, and there is a possibility that a post-operation or the like may be required to obtain a predetermined solder bonding portion.

  In addition, it is a work to perform adjustment work with reference to the solder joint information described in the process table, such as the device interval between the fixed-side joint forming device and the moving-side joint forming device of the solder joint forming device. This is a troublesome work for a person, and for a while after the coated snake tube is brought into the snake tube forming process, the snake tube cannot be formed for the adjustment operation.

  Furthermore, there is a possibility that defects due to adjustment problems may occur in the serpentine tube formed after the adjustment work, and this adjustment work is a heavy burden for the operator.

  The present invention has been made in view of the above circumstances, and provides a serpentine tube forming apparatus capable of performing a serpentine tube forming operation capable of improving the yield by placing each device at an optimal work position without imposing a burden on the operator. The purpose is to do.

  The serpentine tube forming apparatus according to the present invention includes a serpentine tube supply device for continuously supplying a coated serpentine tube having a predetermined length and a predetermined diameter dimension formed by coating a mesh tube on a spiral tube, and an end portion of the coated serpentine tube, respectively. A fixed unit and a moving unit provided with a plurality of holding units for holding are provided, and a heating device for blowing hot air, a flux application device having a flux nozzle, and a soldering nozzle for blowing the coated serpentine tube held by these holding units. A soldering device, a solder joint forming device which is moved and arranged in the vicinity of a cooling device that blows air, and a solder joint is provided at a predetermined position of the coated snake tube to continuously form the snake tube; and A delivery device that moves and arranges the coated serpent tube supplied by the serpentine tube supply device to a holding unit disposed at a predetermined position, and is provided in the fixed-side unit. When manufacturing a pipe, a control unit that controls the arrangement position of the moving side unit and the arrangement position of each device provided in each unit, and the overall length, tip length, and solder joint width dimensions related to the serpentine pipe , Information on the solder joints such as the length between the solder parts, the outer diameter dimension, the rear end length, etc., is registered for each type of the serpentine tube, and a plurality of registered solder joint information is stored in the storage means. Solder joint information designating means for designating solder joint information corresponding to the serpentine tube to be manufactured from the stored solder joint information, and the solder joint information designated by the solder joint information designating means And a solder joint information acquisition and setting means for transferring and setting the acquired solder joint information to the control unit.

  According to this configuration, the solder joint information specified by the solder joint information specifying means is acquired from the plurality of solder joint information stored in the storage means and transferred to the control unit. By operating each device via the control unit, the device interval is set to a predetermined interval, and each device is arranged at a predetermined position corresponding to the solder joint information.

  According to the present invention, it is possible to provide a serpentine tube forming apparatus capable of performing a serpentine tube forming operation capable of improving the yield by placing each device at an optimal work position without imposing a burden on an operator.

Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 to FIG. 20 relate to an embodiment of the present invention, FIG. 1 is a diagram for explaining a snake tube, FIG. 2 is a top view for explaining a snake tube forming apparatus and a positional relationship with an operator, and FIG. FIG. 4 is a side view for explaining the apparatus and the positional relationship with the operator, FIG. 4 is a diagram for explaining the fixed side unit and the moving side unit of the serpentine tube forming apparatus, FIG. Is a side view explaining the configuration of the pitch conveyor, FIG. 7 is a top view explaining the configuration of the pitch conveyor, FIG. 8 is a top view explaining the configuration of the delivery device, FIG. 9 is a side view explaining the configuration of the delivery device, 10 is a diagram for explaining the operation of the delivery device, FIG. 11 is a front view for explaining the configuration of the holding and moving device, FIG. 12 is a side view for explaining the configuration of the holding and moving device, and FIG. Rotating motor, holding part revolving plate and holding part rotating teeth FIG. 14 is a diagram for explaining the positional relationship between the devices, FIG. 15 is a diagram for explaining the heating device, FIG. 16 is a diagram for explaining the flux application device, and FIG. 17 is a soldering device. FIG. 18 is a diagram for explaining the serpentine tube discharging device, FIG. 19 is a block diagram for explaining the serpentine tube forming device, and FIG. 20 is a diagram for explaining the operational relationship between the revolution motor and the rotation motor and each device.

  1A is a diagram for explaining a coated snake tube, FIG. 1B is a cross-sectional view of a snake tube provided with a solder joint at a predetermined portion shown in FIG. 1A, and FIG. FIG. 16B is a diagram for explaining the positional relationship between the flux applicator and the coated snake tube, and FIG. 17A is a diagram for explaining the soldering unit and the solder supply unit of the soldering device. FIG. 17B is a diagram for explaining the tension adjusting unit of the soldering apparatus, FIG. 20A is a diagram for explaining the operation control of the revolution motor, and FIG. 20B is a diagram for explaining the operation control of the rotation motor. FIG. 20C illustrates operation control at the delivery position, FIG. 20D illustrates operation control at the heating position, and FIG. 20E illustrates operation control at the flux application position. Fig. 20 (f) shows the operation control at the soldering position. FIG. 20 (g) is a diagram for explaining the operation control at the cooling position, FIG. 20 (h) is a diagram for explaining the operation control at the arrangement position, and FIG. 20 (i) is a diagram showing the operation control of the snake tube discharge device. FIG. 20 (j) is a diagram for explaining the operation control of the delivery device, and FIG. 20 (k) is a diagram for explaining the operation control of the pitch conveyor.

  The serpentine tube forming apparatus according to this embodiment, which will be described in detail below with reference to FIG. 2, is provided with solder joints 3 as shown in FIG. 1B at predetermined portions 2a and 2b of the coated serpentine tube 1 shown in FIG. This is an apparatus for forming a serpentine tube 6 in which a spiral tube 4 and a mesh tube 5 are integrally joined and fixed.

  The coated snake tube 1 is formed by covering and arranging a mesh tube 5 on the outer periphery of the spiral tube 4, and at both ends, as shown in FIG. 1 (a), a ring portion 7 for use in the processing step. Is provided. The ring portion 7 is formed, for example, by knitting a thin stainless steel wire so as to have an opening having a predetermined rigidity, and is integrally formed by caulking and fixing to both ends so that the opening faces substantially the same direction. It is fixed.

  The diameter dimension and the length dimension of the coated serpent tube 1 processed by the serpentine tube forming device are different for each use of the endoscope, and there are a plurality of diameter dimensions in the range of 3 mm to 15 mm. The length dimension L is in the range of 900 mm to 3000 mm.

  In addition, the dimension L0 in the figure indicates the length between the solder portions between the rear end side of the front end side solder joint portion 3a and the front end side of the rear end side solder joint portion 3b, and the tolerance is set strictly. The length L0 between the solder portions is also different for each usage, and a predetermined dimension is designated from among 100 or more set values. In addition, this length between solder parts means the length dimension in the state which pulled the flexible tube 6 with the predetermined | prescribed tensile force.

  Further, the width dimension of the solder joint portion 3a provided at the predetermined portion 2a is set from among three types, and the width dimension of the solder joint portion 3b provided at the predetermined portion 2b is limited to a predetermined width dimension.

  In the following description, the dimension L1 in the figure is referred to as the front end length, and the dimension L2 in the figure is referred to as the rear end length. The tip length also differs depending on the use application of the endoscope, and there are two types, long and short. On the other hand, the rear end length L2 varies depending on the serpentine tube length L3, and the serpentine tube length L3 is set to a size that falls within the range of 0 mm to 200 mm, for example.

  As shown in FIGS. 2 and 3, the serpentine tube forming apparatus 10 includes a solder joint portion forming apparatus 11 that forms solder joint portions 3 a and 3 b at predetermined portions 2 a and 2 b of the coated serpentine tube 1, and a coated serpentine tube formed in the previous step. 1, a pitch conveyor 12 that is a serpentine tube supply device, a delivery device 13 that delivers the coated serpentine tube 1 supplied by the pitch conveyor 12 to the solder joint formation device 11, and the solder joint formation device 11. It is mainly composed of a serpentine tube receiver 14 that accommodates the formed serpentine tube 6. In addition, the said covered snake tube is arrange | positioned at the pitch conveyor 12 by an operator's hand.

