Bonding device and bonding method

Abstract

To reduce the number of components of a jig compared to the conventional configuration.SOLUTION: A bonding device includes: a jig 1 capable of supporting a connection portion side of a pipe material; and a pipe material support robot 3 capable of supporting parts other than the connection portion of the pipe material whose connection portion is inserted into the connection portion of the pipe material.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present disclosure relates to a joining device for joining two pipe members. and How to join By law Regarding. [Background technology]

[0002] One method for connecting two pipe materials is a brazing connection method. In brazing, if the connection part of the two pipe materials cannot be uniformly heated using a burner or the like, the brazing material will melt unevenly, making it difficult to achieve a precise connection. Therefore, in order to make brazing easier, a jig is used to support the pipe materials (see Patent Document 1, for example).

[0003] This jig is composed of a base plate and a pipe material holder that is attached to the base plate and can support the pipe material. The jig has multiple pipe material holders because it needs to support at least two points, one point on one of the two pipe materials and one point on the other pipe material. One of the two points supported by the jig is the connection part. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2-180542 Summary of the Invention [Problem to be solved by the invention]

[0005] As described above, conventional jigs need to support at least two points, one point on one of the two pipes and one point on the other pipe, resulting in a large number of parts.

[0006] The present disclosure has been made to solve the above-mentioned problems, and aims to provide a joining device that can reduce the number of jig parts compared to conventional configurations. [Means for solving the problem]

[0007] The joining device according to the present disclosure includes a jig capable of supporting the connection portion side of a first pipe material, and a pipe material support robot capable of supporting a portion of a second pipe material other than the connection portion, the connection portion of which is inserted into the connection portion of the first pipe material. With the first pipe supported by the jig and the second pipe supported by the pipe support robot, the base material is melted at the joint to join them. It is characterized by: Effect of the Invention

[0008] According to the present disclosure, since it is configured as described above, it is possible to reduce the number of parts of the jig compared to the conventional configuration. [Brief description of the drawings]

[0009] [Figure 1] 1 is a diagram showing a configuration example of a brazing device according to a first embodiment. [Diagram 2] 2 is an exploded perspective view showing an example of the configuration of a tube unit obtained by brazing using the brazing apparatus according to the first embodiment. FIG. [Diagram 3] 3A to 3C are perspective views showing an example of a brazing process using the brazing apparatus according to the first embodiment. [Figure 4] 4A and 4B are perspective views showing configuration examples of the pipe receiver in the first embodiment. [Diagram 5] 5A to 5D are perspective views showing configuration examples of the pipe receiver in the first embodiment. [Figure 6] 6A and 6B are perspective views showing configuration examples of the pipe receiver in the first embodiment. [Figure 7] 4 is a flowchart showing an example of the operation of the brazing apparatus according to the first embodiment. [Figure 8] FIG. 2 is a diagram illustrating brazing using a high-frequency heating coil in the first embodiment. [Figure 9] 9A to 9C are diagrams for explaining pass / fail judgment by the pass / fail judgment device in the first embodiment. [Figure 10] 10A to 10C are diagrams showing an operation example (first step) of the brazing apparatus in the first embodiment. [Figure 11] 11A and 11B are diagrams showing an operation example (first step) of the brazing apparatus in the first embodiment. [Figure 12] 12A and 12B are diagrams showing an operation example (first step) of the brazing apparatus in the first embodiment. [Figure 13] 4 is a diagram showing an operation example (first step) of the brazing apparatus in the first embodiment. FIG. [Figure 14] 14A to 14C are diagrams showing an operation example (second step) of the brazing apparatus in the first embodiment. [Figure 15] 15A and 15B are diagrams showing an operation example (second step) of the brazing apparatus in the first embodiment. [Figure 16] 16A to 16C are diagrams showing an operation example (second step) of the brazing apparatus in the first embodiment. [Figure 17] 6 is a diagram showing an operation example (second step) of the brazing apparatus in the first embodiment. FIG. [Figure 18] 18A to 18C are diagrams showing an operation example (third step) of the brazing apparatus in the first embodiment. [Figure 19] 19A and 19B are diagrams showing an operation example (third step) of the brazing apparatus in the first embodiment. [Figure 20] 20A and 20B are diagrams showing an operation example (third step) of the brazing apparatus in the first embodiment. [Figure 21] 21A and 21B are diagrams showing another configuration example (configuration in which a plurality of jigs are provided) of the brazing apparatus in the first embodiment. [Figure 22] 22A and 22B are diagrams illustrating an example of a hardware configuration of the robot according to the first embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, the embodiments will be described in detail with reference to the drawings. Embodiment 1 FIG. 1 is a diagram showing a configuration example of a brazing apparatus (joining apparatus) according to a first embodiment. The brazing device brazes the connection portion of two tubes 100, that is, a tube (first tube) 100a and a tube (second tube) 100b.

[0011] The following describes a case where the brazing apparatus obtains a tube unit 101 shown in Fig. 2 by brazing. The tube unit 101 shown in Fig. 2 is composed of four tubes 100-1 to 100-4. The brazing apparatus obtains one tube unit 101 by performing brazing on each of the four tubes 100-1 to 100-4 in three steps (first to third steps) shown in Fig. 3.

