EP0533998B1 - Appareil à cintrer - Google Patents

Appareil à cintrer Download PDF

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Publication number
EP0533998B1
EP0533998B1 EP91117235A EP91117235A EP0533998B1 EP 0533998 B1 EP0533998 B1 EP 0533998B1 EP 91117235 A EP91117235 A EP 91117235A EP 91117235 A EP91117235 A EP 91117235A EP 0533998 B1 EP0533998 B1 EP 0533998B1
Authority
EP
European Patent Office
Prior art keywords
bend
arm
angle
bend arm
turning
Prior art date
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.)
Expired - Lifetime
Application number
EP91117235A
Other languages
German (de)
English (en)
Other versions
EP0533998A1 (fr
Inventor
Teruaki Yogo
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
OPUTON KK
Opton Co Ltd
Original Assignee
OPUTON KK
Opton Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by OPUTON KK, Opton Co Ltd filed Critical OPUTON KK
Publication of EP0533998A1 publication Critical patent/EP0533998A1/fr
Application granted granted Critical
Publication of EP0533998B1 publication Critical patent/EP0533998B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Classifications

    • 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
    • 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
    • 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
    • B21D7/12—Bending rods, profiles, or tubes with programme control

Definitions

  • This invention relates to a bending machine according to the preamble of claim 1, in which a long work such as a pipe or a bar is sandwiched between a bend die and a clamp die and this, moving along a circular arc about the bend die, performs bending processes on the work.
  • USB-A-4,326,398 having a vertical shaft provided for turning movement at the forward end portion of a base frame.
  • the root portion of a bend arm is fixed at the intermediate portion of the shaft.
  • a bend die is mounted on the upper end portion of the shaft and a clamp die to clamp a work to the bend die is mounted on the bend arm.
  • a chain sprocket mounted at the lower portion of the shaft is connected by a chain to another chain sprocket mounted on the output shaft of an electric motor.
  • the shaft of the bend arm is rotated, via the chain, by the electric motor and the work sandwiched between the bend die and the clamp die is bent on the model of the bend die.
  • US-A-4,552,006 discloses a bending machine according to the pre-characterizing part of claim 1 which is similar to the above explained prior art bending machine.
  • the chain is coupled to a pair of disks, which each carry a crankpin in an eccentric position thereof.
  • the crankpins are connected to a drive link so as to move the drive link such that each portion thereof moves along a circular part.
  • the drive link is connected to the bend arm.
  • the bending machine of this type is convenient since it can be operated by making use of a general purpose electric-power supply.
  • the sprocket disposed under the bend die is occasionally obstructive of bending processes on the work. For example, when the work is processed three-dimensionally, that is, when bending processes in different directions are performed one after another at plural places on the work, the front end portion of the work touches the sprocket at times.
  • a bend arm mounted for turning movement at the forward end portion of a base frame.
  • the bend arm is provided with a bend die and a clamp die.
  • a drive arm is mounted for turning movement at a place more backward than the place where the bend arm is mounted for turning movement in the base frame.
  • the bend arm and the drive arm are connected by a link.
  • An oil hydraulic cylinder is connected to the drive arm. When the oil hydraulic cylinder expands, the drive arm is turned and the bend arm is turned via the link. As a result, a work sandwiched between the bend die and the clamp die is bent on the model of the bend die.
  • the bending machine of this type is exemplified by U.S.P. No. 4,938,047. This type, of the bending machine, with an open space left under the bend die, can easily perform three-dimensional bending processes.
  • the inventor tried to turn the drive arm by an electric motor in stead of the oil hydraulic cylinder. This is because any general purpose electric-power supply can be made use of as the drive source for the electric motor. That is, a simpler incidental equipment is sufficient for the electric motor compared with the oil hydraulic cylinder.
  • the bending machine with the drive arm adapted to be turned by the electric motor has the following property. That is, the angle between the drive arm and the link and that between the link and the bend arm vary depending on the magnitude of the turn angle of the bend arm from its start position. Accordingly, the bending machine has the property that the turning speed of the bend arm varies following the change of the turn angle of the bend arm even though the drive arm is turned at a constant speed by the output shaft of the electric motor turning at a constant speed.
  • the deceleration of the bend arm is adjusted so that the bend arm may stopped just at the prescribed turn angle when it is equal to a specified angle.
  • the prescribed turn angle becomes another angle different from the specified angle, however, there appears a problem that the bend arm can not be stopped accurately at the prescribed turn angle because of the resulting change in the turning speed of the bend arm. If the turning speed of the bend arm is, for example, larger, the bend arm overruns the prescribed turn angle. If the turning speed of the bend arm is, on the contrary, smaller, the bend arm stops without reaching the prescribed turn angle. Either of these behaviors of the bend arm degrades the accuracy in the bend angle of the work.
  • An object of the present invention is to provide a bending machine of the type defined in the pre-characterizing part of claim 1, capable of bending a work three-dimensionally with ease.
  • An electric motor constitutes the drive source for the drive arm.
  • the electric motor has the convenience of being easily operated with use of a general purpose electric-power supply.