  The serpentine tube forming device 10 includes a fixed-side unit 21 fixedly disposed at a predetermined position in order to form solder joints 3a and 3b at predetermined portions 2a and 2b of the coated serpentine tube 1 having a length of 900 mm to 3000 mm. The movable unit 31 is movable with respect to the fixed unit 21.

  The units 21 and 31 are provided with unit main bodies 22 and 32, respectively, and are integrally formed on one side of the unit main bodies 22 and 32 in a positional relationship where the pair of pitch conveyors 12 and the delivery device 13 face each other. It is attached. The serpentine tube receiver 14 is also provided on one side of the unit main bodies 22 and 32, similarly to the pitch conveyor 12 and the delivery device 13. Further, the unit main bodies 22 and 32 are respectively provided with a joining apparatus main body 20 for forming solder joint portions 3a and 3b. The unit main bodies 22 and 32 are integrally provided with a control panel 15 provided with various electronic components and the like for controlling the pitch conveyor 12, the delivery device 13 and the joining device main body 20 in a predetermined manner.

  The fixed unit body 22 is provided with an operation unit 16 for inputting operation instructions and confirming an operation state, and a serpentine tube 6 having a predetermined processing size is formed on a work desk 17 disposed in the vicinity of the operation unit 16. Information to be selected from the main computer to be described later and transferred to a PLC to be described later (hereinafter abbreviated as “working PC”) 17a or information connected to the work PC 17a or specified information For example, an information reading device 17b for reading a label written in a bar code or the like is installed. Reference numeral 18 is a work table, and reference numeral 19 is a dust collector.

  As shown in FIGS. 2 to 4, the fixed-side unit 21 includes the fixed-side unit main body 22 and a fixed-side installation base 23 on which the fixed-side unit main body 22 is placed and fixed. On the other hand, the moving side unit 31 moves the moving side unit main body 32, the rail part 35 on which the moving side unit main body 32 is slidably mounted, and the moving side unit main body 32 mounted on the rail part 35. For example, it is composed of a moving side installation base 33 provided with a ball screw mechanism 34.

  The ball screw mechanism 34 is configured to move the moving unit main body 32 in the X-axis direction, which is the longitudinal axis direction on the moving installation base 33, by the driving force of a servo motor (not shown) disposed in the servo unit 34a. Move freely to the position.

  In addition, when the said movement side unit main body 32 moves on the said movement side installation stand 33, the said pitch conveyor 12, the delivery apparatus 13, the corrugated tube receiver 14, and the joining apparatus main body which are integrally provided in this movement side unit main body 32 20 also moves. And in the snake tube forming apparatus 10 of this embodiment, before processing the coated snake tube 1 brought from the previous step, the moving side unit is read by reading the label brought together with the covered snake tube 1 with the information reading device 17b. After the main body 32 moves on the moving side installation base 33 to a predetermined position, the main body 32 is stopped and held.

Here, the configuration of the serpentine tube receiver 14, the pitch conveyor 12, the delivery device 13, and the joining device main body 20 constituting the serpentine tube forming device 10 will be described in order.
The serpentine tube receiver 14 will be described with reference to FIG.
For example, as shown in the figure, the serpentine tube receiver 14 is fixed to the unit main bodies 22 and 32, and one end portion is fixed to each of the serpentine tube receiver main body portions 14a. It is comprised with the intermediate | middle receiving part 14b comprised freely.

  Therefore, the moving side unit main body 32 moves on the moving side installation base 33 to a predetermined position so that the length of the intermediate receiving portion 14b can be changed to accommodate the flexible tubes 6 having different length dimensions. Yes. In addition, you may make it comprise the intermediate | middle receiving part 14b with a bellows member etc. which can be expanded-contracted.

The pitch conveyor 12 is demonstrated with reference to FIG.6 and FIG.7.
As shown in the figure, the pair of pitch conveyors 12 are fixed to the conveyor mounting portions 50 provided in the fixed unit main body 22 and the moving unit main body 32 via mounting plates 51, respectively.

  Specifically, the pitch conveyor 12 meshes with the mounting plate 51, a driving side sprocket 52 and a rotatable driven side sprocket 53 disposed at predetermined positions of the mounting plate 51, and the sprockets 52 and 53. The roller chain 54 is formed in a ring shape, and a plurality of coated snake tube arrangement portions 59 that are integrally provided at predetermined positions of the roller chain 54 and on which the ring portion 7 of the coated snake tube 1 is hooked. Has been.

  The covering serpentine tube disposing portion 59 includes a plurality of fixing blocks 59a regularly fixed to the roller chain 54, and a pin member 59b having a tapered tip formed vertically from the fixing block 59a. It consists of and.

  Therefore, when the moving unit main body 32 moves and arranges on the moving side installation base 33 to a predetermined position, the pitch conveyor 12 fixed to the moving side unit main body 32 also moves to the predetermined position.

  The drive-side sprocket 52 is driven by, for example, a conveyor induction motor (hereinafter abbreviated as a conveyor motor) 55 capable of electrically controlling the drive amount. The driving force of the conveyor motor 55 is transmitted to a pulley 57 provided integrally with the driving shaft 52a via a driving force transmitting belt 56, and the pulley 57 rotates to rotate the roller. The chain 54 is configured to rotate.

  Accordingly, by driving the conveyor motor 55 with a predetermined control, the covered serpentine tube disposing portion 59 fixed to the roller chain 54 of the pitch conveyor 12 is moved in the Y-axis direction perpendicular to the X-axis by a predetermined amount. It moves to the joining apparatus main body 20 side.

And the ring | wheel part 7 provided in the both ends of the covering serpentine tube 1 mounted in the work table 18 by the operator is covered with the said pitch conveyor 12 fixed to the said unit main bodies 22 and 32. When the conveyor motor 55 is repeatedly driven by being hooked on the pin members 59b of the serpentine tube disposing portion 59, the covered serpentine tube disposing portion 59 moves regularly.
Then, when this covered snake tube arrangement portion 59 repeatedly moves and reaches the supply position, the covered snake tube 1 that is hooked on the pin member 59b of the covered snake tube arrangement portion 59 that has reached the supply position by the delivery device 13 is provided. The pitch conveyor 12 is moved to the solder joint forming apparatus 11 side.

  The pitch conveyor 12 is provided with various sensors and switches for detecting the presence / absence of the covered snake tube 1 and the arrangement state, and the pulley 57 is provided with an encoder 58 for measuring the rotation amount of the pulley 57. is there. The measured value of the encoder 58 and the rotation amount of the conveyor motor 55 are constantly compared to constantly monitor whether or not the operation state of the roller chain 54 is normal. A signal is output to notify the operator that the condition is abnormal.

  In addition, when the ring portion 7 is hooked and arranged on the pin member 59b, the arrangement state of the coated snake tube 1 to the coated snake tube arrangement portion 59 is substantially stretched because the length of the coated snake tube 1 is different. There are differences such as being disposed or being slightly loosened.

The delivery device 13 will be described with reference to FIGS. 2 to 4, 8, and 9.
As shown in FIGS. 2 to 4, the pair of delivery devices 13 are fixedly arranged on two fixed bases 60 provided in the fixed-side unit main body 22 and the moving-side unit main body 32, respectively.

  As shown in FIGS. 8 and 9, the delivery device 13 includes an elongated sliding portion main body 61 that is fixedly arranged on the fixed base 60 and has a sliding portion so as to slide in the Y-axis direction. A sliding servo motor (hereinafter referred to as a delivery motor) 62a, which is slidably disposed on the moving part main body 61, is provided between the supply position of the pitch conveyor 12 and the delivery position of the solder joint forming device 11 by a driving force of a delivery servo motor 62a. A moving part main body 62 reciprocally moved as shown by an arrow A, a gripping cylinder 64 slid by air pressure in the vertical direction with respect to the moving part main body 62 as shown by an arrow B, and the gripping cylinder 64 And a gripping portion 63 that opens and closes by air pressure and grips a predetermined position of the coated serpentine tube 1.

  Therefore, when the movement-side unit main body 32 moves and arranges on the movement-side installation base 33 to a predetermined position, the delivery device 13 fixed to the movement-side unit main body 32 also moves to the predetermined position.