[0012] Note that the tube material 100a and the tube material 100b refer to the two tube materials 100 that are brazed in each process. For example, in the first step shown in Fig. 3A, the tube material 100-1 becomes the tube material 100a, and the tube material 100-2 becomes the tube material 100b. In the second step shown in Fig. 3B, the tube material 100-5 (the tube materials 100-1 and 100-2 after brazing) becomes the tube material 100a, and the tube material 100-3 becomes the tube material 100b. In the third step shown in Fig. 3C, the tube material 100-6 (the tube materials 100-1 to 100-3 after brazing) becomes the tube material 100a, and the tube material 100-4 becomes the tube material 100b.

[0013] Also, as shown in FIG. 2, for example, the pipe material 100a (pipe material 100-1 in FIG. 2) has a large diameter portion 1001 at at least a part of the end. The large diameter portion 1001 is configured to have a larger diameter than the other parts of the pipe material 100a, and is configured to have a diameter into which the end of the pipe material 100b can be inserted. In FIG. 2, the pipe material 100-1 is a T-joint, and the large diameter portion 1001 is provided at each end of the pipe material 100-1, and the end of each of the pipe materials 100-2 to 100-4 can be inserted. Also, the pipe material 100a has a step between the large diameter portion 1001 and the other parts on the inner wall, and this step functions as a stopper portion. The stopper portion regulates the insertion of the pipe material 100b. The overlapping portion between one end of the pipe material 100a and one end of the pipe material 100b inserted into the one end becomes a portion (connection portion) connected by brazing.

[0014] Furthermore, a ring-shaped brazing material 102 (not shown in FIG. 2) is attached in advance by a worker or the like to the connecting portion of the pipe material 100a or the connecting portion of the pipe material 100b.

[0015] As shown in Fig. 1, the brazing apparatus includes a jig 1, a robot 2, a robot 3, a high-frequency heating coil 4, and a quality determination device 5 (not shown). In the brazing apparatus shown in Fig. 1, the robot 2 functions as a jig assembling robot, a pipe material mounting robot, and a pipe material supporting robot, and the robot 3 functions as a pipe material mounting robot and a pipe material supporting robot.

[0016] The jig 1 is configured to be able to support the connection portion side of the pipe material 100a. The jig 1 has a base plate 11 and a shaft 12, as shown in FIG.

[0017] The base plate 11 fixes the shaft 12 .

[0018] The shaft 12 has a pipe material receiver 121 at its tip. The pipe material receiver 121 is configured to be able to support the connection portion of the pipe material 100a. The types of this pipe material receiver 121 include, for example, a T-type as shown in Fig. 4, a clamp type as shown in Fig. 5, and a V-type as shown in Fig. 6.

[0019] The shaft 12 may be configured so that its length is adjustable (see FIG. 10, etc.). In FIG. 10, etc., the shaft 12 is configured so that the pipe material receiver 121 can be pulled up from the base side, and the pipe material receiver 121 is configured so that its length can be fixed by rotating in a predetermined direction relative to the base side (rotating 90 degrees in FIG. 10, etc.).

[0020] In FIG. 1, the base plate 11 and the shaft 12 are configured as separate bodies, and the shaft 12 is configured so that its base can be attached to the base plate 11. 1, the base plate 11 is made of an electromagnet (electromagnetic chuck), and the shaft 12 is made of a magnetic material, etc. This base plate 11 generates a magnetic force when a current is passed through it, and the shaft 12 placed on the base plate 11 is fixed by this magnetic force.

[0021] The robot 2 functions as a jig assembly robot. That is, the robot 2 attaches the shaft 12 to a specified position on the base plate 11 at a specified angle around the axis. In addition, when the length of the shaft 12 is specified, the robot 2 adjusts the shaft 12 to the specified length.

[0022] The program for assembling the jig used by the robot 2 can be created, for example, by calculating the position of the center of gravity of the pipe materials 100a and 100b based on 3D CAD data showing the models of the pipe materials 100a and 100b, and calculating the optimal support points and support angles in consideration of the position of the center of gravity. When multiple jigs 1 are arranged on one base plate 11, a simulation is required for the above program to check the movement of the robot 2 so that the robot 2 does not interfere with the shafts 12 that have already been arranged in the process of arranging the shafts 12.

[0023] The robot 2 also functions as a pipe material supporting robot. That is, when the jig 1 and the robot 2 support the pipe material 100, the robot 2 supports the portion other than the connection portion of the pipe material 100b. On the other hand, when the jig 1, the robot 2, and the robot 3 support the pipe material 100, the robot 2 supports the portion other than the connection portion of one of the pipe materials 100a and 100b. The positional relationship between the pipe material receiver 121 of the shaft 12 and the arm of the robot 2 is set according to the support points of the pipe materials 100a and 100b. The support points of the pipe materials 100a and 100b can be calculated, for example, by calculating the positions of the centers of gravity of the pipe materials 100a and 100b based on 3D CAD data showing models of the pipe materials 100a and 100b and taking the positions of the centers of gravity into consideration.