  • the bend arm is adapted to be driven by the link but the work can be bent accurately at a prescribed bend angle.
  • the link is interposed between an output shaft of the electric motor and the bend arm but the bend arm is turned at a constant speed independently of the change in the turn angle of the bend arm by controlling the turning speed of the output shaft.
  • the turning speed of the bend arm is same at the time of starting the deceleration of the bend arm whatever the prescribed bend angle of the work may be when bending processes are performed on the work by the turning and deceleration of the bend arm due to the turning and deceleration of the electric motor, respectively.
  • the bend arm can be stopped accurately at the prescribed turn angle by decelerating the electric motor in such a manner that the bend arm may be decelerated at a predetermined speed whatever the prescribed bend angle of the work may be. Namely, the work can be bent at the prescribed bend angle with a high accuracy.
  • a base frame 10 comprises a body frame 11 and a support frame 12 provided at the forward end of the body frame 11.
  • a work W is supplied by a well known carriage (not shown) provided on the body frame 11 in a supply direction shown by an arrow 21 in Figs. 1 and 2.
  • a pipe or a bar can be the work W and the cross section of the work may be circular or rectangular.
  • the side toward which the work W is supplied (the right hand side in Fig. 2) is referred to as the forward side and the opposite side as the backward side.
  • a vertical shaft 13 is mounted for turning movement on the support frame 12 by means of a taper roller-bearing 14. The top and bottom ends of the shaft 13 protrude from the support frame 12 upward and downward, respectively.
  • a bend arm 15 is made bifurcate at the root portion thereof and bifurcate portions 15a and 15a are mounted on the protruding portions of the shaft 13.
  • a shaft 15b to mount a bend die thereon is set up on the bend arm 15 in coaxial relationship with the shaft 13.
  • a bend die 16 is mounted on the shaft 15b for dismount for exchange.
  • the bend die 16 is formed, on the periphery thereof, with a groove 17 in which the work W fits.
  • a clamp die 18 to clamp the work W to the bend die 16 is mounted on the bend arm 15 for movement in the longitudinal direction of the bend arm 15.
  • the clamp die 18 is adapted to be transferred, in a well known manner, toward and away from the bend die 16 by a drive mechanism provided in the bend arm 15.
  • the clamp die 18 is formed, at the side thereof facing the bend die 16, with a groove 19 in which the work W fits.
  • a receive die (called a pressure die as well) 20.
  • the receive die 20 is adapted to receive the reaction force from the work when it is subjected to bending processes.
  • the receive die 20 is adapted to be displaced in a horizontal direction perpendicular to the supply direction of the work W, as shown by an arrow, depending on the radius of the bend die 16 and the thickness of the work W.
  • a driving electric motor 23 is mounted on a bracket 24 secured on the body frame 11. As this motor 23, a servomotor with a speed reducer is used. An output shaft 25 of the electric motor 23 is disposed vertically and more backward than the shaft 13.
  • a drive arm 26 is secured, at one end thereof, to the output shaft 25 by a key 25a. The other end of the drive arm 26 is made bifurcate in the vertical direction.
  • a link 28 connects the drive arm 26 and the bend arm 15. One end of the link 28 is disposed between bifurcate portions 27 and 27 and is connected, for turning movement, to a pin 29 secured in the bifurcate portions 27 and 27 by means of a bearing 30.
  • connection shaft 31 formed protrudingly from the bottom surface of the bend arm 15 by means of a bearing 32.
  • An end cap 33 is adapted to prevent the link 28 from dropping off from the connection shaft 31.
  • a detection mechanism 35 to detect the turn angle of the bend arm 15 is provided under the support frame 12.
  • An encoder 36 used as an angle detector is mounted on the support frame 12 by means of stays 37.
  • a timing pulley 39 is mounted on a rotation shaft (input shaft) 38 of the encoder 36.
  • Another timing pulley 40 is mounted under the bifurcate portions 15a of the bend arm 15 in coaxial relationship with the shaft 13.
  • a timing belt 41 connects both timing pulleys 39 and 40.
  • the unequal relationship among the lengths of the respective links is not limited to that represented by inequality (1) but may be determined in such a way that a desired turn angle ⁇ of the bend arm 15 can be obtained for the turn angle ⁇ of the drive arm 26.
  • the control system 50 comprises a bend angle setting means 51, a comparing means 52, servo amplifying means 53, a correcting means 54, a drive amplifying means 55 and the aforementioned angle detector 36.
  • the bend angle setting means 51, the comparing means 52, the servo amplifying means 53 and the drive amplifying means 55 are same as those in a well known servo control mechanism.
  • the correcting means 54 is intended for making a correction described later to the output of the servo amplifying means 53.
  • the respective means represented by reference numerals 51 through 55 consist, for example, of computer hard wares and soft wares.
  • a bend angle setter 51 may consist of discrete electric circuits and then the respective means are referred to as a bend angle setter 51, a comparator 52, a servo amplifier 53, a correcting circuit 54 and a drive amplifier 55. Both constructions of the control system are not different in functions.
  • the drive arm 26, the link 28 and the bend arm 15 all aforementioned are shown as members constituting a driven system 56.
  • the turning force of the drive arm 26 is transmitted to the bend arm 15 via the link 28 and the bend 15 arm is turned clockwise.
  • the bend die 16 and the clamp die 18 both on the bend arm 15, with the work W sandwiched therebetween, is turned about the center of the bend die 16 and the work W is bent on the model of the bend die 16.
  • the bend arm 15 is turned up to a prescribed turn angle corresponding to a prescribed bend angle of the work W (an angle equal to the sum of the prescribed bend angle and the spring back of the work W).