  At a predetermined position of the grip portion 63, there is a recess 65a into which the tip end portion of the pin member 59b and the tip end portion of a hook (reference numeral 121) constituting the snake tube holding portion (hereinafter abbreviated as holding portion) 40 are engaged. A positioning pin 65 is provided, and an extruding member 66 that is movable in the vertical direction by air pressure control and is formed so as to be in contact with the ring portion 7 at the tip end surface is disposed.

  The positioning pin 65 is configured to slide in the vertical direction. In the present embodiment, the positioning pin 65 is pushed downward by a biasing force such as a spring (not shown) in an unloaded state. Accordingly, as shown in FIG. 9, when the covering serpentine tube 1 is gripped by the gripping portion 63 as shown by the broken line, the positioning pin 65 opens the opening of the ring portion 7 provided in the coated serpentine tube 1. It passes through and protrudes.

  The delivery device 13 includes a gripping portion 63 provided at the lower end of the gripping cylinder 64 with the moving portion main body 62 positioned at the delivery position on the solder joint forming device 11 side of the sliding portion main body 61. The standby state is when the gripping portion 63 is in the closed state and is located at the upper position.

The operation of the delivery device 13 will be described with reference to FIGS.
As shown in FIG. 9, the gripping portion 63 that is in the standby state by gripping the sheathed flexible tube 1 with the gripping portion 63 starts to descend by sliding the gripping cylinder 64. Then, when it is detected by a touch switch or the like (not shown) that the gripping part 63 has been lowered to a predetermined height, the gripping part 63 stops at a predetermined position as indicated by a broken line in FIG. At this time, as shown in the enlarged view of FIG. 9, the tip of the hook 121 is engaged with the recess 65 a of the positioning pin 65.

  In this state, after that, the grip portion 63 is changed from the closed state to the open state, and the pushing member 66 moves downward. At this time, the gripping portion 63 changes from the closed state to the open state, and the pushing member 66 moves downward, so that the coated serpentine tube 1 smoothly falls vertically downward, and the ring portion is surely secured. 7 is disposed on the hook 121.

  When a sensor (not shown) detects that the push-out member 66 has moved downward to a predetermined position, the gripping cylinder 64 starts to slide and raises the grip portion 63 in the open state to the initial position. Thereafter, when the gripping part 63 reaches the standby state position, the moving part main body 62 arranged at the delivery position as shown in FIG. 10 moves toward the supply position.

  When the moving part main body 62 that has started moving reaches the supply position and stops, the gripping cylinder 64 slides to lower the gripping part 63. Then, when the grip 63 is lowered to a predetermined height, it is stopped at a predetermined position by detecting with a touch switch or the like (not shown). At this time, the tip of the pin member 59b is engaged with the recess 65a of the positioning pin 65. Thereafter, the gripping portion 63 is changed from the open state to the closed state, and grips a predetermined position of the covered snake tube 1 disposed at the supply position of the pitch conveyor 12.

  When the gripping portion 63 is gripped by the sensor (not shown), the gripping cylinder 64 slides to bring the gripping portion 63 in the state of gripping the covering serpentine tube 1 to the height of the standby state position. After being raised, the moving unit main body 62 is moved from the supply position to the delivery position and returned to the standby state. When the covering serpentine tube 1 is gripped by the gripping portion 63, the positioning pin 65 is in a state of protruding through the opening of the ring portion 7.

  Reference numeral 69 denotes a sensor which is fixed to the sliding part main body 61 and sets a moving range of the moving part main body 62. Two sensors for supply position setting and delivery position setting are provided so as to be movable. Yes. In addition to the sensor 69, the delivery device 13 is provided with various sensors, switches, and the like for detecting the gripping state of the gripping part 63, the sinking position of the pushing member 66, the vertical position of the gripping part 63, and the like. . Further, the grip portion 63 is slidably disposed on the slide portion 68 as shown by an arrow C so as to be movable in the X-axis direction.

The joining apparatus main body 20 will be described with reference to FIGS. 2 to 4 and FIGS. 11 to 17.
As shown in FIG. 2 to FIG. 4, the joining device main body 20 includes the six holding portions 40 that hold the coated serpentine tube 1 delivered from the delivery device 13 in a rotating state by holding portion rotation means described later, and these holding portions. A holding and moving device 41 that is a holding portion revolving movement means for rotating the arrangement position of the portion 40 concentrically in a predetermined direction by a predetermined angle, and heating the predetermined portions 2a and 2b of the covered snake tube 1 held by the holding portion 40 Heating device 42, flux applying device 43 for applying flux to predetermined portions 2a and 2b heated by heating device 42, and predetermined widths for predetermined portions 2a and 2b to which flux is applied by flux applying device 43. Mainly composed of a soldering device 44 that performs soldering of dimensions and a cooling device 45 that cools the solder joint portions 3a and 3b provided by the soldering device 44. It has been.

  The holding and moving device 41, the heating device 42, the flux applying device 43, the soldering device 44, and the cooling device 45 are positioned so as to face each other with the Y axis interposed therebetween. Each is disposed on the main body 32.

First, the holding and moving device 41 will be described with reference to FIGS. 11 to 13.
As shown in the figure, the holding and moving device 41 has six holding portions 40 arranged at predetermined angular intervals in the concentric circumferential direction. Specifically, the holding and moving device 41 is configured such that the holding portion 40 is regularly arranged, for example, has a through hole, and has a disk-like holding portion mounting plate 122 and rotates the holding portion mounting plate 122 by a predetermined angle. A mounting plate servo motor (hereinafter referred to as a revolving motor) 123, which is a revolution driving means capable of electrically controlling the amount of rotation for movement, and a holding unit attached to the holding unit mounting plate 122. A holding unit rotating motor (hereinafter, referred to as a “rotating motor”) 124 which is a holding unit driving means capable of electrically controlling the amount of rotation for rotating the hook 121 of the unit 40, and the driving force of the rotating motor 124 is used as the hook. It is mainly composed of a transmission gear 136 which is a driving force transmission means for transmitting to 121.

  These holding portions 40 are rotated concentrically on the concentric circles by a predetermined angle by the revolving motor 123 by a predetermined angle, thereby providing a heating work position (hereinafter also referred to as a heating position) and a flux application work position (hereinafter also referred to as a flux application position). In addition to the soldering work position (hereinafter also referred to as the soldering position) and the cooling work position (hereinafter also referred to as the cooling position), the serpentine tube 6 provided with a solder joint and integrally joined and fixed is A serpent tube discharge work position (hereinafter also referred to as a discharge position) for dropping toward the serpent tube receiver 14, and a delivery work position (hereinafter also referred to as a delivery position) for delivering the coated serpent tube 1 from the delivery device 13 to the holding and moving device 41. ) Are sequentially moved and arranged.

  The stop positions in the figure are the discharge position on the upper worker side, the delivery position on the upper rear side, the cooling position on the central worker side, the heating position on the inner rear side, the soldering position on the lower worker side, and the flux application position on the lower rear side, respectively. It is. And each holding | maintenance part 40 is rotationally moved clockwise as shown by the arrow D when it sees from the front, and changes a working position one after another. Further, when the holding portion 40 is stopped at the discharge position, a later-described take-out portion of the serpentine tube discharge device 46 is moved obliquely in a predetermined direction as indicated by an arrow E. Further, when the holding portion 40 is stopped at the delivery position, the gripping portion 63 of the delivery device 13 moves in the vertical direction as indicated by an arrow F.

  As shown in FIG. 12, the holding portion 40 arranged on the holding portion mounting plate 122 is slidably arranged on a holding portion main body 126 having a rail portion 126a and the rail portion 126a of the holding portion main body 126. The distal end holding portion 127 to which the distal end portion of the elongated shaft member 125 having the hook 121 fixed to the distal end portion is fixedly disposed, and the air cylinder described later are provided at the proximal end portion of the retaining portion main body 126. The bearing portion 128 also serves as an attachment portion, and a hook rotation gear 135 that is rotatably disposed on the bearing portion 128 and rotates the shaft member 125.