[0024] The robot 2 also functions as a pipe material installation robot, that is, the robot 2 installs at least one of the pipe material 100a and the pipe material 100b.

[0025] The robot 3 functions as a pipe material supporting robot. That is, when the jig 1 and the robot 3 support the pipe material 100, the robot 3 supports the portion other than the connection portion of the pipe material 100b. On the other hand, when the jig 1, the robot 2, and the robot 3 support the pipe material 100, the robot 3 supports the portion other than the connection portion of the other of the pipe material 100a and the pipe material 100b. The positional relationship between the pipe material receiver 121 of the shaft 12 and the arm of the robot 3 is set according to the support points of the pipe materials 100a and 100b. The support points of the pipe materials 100a and 100b can be calculated, for example, by calculating the positions of the centers of gravity of the pipe materials 100a and 100b based on 3D CAD data showing models of the pipe materials 100a and 100b and taking the positions of the centers of gravity into consideration.

[0026] The robot 3 also functions as a pipe material installation robot, that is, the robot 3 installs at least one of the pipe material 100a and the pipe material 100b.

[0027] At least one of the robots 2 and 3 supports the connection portion side of the pipe material 100a with the jig 1, and the connection portion of the pipe material 100b is inserted into the connection portion of the pipe material 100a.

[0028] With the connecting portion of pipe material 100b inserted into the connecting portion of pipe material 100a, high-frequency heating coil 4 heats brazing material 102. As a result, high-frequency heating coil 4 melts brazing material 102 and connects pipe material 100a and pipe material 100b. The operating conditions of high-frequency heating coil 4 (heating temperature, heating time, etc.) are set in advance.

[0029] The quality determination device 5 determines the quality of the connection state between the pipe material 100a and the pipe material 100b after the brazing material 102 is heated by the high-frequency heating coil 4. The quality determination device 5 has, for example, an imaging device 51 (not shown) and a quality determination unit 52 (not shown).

[0030] After the brazing material 102 is heated by the high-frequency heating coil 4, the imaging device 51 captures images of the entire circumference of the connection portion between the pipe material 100a and the pipe material 100b. The quality determining section 52 determines the quality of the connection state between the pipe material 100a and the pipe material 100b based on the imaging result by the imaging device 51.

[0031] In the above, the case has been described in which the robot 2 functions as a jig assembling robot, a pipe material mounting robot, and a pipe material supporting robot, and the robot 3 functions as a pipe material mounting robot and a pipe material supporting robot. However, the combination of the jig assembly robot, the pipe material installation robot and the pipe material support robot is not limited to this, and each of the above robots may be configured as an independent robot, or multiple robots may be combined to form a single or multiple robots.

[0032] Next, an operation example of the brazing apparatus according to the first embodiment shown in Fig. 1 will be described with reference to Fig. 7. In the following, a case will be shown in which the robot 2 operates as a jig assembly robot, and the robot 3 operates as a pipe material installation robot and a pipe material support robot. Note that a ring-shaped brazing material 102 has been attached in advance by a worker or the like to one end (connection portion) of the pipe material 100a or one end (connection portion) of the pipe material 100b.

[0033] In an operation example of the brazing apparatus according to the first embodiment shown in Fig. 1, first, the robot 2 assembles the jig 1 (step ST701) as shown in Fig. 7. The shaft 12 to be used for brazing has been placed in the shaft storage area 6 in advance by a worker or the like.

[0034] In this case, the robot 2 first captures an image of the shaft storage area 6 using, for example, an imaging device (not shown), recognizes the specified shaft 12 from the image, and grasps the tip side (pipe material receiver 121) of the shaft 12. The robot 2 then adjusts the shaft 12 to a specified length by pulling up the tip side of the shaft 12 that it is holding from the base side. The robot 2 then rotates the tip side of the shaft 12 that it is holding in a specified direction relative to the base side, thereby fixing the length of the shaft 12. Then, the robot 2 removes the shaft 12 that it is holding from the shaft storage area 6 by pulling it up, and places the shaft 12 at a specified position on the base plate 11 at a specified angle around the axis. When a current is passed through the base plate 11, a magnetic force is generated, and when the robot 2 places the shaft 12 on the base plate 11, the shaft 12 is fixed to the base plate 11 by this magnetic force.

[0035] Next, the robot 3 makes the jig 1 support the connection portion of the pipe material 100a (step ST702). The pipe material 100a is temporarily placed in advance in a designated position and orientation in the pipe material storage area 7 by a worker or the like. At this time, the brazing device may use, for example, a projector, a display, or AR (Augmented Reality) goggles to roughly instruct the worker or the like on the position and orientation in which to place the pipe material 100a.

[0036] In this case, the robot 3 first captures an image of the pipe material storage area 7 using, for example, an imaging device (not shown), recognizes the specified pipe material 100a from the image, and grasps a specified portion of the pipe material 100a at a specified angle. At this time, the robot 3 may capture an image of its own arm using, for example, an imaging device (not shown), confirm the grasping state of the pipe material 100a from the image, and adjust the grasping portion and grasping angle. Then, the robot 3 takes an image of the jig 1 using, for example, an imaging device (not shown), identifies the position of the pipe material holder 121 on the shaft 12 from the image, and causes the pipe material holder 121 to support the connection portion of the pipe material 100a that it is holding.

