CN1360526A - Wire bending machine and bending method - Google Patents
Wire bending machine and bending method Download PDFInfo
- Publication number
- CN1360526A CN1360526A CN00810070A CN00810070A CN1360526A CN 1360526 A CN1360526 A CN 1360526A CN 00810070 A CN00810070 A CN 00810070A CN 00810070 A CN00810070 A CN 00810070A CN 1360526 A CN1360526 A CN 1360526A
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- China
- Prior art keywords
- bending die
- bending
- wire
- servomotor
- target location
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21F—WORKING OR PROCESSING OF METAL WIRE
- B21F1/00—Bending wire other than coiling; Straightening wire
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D—WORKING OR PROCESSING OF SHEET METAL OR METAL TUBES, RODS OR PROFILES WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21D7/00—Bending rods, profiles, or tubes
- B21D7/02—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment
- B21D7/024—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member
- B21D7/025—Bending rods, profiles, or tubes over a stationary forming member; by use of a swinging forming member or abutment by a swinging forming member and pulling or pushing the ends of the work
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Bending Of Plates, Rods, And Pipes (AREA)
- Wire Processing (AREA)
Abstract
A wire bending machine and a bending method capable of providing a high-precision working independently of a level of the rigidity of a material. With a wire (21) held by a bending die (13), a clamp (11) and a presser (12), a shifting instruction in proportion to a deviation between a target position and a current position and a shifting instruction in proportion to the time integration of the deviation between the target position and the current position are given from a control unit (16) to a servo motor driving the bending die (13), and the shifting instruction in proportion to the time integration is stopped when a current position reaches the target position, thereby the wire (21) can be bent up to a target position with a desired radius by turning the bending die (13) through a desired angle via the servo motor based on the shifting instructions.
Description
Invention field
The present invention relates to wire bending machine and bending wire method, specifically, the present invention relates to high wire bending machine of crooked precision and bending wire method.
Background technology
The wire bending machine of prior art comprises a rotating bending die with designated curvature radius; Anchor clamps, these anchor clamps can be pressed in wire rod on the straight line portion of bending die and with wire rod and be fixed on this straight line portion, and it can rotate with one heart and move with the bending die pivot rotationally corresponding to bending die with the bending die pivot; A pressing mechanism, this pressing mechanism is clamped bending wire portion and is moved corresponding to bending die material arranged direction along the line rotationally on the opposition side of bending die, wherein adopted a kind of like this bending wire method, promptly this method comprises the steps: to compress the wire rod rear portion with pressing mechanism, the wire rod end is clamped between anchor clamps and the bending die, rotate bending mould, make pressing mechanism material reach along the line simultaneously, then along the bending die bent wire.
Bending die can be driven rotation by servomotor, and control system can realize the control of its position and produces the angle of bend of an appointment by servomotor being assigned the proportional instruction of deviation between one and target location and the current location.
In the control system of above-mentioned servomotor, unless the anglec of rotation of bending die reaches an angle on target, (deviation between this coding and angle on target and the current angle is proportional otherwise will encode owing to displacement, and the distance objective angle is near more, this coding is more little) and make the wire rod reaction force equal the moment of torsion of servomotor, and also the rotation of the pivot center of bending die also can stop.In other words, such problem occurred, promptly before servomotor arrived the target location, harder wire rod had just stopped operating, and has so just reduced the product precision.
Therefore, the purpose of this invention is to provide a kind of wire bending machine and bending wire method, much no matter the wire rod rigidity has, can both realize accurately crooked by described bending wire device and method.
Summary of the invention
Wire bending machine of the present invention comprises: the rotating bending die with a designated curvature radius; Anchor clamps, these anchor clamps can be pressed in wire rod on the bending die line part and be fixed on this line part, and it can rotate with one heart and move with the bending die pivot rotationally corresponding to bending die with the bending die pivot; A pressing mechanism, this pressing mechanism are clamped bending wire portion and are moved corresponding to bending die material arranged direction along the line rotationally on the opposition side of bending mould; A servomotor that is used to drive and make the bending die rotation; A control module that is used to control the driving of servomotor; Wherein control module is provided with a computer, and this computer can stop and the proportional displacement commands of this time integral when current location arrives the target location the proportional displacement commands of time integral and this computer that servomotor is assigned deviation between the proportional displacement commands of deviation between one and target location and the current location and and target location and the current location; A control device.