  The structure of the holding portion 40 is different depending on what is provided in the fixed unit main body 22 and what is provided in the moving unit main body 32. That is, an air cylinder is fixed to the bearing portion 128 in the holding portion 40 provided on the moving side unit main body 32 side. This air cylinder changes the position of the hook 121 fixed to the tip of the shaft member 125 serving as the first tension holding means with respect to the X-axis direction, and applies a predetermined tension to the coated serpentine tube 1 disposed on the hook 121. The pulling cylinder 129 is mainly intended to be stretched in the state where the distal end side holding portion 127 is moved forward and backward on the rail portion 126a.

  In addition, the holding member mounting plate 122 and the bearing portion 128 constituting the holding unit 40 on the moving side unit main body 32 side are in a state where the shaft member 125 can be slid by the pulling cylinder 129 or in a predetermined position. A shaft support member 130 called a ball spline is provided to hold and fix the shaft member 125 so that the shaft member 125 is rotatably supported in a moved state, and the shaft member 125 is inserted into the shaft support member 130. The hook rotation gear 135 is fixed to a shaft support member 130 provided in the bearing portion 128.

  That is, as shown in FIG. 4, the holding portion 40 provided in the fixed unit main body 22 has a structure in which the hook 121 is fixedly arranged without sliding, whereas the holding provided in the moving side unit main body 32. The portion 40 has a structure in which the position of the hook 121 can be changed by moving the tip side holding portion 127 to the bearing portion 128 side by the pulling cylinder 129. As a result, by changing the position of the hook 121 of the holding unit 40 provided in the moving-side unit main body 32, the tensioned state of the covered flexible tube 1 disposed on the hook 121 of the holding unit 40 of the unit main bodies 22 and 32 is changed. Adjustments can be made.

  On the other hand, the holding portion mounting plate 122 on which the holding portion 40 is disposed is integrally fixed to the holding portion revolving plate 132 via a spacer 131 having a predetermined length. The holding part revolution plate 132 is integrally fixed to a flange part 133 a provided on the distal end side of the first hollow shaft 133 rotated by the revolution motor 123.

  At predetermined positions of the holding part revolving plate 132, six shaft parts 134 projecting toward the holding part mounting plate 122 are provided. A transmission gear 136 that is a driving force transmission means that meshes with the hook rotation gear 135 is rotatably attached to the shaft portions 134. The transmission gear 136 is also meshed with a holding portion rotation gear 138 disposed at the tip of the second hollow shaft 140 disposed in the inner hole of the first hollow shaft 133.

  The second hollow shaft 140 is rotated by the rotational driving force of the rotation motor 124, and the rotation motor 124 rotates to rotate the holding portion rotation gear as shown by an arrow G in FIG. 138 is rotated, the transmission gear 136 is rotated in the direction of arrow H, and the hook 121 rotated by the hook rotation gear 135 is rotated in the direction of arrow J.

  The revolving motor 123 shown in FIG. 13 is a servo motor, and the driving force of the revolving motor 123 is transmitted through a belt 123a to a mounting plate rotating pulley 137 that is integrally fixed to an intermediate portion of the first hollow shaft 133. The Accordingly, a driving force that rotates in a predetermined direction is transmitted to the mounting plate rotating pulley 137 and the first hollow shaft 133 rotates by a predetermined amount, whereby the holding portion revolving integrally with the flange portion 133a of the first hollow shaft 133 is performed. The plate 132 rotates.

  Then, by driving and controlling the revolving motor 123 so as to rotate the holding portion revolving plate 132 by 60 degrees in the direction of arrow D, the holding portion mounting plate 122 integrated with the holding portion revolving plate 132 is also directed in the same direction. Then, the position of all the holding parts 40 changes to the next work position.

  On the other hand, the rotation motor 124 is also a servo motor, similar to the revolution motor 123, and the driving force of the rotation motor 124 rotating in a predetermined direction is transmitted to the holding portion rotation pulley 139 via the belt 124a. The holding portion rotating pulley 139 is integrally fixed to a rear end portion of the second hollow shaft 140 disposed in the inner hole of the first hollow shaft 133. Accordingly, the driving force is transmitted to the holding unit rotating pulley 139 and the second hollow shaft 140 rotates, whereby the holding unit rotating gear 138 rotates.

  The pulleys 137 and 139 are provided with encoders (not shown) for measuring the rotation amounts of the pulleys 137 and 139, similarly to the pulley 57. Then, the measured value of the encoder is constantly compared with the rotation amount of the motors 123 and 124 to constantly monitor whether or not the operation state is normal. When an abnormality is detected, an abnormality detection signal is output. The operator is informed of the abnormal state.

  The rotation of the holding portion rotating gear 138 is transmitted to the hook rotating gear 135 constituting the holding portion 40 via the six transmitting gears 136, and all the shaft support members 130 are rotated simultaneously. At this time, if the shaft support member 130 is in a state where the shaft member 125 is fixedly held, the shaft member 125 is rotated by the shaft support member 130 and the hook 121 is rotated.

  When the rotation of the rotation motor 124 is stopped, the tip of the hook 121 of the holding part 40 located at the delivery position as shown in FIG. 11 is recessed in the positioning pin 65 provided in the holding part 63. The stop control is performed so as to oppose. By performing this stop control, the tip of the hook 121 of the holding unit 40 stopped at another work position is directed in a predetermined direction different from the direction of the tip of the hook 121 located at the delivery work position. Yes.

The heating device 42, the flux applying device 43, the soldering device 44, and the cooling device 45 provided on the moving unit body 32 side will be described with reference to FIGS.
As shown in FIGS. 14 and 15, the heating device 42 is disposed on the heater portion 73 in which the cartridge heater 71 is disposed in the box body 72, and on one end side of the box body 72 constituting the heater portion 73. A blower 74 that blows hot air from the blowout opening 72a formed on the other end side of the box 72 to the vicinity of the joint portion of the sheathed helical tube 1 positioned at the heating position, the blower 74, and the blower It is comprised with the 1st attachment plate 75 which attaches the heater part 73 integrally. A heat insulating plate 79 is disposed between the first mounting plate 75 and the blower 74 and the heater unit 73. The heating device 42 is integrally fixed at a predetermined position via a second mounting plate 152 to a casing 151 of a single-axis robot 150 constituting a flux applying device 43 described later. As a result, the outlet 72 a faces the predetermined portions 2 a and 2 b of the coated snake tube 1.

Next, the flux application device 43 will be described.
As shown in FIGS. 14 and 16, the flux application device 43 includes a flux application unit 80A, a flux supply unit 80B that supplies flux to the flux application unit 80A, and a flux application unit that moves the flux application unit 80A in the vertical direction. It is mainly composed of a first single-axis robot 150 that is an axis robot.

  The flux application portion 80A is provided so as to protrude from a container 81 having a concave portion 81a for disposing the sheathed flexible tube 1 on the opposite side surface, and to protrude to a predetermined position of the container 81, and a flux supply hole 82a. A flux nozzle 82 having a predetermined nozzle dimension for applying the flux in communication with the upper and lower sides, and an arrangement recess 83a arranged on at least the anti-hook 121 side outside the container body 81 to support the coated serpentine tube 1 It is mainly comprised by the covered snake tube support body 83 which prevents that the said covered snake tube 1 comprised so that it was movable to the direction swings.

A flux collection hole 84 is formed at the bottom of the container body 81 to collect the flux that spills from the flux nozzle 82 so as to rise by a predetermined amount and falls to the bottom of the container body 81. On the other hand, an exhaust hole 85 for exhausting gas generated from the flux filling the container to the outside is formed on the side of the container body 81. A flux supply pipe 86 extending from the flux supply section 80B is connected to the flux supply hole 82a, and a flux discharge pipe 84a extending from the flux supply section 80B is connected to the flux collection hole 84, and the exhaust An exhaust tube 85 a is connected to the use hole 85.
The container body 81 is fixed to a sliding portion 153 slidable in the vertical direction of the first single-axis robot 150 via a container mounting member 89. Accordingly, by sliding the position of the container body 81 in the vertical direction by the first single-axis robot 150, the flux nozzle 82 provided on the container body 81 is made to have an optimum flux with respect to the diameter dimension of the coated snake tube 1. The arrangement can be controlled at the application position. The container body 81 is controlled so as to reciprocate between a flux application position that is an upper position and a flux standby position that is a lower position, which differ depending on the diameter size of the coated snake tube 1.