[0037] Next, the robot 3 grasps the portion other than the connection portion of the pipe material 100b, and inserts the connection portion of the pipe material 100b into the connection portion of the pipe material 100a (step ST703). The pipe material 100b is temporarily placed in the pipe material storage area 7 in a position and orientation designated in advance by a worker or the like. At this time, the brazing device may use, for example, a projector, a display, or AR goggles to roughly instruct the worker or the like on the position and orientation of the pipe material 100b.

[0038] In this case, the robot 3 first captures an image of the pipe material storage area 7 using, for example, an imaging device (not shown), recognizes the specified pipe material 100b from the image, and grasps a specified portion (a portion other than the connection portion) of the pipe material 100b at a specified angle. At this time, the robot 3 may capture an image of its own arm using, for example, an imaging device (not shown), confirm the gripping state of the pipe material 100b from the image, and adjust the gripping portion and gripping angle. Then, the robot 3 takes an image of the jig 1 using, for example, an imaging device (not shown), identifies the position of the pipe material holder 121 on the shaft 12 from the image, and inserts the connection portion of the pipe material 100b that it is holding into the connection portion of the pipe material 100a supported by the pipe material holder 121. This also enables the robot 3 to support parts of the pipe material 100b other than the connection parts.

[0039] In addition, pipe material 100a and pipe material 100b may deviate from the model shown in the 3D CAD data due to machining accuracy. Therefore, robot 3 may take an image of the connection part of pipe material 100a and pipe material 100b using, for example, an imaging device (not shown), detect the deviation from the model shown in the 3D CAD data from the image, and fine-tune the insertion state of pipe material 100b into pipe material 100a. Robot 3 may also use a sensor such as a tactile sensor or pressure sensor to determine whether the insertion state of pipe material 100b into pipe material 100a is good or bad and make fine adjustments.

[0040] Next, the high-frequency heating coil 4 heats the brazing material 102 with the connecting portion of the tube material 100b inserted into the connecting portion of the tube material 100a (step ST704). After the tube materials 100a and 100b are set, the high-frequency heating coil 4 automatically moves the coil portion to the position of the connecting portion. Then, as shown in FIG. 8, the high-frequency heating coil 4 melts the ring-shaped brazing material 102 and pours the brazing material 102 between the tube materials 100a and 100b to form a fillet, thereby connecting the tube materials 100a and 100b. After that, since the temperature of the coil portion does not drop immediately when heating is completed, the high-frequency heating coil 4 automatically moves the coil portion away from the connecting portion.

[0041] The assembling process of the jig 1 by the robot 2 in step ST701, and the mounting process of the pipe material 100 by the robot 3 and the brazing process using the high-frequency heating coil 4 in steps ST702 to ST704 may be performed in sequence or in parallel.

[0042] Next, the quality determination device 5 determines whether the connection state between the pipe material 100a and the pipe material 100b is good or bad (step ST705). That is, for example, the imaging device 51 images the entire circumference of the connection portion between the pipe material 100a and the pipe material 100b after the brazing material 102 is heated by the high-frequency heating coil 4. Then, the quality determination unit 52 determines whether the connection state between the pipe material 100a and the pipe material 100b is good or bad based on the imaging result by the imaging device 51, as shown in FIG. 9. At this time, the quality determination unit 52 may perform the quality determination using a technology such as AI (Artificial Intelligence). Note that FIG. 9A shows a case where the connection state between the pipe material 100a and the pipe material 100b is good, and FIGS. 9B and 9C show a case where the connection state between the pipe material 100a and the pipe material 100b is not good. Fig. 9B shows a state where a part of the connection part has been removed, showing that part of the connection part has no fillet and is interrupted inside, while Fig. 9C shows that there is a lot of fillet and it hangs down onto the outer periphery of the connection part.

[0043] In step ST705, if the quality judging device 5 judges that the connection state is poor, that fact is notified to, for example, an external device. On the other hand, in step ST705, if the quality determination device 5 determines that the connection state is good, the brazed pipe material 100 is removed from the jig 1 and the robot 2 by the brazing device or a worker or the like, and placed, for example, in the pipe material storage area 7. In addition, the shaft 12 is removed from the base plate 11 by a worker or the like, and placed, for example, in the shaft storage area 6.

[0044] Next, specific examples of brazing using the brazing apparatus according to the first embodiment shown in Fig. 1 will be described with reference to Figs. 10 to 20. The shafts 12 used in each process are placed in advance in a shaft storage area 6 by an operator or the like. In Fig. 10, a shaft 12 for a T-joint and a clamp-type shaft 12 are placed in the shaft storage area 6.

[0045] In a specific example of brazing by the brazing apparatus, the brazing apparatus first brazes the tube materials 100-1 and 100-2 as a first step. The tube materials 100-1 and 100-2 used in the first step have been placed in the tube material storage area 7 in advance by a worker or the like.

[0046] In the first step, first, the robot 2 assembles the jig 1 for supporting the pipe material 100-1.