  • the electric motor 23 is stopped, the clamping of the work W by the clamp die 18 is released and the bend arm 15 is returned, by the reversal of the output shaft 25 of the electric motor 23, to the original start position.
  • the bending process at the first place is completed.
  • Operations of the type as mentioned above are repeated one after another at places on the work W to be subjected to bending processes and the work W is processed to be formed in a prescribed three-dimensional shape.
  • the prescribed turn angle of the bend arm 15 is beforehand set in the bend angle setting means 51.
  • the turn angle from the start position of the bend arm 15 is detected by the angle detector 36.
  • the comparing means 52 compares a signal given by the angle setting means 51 for the prescribed turn angle with a signal given by the angle detector 36 for a detected turn angle and outputs a signal in accordance with the difference of both signals.
  • the servo amplifying means 53 receives the difference signal and outputs a signal (such as a voltage signal) corresponding to a turning speed at which the output shaft 25 of the electric motor 23 should be turned.
  • the correcting means 54 receives the signal for the detected angle from the angle detector 36 and gives the servo amplifying means 53 a correction factor (a correction factor of the turning speed of the output shaft 25). Consequently, the output signal from the servo amplifying means 53 is a signal corrected with the correction factor.
  • the drive amplifying means 55 receives the signal from the servo amplifying means 53 and supply electric power to the electric motor 23 in accordance with the signal. The output shaft 25 of the electric motor 23 is turned by the electric power to drive the driven system 56.
  • the correction by the correcting means 54 is explained here.
  • the driven system 56 the turning movement of the drive arm 26 actuated by the electric motor 23 is transmitted to the bend arm 15 via the link 28 and the bend arm 15 is turned.
  • the angle between the drive arm 26 and the link 28 and the angle between the link 28 and the bend arm 15 vary in accordance with the magnitude of the turn angle measured from the start position of the bend arm 15.
  • the relationship between the turn angle of the bend arm 15 and the operation angle (change in turn angle) of the output shaft 25 of the electric motor 23 per certain operation angle (such as 1° ) of the bend arm 15 at its instantaneous turn angle becomes, for example, such as shown in columns (a) and (b) of Table 1 presented later.
  • this relation is represented by a curve shown in Fig. 5. Therefore, in the correcting means 54 are beforehand memorized those correction factors as shown in column (c) of Table 1 which cause the turning speed of the output shaft 25 of the electric motor 23 to vary along the curve of Fig. 5 as the turn angle of the bend arm 15 varies.
  • the correction factors in column (c) have been obtained by dividing respective values in column (b) by that value in column (b) at the interval from 51° to 60° of the turn angle of the bend arm 15 which has been taken as an example of a reference value.
  • correction factors are given to the servo amplifying means 53 by the correcting means 54 and the servo amplifying means 53 outputs a signal for turning the output shaft 25 of the electric motor 23 at a speed equal to the product of a speed determined by the signal from the comparing means 52 and the correction factor.
  • the electric motor 23 is decelerated in the following manner. Namely, when the signal from the comparing means 52 agrees with the signal for the certain deceleration angle, the servo amplifying means 53 decreases the output thereof. The output of the drive amplifying means 55 is decreased in turn and the turning speed of the output shaft 25 of the electric motor 23 is reduced.
  • the servo amplifying means 53 decreases the output thereof on the basis of the signal from the comparing means 52 in such a manner that the turning speed of the bend arm 15 decreases by a prescribed amount such as the speed (constant speed) of the bend arm 15 divided by the deceleration angle at every time when the turn angle of the bend arm 15 increases, for example, by 1° .
  • the bend arm 15 is smoothly decelerated and is stopped accurately at the prescribed turn angle.
  • the bend die 16 When the bending machine is constructed so that the front end portion of the support frame 12 is disposed over the root portion of the bend arm 15, the bend die 16 may be mounted for turning movement on the base frame 12 in coaxial relationship with the center of turning of the bend arm 15. In this case, the work W is bent by the turning bend arm 15 similarly as in the case of the aforementioned embodiment.
  • the bend die 16 may be mounted fixedly on the support frame 12. Then the clamp die 18 revolutes about the bend die 16 as the bend arm 15 is turned. Consequently, the work W is pressed, at portions thereof one after another nearer to the front end thereof, against the bend die 16 by the clamp die 18 and is bent on the model of the bend die 16.
  • a bend die provided with upper and lower groves of different radii and a clamp die provided with upper and lower grooves conformable with the grooves of the bend die may be used. Furthermore, by determining the distances L1 through L4 properly, the bend arm 15 may be turned through an angle reduced from the turn angle ⁇ of the drive arm 26. Namely, the bend arm 15 may be caused to generate ate a bending torque larger than the turning torque of the output shaft 25 of the electric motor 23.
  • the bending machine As is mentioned above, it is an effect of the bending machine according to the present invention that three-dimensional bending processes can easily be performed on the work with the aforementioned objects attained, the bending machine, moreover, can be operated by making use of the general purpose electric-power supply and furthermore, the work can be bent at the prescribed bend angle with a high accuracy.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Bending Of Plates, Rods, And Pipes (AREA)