  On the other hand, the flux supply pipe 86 and the flux discharge pipe 84a are connected to the flux supply section 80B. The flux supply unit 80B is provided with a flux tank 87 for storing flux, and the flux stored in the flux tank 87 is supplied through the flux supply pipe 86 by driving a flux supply pump 88. Can be done. The flux supply pipe 86 is provided with a flux control valve 86b. By controlling the flux control valve 86b, the flux supply state can be switched between a flux supply state and a supply stop state. That is, the flux flows out from the flux nozzle 82 by controlling the flux control valve 86b to be in a flux supply state.

  As shown in FIGS. 14 and 17A, the soldering apparatus 44 includes a soldering unit 90A, a solder supply unit 90B for supplying solder to the soldering unit 90A, and the soldering unit 90A moving in the vertical direction. The second single-axis robot 160, which is a single-axis robot for soldering, and a tension adjusting unit 90C that holds the tension of the coated serpentine tube 1 shown in FIG. 17B at a predetermined value are mainly configured.

  The soldering portion 90A includes a soldering nozzle 91 in which a nozzle width dimension in which the coated serpentine tube 1 to which the flux is applied by the flux applicator 43 is substantially in contact is set to a predetermined width dimension, and the coated serpentine tube 1 A coated serpentine tube support body 92 which has an arrangement recess 92a disposed on the anti-hook 121 side of at least the soldering nozzle 91 for supporting the sheath and which is configured to be movable in the vertical direction; And a solder amount adjusting member 93 for dropping excess solder applied to the predetermined portions 2a and 2b by rotating and contacting a plurality of times as shown by the arrow K with respect to the sheathed flexible tube 1. . Reference numeral 94 denotes a box disposed so as to cover the periphery of the soldering nozzle 91.

  The solder nozzle 91 has a configuration in which molten solder is ejected so as to slightly rise, and the joint serpentine tube 1 disposed in the soldering nozzle 91 rotates a predetermined number of times to thereby join the joint portion. A predetermined amount of solder is applied to 2a and 2b.

  The solder supply unit 90B includes a solder tank (not shown) in which molten solder is stored, a solder supply pipe 98 connected to the solder nozzle 91 that supplies the solder stored in the solder tank, and the solder. A solder jet pump 99 that jets solder from the solder nozzle 91 via a supply pipe 98 is mainly configured. The solder jet pump unit 99 can be turned ON / OFF. When the solder jet pump unit 99 is turned ON, the solder jets from the solder nozzle 91 are in a state of being jetted. When the solder jet pump unit 99 is turned OFF, the solder jet from the solder nozzle 91 is stopped. The The solder nozzle 91 is configured to be replaceable according to the width dimension of the solder joint portion 3a. The solder tank is provided with a heater for melting the solder, and this heater is ON-controlled by a timer. Then, by turning the bellows tube forming device 10 in the off state, the heater in the solder bath is also in the off state, and unnecessary heating of the solder bath after production is prevented. The timer is configured to operate even when the flexible tube forming apparatus 10 is turned off, and the solder is in a molten state at the start of the work so as to shorten the setup time.

  The soldering part 90A and the solder supply part 90B are fixed to a sliding part 163 configured to be slidable in the vertical direction on the second single-axis robot 160 via a nozzle mounting member 95. The position of the soldering nozzle 91 is slid in the vertical direction by the second single-axis robot 160 to control the placement of the soldering nozzle 91 at the optimum soldering position with respect to the diameter of the coated serpentine tube 1. Can do. The soldering nozzle 91 is controlled to reciprocate between a soldering position which is an upper position and a soldering standby position which is a lower position, which differ depending on the diameter.

  As shown in FIG. 17B, the tension adjusting unit 90C includes a column 181, an adjustment unit main body 182 including a rail unit 182a disposed on the column 181, and the rail unit 182a of the adjustment unit main unit 182. A locking member 183 having a locking portion 183a for locking the distal end side holding portion 127 constituting the holding portion 40 that is slidably disposed at the soldering work position, and this locking member 183 This is composed of a low friction cylinder 184 which is a second tension holding means which can be moved at a predetermined control air pressure and can set the tension at the time of soldering of the coated serpentine tube 1 to a predetermined value with high accuracy. A sensor such as a load cell that electrically determines whether or not the tension value by the low friction cylinder 184 is a predetermined value is provided integrally with the posting member 183a.

  As shown in FIG. 14, the cooling device 45 is a blower 101 having a so-called fan, and cools the solder provided in the solder joints 3 a and 3 b by the flow of air sent from the blower 101. The blower 101 is integrally fixed to the casing 161 of the single-axis robot 160 constituting the soldering device 44 by the third mounting plate 102 via the fourth mounting plate 162.

  Note that the first single-axis robot 150 and the second single-axis robot 160 arranged in the unit main bodies 22 and 32 are the third single-axis robot 170 arranged so as to move in the X-axis direction. Is disposed on a fixed plate 174 fixed to the sliding portion 173. Accordingly, by moving the sliding portion 173 of the third single-axis robot 170, the positions of the first single-axis robot 150 and the second single-axis robot 160 arranged on the fixed plate 174 in the X-axis direction are changed. Can be changed. That is, by controlling the third single-axis robot 170, the arrangement positions of the nozzles 82 and 91 in the X-axis direction change.

The serpentine discharge device 46 will be described with reference to FIGS. 2 to 4 and 18.
As shown in the drawing, the serpentine tube discharge device 46 includes a discharge device main body 112 having a rotating hand 111 that rotates by a predetermined angle as indicated by arrows L fixed to the unit main bodies 22 and 32, and the discharge device main body 112. As shown by an arrow M, the rotary hand 111 is provided with a slide table 114 provided with a take-out portion 113 that can be opened and closed at the tip. The discharge device main body 112 is provided with an X-axis direction slide table (not shown) that moves the rotary hand 111 to a predetermined side in the X-axis direction and slides the take-out part 113 by a predetermined amount. Note that the state indicated by the solid line in the figure is the standby position, and at this time, the take-out unit 113 is in the closed state.

  When the take-out portion 113 is opened and the holding portion 40 holding the serpentine tube 6 on which the solder joint portions 3a and 3b are formed stops at the serpentine tube discharge position, the serpentine tube discharge device 46 is positioned at the standby position. In order to move the take-out portion 113, the slide table 114 is moved forward toward the serpentine tube 6. When the takeout unit 113 is moved to a predetermined position and stopped, the open takeout unit 113 is switched to the closed state. As a result, a predetermined position of the snake tube 6 is held by the take-out portion 113.

  Here, when a sensor (not shown) detects that the take-out portion 113 has gripped the serpentine tube 6, the X-axis direction slide table is driven. As a result, the snake tube 6 held by the take-out portion 113 slides to the front side in the figure. At this time, the tension cylinder 129 and the shaft support member 130 of the holding portion 40 are in a free state, and the shaft member 125 is slidable.

  Next, when the slide table 114 stopped at the gripping position starts to move backward, the ring portion 7 of the snake tube 6 is removed from the hook 121. Thereafter, the slide table 114 returns to the standby position, and then the rotary hand 111 rotates and moves to the serpentine tube dropping position. Then, after the stop, the slide table 114 is moved forward again, and when the slide table 114 is moved to a predetermined position and stopped, the take-out portion 113 that is in the closed state is opened at substantially the same time. As a result, the serpentine tube 6 held by the take-out portion 113 falls and is accommodated in the serpentine tube receiver 14.

Here, the control system of the serpentine tube forming apparatus 10 will be described.
As shown in FIG. 19, the serpentine tube forming device 10 includes the operation unit 16 provided with operation switches and the like, the control panel 15 provided in the fixed-side unit main body 22 and the moving-side unit main body 32, and the work desk 17. The information reading device 17b for reading the contents of the label 17c, which is a solder joint information designation means attached to the work instruction sheet brought together with the arranged work PC 17a and the coated snake tube 1, and is connected to the work PC 17a. A main computer (hereinafter referred to as a main PC) 100, which is a storage means, and a sub-operation unit (not shown) are provided.