[0047] In this case, first, as shown in Fig. 10A, the robot 2 grasps the tip side (pipe material receiver 121) of the shaft 12 for a T-joint among the shafts 12 placed in the shaft storage area 6. Then, as shown in Fig. 10B, the robot 2 adjusts the shaft 12 to a specified length by pulling up the tip side of the shaft 12 that it is grasping from the base side. Then, as shown in Fig. 10C, the robot 2 fixes the length of the shaft 12 by rotating the tip side of the shaft 12 that it is grasping by 90 degrees relative to the base side.

[0048] Then, as shown in FIG. 11A, the robot 2 removes the shaft 12 that it is holding from the shaft storage area 6 by pulling it up, and places the shaft 12 at a specified position on the base plate 11 at a specified angle around the axis. When a current is passed through the base plate 11, a magnetic force is generated, and when the robot 2 places the shaft 12 on the base plate 11, the magnetic force fixes the shaft 12 to the base plate 11. In addition, a high-frequency heating coil 4 is placed on the base plate 11.

[0049] Next, the robot 3 causes the jig 1 to support the pipe material 100-1.

[0050] In this case, first, as shown in FIG. 11B, the robot 3 grasps a specified portion of a specified pipe material 100-1 among the pipe materials 100 placed in the pipe material storage area 7 at a specified angle. Then, as shown in FIG. 12A, the robot 3 causes the connection portion of the pipe material 100-1 that it is holding to be supported by a pipe material receiver 121 provided on a shaft 12 attached to a base plate 11.

[0051] Next, the robot 3 grasps the portion of the pipe 100-2 other than the connection portion, and inserts the connection portion of the pipe 100-2 into the connection portion of the pipe 100-1.

[0052] In this case, first, as shown in FIG. 12B, the robot 3 grasps a specified portion (a portion other than the connection portion) of a specified pipe material 100-2 among the pipe materials 100 placed in the pipe material storage area 7 at a specified angle. Then, as shown in Figure 13, the robot 3 inserts the connection portion of the pipe material 100-2 that it is holding into the connection portion of the pipe material 100-1 supported by the pipe material receiver 121 of the shaft 12 mounted on the base plate 11. This also enables the robot 3 to support parts of the pipe material 100-2 other than the connection parts.

[0053] Next, with the connection portion of tube material 100-2 inserted into the connection portion of tube material 100-1, high-frequency heating coil 4 heats brazing material 102. As a result, high-frequency heating coil 4 melts brazing material 102 and connects tube material 100-1 and tube material 100-2. As a result, the brazing apparatus obtains tube material 100-5.

[0054] 10 to 13, the process of assembling the jig 1 by the robot 2 and the process of attaching the pipe material 100 by the robot 3 and the brazing process by the high-frequency heating coil 4 are carried out in parallel.

[0055] Next, the quality determining device 5 determines whether the connection state of the pipe material 100-5 is good or bad.

[0056] If the quality determining device 5 determines that the connection state is poor, that fact is notified to the outside, for example. On the other hand, if the quality determination device 5 determines that the connection state is good, the brazed pipe material 100-5 is removed from the jig 1 and the robot 2 by a worker or the like, and placed in the pipe material storage area 7. In addition, the shaft 12 is removed from the base plate 11 by a worker or the like.

[0057] Next, the brazing device brazes the tube material 100-5 and the tube material 100-3 as a second step. Note that the tube material 100-5 and the tube material 100-3 used in the second step have been placed in the tube material storage area 7 in advance by a worker or the like.

[0058] In the second step, first, the robot 2 assembles the jig 1 for supporting the pipe material 100-5.

[0059] In this case, first, as shown in Fig. 14A, the robot 2 grasps the tip side (pipe material receiver 121) of the clamp-type shaft 12 among the shafts 12 placed in the shaft storage area 6. Then, as shown in Fig. 14B, the robot 2 adjusts the shaft 12 to a specified length by pulling up the tip side of the shaft 12 that it is grasping from the base side. Then, as shown in Fig. 14C, the robot 2 fixes the length of the shaft 12 by rotating the tip side of the shaft 12 that it is grasping by 90 degrees relative to the base side.

[0060] 15A, the robot 2 removes the gripped shaft 12 from the shaft storage area 6 by pulling up the shaft 12, and places the shaft 12 at a specified position on the base plate 11 at a specified angle around the axis. As a result, the shaft 12 is fixed to the base plate 11.

[0061] Next, the robot 3 grasps the pipe material 100-5 at a portion other than the connection portion, and causes the pipe material 100-5 to be supported by the jig 1.

[0062] In this case, first, as shown in Figure 15B, the robot 3 grasps a specified portion (a portion other than the connection portion) of a specified pipe material 100-5 among the pipe materials 100 placed in the pipe material storage area 7 at a specified angle. Then, as shown in Figure 16A, the robot 3 supports the connection portion of the pipe material 100-5 that it is holding on a pipe material receiver 121 of a shaft 12 attached to a base plate 11. As shown in Figures 16B and 16C, the clamp-type shaft 12 clamps and supports the pipe material 100-5 inserted by the robot 3. The clamp-type shaft 12 automatically operates an opening and closing mechanism to clamp the pipe material 100-5. This also enables the robot 3 to support parts of the pipe material 100-5 other than the connection parts.