Bending wire method of the present invention may further comprise the steps: a wire rod is clamped between a rotating bending die with a designated curvature radius, anchor clamps and the pressing mechanism, wherein anchor clamps can be pressed in wire rod on the line part of bending die and be fixed on this line part than this wire rod, it can rotate with one heart and move with the bending die pivot rotationally corresponding to bending die with the bending die pivot, and described pressing mechanism is clamped bending wire portion and moved corresponding to bending die material arranged direction along the line rotationally on the opposition side of bending die; The servomotor of a driving bending die is provided, this servomotor can be enough one with target location and current location between the proportional displacement commands of deviation and one with target location and current location between the proportional displacement commands of time integral of deviation drive bending die and its termination and the proportional displacement commands of this time integral when current location arrives the target location; The servomotor that is driven according to displacement commands rotate bending die and with specify radius with bending wire to the target location.
Description of drawings
Fig. 1 is in the partial plan layout that begins to bend preoperative wire bending machine according to an embodiment of the invention.
Fig. 2 is the partial plan layout of bending the wire bending machine according to an embodiment of the invention after operating beginning.
Fig. 3 is for adopting the flow chart according to the bending wire method of wire rod bending process of the present invention.
Implement best mode of the present invention
Below, with reference to accompanying drawing one embodiment of the present of invention are illustrated.Fig. 1 is in the partial plan layout that begins to bend preoperative wire bending machine according to an embodiment of the invention, and Fig. 2 is the partial plan layout of bending the wire bending machine according to an embodiment of the invention after operating beginning.
Problems of the prior art are: servomotor of the prior art quits work before arriving the target location, has therefore reduced the product precision.This problem is solved in the present invention in such a way, that is, the moment of torsion that makes servomotor is greater than arriving target location reaction force before.In the present invention, the calculating that the current location and the deviation between the target location of bending die 13 are carried out time integral is to carry out simultaneously with a conventional displacement commands is assigned to the operation of servomotor, the current location and the deviation between the target location of wherein conventional displacement commands and bending die 13 are proportional, and also be given to servomotor, thereby produce required moment of torsion with proportional another displacement commands of result of calculation.
Wire bending machine according to the present invention comprises a rotating bending die 13 with designated curvature radius; Anchor clamps 11, these anchor clamps 11 are pressed onto wire rod 21 on the line part of bending die 13 and with wire rod 21 and are fixed on this line part, and it can rotate with one heart with the pivot of bending die 13 and moves with bending die 13 pivots rotationally corresponding to bending die 13; A pressing mechanism, this pressing mechanism are clamped in the bend of wire rod 21 on the opposition side of bending die 13 and corresponding to bending die 13 material 21 arranged direction along the line rotatably and move; A servomotor 15 that is used to drive and make bending die 13 rotations; A control module 16 that is used to control the driving of servomotor 15.
Control module 16 is provided with a computer and a control device that is used to control this computer, and servomotor 15 is assigned the proportional displacement commands of time integral of deviation between the proportional displacement commands of deviation between one and target location and the current location and and target location and the current location with described computer and its stops and the proportional displacement commands of this time integral when current location arrives the target location.
Below, with reference to the accompanying drawings, wire bending machine is according to an embodiment of the invention described.Fig. 3 is the flow chart of bending wire method that adopts the bending wire technology of the embodiment of the invention.
When bending process began (S11), wire rod 21 was bent mould 13, anchor clamps 11 and pressing mechanism 12 (S12) and clamps.When bending operation beginning (S13), calculate the deviation between target location and the current location, numerical value " A " calculates by multiply by this deviation with a proportional gain factor, carry out the time integral of deviation, numerical value " B " calculates by multiply by this time integral with an integration gain factor.Then, servomotor 15 is assigned a displacement commands (S14), if deviation is not less than 0 (S15), return step S14 so, and begin the repetition above-mentioned steps from calculation deviation according to the summation of numerical value " A " and " B ".If deviation is less than 0 (S15 is), so with regard to the deviation between calculated target positions and the current location and multiply by the numerical value that a proportional gain factor draws according to this deviation servomotor is assigned displacement commands.Next, servomotor 15 just is parked in target location (S16), and wire rod 21 is taken off (S17) from bending die 13, anchor clamps 11 and pressing mechanism 12.Like this, just finished bending process (S18).