  The control panel 15 has a signal detection unit to which signals output from various sensors and switches are input, and a drive control for driving various cylinders constituting each device and a drive unit such as a servo motor based on these detection signals. Is provided. These drive control units are controlled by a control unit called a programmable logic controller (hereinafter abbreviated as PLC) 110 provided on the control panel 15 of the fixed-side unit main body 22. That is, a series of operations of the serpentine tube forming apparatus 10 is performed by the PLC 110, and based on the instruction signal output from the PLC 110, starting from the position control of the moving side unit body 32, Operations of the pitch conveyor 12, the delivery device 13, the joining device main body 20, and the like provided in the unit main body 32 and the fixed-side unit main body 22 are controlled.

Here, the operation of each device during one cycle from when the revolution motor 123 of the serpentine tube forming apparatus 10 controlled by the PLC 110 is stopped to when it is driven and stopped again will be described.
First, the operational relationship between the revolution motor 123 and the rotation motor 124 will be described.
As shown in FIG. 20 (a), the revolution motor 123 is driven and controlled for a predetermined time for one cycle, and then stopped for a predetermined time. Then, by repeatedly performing this control, the holding unit 40 changes the working position one after another. The time of the one cycle is the heating time, flux application time, soldering time corresponding to the solder joint information such as the total length, the tip length, the length between the solder portions, the outer diameter size, etc. selected from the main PC 100 by reading the contents of the label 17c. It is determined by processing information such as attaching time and cooling time, and delivery work time or discharge work time. Then, as shown in FIG. 20B, the rotation motor 124 is controlled to be stopped for a predetermined time substantially simultaneously with the revolution motor 123 being stopped, and then driven and controlled for a predetermined time.

  The time during which the rotation motor 124 is stopped is for the delivery of the coated snake tube 1 to the holding portion 40 and the removal of the snake tube 6 from the holding portion 40. That is, the stop time of the rotation motor 124 is determined in consideration of actual work, and is not set by the solder joint information or processing information.

  The revolving motor 123 provided in the unit main bodies 22 and 32 is electrically synchronously controlled by the PLC 110. That is, a drive instruction signal is simultaneously output from the PLC 110 to the revolving motor 123 of the unit main bodies 22 and 32 to start rotation at the same time and simultaneously stop the rotation, so that the holding unit 40 provided in the unit main bodies 22 and 32 is provided. Rotate and move to change the work position.

  On the other hand, with respect to the rotation motor 124, only the rotation motor 124 provided in the fixed-side unit body 22 is electrically controlled by the drive signal output from the PLC 110. Then, the control of the rotation motor 124 provided in the movement-side unit main body 32 is performed by detecting the actual rotation operation of the rotation motor 124 of the fixed-side unit main body 22 and based on the detection signal. The rotation motor 124 is operated to synchronize. Therefore, the rotation motor 124 provided in each of the unit main bodies 22 and 32 is not strictly synchronously controlled, and is delayed by an amount corresponding to the transmission of the electric signal from the fixed side unit main body 22 to the moving side unit main body 32. become. However, by this control, the rotation motors 124 respectively provided in the unit bodies 22 and 32 start to rotate substantially simultaneously and stop rotating substantially simultaneously, but also reliably rotate by the same amount. Thus, when the holding unit 40 is disposed at the delivery work position, the stop of the hook 121 of the holding unit 40 is controlled to be sure to face the same direction facing the descending line of the gripping unit 63. In addition, the covered snake tube 1 and the snake tube 6 arranged on the hook 121 are reliably prevented from being twisted.

Next, the operational relationship between the motors 123 and 124 and each device will be described.
As shown in FIGS. 20A and 20B, when the revolution motor 123 is stopped, the rotation motor 124 is also stopped. Then, during this stop, the following operation control is performed through the PLC 110 at the delivery work position, the flux work position, the soldering work position, and the discharge work position of the joining apparatus body 20.

  As shown in FIG. 20 (c), at the delivery work position, first, the shaft support member 130 is set in a free state to operate the pulling cylinder 129, and the shaft member 125 of the holding unit 40 of the moving unit body 32 is moved to the foremost side. Then, the shaft support member 130 is fixed and held so as not to slide. Next, the delivery device 13 is driven to start delivery work. That is, in the delivery device 13, the gripping portion 63 that is in a standby state is lowered, and then the gripped state is released and the push-out member 66 is operated to stop the covered snake tube 1 held by the delivery device 13 at the delivery work position. It is transferred to the hook 121 of the holding unit 40 that is in operation. Next, when it is confirmed that the coated serpentine tube 1 is delivered to the hook 121 and the gripping portion 63 is retracted from the delivery work position, the hook cylinder 129 is used to move the hook 121 in the pulling direction so as to be hooked on the hook 121. The covered sheath 1 is pulled with a predetermined tension.

  At this time, as shown in FIG. 20 (e), the first single-axis robot 150 is moved upward to a predetermined position at the flux work position, and the coated serpentine tube 1 is supported by the coated serpentine tube support 83. The container body 81 is disposed at an optimum position with respect to the diameter dimension of the container body 81.

  As shown in FIG. 20 (f), at the soldering work position, the tension applied to the coated serpentine tube 1 is switched from the load by the tension cylinder 129 to the load of the low friction cylinder 184, and the second single-axis robot 160 is moved to a predetermined position in the upward direction. The coated serpentine tube support body 92 supports the coated serpentine tube 1, and the soldering nozzle 91 is disposed at an optimum position with respect to the diameter of the coated serpentine tube 1.

  Further, as shown in FIG. 20 (h), at the discharging operation position, the tensioned state by the tension cylinder 129 of the holding portion 40 arranged is released, and the shaft member 125 is made to be movable forward and backward. At this time, the serpentine tube discharging device 46 moves the take-out portion 113 forward, grips, moves in the X-axis direction, and retracts, and removes the serpentine tube 6 hooked on the hook 121 of the holding portion 40 from the hook 121.

  When the rotation motor 124 is stopped, the pulling cylinder 129 of the holding unit 40 disposed at the heating work position, the flux application position, and the cooling work position is in a pulled state.

  When a predetermined time elapses after the rotation motor 124 is stopped, the rotation motor 124 is redriven as shown in FIG. 20B, and the hook 121 is rotated. That is, the covered snake tube 1 and the snake tube 6 pulled and held by the hook 121 start to rotate. At this time, in the discharge work position, the hook 121 rotates without the snake pipe 6 and the covered snake pipe 1 being arranged.

  At the same time as the rotation motor 124 is driven again, a heating operation, a flux application operation, and a soldering operation are started at the same time with respect to the coated sheathed tube 1 in a rotating state, and a solder joint is provided. The cooling operation for the serpentine tube 6 is started simultaneously.

In other words, at the heating work position, hot air is blown from the heating device 42 for a predetermined time to heat a predetermined portion of the covered sheath 1 that is rotating. Then, when a predetermined time set in advance elapses, the blowing of hot air is stopped by the blowing shielding plate.
At the flux application work position, the nozzle rises with the flux rising from the nozzle for a predetermined time. As a result, the flux is applied to a predetermined portion of the rotating sheathed tube 1. Then, when the predetermined time has passed, the flux nozzle descends, and then the first single-axis robot 150 moves to a predetermined position in the downward direction and enters a standby state.

At the soldering position, the nozzle rises with solder ejected from the nozzle for a predetermined time. As a result, soldering is performed on the rotating predetermined portion. Then, when the predetermined time elapses, the solder nozzle is lowered, and then the second single-axis robot 160 moves to a predetermined position in the downward direction and enters a standby state.
At the cooling work position, the fan of the cooling device 45 rotates for a predetermined time to send air to the solder joints for cooling.
While each operation is being performed at each operation position, as shown in FIG. 20 (i), the above-described serpentine discharge device 46 performs an operation of discharging the serpentine tube 6 to the serpentine tube receiver 14, and then returns to the standby position again. I do. Further, as shown in FIG. 20 (j), in the delivery device 13, the gripping part 63 is moved, the coated serpent tube 1 at the supply position of the pitch conveyor 12 is gripped and moved to the delivery position, and then again in the standby state. Perform the operation. Further, as shown in FIG. 20 (k), the pitch conveyor 12 is stopped again after performing the operation for arranging the coated serpentine tube 1 at the supply position.