[0063] Next, the robot 2 grasps the portion of the pipe 100-3 other than the connection portion, and inserts the connection portion of the pipe 100-3 into the connection portion of the pipe 100-5.

[0064] In this case, first, as shown in FIG. 16A, the robot 2 grasps a specified portion (a portion other than the connection portion) of a specified pipe material 100-3 among the pipe materials 100 placed in the pipe material storage area 7 at a specified angle. Then, as shown in Figure 17, the robot 2 inserts the connection portion of the pipe material 100-3 that it is holding into the connection portion of the pipe material 100-5 supported by a pipe material receiver 121 on a shaft 12 mounted on a base plate 11. This also enables the robot 2 to support parts of the pipe material 100-3 other than the connection parts.

[0065] Next, with the connection portion of tube material 100-3 inserted into the connection portion of tube material 100-5, high-frequency heating coil 4 heats brazing material 102. As a result, high-frequency heating coil 4 melts brazing material 102 and connects tube material 100-5 and tube material 100-3. As a result, the brazing apparatus obtains tube material 100-6.

[0066] Next, the quality determining device 5 determines whether the connection state of the pipe material 100-6 is good or bad.

[0067] If the quality determining device 5 determines that the connection state is poor, that fact is notified to the outside, for example. On the other hand, if the quality determination device 5 determines that the connection state is good, the brazed pipe material 100-6 is removed from the jig 1, the robot 2, and the robot 3 by a worker or the like, and placed in the pipe material storage area 7. In addition, the shaft 12 is removed from the base plate 11 by a worker or the like.

[0068] Next, the brazing device brazes the tube material 100-6 and the tube material 100-4 as a third step. The tube material 100-6 and the tube material 100-4 used in the third step have been placed in the tube material storage area 7 in advance by a worker or the like.

[0069] In the third step, first, the robot 2 assembles the jig 1 for supporting the pipe material 100-6.

[0070] In this case, first, as shown in Fig. 18A, the robot 2 grasps the tip side (pipe material receiver 121) of the V-shaped shaft 12 among the shafts 12 placed in the shaft storage area 6. Then, as shown in Fig. 18B, the robot 2 adjusts the shaft 12 to a specified length by pulling up the tip side of the shaft 12 that it is grasping from the base side. Then, as shown in Fig. 18C, the robot 2 fixes the length of the shaft 12 by rotating the tip side of the shaft 12 that it is grasping by 90 degrees relative to the base side.

[0071] 19A, the robot 2 removes the gripped shaft 12 from the shaft storage area 6 by pulling up the shaft 12, and places the shaft 12 at a specified position on the base plate 11 at a specified angle around the axis. As a result, the shaft 12 is fixed to the base plate 11.

[0072] Next, the robot 2 grasps the portion of the pipe material 100-6 other than the connection portion, and causes the jig 1 to support the pipe material 100-6.

[0073] In this case, first, as shown in FIG. 19B, the robot 2 grasps a specified portion (a portion other than the connection portion) of a specified pipe material 100-6 among the pipe materials 100 placed in the pipe material storage area 7 at a specified angle. Then, as shown in FIG. 20A, the robot 2 causes the connection portion of the held pipe material 100-6 to be supported by a pipe material receiver 121 provided on a shaft 12 attached to a base plate 11. This also allows the robot 2 to support parts of the pipe material 100-6 other than the connection parts.

[0074] Next, the robot 3 grasps the portion other than the connection portion of the pipe material 100-4, and inserts the connection portion of the pipe material 100-4 into the connection portion of the pipe material 100-6.

[0075] In this case, first, as shown in FIG. 20A, the robot 3 grasps a specified portion (a portion other than the connection portion) of a specified pipe material 100-4 among the pipe materials 100 placed in the pipe material storage area 7 at a specified angle. Then, as shown in Figure 20B, the robot 3 inserts the connection portion of the pipe material 100-4 that it is holding into the connection portion of the pipe material 100-6 supported by the pipe material receiver 121 of the shaft 12 mounted on the base plate 11. This also enables the robot 3 to support parts of the pipe material 100-4 other than the connection parts.

[0076] Next, with the connection portion of tube material 100-4 inserted into the connection portion of tube material 100-6, high-frequency heating coil 4 heats brazing material 102. As a result, high-frequency heating coil 4 melts brazing material 102 and connects tube material 100-6 and tube material 100-4. In this way, the brazing apparatus obtains tube material unit 101.

[0077] Next, the quality determining device 5 determines whether the connection state of the pipe unit 101 is good or bad.

[0078] If the quality determining device 5 determines that the connection state is poor, that fact is notified to the outside, for example. On the other hand, if the quality determination device 5 determines that the connection state is good, the brazed pipe unit 101 is removed from the jig 1, the robot 2, and the robot 3 by a worker or the like, and placed in the pipe material storage area 7. In addition, the shaft 12 is removed from the base plate 11 by a worker or the like.