Provided its specific description.Wire rod 21 is clamped (see figure 1) by anchor clamps 11, pressing mechanism 12 and bending die 13.Bending die 13 is driven by servomotor 14.In other words, when servomotor 14 was driven, bending die 13 rotated around bending die pivot 14.When bending operation, anchor clamps 11 move with bending die 13, clamp wire rod 21 simultaneously.Pressing mechanism 12 is material 21 reaches along the line in the press-bending process.The angle that is formed by anchor clamps 11 and pressing mechanism 12 when the operation of bending stops becomes the identical (see figure 2) of angle of bend with wire rod 21.Therefore, can control the angle of bend of wire rod 21 by the anglec of rotation of servomotor 15.
In the press-bending process, control device 16 will be as an instruction ground that makes product generation appointment angle of bend passing through (target location-current location) * proportional gain factor ... the instruction that (expression formula 1) calculated is encoded and is passed through (target location-current location) * integration gain factor ... the summation of the instruction that (expression formula 2) calculated is assigned to the servomotor 15 that drives bending die 13.
So, even the moment of torsion of servomotor 15 that produce by the instruction from the proportional gain factor of calculating according to expression formula 1 and that constantly reduce in proportion near the target location along with current location is cancelled out each other with the wire rod reaction force before arriving the target location, this moment of torsion also can overcome reaction force, because As time goes on the instruction that obtains by the integration gain factor of being calculated by expression formula 2 increases, bending die 13 is moved on on the assigned address, and wire rod also can be bent to specified angle.Although the numerical value of being calculated by expression formula 1 is 0,, therefore will in the corner of bending die 13, produce overshoot value because the numerical value that calculate by expression formula 2 this moment is not 0 when bending die 13 arrives the target location.For preventing the appearance of this situation, when the rotational angle of bending die 13 arrives the target location, stop (according to expression formula 2) and calculate, and only will give servomotor 15, so that servomotor 15 quits work according to the instruction issuing that expression formula 1 is calculated.
As mentioned above, wire bending machine of the application of the invention and bending wire method can be controlled the moment of torsion of servomotor as described below before arriving the target location, that is, make its moment of torsion greater than reaction force.In other words, with the time integral of deviation between the current location of bending die and the target location is calculated relevantly, and, except the current location from bending die to servomotor and the proportional displacement commands of conventional deviation between the target location (just making servomotor drive the instruction of bending die) of assigning one and, also one is assigned to servomotor with the proportional displacement commands of result of calculation, thereby bending die can accurately be shifted on the target location.Like this, just can produce certain effect, that is,, also can carry out accurate bending it even wire rod is very hard.Industrial applicibility
The tube wire rigidity does not have muchly, and the present invention can be used in the high-precision bending wire operation.
Claims (2)
1, a kind of wire bending machine, it comprises: the rotating bending die with designated curvature radius; Anchor clamps, these anchor clamps are pressed in wire rod on the line part of bending die and with wire rod and are fixed on this line part, and it can rotate with one heart and move with the bending die pivot rotationally corresponding to bending die with the bending die pivot; A pressing mechanism, this pressing mechanism are clamped in the bend of wire rod on the opposition side of bending die and corresponding to bending die material arranged direction along the line rotatably and move; A servomotor that is used to drive and make the bending die rotation; A control module that is used to control the driving of servomotor, wherein control module is provided with a computer and a control device that is used to control this computer, and described computer can be assigned the proportional displacement commands of time integral of deviation between the proportional displacement commands of deviation between one and target location and the current location and and target location and the current location and its stops and the proportional displacement commands of this time integral to servomotor when current location arrives the target location.