Claims (3)

  1. Une cintreuse comprenant
    (a) un bâti (11),
    (b) un bras de cintrage (15) monté de façon à pouvoir effectuer un mouvement de rotation à la partie d'extrémité avant du bâti (11),
    (c) un galet de cintrage (16) placé en position coaxiale par rapport au centre de rotation du bras de cintrage (15),
    (d) un bloc de serrage (18) monté sur le bras de cintrage (15) de façon à bloquer une pièce (W) à traiter,
    (e) un bras d'entraînement (26) monté pour effectuer un mouvement (de rotation) à un emplacement situé plus en arrière que l'emplacement auquel le bras de cintrage (15) est monté pour effectuer un mouvement de rotation,
    (f) un moteur électrique (23) pour faire tourner le bras d'entraînement (26), et
    (g) un système de commande (50), caractérisée en ce que le bras d'entraînement (26) est monté de façon à effectuer un mouvement de rotation, une barre d'accouplement (28) est incorporée pour relier le bras de cintrage (15) et le bras d'entraînement (26), l'arbre de sortie (27) du moteur électrique (23) est accouplé au bras d'entraînement (26), et le système de commande (50) est conçu de façon à commander la vitesse de rotation de l'arbre de sortie (25) de manière que la vitesse de rotation du bras de cintrage (15) puisse être constante.
  2. Une cintreuse selon la revendication 1, dans laquelle la distance du centre (O2) du mouvement de rotation du bras d'entraînement (26) jusqu'à l'emplacement (B) auquel la barre d'accouplement (28) est reliée au bras d'entraînement (26), est supérieure à la distance du centre (O1) du mouvement de rotation du bras de cintrage (15) jusqu'à l'emplacement (A) auquel la barre d'accouplement (28) est reliée au bras de cintrage (15).
  3. Une cintreuse selon la revendication 1 ou 2, dans laquelle le système de commande (50) comprend un détecteur d'angle (36) conçu pour détecter l'angle de rotation du bras de cintrage (15), des moyens de fixation d'angle de cintrage (51) conçus pour fixer un angle déterminé sur lequel on doit faire tourner le bras de cintrage (15), des moyens de comparaison (52) conçus pour recevoir un signal relatif à l'angle déterminé, provenant des moyens de fixation d'angle (51), et un signal relatif à l'angle de rotation, provenant du détecteur d'angle (36), et pour émettre un signal conformément à la différence entre les deux signaux précités, des moyens de correction (54) conçus pour recevoir un signal relatif à l'angle de rotation, provenant du détecteur d'angle (36), et à fournir un facteur de correction de l'angle de rotation, des moyens d'amplification d'asservissement (53) conçus pour recevoir le signal provenant des moyens de comparaison (52) et le facteur de correction provenant des moyens de correction (54), et pour émettre un signal pour faire tourner le moteur électrique (23) à une vitesse de rotation qui est déterminée par le signal provenant des moyens de comparaison (52) et corrigé par le facteur de correction provenant des moyens de correction (54), et des moyens d'amplification d'attaque (55) conçus pour recevoir le signal provenant des moyens d'amplification d'asservissement (53) et pour actionner le moteur électrique (23).
EP91117235A 1991-09-18 1991-10-09 Appareil à cintrer Expired - Lifetime EP0533998B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP267280/91 1991-09-18
JP03267280A JP3136495B2 (ja) 1991-09-18 1991-09-18 曲げ装置