[0079] In the above, a case has been shown in which one shaft 12 is attached to one base plate 11. However, this is not limited thereto, and depending on the structure of the pipe material 100 to be brazed, multiple shafts 12 may be attached to one base plate 11. Fig. 21 shows a case in which two shafts 12 are attached to one base plate 11.

[0080] Here, in the brazing apparatus according to the first embodiment, the jig 1 supports the connection portion side of the pipe material 100a, and the pipe material support robot supports the portion of the pipe material 100b other than the connection portion. In this way, in the brazing apparatus according to the first embodiment, the jig 1 is only required to support, at a minimum, one point on the connection portion side of the pipe material 100a, so that the number of parts can be reduced compared to the conventional configuration.

[0081] In the brazing apparatus according to the first embodiment, the pipe material supporting robot supports a portion of the pipe material 100b other than the connection portion, i.e., supports a portion away from the connection portion. This makes it possible to avoid heating the pipe material supporting robot when brazing the connection portion in the brazing apparatus according to the first embodiment, and allows a general-purpose robot to be used as the pipe material supporting robot. In other words, the pipe material supporting robot does not need to be a dedicated robot having heat resistance.

[0082] Furthermore, in the brazing apparatus according to the first embodiment, the pipe material supporting robot only needs to grip the pipe material 100b, and its movements are simple and easy to control.

[0083] Moreover, in the brazing apparatus according to the first embodiment, a jig assembling robot assembles the jig 1. As a result, in the brazing apparatus according to the first embodiment, the worker only needs to place the shaft 12 in the shaft storage area 6, making it possible to avoid mistakes in assembling the jig 1. Furthermore, in the brazing apparatus according to the first embodiment, the assembly accuracy of the jig 1 is improved compared to when the worker assembles the jig 1 by hand. Furthermore, in the brazing apparatus according to the first embodiment, storage of the jig 1 can be achieved by storing standard parts (base plate 11 and shaft 12), thereby realizing space saving.

[0084] Moreover, the brazing apparatus according to the first embodiment does not require the creation of an assembly manual that an operator refers to when assembling the jig 1 by hand. Moreover, the brazing apparatus according to the first embodiment allows, for example, while a pipe material mounting robot mounts the pipe material 100 in a certain process and the high-frequency heating coil 4 is performing brazing, a jig assembly robot can assemble the jig 1 in the next process. This allows the brazing apparatus according to the first embodiment to reduce the work time compared to the conventional configuration. Moreover, the brazing apparatus according to the first embodiment allows the assembly of the jig 1 to be easily reproduced in other locations by sharing the program used by the jig assembly robot, and also makes it easy to modify.

[0085] Furthermore, in the case where the brazing apparatus of embodiment 1 can be used for mass production, there is no need to manufacture individual jigs 1, which eliminates the time required to manufacture the jigs 1 and also eliminates the need for storage space and management of the jigs 1.

[0086] Moreover, in the brazing apparatus according to the first embodiment, a pipe material mounting robot mounts the pipe material 100. As a result, in the brazing apparatus according to the first embodiment, the installation work of the pipe material 100 by an operator is not required.

[0087] Moreover, in the brazing apparatus according to the first embodiment, the pipe material attachment robot recognizes the pipe material 100 temporarily placed in the pipe material storage area 7 using, for example, an imaging device, and grasps the pipe material 100. This makes it possible for the brazing apparatus according to the first embodiment to avoid picking up the wrong pipe material 100. Also, in the brazing apparatus according to the first embodiment, even if there is a processing error in the pipe material 100, this can be detected.

[0088] Moreover, in the brazing apparatus according to the first embodiment, brazing is performed using the high-frequency heating coil 4. As a result, even workers without brazing skills can work with the brazing apparatus according to the first embodiment. Furthermore, in the brazing apparatus according to the first embodiment, the heating temperature can be controlled by controlling the output of the high-frequency heating coil 4, and the ring-shaped brazing material 102 attached to the pipe material 100 can be uniformly heated, making it possible to reduce variations in brazing due to air temperature, workers, etc., compared to the conventional configuration. Furthermore, in the brazing apparatus according to the first embodiment, by using the high-frequency heating coil 4, a burner using gas as in the conventional configuration is not necessary, making it possible to avoid gas leakage, etc.

[0089] Moreover, in the brazing apparatus according to the first embodiment, the quality determination device 5 determines the quality of the connection state of the brazed pipe material 100. This makes it possible for the brazing apparatus according to the first embodiment to detect defects due to brazing.

[0090] 1 shows a case where the shaft 12 is configured to have an adjustable length, but this is not limiting, and the length of the shaft 12 may be fixed. 1 shows a case where the shaft 12 is configured as a separate body from the base plate 11. However, this is not limiting, and the shaft 12 may be configured as one body with the base plate 11 (position fixed).

[0091] 1 shows a case where a jig assembling robot automatically assembles the jig 1. However, the present invention is not limited to this, and the jig 1 may be assembled by a worker.

[0092] 1 shows a case where a pipe material installation robot automatically installs the pipe material 100. However, the present invention is not limited to this, and the pipe material 100 may be installed by an operator.