2, a kind of bending wire method, it may further comprise the steps: a wire rod man is tight at a rotating bending die with a designated curvature radius, between anchor clamps and the pressing mechanism, wherein these anchor clamps can be pressed in wire rod on the line part of bending die and this wire rod is fixed on this line part, and these anchor clamps can rotate with one heart and move with the bending mould pivot rotationally corresponding to bending die with the bending die pivot, and described pressing mechanism is clamped bending wire portion and moved corresponding to bending die material arranged direction along the line rotationally on the opposition side of bending die; The servomotor of a driving bending die is provided, this servomotor can be enough one with target location and current location between the proportional displacement commands of deviation and one with target location and current location between the proportional displacement commands of time integral of deviation drive bending die and its termination and the proportional displacement commands of this time integral when current location arrives the target location; According to displacement commands and driven servomotor drives that bending die rotates and with specify radius with bending wire to the target location.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP137317/99 | 1999-05-18 | ||
| JP11137317A JP2000326035A (en) | 1999-05-18 | 1999-05-18 | Machine and method for bending wire rod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1360526A true CN1360526A (en) | 2002-07-24 |
Family
ID=15195866
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN00810070A Pending CN1360526A (en) | 1999-05-18 | 2000-05-15 | Wire bending machine and bending method |
Country Status (6)
| Country | Link |
|---|---|
| EP (1) | EP1195209A1 (en) |
| JP (1) | JP2000326035A (en) |
| KR (1) | KR20020008188A (en) |
| CN (1) | CN1360526A (en) |
| TW (1) | TW450848B (en) |
| WO (1) | WO2000069581A1 (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100361760C (en) * | 2002-12-17 | 2008-01-16 | 臼井国际产业株式会社 | Pipe-bending processing device |
| CN101716620B (en) * | 2009-11-30 | 2011-11-30 | 国营北京曙光电机厂 | Bending fixture for motor winding elements |
| CN102825112A (en) * | 2012-08-08 | 2012-12-19 | 常州亚邦捷宇自控成套设备有限公司 | Bidirectional bending device |
| CN102858477A (en) * | 2010-06-04 | 2013-01-02 | 武州工业株式会社 | Pipe bender and method for spiral pipe bending with the pipe bender |
| CN102950177A (en) * | 2012-11-11 | 2013-03-06 | 大连日盛实业有限公司 | Bending die tool for metal thin-wall pipelines |
| CN103934324A (en) * | 2014-03-13 | 2014-07-23 | 龙海宇 | Round metal strip bending former |
| CN105828967A (en) * | 2014-06-10 | 2016-08-03 | 株式会社三五 | Pipe-bending mold unit and pipe-bending machining device comprising said unit |
| CN107457329A (en) * | 2016-06-02 | 2017-12-12 | 建湖县胜飞机械制造有限公司 | A kind of special hoop bender for making high ferro box beam reinforcing bar |
| CN107571451A (en) * | 2017-09-21 | 2018-01-12 | 歌尔股份有限公司 | A kind of bender or breaking machine |
| CN109016432A (en) * | 2018-08-09 | 2018-12-18 | 无锡恒钜塑胶科技有限公司 | A kind of production technology of cylinder guide ring |
| CN109675978A (en) * | 2019-01-12 | 2019-04-26 | 天津鹏豪电动自行车有限公司 | A kind of bending machine can be used for straight tube and U-tube |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007289973A (en) * | 2006-04-21 | 2007-11-08 | Comco Corp | Pipe bender |
| CN102172736B (en) * | 2010-12-23 | 2013-04-24 | 康百世朝田液压机电(中国)有限公司 | Multiple-protection device for positioning bending angle of steel bar bender |