Publications (2)

Publication Number Publication Date
EP0533998A1 EP0533998A1 (fr) 1993-03-31
EP0533998B1 true EP0533998B1 (fr) 1995-01-11

Family

ID=17442646

Family Applications (1)

Application Number Title Priority Date Filing Date
EP91117235A Expired - Lifetime EP0533998B1 (fr) 1991-09-18 1991-10-09 Appareil à cintrer

Country Status (4)

Country Link
EP (1) EP0533998B1 (fr)
JP (1) JP3136495B2 (fr)
KR (1) KR100221345B1 (fr)
DE (1) DE69106708T2 (fr)

Families Citing this family (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5343725A (en) * 1993-07-07 1994-09-06 Eagle Precision Technologies Inc. Tube bending apparatus and method
JP4648809B2 (ja) 2005-09-26 2011-03-09 富士機工株式会社 電動チルトテレスコステアリングコラム装置
JP2011056538A (ja) * 2009-09-09 2011-03-24 Nippon Steel Pipeline Co Ltd パイプの曲げ加工方法
CN101890463B (zh) * 2010-07-13 2012-01-18 浙江工业大学 一种滑槽式金属线材折弯机头
KR101912507B1 (ko) * 2016-12-26 2018-10-26 오성국 포터블 스마트 벤딩 시스템
CN109396230B (zh) * 2018-12-10 2023-10-24 浙江和良智能装备有限公司 一种结构改进的数控弯管机

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59156517A (ja) * 1983-02-25 1984-09-05 Chuo Denki Seisakusho:Kk ベンダ−の曲げ駆動装置
US4719577A (en) * 1985-05-29 1988-01-12 Eley David L Bending machine with digital electronic control of bend angle
US4750346A (en) * 1987-09-25 1988-06-14 Eaton Leonard Technologies, Inc. Link drive for bending arm of tube bending machine
JPH02142622A (ja) * 1988-11-24 1990-05-31 Chuo Electric Mfg Co Ltd 曲げ装置
JP2947362B2 (ja) * 1989-09-07 1999-09-13 臼井国際産業株式会社 チューブの曲げ装置

Also Published As

Publication number Publication date
JP3136495B2 (ja) 2001-02-19
JPH0576945A (ja) 1993-03-30
EP0533998A1 (fr) 1993-03-31
KR100221345B1 (ko) 1999-09-15
DE69106708T2 (de) 1995-09-07
KR930007530A (ko) 1993-05-20
DE69106708D1 (de) 1995-02-23

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