  When the work time set by reading by the information reading device 17b has elapsed, the revolution motor 123 is re-driven. Then, each holding part 40 starts to move to the next work position while the hook 121 is still rotating, and when each holding part 40 reaches the next work position, the operation described above is performed again at each work position. Is called. By repeating this, the serpentine tube 6 is continuously formed.

The process from the coated snake tube 1 to the snake tube 6 formed by the snake tube forming apparatus 10 configured as described above will be described in order.
First, if a plurality of coated serpent tubes 1 have been carried to the serpent tube forming apparatus 10, the operator is printed, for example, on a work instruction sheet that has been moved together with the coated serpent tube 1 in order to obtain information on solder joints and processing. The label 17c is read by the information reading device 17b connected to the work PC 17a.

  Then, information corresponding to the information number designated by the label 17c is selected from a plurality of information groups stored in the main computer 100 via the work PC 17a, and the selected information is stored in the work PC 17a. To the PLC 110. As a result, the PLC 110 has the total length, the tip length, the length between the solder portions, the outer diameter dimension, and the heating time, the flux application time, the soldering time, the cooling time, etc., which are processing information, as the solder joint information. Incorporated.

  When these various types of information are incorporated into the PLC 110, first, various servo motors are driven from the PLC 110 so as to correspond to the solder joint information. That is, the servo motor (not shown) of the ball screw mechanism 34 is driven to move the moving unit main body 32 to a predetermined position in the X-axis direction, and the third single-axis robot 170 is driven to be provided in the unit main bodies 22 and 32. The position of the fixed plate 174 in the X-axis direction is adjusted. When the movement based on the solder joint information corresponding to the label 17c is completed, at least a part of the solder joint information is displayed on the screen of the operation section 16 and, for example, this operation is performed to prompt the processing start. A work start instruction lamp (not shown) provided in the vicinity of the unit 16 is turned on.

  Here, the operator confirms the solder joint information on the screen of the operation unit 16, and thereafter, the coated serpentine tube opposing the pitch conveyor 12 is arranged on the ring 7 of the coated serpentine tube 1 placed on the work table 18. It is hooked on the pin member 59b of the portion 59. Then, the plurality of coated snake tubes 1 are hooked on the pin members 59b, and when the plurality of coated snake tubes 1 are arranged in the coated snake tube arrangement portion 59 without any gap, the operation switch is operated to operate the snake tube. The operation of the forming apparatus 10 is started. Then, the pitch conveyor 12, the delivery apparatus 13, and the joining apparatus main body 20 start operation | movement.

  When the operation of the serpentine tube forming apparatus 10 is started, the covered serpentine tube disposing portion 59 of the pitch conveyor 12 moves one pitch at a time interval. When it is detected that the coated serpentine tube placement portion 59 on which the coated serpentine tube 1 is disposed is stopped at the supply position, the moving unit main body 62 stopped at the delivery position of the delivery device 13 is supplied. Start moving in the direction of the position.

  When the movement of the moving part main body 62 is detected by the supply position setting sensor, the movement is stopped, the gripping cylinder 64 starts to move downward, contacts a touch switch (not shown), etc. Stop moving at the position. At this time, the tip of the pin member 59b enters the recess 65a of the positioning pin 65.

  In this stop state, the gripping portion 63 is switched from the open state to the closed state. As a result, the predetermined positions at both ends of the coated snake tube 1 that have been stopped at the supply position are held by the grip portion 63. Here, when a sensor (not shown) detects this gripping state, the gripping cylinder 64 moves upward to a predetermined position in a state where the gripping portion 63 grips the coated snake tube 1. Thereafter, the moving unit main body 62 is moved from the supply position to the delivery position and enters a standby state.

  On the other hand, in the pitch conveyor 12, while the covered snake tube 1 is being moved by the gripping portion 63, the covered snake tube arrangement portion 59 where the covered snake tube 1 is arranged is moved by one pitch, and next to the supply position. The coated snake tube 1 is placed in a stopped state.

  When the delivery device 13 is in a standby state, when the holding portion 40 of the joining device main body 20 is rotated and stopped at the delivery work position, the gripping portion 63 in a state of gripping the coated serpentine tube 1 is attached to the holding portion 40. Start descent toward.

  As the gripping part 63 continues to descend, the tip of the hook 121 is inserted into the recess provided in the tip of the pin member 56b that has been biased so as to protrude, and this pin member 56b moves backward, and after a while, the movement is stopped at a predetermined position in the downward direction by a sensor (not shown) or the like. As a result, the hook 121 is placed in the opening of the ring portion 7 of the coated snake tube 1 held by the holding portion 63, and a delivery state is obtained.

  Here, the gripping state of the gripping part 63 is released, and the push-out member 66 is caused to project. As a result, the ring portion 7 of the coated serpentine tube 1 falls so as to be reliably caught by the hook 121. When the ring portion 7 is hooked on the hook 121, the holding unit 40 on the moving side unit 32 side switches the fixed holding state of the shaft support member 130 to a slidable state, and the pulling cylinder 129 is changed. By switching to the pulling operation state, the distal end side holding portion 127 is moved to the bearing portion 128 side. As a result, the tension of the covered snake tube 1 hooked on the hook 121 changes. Then, when the coated snake tube 1 is pulled with a predetermined tension, the shaft support member 130 is switched to the fixed holding state again.

  Then, when a predetermined time for delivery has passed, the rotation motor 124 starts to drive. As a result, the hook 121 is rotated and the coated snake tube 1 is rotated. When a predetermined stop time elapses in this rotation state, the revolution motor 123 starts rotating with the hook 121 still rotating. Then, the holding unit 40 in which the hook 121 is rotated moves from the delivery work position toward the heating work position.

  On the other hand, in the delivery device 13 in which the push-out member 66 is protruded and delivery to the hook 121 of the sheathed spiral tube 1 is completed, the gripping cylinder 64 and the moving part main body 62 are appropriately moved and arranged at the supply position of the pitch conveyor 12. The covered sheathed tube 1 is again gripped to enter a standby state. Note that a series of operations of the delivery device 13 is performed while the holding unit is stopped.

  When the holding unit 40 is rotated and stopped at the heating work position, the rotation of the hook 121 is temporarily stopped substantially simultaneously. That is, the driving of the rotation motor 124 is stopped. During the temporary stop, the heating device 42 is also in a stopped state where hot air is not blown out, and only the cartridge heater 71 is in the heat generation control state. Thereafter, simultaneously with the return of the hook 121 to the rotating state, the blower 74 is in a driving state, and hot air is blown out from the outlet of the box 72. As a result, the predetermined portion of the rotating sheathed tube 1 is heated by the hot air. When the predetermined heating time has elapsed, the driving of the blower 74 is stopped. In addition, after the predetermined stop time has elapsed, the revolving motor 123 starts rotating with the hook 121 rotating, and the holding unit 40 with the hook 121 rotating moves from the heating operation position toward the flux application operation position. To go.

  When the holder 40 is rotated and stopped at the flux application work position, the rotation of the hook 121 is temporarily stopped substantially simultaneously. During this temporary stop, the first single-axis robot 150 located at the standby position is driven, and the covered snake tube support body 83 and the container body 81 are moved to a predetermined upper position to be stopped. Thereafter, simultaneously with the return of the hook 121 to the rotating state, the supply of the flux is started, and the flux is raised from the flux nozzle 82 by a predetermined amount. As a result, the flux is applied to a predetermined portion of the coated sheathed tube 1 in a rotating state. Then, when the predetermined flux application time has elapsed, the supply of flux is stopped, and then the container body 81 and the covered snake tube support body 83 are moved downward to return to the standby position. In addition, after the predetermined stop time has elapsed, the revolving motor 123 starts rotating with the hook 121 rotating, and the holding part 40 with the hook 121 rotating moves from the flux application work position toward the soldering work position. I will do it.