| CN102151767A (en) * | 2010-12-23 | 2011-08-17 | 康百世朝田液压机电(中国)有限公司 | Automatic locating device for bending angle of angle bending machine |
| CN102198477B (en) * | 2011-04-25 | 2013-10-30 | 吴楚帆 | Control system and method for steel bar hoop bending machine |
| CN102327934A (en) * | 2011-09-06 | 2012-01-25 | 吴江市聚力机械有限公司 | Handrail bracket end radian molding device |
| CN103433405B (en) * | 2013-08-27 | 2016-01-06 | 杭州良淋电子科技有限公司 | A kind of wire rod automatic bending machine |
| CN104942093A (en) * | 2015-06-24 | 2015-09-30 | 苏州边桐传感科技有限公司 | Bending device based on pressure detection and roll finishing |
| CN105834303A (en) * | 2016-05-05 | 2016-08-10 | 勤钦精密工业(昆山)有限公司 | Wrap angle bending mechanism for adjusting angle of product |
| CN106166571B (en) * | 2016-06-20 | 2018-05-18 | 南通振华重型装备制造有限公司 | A kind of track crane arc wrapper sheet forming method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06250740A (en) * | 1993-02-24 | 1994-09-09 | Hitachi Ltd | Digital positioning controller |
| JP2765480B2 (en) * | 1994-05-19 | 1998-06-18 | 住友金属工業株式会社 | Tube bending machine |
-
1999
- 1999-05-18 JP JP11137317A patent/JP2000326035A/en active Pending
-
2000
- 2000-05-15 WO PCT/JP2000/003115 patent/WO2000069581A1/en not_active Application Discontinuation
- 2000-05-15 KR KR1020017014532A patent/KR20020008188A/en not_active Application Discontinuation
- 2000-05-15 CN CN00810070A patent/CN1360526A/en active Pending
- 2000-05-15 EP EP00925675A patent/EP1195209A1/en not_active Withdrawn
- 2000-05-16 TW TW089109374A patent/TW450848B/en not_active IP Right Cessation
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100361760C (en) * | 2002-12-17 | 2008-01-16 | 臼井国际产业株式会社 | Pipe-bending processing device |
| CN101716620B (en) * | 2009-11-30 | 2011-11-30 | 国营北京曙光电机厂 | Bending fixture for motor winding elements |
| CN102858477B (en) * | 2010-06-04 | 2015-09-16 | 武州工业株式会社 | Bending machine and use the bend pipe processing method of spiral type pipe of this bending machine |
| CN102858477A (en) * | 2010-06-04 | 2013-01-02 | 武州工业株式会社 | Pipe bender and method for spiral pipe bending with the pipe bender |
| CN102825112A (en) * | 2012-08-08 | 2012-12-19 | 常州亚邦捷宇自控成套设备有限公司 | Bidirectional bending device |
| CN102950177A (en) * | 2012-11-11 | 2013-03-06 | 大连日盛实业有限公司 | Bending die tool for metal thin-wall pipelines |
| CN103934324A (en) * | 2014-03-13 | 2014-07-23 | 龙海宇 | Round metal strip bending former |
| CN103934324B (en) * | 2014-03-13 | 2015-11-18 | 龙海宇 | A kind of round metal bar brake forming device |
| CN105828967A (en) * | 2014-06-10 | 2016-08-03 | 株式会社三五 | Pipe-bending mold unit and pipe-bending machining device comprising said unit |
| CN105828967B (en) * | 2014-06-10 | 2019-05-17 | 株式会社三五 | Pipe bending mould unit and tube bending device with the unit |
| CN107457329A (en) * | 2016-06-02 | 2017-12-12 | 建湖县胜飞机械制造有限公司 | A kind of special hoop bender for making high ferro box beam reinforcing bar |
| CN107457329B (en) * | 2016-06-02 | 2019-07-05 | 建湖县胜飞机械制造有限公司 | A kind of dedicated hoop bender making high-speed rail box beam reinforcing bar |
| CN107571451A (en) * | 2017-09-21 | 2018-01-12 | 歌尔股份有限公司 | A kind of bender or breaking machine |
| CN109016432A (en) * | 2018-08-09 | 2018-12-18 | 无锡恒钜塑胶科技有限公司 | A kind of production technology of cylinder guide ring |
| CN109675978A (en) * | 2019-01-12 | 2019-04-26 | 天津鹏豪电动自行车有限公司 | A kind of bending machine can be used for straight tube and U-tube |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20020008188A (en) | 2002-01-29 |
| EP1195209A1 (en) | 2002-04-10 |
| TW450848B (en) | 2001-08-21 |
| WO2000069581A1 (en) | 2000-11-23 |
| JP2000326035A (en) | 2000-11-28 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |