Swaging device and swaging method

Abstract

A swaging device according to an aspect of the present invention swages an end of a tubular body and a circumferential edge of an end plate for closing an opening of the tubular body by utilizing a processing roller, in which the processing roller is connected to a robot, the robot being configured to control a position of the processing roller, and swaging is performed by sandwiching the end of the tubular body and the circumferential edge of the end plate by an inner roller and an outer roller, the inner roller being disposed inside the tubular body, the outer roller being disposed outside the tubular body so that the outer roller is opposed to the inner roller, and the outer roller being movable toward the inner roller.

What is claimed is: 
     
         1 . A swaging device that swages an end of a tubular body and a circumferential edge of an end plate for closing an opening of the tubular body by utilizing a processing roller, wherein
 the processing roller is connected to a robot, the robot being configured to control a position of the processing roller, and   swaging is performed by sandwiching the end of the tubular body and the circumferential edge of the end plate by an inner roller and an outer roller, the inner roller being disposed inside the tubular body, the outer roller being disposed outside the tubular body so that the outer roller is opposed to the inner roller, and the outer roller being movable toward the inner roller.   
     
     
         2 . The swaging device according to  claim 1 , wherein the robot controls positions of the inner and outer rollers so that rotation axes of the inner and outer rollers are in parallel with a surface sandwiched by the inner and outer rollers in the tubular body, and a direction in which the outer roller moves toward the inner roller is perpendicular to the sandwiched surface. 
     
     
         3 . The swaging device according to  claim 1 , further comprising a first grasping part and a second grasping part for sandwiching and fixing the tubular body, wherein
 the first and second grasping parts can be replaced according to a shape of the tubular body to be fixed.   
     
     
         4 . The swaging device according to  claim 1 , wherein
 the outer roller comprises a first roller and a second roller, and   a straight line extending in a direction in which the first roller moves toward the inner roller and a straight line extending in a direction in which the second roller moves toward the inner roller intersect with each other.   
     
     
         5 . The swaging device according to  claim 1 , wherein the robot controls the positions of the inner and outer rollers so that their positions conform to the end of the tubular body and the circumferential edge of the end plate. 
     
     
         6 . The swaging device according to  claim 1 , further comprising a pressure adjustment unit that adjusts the force for pushing the end of the tubular body and the circumferential edge of the end plate in the outer roller to a value equal to or lower than a predetermined threshold. 
     
     
         7 . The swaging device according to  claim 1 , further comprising a rotatable table that rotates the tubular body, wherein
 the robot and the rotatable table operate in cooperation with each other.   
     
     
         8 . A swaging method for swaging an end of a tubular body and a circumferential edge of an end plate for closing an opening of the tubular body by utilizing a processing roller, the swaging method comprising:
 controlling positions of an inner roller and an outer roller, the inner and outer rollers being the processing roller, the processing roller being connected to a robot;   disposing the inner roller inside the tubular body;   disposing the outer roller outside the tubular body so that the outer roller is opposed to the inner roller; and   moving the outer roller toward the inner roller, sandwiching the end of the tubular body and the circumferential edge of the end plate by the outer and inner rollers, and thereby swaging the end of the tubular body and the circumferential edge of the end plate together.   
     
     
         9 . The swaging method according to  claim 8 , wherein the robot controls positions of the inner and outer rollers so that rotation axes of the inner and outer rollers are in parallel with a surface sandwiched by the inner and outer rollers in the tubular body, and a direction in which the outer roller moves toward the inner roller is perpendicular to the sandwiched surface. 
     
     
         10 . The swaging method according to  claim 8 , wherein the robot controls the positions of the inner and outer rollers so that their positions conform to the end of the tubular body and the circumferential edge of the end plate.