[0093] 1 shows a case where the high-frequency heating coil 4 automatically brazes the joints of the pipe material 100. However, the present invention is not limited to this, and the brazing of the joints of the pipe material 100 may be performed by an operator.

[0094] As described above, according to the first embodiment, the brazing apparatus includes the jig 1 capable of supporting the connection portion side of the pipe material 100a, and the pipe material support robot capable of supporting the portion of the pipe material 100b other than the connection portion, the connection portion of which is to be inserted into the connection portion of the pipe material 100a. This makes it possible for the brazing apparatus according to the first embodiment to reduce the number of parts of the jig 1 compared to the conventional configuration.

[0095] In the above description, the joining device is a brazing device for brazing the connection portion of the two pipe materials 100. However, the joining device is not limited to this and may be any device for melting and joining the base material to the connection portion of the two pipe materials 100, and may be, for example, a welding device for joining by welding.

[0096] Any of the components of the embodiments may be modified or omitted.

[0097] Finally, an example of the hardware configuration of the robot 2 in the first embodiment will be described with reference to Fig. 22. Note that although an example of the hardware configuration of the robot 2 will be shown here, the same applies to the robot 3. Each function of the robot 2 is realized by a processing circuit 501. The processing circuit 501 may be dedicated hardware as shown in Fig. 22A, or may be a CPU (also called a Central Processing Unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, or a DSP (Digital Signal Processor)) 502 that executes a program stored in a memory 503 as shown in Fig. 22B.

[0098] When the processing circuit 501 is a dedicated hardware, the processing circuit 501 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these. Each function of the robot 2 may be realized by the processing circuit 501, or each function may be realized collectively by the processing circuit 501.

[0099] When the processing circuit 501 is a CPU 502, the functions of the robot 2 are realized by software, firmware, or a combination of software and firmware. The software and firmware are written as programs and stored in the memory 503. The processing circuit 501 realizes the functions of each part by reading and executing the programs stored in the memory 503. That is, the robot 2 includes a memory 503 for storing a program that, when executed by the processing circuit 501, results in the execution of each step shown in FIG. 7. These programs can also be said to cause a computer to execute the procedures and methods of the robot 2. Here, examples of the memory 503 include non-volatile or volatile semiconductor memories such as a random access memory (RAM), a read only memory (ROM), a flash memory, an erasable programmable ROM (EPROM), and an electrically EPROM (EEPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, and a digital versatile disk (DVD).

[0100] It should be noted that the functions of the robot 2 may be partially realized by dedicated hardware and partially realized by software or firmware. For example, the function of the jig assembling robot may be realized by a processing circuit 501 as dedicated hardware, and the functions of the pipe material attachment robot and the pipe material support robot may be realized by the processing circuit 501 reading and executing a program stored in a memory 503.

[0101] Thus, the processing circuitry 501 can realize each of the above-described functions by hardware, software, firmware, or a combination of these. [Explanation of symbols]

[0102] 1 jig, 2 robot, 3 robot, 4 high frequency heating coil, 5 quality determination device, 6 shaft storage area, 7 pipe material storage area, 11 base plate, 12 shaft, 51 imaging device, 52 quality determination section, 100 pipe material, 100a pipe material (first pipe material), 100b pipe material (second pipe material), 101 pipe material unit, 102 brazing material, 121 pipe material holder, 501 processing circuit, 502 CPU, 503 memory, 1001 large diameter section.

Claims

1. A jig capable of supporting a connection portion side of the first pipe material; a pipe material support robot capable of supporting a portion of a second pipe material other than the connection portion, the connection portion of which is inserted into the connection portion of the first pipe material; In a state where the first pipe material is supported by the jig and the second pipe material is supported by the pipe material support robot, the base material is melted at the connection portion to perform joining. A joining device characterized by:

2. The jig is A base plate and a shaft having a base that can be attached to the base plate and a pipe material receiver at a tip that can support the connection portion side of the first pipe material; A jig assembly robot is provided for mounting the shaft at a specified position on the base plate at a specified angle around the axis.

2. The joining device according to claim 1.

3. The shaft is adjustable in length; The jig assembly robot adjusts the shaft to a specified length.

3. The joining device according to claim 2.

4. A pipe material attachment robot is provided for attaching the first pipe material and the second pipe material to the jig and the pipe material support robot. The joining device according to any one of claims 1 to 3.

5. A ring-shaped brazing material attached to the connection portion of the first pipe material or the connection portion of the second pipe material; a high-frequency heating coil for heating the brazing material in a state in which the connection portion of the second pipe material is inserted into the connection portion of the first pipe material; The joining device according to any one of claims 1 to 4.

6. A quality determination device is provided for determining whether the connection between the first pipe material and the second pipe material is good or bad after the brazing material is heated by the high-frequency heating coil.

6. The joining device according to claim 5.

7. The jig supports the connection portion side of the first pipe material, a pipe material supporting robot is caused to support a portion of a second pipe material other than the connection portion, the connection portion of which is inserted into the connection portion of the first pipe material; In a state where the first pipe material is supported by the jig and the second pipe material is supported by the pipe material support robot, the base material is melted at the connection portion to perform joining. A bonding method comprising the steps of:

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