  When the holding portion 40 is rotated and stopped at the soldering work position, the rotation of the hook 121 is temporarily stopped substantially simultaneously. During this temporary stop, the state of the coated snake tube pulled by the pulling cylinder 129 is switched to the pulled state by the low friction cylinder 184, and the second single-axis robot 160 located at the standby position is driven, The serpentine tube support body 92 and the soldering nozzle 91 are moved to a predetermined position above and stopped. Thereafter, simultaneously with the return of the hook 121 to the rotating state, the supply of solder is started, and the solder is jetted from the soldering nozzle 91. As a result, solder is applied to a predetermined portion of the covered sheath 1 in a rotating state. Then, when the predetermined soldering time has elapsed, the supply of solder is stopped, and then the soldering nozzle 91 and the covering serpentine tube support 92 are moved downward to return to the standby position, and the coating by the low friction cylinder 184 is performed. The snake tube tension state is switched again to the tension state by the tension cylinder 129. In addition, after the predetermined stop time has elapsed, the revolving motor 123 starts rotating with the hook 121 rotating, and the holding portion 40 with the hook 121 rotating moves from the soldering work position toward the cooling work position. I will do it.

  When the holding part 40 is rotated and stopped at the cooling work position, the rotation of the hook 121 is temporarily stopped substantially simultaneously. During the temporary stop, the cooling device 45 is in a stopped state in which the blower 101 is not driven. Thereafter, simultaneously with the return of the hook 121 to the rotating state, the blower 101 is driven to start blowing. As a result, the solder joint applied to a predetermined portion of the rotating sheathed tube 1 is cooled. And if predetermined cooling time passes, the drive of the air blower 101 will be stopped. In addition, after the predetermined stop time has elapsed, the revolving motor 123 starts rotating with the hook 121 rotating, and the holding unit 40 with the hook 121 rotating moves from the cooling work position toward the discharge work position. Go.

  The rotation of the hook 121 is temporarily stopped substantially simultaneously with the holding unit 40 being rotated and stopped at the serpentine tube discharge position. During this temporary stop, first, the shaft support member 130 is switched to a slidable state so that the shaft member 125 of the holding portion 40 of the moving-side unit main body 32 slides. On the other hand, in the serpentine tube discharge device 46, the extraction portion 113 in the open state located at the standby position is moved toward the serpentine tube 6. Thereafter, the take-out portion 113 in the open state is changed to the closed state, and a predetermined position of the serpentine tube 6 is gripped. When a sensor (not shown) detects this gripping state, the X-axis direction slide table is driven, and the snake tube 6 slides in a predetermined direction. Then, the ring part 7 of the snake tube 6 is removed from the hook 121 by moving the slide table 114 back to the standby position side. Thereafter, the slide table 114 and the take-out portion 113 perform a predetermined operation to discharge the serpentine tube 6 to the serpentine tube receiver 14, while returning to the standby position and entering a standby state.

  The snake tube 6 is removed from the hook 121 within a predetermined discharge time. When a predetermined discharge time has elapsed, the slidable state of the shaft support member 130 is switched to the fixed holding state, and the pulling cylinder 129 is switched to the operating state, so that the distal end side holding portion 127 is moved to the fixed side unit main body 22. Move to the side. In addition, after the predetermined stop time has elapsed, the revolving motor 123 starts rotating with the hook 121 rotating, and the holding part 40 in the rotating state of the hook 121 moves from the serpentine tube discharge position toward the delivery position. .

  Then, by repeating the above-described operations, the serpentine tube 6 is successively accommodated in the serpentine tube receiver 14. When the predetermined number of the snake pipes 6 is completed, the operation of the snake pipe forming apparatus 10 is stopped. Here, the operator takes out the snake tube 6 from the snake tube receiver 14, and uses a carrier stand (not shown) to carry the snake tube 6 together with a work instruction sheet to the next process.

  Thus, while considering the arrangement position of the heating device, the flux coating device, the soldering device, and the cooling device provided in the joining device body constituting the solder joint forming device, the delivery work position, the heating work position, the flux coating 6 working positions of working position, soldering working position, cooling working position, and serpentine discharge work position are arranged on the same circumference, and a serpentine holding part that holds a covered serpentine at each work site arranged on the circumference By adopting a configuration in which the two revolving motors that can be electrically controlled are moved while being electrically controlled synchronously, the external dimensions of the solder joint forming apparatus can be greatly reduced.

  The serpentine tube discharge work position, the delivery work position, the heating work position, the flux application work position, the soldering work position, and the cooling work position are viewed from the front with reference to the upper side of the operator side where the operation unit is provided. Work to operate the operation unit by arranging the tube discharge work position, delivery work position, heating work position, flux application work position, soldering work position, and cooling work position at regular intervals in order clockwise, The feeding operation of arranging the coated snake pipe formed in the pitch conveyor on the pitch conveyor, and the operation for collectively carrying the snake pipes processed through the snake pipe forming apparatus and accommodated in the snake pipe receiver to the next process are positioned in the same direction. It can be carried out.

  By these things, a pitch conveyor and a serpentine tube receptacle are arrange | positioned at the one side of a solder joint part formation apparatus, and the space-saving of installation space and the improvement of workability | operativity are implement | achieved.

  It should be noted that the present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention.

Diagram explaining the serpentine tube Top view explaining the position of the serpentine tube forming device and the operator Side view explaining the position of the snake tube forming device and the operator The figure explaining the fixed side unit and movement side unit of a snake tube forming apparatus The figure explaining the example of composition of a serpentine tube receptacle Side view explaining the configuration of the pitch conveyor Top view explaining the configuration of the pitch conveyor Top view illustrating the configuration of the delivery device Side view explaining the configuration of the delivery device The figure explaining the operation of the delivery device Front view explaining the configuration of the holding and moving device Side view for explaining the configuration of the holding and moving device The figure explaining the relationship between the revolution motor and rotation motor of a holding | maintenance moving apparatus, a holding | maintenance part revolution board, and the holding | maintenance part rotation gear. The figure explaining the arrangement position relation of each device Diagram explaining the heating device Diagram explaining the flux application device Diagram explaining the soldering device The figure explaining a snake tube discharge device Block diagram explaining the snake tube forming device The figure explaining the operational relationship between the revolution motor and the rotation motor and each device The figure explaining a flexible tube Top view of conventional bellows tube forming device Side view of conventional snake tube forming device

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Snake pipe formation apparatus 11 ... Solder junction part formation apparatus 12 ... Pitch conveyor 13 ... Delivery apparatus 14 ... Snake pipe receptacle 40 ... Holding part
41 ... Holding and moving device
42 ... Heating device 43 ... Flux application device 44 ... Soldering device 45 ... Cooling device 121 ... Hook
122 ... Holding part mounting plate
135... Hook rotation gear 136... Transmission gear 138... Holding portion rotation gear 150.
160 ... the second single-axis robot
170 ... 3rd single axis robot agent Patent attorney Susumu Ito

Claims (1)

A serpentine tube supply device for continuously supplying a coated serpentine tube having a predetermined length and a predetermined diameter formed by coating a mesh tube on a spiral tube;
A flux unit having a fixed unit and a moving unit each provided with a plurality of holding portions for holding the end portions of the coated snake tubes, a heating device for blowing hot air from the covered snake tubes held by these holding portions, and a flux nozzle. An apparatus, a soldering apparatus having a soldering nozzle, a solder joint forming apparatus that is moved and arranged in the vicinity of a cooling device that blows air, and a solder joint is provided at a predetermined position of the coated serpentine to continuously form the serpentine ,
A delivery device that moves and arranges the coated serpent tube supplied by the serpentine tube supply device to a holding unit disposed at a predetermined position of the solder joint forming device;
A control unit that is provided in the fixed-side unit and controls the arrangement position of the moving-side unit and the arrangement position of each device provided in each unit when manufacturing the flexible tube from the coated flexible tube;
Register the solder joint information such as the total length, tip length, solder joint width, solder joint length, outer diameter, rear end length, etc. related to the above-mentioned bellows tube for each type of bellows, and Storage means for storing the solder joint information of
Solder joint information specifying means for specifying solder joint information corresponding to the serpentine tube to be manufactured from the solder joint information stored in the storage means;
Solder joint information acquisition setting means for acquiring the solder joint information specified by the solder joint information specifying means from the storage means, and transferring and setting the acquired solder joint information to the control unit; ,
A serpentine tube forming apparatus comprising:

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